CN113624124A - Pile stabilizing system with automatic deviation rectifying function and deviation rectifying method thereof - Google Patents
Pile stabilizing system with automatic deviation rectifying function and deviation rectifying method thereof Download PDFInfo
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- CN113624124A CN113624124A CN202110872793.6A CN202110872793A CN113624124A CN 113624124 A CN113624124 A CN 113624124A CN 202110872793 A CN202110872793 A CN 202110872793A CN 113624124 A CN113624124 A CN 113624124A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
- G01B7/305—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes for testing perpendicularity
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/04—Guide devices; Guide frames
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
- E02D7/02—Placing by driving
- E02D7/06—Power-driven drivers
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Abstract
The invention provides a pile stabilizing system with an automatic deviation rectifying function and a deviation rectifying method thereof, wherein the pile stabilizing system comprises a hydraulic pile gripper and a hydraulic pile hammer; the hydraulic pile hammer is provided with a sensing detection device and an analysis device, and the sensing detection device is in signal connection with the analysis device; the analysis device is in signal connection with the hydraulic pile gripper; the sensing detection device is used for detecting displacement components of the pile body in multiple directions and sending the detected displacement component data to the analysis device; the analysis device is used for receiving the displacement data, calculating the deviation angle of the pile body, sending a hammer stopping signal to the pile hammer control system when the deviation angle exceeds a threshold value, and sending a deviation rectifying displacement signal to the hydraulic pile gripper; the invention realizes the perpendicularity monitoring and automatic deviation correction of the whole pile-driving process of the pile foundation by detecting and calculating the perpendicularity deviation angle of the pile foundation in the pile-driving process, optimizes the measure of single-pile stabilization and improves the stability and efficiency of construction operation.
Description
Technical Field
The invention relates to the technical field of pile stabilization in piling operation, in particular to a pile stabilization system with an automatic deviation rectifying function and a deviation rectifying method thereof.
Background
With the rapid development of economic construction in China, the influence of electric energy on economic construction and life of people is larger and larger, with the increasing price of petroleum resources and coal resources, the increasing requirements of people on low carbon and environmental protection, and the increasingly prominent advantages of clean energy, wind power generation is more and more emphasized by various countries in the world as a green energy, and is widely developed and utilized.
In the prior art, when a tubular pile is generally sunk into soil to a certain depth, a hydraulic pile hammer is used for piling pile legs, so that the tubular pile is sunk to a specified depth, and when the pile is piled, a pile body can inevitably deviate in the sinking process, and can be adjusted in time, so that the wind power generation platform is unstable, and even topples over and other dangers can be caused; the existing construction process cannot monitor the deviation condition of the pile body in real time in the pile driving process, has poor detection accuracy on the deviation of the pile body verticality, lacks automatic deviation correction on the deviation of the pile body verticality, and leads to the continuous pile driving of a pile driving hammer to cause the deviation of the pile body to be larger and larger, thus causing the instability of a wind power generation platform installed on a pile foundation.
Disclosure of Invention
In view of the above-mentioned drawbacks, the present invention provides a pile stabilizing system with an automatic deviation rectifying function and a deviation rectifying method thereof, which solve the problem of lack of monitoring and automatic deviation rectifying for the verticality deviation of the pile body in the piling process.
In order to achieve the purpose, the invention adopts the following technical scheme:
a pile stabilizing system with an automatic deviation rectifying function comprises a hydraulic pile gripper and a hydraulic pile hammer; the hydraulic pile hammer is provided with a sensing detection device and an analysis device, and the sensing detection device is in signal connection with the analysis device; the analysis device is in signal connection with the hydraulic pile gripper; the sensing detection device is used for detecting displacement components of the pile body in multiple directions and sending the detected displacement component data to the analysis device; and the analysis device is used for receiving the displacement data, calculating the deviation angle of the pile body, sending a hammer stopping signal to the pile driving hammer control system when the deviation angle exceeds a threshold value, and sending a deviation rectifying displacement signal to the hydraulic pile gripper.
Preferably, the sensing and detecting device comprises a plurality of piezoresistive displacement sensors and a detection control circuit; the piezoresistive displacement sensors are respectively connected with the detection control circuit; the detection control circuit is in signal connection with the analysis device; every two piezoresistive displacement sensors are connected end to end and arranged on the upper surface of the pile foundation in an annular manner; and the piezoresistive displacement sensors are at least six, and the six piezoresistive displacement sensors are arranged in a regular hexagon shape.
Preferably, the analysis device comprises a Wheatstone bridge, an oscillator, an amplifier, a phase sensitive detector, a low-pass filter and an oscilloscope; the Wheatstone bridge, the amplifier, the phase-sensitive detector, the low-pass filter and the oscilloscope are sequentially in signal connection, and two ends of the oscillator are respectively connected with the Wheatstone bridge and the phase-sensitive detector.
Preferably, the hydraulic pile gripper comprises a pile gripper base, a gripping arm, a telescopic roller oil cylinder and an oil cylinder displacement sensor; the pile embracing device comprises a pile embracing device base, a pile embracing device base and a pile embracing arm, wherein the pile embracing device base is provided with a pile embracing arm base and a pile embracing arm; the single-layer holding arm is at least provided with four telescopic roller wheel oil cylinders, the four telescopic roller wheel oil cylinders are symmetrically arranged on the holding arm in pairs, and the four telescopic roller wheel oil cylinders are arranged at equal intervals along the holding arm; each telescopic roller oil cylinder is provided with an oil cylinder displacement sensor, and the oil cylinder displacement sensors are used for detecting the extending displacement of the piston rods.
The invention also provides a deviation rectifying method, which is applied to the pile stabilizing system with the automatic deviation rectifying function and comprises the following steps:
when the pile driving work is started, a hydraulic pile driving hammer drives the pile, the pile foundation is displaced in the vertical direction, a sensing detection device is triggered to detect displacement components of the pile foundation in multiple directions, and the displacement components detected in all directions are respectively sent to an analysis device; the analysis device calculates a pile foundation deviation angle according to the displacement components in all directions, judges whether the pile foundation deviation angle exceeds a threshold value, and if the calculated pile foundation deviation angle does not exceed the threshold value, no action is performed to wait for the next data analysis; if the calculated pile foundation deviation angle exceeds a threshold value, a hammer stopping signal is sent to a control system of the hydraulic pile driving hammer, and a deviation rectifying signal is sent to a control system of the hydraulic pile embracing device; the hydraulic pile hammer receives a hammer stopping signal and stops working of the pile hammer; and the hydraulic pile embracing device receives the deviation correcting signal and controls to correct the angle of the pile foundation.
Preferably, the method for calculating the pile foundation deviation angle by the analysis device comprises the following steps: measuring the distance d between two opposite piezoresistive displacement sensors; the displacement in the vertical direction detected by the piezoresistive displacement sensor is X1, X2 and X3 … … Xn respectively, wherein n is more than or equal to 6, and the displacement series are positive numbers; calculating extreme values Xmax and Xmin of the displacement sequence:
xmax calculation: selecting any displacement data as a maximum value, respectively carrying out difference operation on the displacement data to be operated, if the difference value is greater than 0, continuing, if the difference value is less than 0, selecting the displacement data subjected to the difference operation as a new assumed maximum value, continuing iterative operation until the last displacement data is operated, and outputting a final maximum value Xmax;
calculating Xmin: selecting any displacement data as a minimum value, performing difference operation on the displacement data to be operated respectively, if the difference value is smaller than 0, continuing, if the difference value is larger than 0, selecting the displacement data subjected to the difference operation as a new assumed minimum value, continuing iterative operation until the last displacement data is operated, and outputting a final minimum value Xmin;
and (3) calculating an inclination angle: pile foundation deviation angle thetaThe calculation formula is as follows:
preferably, the method for correcting the pile foundation by the hydraulic pile gripper comprises the following steps: the control system of the hydraulic pile gripper sets the original extension displacement value of the piston rod of each telescopic roller oil cylinder to be S0; an oil cylinder displacement sensor arranged on the telescopic roller wheel oil cylinder detects the actual extending displacement S of the piston rod of each telescopic roller wheel oil cylinder and sends the detected displacement data to an analysis device; the analysis device calculates the correction displacement of each telescopic roller oil cylinder and sends a correction displacement signal to each telescopic roller oil cylinder respectively; and controlling the hydraulic loop of each telescopic roller oil cylinder to increase or decrease the pressure intensity of each telescopic roller oil cylinder so as to correct the angle.
Preferably, the method for calculating the corrected displacement of each telescopic roller cylinder by the analysis device comprises the following steps: the pile gripper control system sets the original extension displacement value of the piston rod of each telescopic roller oil cylinder to be S0; the oil cylinder displacement sensor detects the actual extending displacement of the piston rod of each telescopic roller oil cylinder as S1, S2, S3 and S4 respectively; the displacement of each telescopic roller oil cylinder needing to be corrected is | S1-S0|, | S2-S0|, | S3-S0|, and | S4-S0 |; and respectively sending out extension or retraction correction signals to each telescopic roller oil cylinder according to the deviation direction of the angle and the displacement of each telescopic roller oil cylinder to be corrected.
One of the above technical solutions has the following advantages or beneficial effects:
a pile stabilizing system with an automatic deviation rectifying function and a deviation rectifying method thereof are provided, wherein the verticality deviation angle of a pile foundation is detected and calculated in the pile driving process, a hydraulic pile driving hammer is controlled to stop driving when the verticality deviation angle exceeds a threshold value, a hydraulic pile gripper timely takes measures for conducting angle rectification on the pile foundation, the verticality monitoring and the automatic deviation rectifying of the whole pile foundation driving process are realized, single pile stabilizing measures are optimized, and the stability and the efficiency of construction operation are improved.
Drawings
FIG. 1 is a schematic view of an embodiment of a pile stabilizing system with automatic deviation rectification function according to the present invention installed on a fan installation platform;
fig. 2 is a schematic structural diagram of an embodiment of a hydraulic pile gripper of a pile stabilizing system with an automatic deviation rectifying function, which is provided by the invention;
FIG. 3 is a schematic partial structural view of an embodiment of a hydraulic pile driving hammer of the pile stabilization system with automatic deviation rectification function according to the present invention;
FIG. 4 is a schematic diagram of an embodiment of an analysis apparatus of a pile stabilization system with an automatic deviation rectification function according to the present invention;
FIG. 5 is a flowchart illustrating a method of an embodiment of a deviation rectifying method according to the present invention.
Wherein: the hydraulic pile embracing device comprises a hydraulic pile embracing device 100, a pile embracing device base 110, a embracing arm 120, a telescopic roller oil cylinder 130, a hydraulic pile driving hammer 200, a sensing detection device 210 and a piezoresistive displacement sensor 211.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A pile stabilizing system with an automatic deviation rectifying function according to an embodiment of the present invention is described below with reference to fig. 1 to 3, including a hydraulic pile gripper 100 and a hydraulic pile driving hammer 200;
the hydraulic pile hammer 200 is provided with a sensing detection device 210 and an analysis device (not shown), wherein the sensing detection device 210 is in signal connection with the analysis device; the analysis device is in signal connection with the hydraulic pile gripper 100;
the sensing detection device 210 is configured to detect displacement components of the pile body in multiple directions, and send detected displacement component data to the analysis device;
the analysis device is used for receiving the displacement data, calculating the deviation angle of the pile body, sending a hammer stopping signal to the pile hammer control system when the deviation angle exceeds a threshold value, and sending a deviation rectifying displacement signal to the hydraulic pile gripper 100.
The hydraulic pile gripper 100 is installed at the edge of the fan installation platform, and the hydraulic pile hammer 200 is hoisted by the crane, so that pile driving is carried out on the pile foundation; the sensing detection device 210 detects displacement components of a plurality of positions of the pile foundation of the tubular pile, if the displacement components of different positions of the pile foundation are detected to be different, the sinking amounts of the different positions of the pile foundation are different, the analysis device obtains actual deviation angles of the pile foundation through calculation according to the displacement data of a plurality of positions detected by the sensing detection device 210, and if the deviation is too large, the pile foundation is unbalanced and unstable, and even toppling is caused; therefore, in the embodiment, the sensing detection device 210 is used for detecting and calculating the perpendicularity deviation angle of the pile foundation through the analysis device when the pile is driven at each time, the hydraulic pile driving hammer 200 is controlled to stop driving the pile if the perpendicularity deviation angle exceeds the threshold value, the hydraulic pile gripper 100 timely takes measures for correcting the angle of the pile foundation, the threshold value is set to be 0.1% -0.15% of the perpendicularity deviation, the whole pile foundation driving sinking process is monitored, single-pile stabilizing measures are optimized, and the stability and the efficiency of construction operation are improved.
Further, the sensing device 210 includes a plurality of piezoresistive displacement sensors 211 and a detection control circuit;
the piezoresistive displacement sensors 211 are respectively connected with the detection control circuit; the detection control circuit is in signal connection with the analysis device;
the piezoresistive displacement sensors 211 are connected end to end in pairs and are arranged on the upper surface of the pile foundation in an annular manner;
and the piezoresistive displacement sensors 211 are at least six, and the six piezoresistive displacement sensors 211 are arranged in a regular hexagon.
Single piezoresistive displacement sensor 211 can measure the displacement of pile foundation list orientation, the quantity is more, the direction that can measure is more, but the cost is higher relatively, quantity is too few then influences measuring precision, piezoresistive displacement sensor 211 is provided with six in this embodiment, it arranges the setting to be regular hexagon, can detect the displacement of six orientations of pile foundation, the data that will detect are sent to analytical equipment through detecting control circuit and are carried out the analytical computation, thereby obtain the displacement of six equipartition directions of pile foundation, then can obtain accurate inclination through the different calculations of the displacement volume of six orientations, the skew angle of pile body when effectively monitoring the pile, guarantee the straightness that hangs down of pile body, the stability of pile driving is improved.
Further, the analysis device comprises a Wheatstone bridge, an oscillator, an amplifier, a phase sensitive detector, a low-pass filter and an oscilloscope;
the Wheatstone bridge, the amplifier, the phase-sensitive detector, the low-pass filter and the oscilloscope are sequentially in signal connection, and two ends of the oscillator are respectively connected with the Wheatstone bridge and the phase-sensitive detector.
The piezoresistive displacement sensor 211 sends the resistance value change of strain gauge deformation to a Wheatstone bridge of the analysis device, the Wheatstone bridge sends an electric signal to an amplifier after passing through an oscillator, the amplifier amplifies the power of the electric signal to meet the requirement of sending power, then the electric signal is radiated to the space through an antenna, the phase sensitive detector can be ensured to receive satisfactory signal level, the communication of adjacent channels is not interfered, and then the displacement generated in the direction of the piezoresistive displacement sensor 211 on the pile foundation is obtained through the analysis of a low pass filter and an oscilloscope.
Further, the hydraulic pile gripper 100 comprises a pile gripper base 110, a gripper arm 120, a telescopic roller cylinder 130 and a cylinder displacement sensor;
the embracing arm 120 is provided with two layers, and the two layers of embracing arm 120 are respectively arranged at the upper part and the lower part of the pile embracing device base 110;
the single-layer arm 120 is at least provided with four telescopic roller oil cylinders 130, the four telescopic roller oil cylinders 130 are symmetrically arranged in pairs on the arm 120, and the four telescopic roller oil cylinders 130 are arranged at equal intervals along the arm 120;
each telescopic roller oil cylinder is provided with an oil cylinder displacement sensor, and the oil cylinder displacement sensors are used for detecting the extending displacement of the piston rods.
Two-layer armful arm 120 sets up one side of embracing stake ware base 110, loosen and embrace tightly the pile body through opening and shutting of embracing arm 120, and at least be provided with flexible running roller hydro-cylinder 130 on embracing arm 120 four directions all around, stretch out through the piston rod of hydro-cylinder, carry out the roof pressure to the side of pile body and support, thereby embrace tightly the pile body, and each flexible running roller hydro-cylinder 130 all is provided with hydro-cylinder displacement sensor, can detect the displacement volume that the piston rod of flexible running roller hydro-cylinder 130 actually stretches out, send to analytical equipment, thereby when analytical equipment can calculate the skew of pile body, the correction displacement of each flexible running roller hydro-cylinder 130, thereby piston rod motion through hydraulic circuit control flexible running roller hydro-cylinder 130, the correction of realization to the skew of pile body is rectified.
The application also provides a deviation rectifying method, which is applied to the pile stabilizing system with the automatic deviation rectifying function and is described with reference to fig. 4 and 5, wherein the deviation rectifying method comprises the following steps:
when the pile driving operation starts, the hydraulic pile driving hammer 200 drives the pile, the pile foundation is displaced in the vertical direction, the sensing and detecting device 210 is triggered to detect displacement components of the pile foundation in multiple directions, and the displacement components detected in all directions are respectively sent to the analyzing device;
the analysis device calculates a pile foundation deviation angle according to the displacement components in all directions, judges whether the pile foundation deviation angle exceeds a threshold value, and if the calculated pile foundation deviation angle does not exceed the threshold value, no action is performed to wait for the next data analysis; if the calculated pile foundation deviation angle exceeds a threshold value, a hammer stopping signal is sent to a control system of the hydraulic pile driving hammer 200, and a deviation rectifying signal is sent to a control system of the hydraulic pile embracing device 100;
the hydraulic pile hammer 200 stops working after receiving the hammer stopping signal;
the hydraulic pile embracing device 100 receives the deviation correcting signal and controls the angle correction of the pile foundation.
The correction method in the embodiment is used in a pile stabilizing system of a fan mounting platform, and mainly aims to detect and correct verticality deviation generated by pile sinking and pile driving so as to ensure the verticality of a tubular pile during sinking, in the specific method, displacement components are detected at multiple positions of the pile foundation of the tubular pile through a sensing detection device 210, the different displacement components at different positions of the pile foundation are detected, so that the different sinking amounts of the different positions of the pile foundation are represented, an analysis device obtains the actual deviation angle of the pile foundation through calculation according to the displacement data of multiple positions detected by the sensing detection device 210, and if the deviation is too large, the pile foundation is unbalanced and unstable, even toppling is caused; therefore, in the embodiment, the perpendicularity deviation angle of the pile foundation is detected and calculated in the pile driving process, if the perpendicularity deviation angle exceeds the threshold value, the hydraulic pile gripper 100 timely takes the measure of correcting the angle of the pile foundation, the threshold value is set to be 0.1% -0.15% of the perpendicularity deviation, the monitoring and automatic deviation correction of the whole pile driving process are achieved, the single-pile stabilizing measure is optimized, and the stability and the efficiency of construction operation are improved.
Further, the method for calculating the pile foundation deviation angle by the analysis device comprises the following steps:
measuring the distance d between the two piezoresistive displacement sensors 211 which are opposite to each other;
the vertical displacement detected by the piezoresistive displacement sensor 211 is X1, X2 and X3 … … Xn respectively, wherein n is more than or equal to 6, and the displacement series are positive numbers; calculating extreme values Xmax and Xmin of the displacement sequence:
xmax calculation: selecting any displacement data as a maximum value, respectively carrying out difference operation on the displacement data to be operated, if the difference value is greater than 0, continuing, if the difference value is less than 0, selecting the displacement data subjected to the difference operation as a new assumed maximum value, continuing iterative operation until the last displacement data is operated, and outputting a final maximum value Xmax;
calculating Xmin: selecting any displacement data as a minimum value, performing difference operation on the displacement data to be operated respectively, if the difference value is smaller than 0, continuing, if the difference value is larger than 0, selecting the displacement data subjected to the difference operation as a new assumed minimum value, continuing iterative operation until the last displacement data is operated, and outputting a final minimum value Xmin;
and (3) calculating an inclination angle: the calculation formula of the pile foundation deviation angle theta is as follows:
the method for calculating the deviation angle comprises the steps of detecting the displacement of the pile foundation in multiple directions by the piezoresistive displacement sensor 211, taking the value Xmax with the maximum displacement and the value Xmin with the minimum displacement, performing difference operation on the value Xmax with the maximum displacement, assuming any value as the maximum value, for example, 10 as the maximum value, and performing difference operation with 8 to obtain 10-8 deviation angles>0, continuously carrying out the difference operation with other displacement data by taking 10 as the maximum value, and when the difference operation is carried out with 15, 10-15<0, taking 15 as a new assumed maximum value, and then carrying out difference calculation with other displacement data until all data are calculated, and finallyThe final assumed maximum value is Xmax; taking the value Xmin with the minimum displacement as the difference operation, taking any value to assume the maximum value, for example, taking 10 to assume the minimum value, when taking the difference operation with 15, 10-15<0, continuously carrying out the difference calculation with other displacement data by taking 10 as the minimum value, and when the difference calculation is carried out with 8, 10-8>0, taking 8 as a new assumed minimum value, and then performing difference calculation with other displacement data until all data are calculated, wherein the final assumed minimum value is taken as Xmax; reuse formula
The maximum offset angle θ is obtained.
Further, the method for correcting the pile foundation by the hydraulic pile gripper 100 comprises the following steps:
the control system of the hydraulic pile gripper 100 sets the original extension displacement value of the piston rod of each telescopic roller cylinder 130 to be S0;
the cylinder displacement sensor arranged on the telescopic roller cylinder 130 detects the actual extension displacement S of the piston rod of each telescopic roller cylinder 130 and sends the detected displacement data to the analysis device;
the analysis device calculates the correction displacement of each telescopic roller cylinder 130 and sends the correction displacement signal to each telescopic roller cylinder 130;
the hydraulic circuits of the respective telescopic roller cylinders 130 are controlled to increase or decrease the pressure of the respective telescopic roller cylinders 130, thereby performing angle correction.
According to the diameter size of the pile foundation, the extending displacement of the piston rod of the telescopic roller oil cylinder 130 is calculated in advance, the original extending position value is set to be S0, the pile foundation is placed into the hydraulic pile embracing device 100, the hydraulic pile embracing device 100 embraces the pile body tightly, the pile body is embraced tightly through the displacement of the piston rod of the telescopic roller oil cylinder 130 extending out of S0, the verticality of the pile foundation is ensured, when the pile foundation sinks, deviation can be unavoidably caused, the extending displacement of the piston rod of the telescopic roller oil cylinder 130 in different directions can be inconsistent, the oil cylinder displacement sensor can detect the actual displacement of the piston rod of each oil cylinder, the analysis device can calculate the displacement to be corrected according to the actual displacement of each telescopic roller oil cylinder 130, the displacement signals to be corrected are respectively sent to the corresponding telescopic roller oil cylinders 130, and by changing the pressure of the hydraulic loop of the telescopic roller oil cylinder 130, and controlling the extension and contraction of the piston rod so as to finish the correction of the angle deviation.
Further, the method for calculating the correction displacement of each telescopic roller cylinder 130 by the analysis device includes the following steps:
the pile gripper control system sets the original extension displacement value of the piston rod of each telescopic roller cylinder 130 to be S0;
the cylinder displacement sensors detect actual extension displacements of the piston rods of the respective telescopic roller cylinders 130 as S1, S2, S3, and S4, respectively.
The displacement of each telescopic roller oil cylinder 130 to be corrected is | S1-S0|, | S2-S0|, | S3-S0|, and | S4-S0 |;
according to the deviation direction of the angle and the displacement of each telescopic roller cylinder 130 to be corrected, a correction signal of extension or retraction is sent to each telescopic roller cylinder 130.
The specific calculation method for the corrected displacement is that the actual extension displacements S1, S2, S3 and S4 of the piston rods of the telescopic roller cylinders 130 are detected according to the cylinder displacement sensors, the absolute values of the differences between the actual extension displacements and the original extension displacement values are respectively | S1-S0|, | S2-S0|, | S3-S0|, and | S4-S0|, the obtained displacement amounts are the displacement amounts required to be adjusted by the cylinders, and the extension and retraction are controlled according to the actual angular deviation direction, specifically, the telescopic roller cylinder 130 on the side with the pile foundation angular deviation smaller than 90 degrees is used as the piston rod for extension movement, and the telescopic roller cylinder 130 on the side with the pile foundation angular deviation larger than 90 degrees is used as the piston rod for retraction movement; each telescopic roller wheel cylinder 130 rectifies the operation to the pile foundation according to the signal, and after telescopic motion of the telescopic roller wheel cylinders 130 is completed, the angle offset of the pile foundation is measured through the offset tester, so that the perpendicularity of the pile foundation is ensured.
Other constructions and operations of a pile stabilizing system with an automatic deviation rectifying function and a deviation rectifying method thereof according to embodiments of the present invention are known to those skilled in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. The utility model provides a steady stake system with automatic function of rectifying which characterized in that: comprises a hydraulic pile gripper and a hydraulic pile hammer;
the hydraulic pile hammer is provided with a sensing detection device and an analysis device, and the sensing detection device is in signal connection with the analysis device; the analysis device is in signal connection with the hydraulic pile gripper;
the sensing detection device is used for detecting displacement components of the pile body in multiple vertical directions and sending detected displacement component data to the analysis device;
and the analysis device is used for receiving the displacement data, calculating the deviation angle of the pile body, sending a hammer stopping signal to the pile driving hammer control system when the deviation angle exceeds a threshold value, and sending a deviation rectifying displacement signal to the hydraulic pile gripper.
2. The pile stabilizing system with the automatic deviation rectifying function according to claim 1, wherein: the sensing detection device comprises a plurality of piezoresistive displacement sensors and a detection control circuit;
the piezoresistive displacement sensors are respectively connected with the detection control circuit; the detection control circuit is in signal connection with the analysis device;
every two piezoresistive displacement sensors are connected end to end and arranged on the upper surface of the pile foundation in an annular manner;
and the piezoresistive displacement sensors are at least six, and the six piezoresistive displacement sensors are arranged in a regular hexagon shape.
3. The pile stabilizing system with the automatic deviation rectifying function according to claim 1, wherein: the analysis device comprises a Wheatstone bridge, an oscillator, an amplifier, a phase-sensitive detector, a low-pass filter and an oscilloscope;
the Wheatstone bridge, the amplifier, the phase-sensitive detector, the low-pass filter and the oscilloscope are sequentially in signal connection, and two ends of the oscillator are respectively connected with the Wheatstone bridge and the phase-sensitive detector.
4. The pile stabilizing system with the automatic deviation rectifying function according to claim 1, wherein: the hydraulic pile gripper comprises a pile gripper base, a gripping arm, a telescopic roller oil cylinder and an oil cylinder displacement sensor;
the pile embracing device comprises a pile embracing device base, a pile embracing device base and a pile embracing arm, wherein the pile embracing device base is provided with a pile embracing arm base and a pile embracing arm;
the single-layer holding arm is at least provided with four telescopic roller wheel oil cylinders, the four telescopic roller wheel oil cylinders are symmetrically arranged on the holding arm in pairs, and the four telescopic roller wheel oil cylinders are arranged at equal intervals along the holding arm;
each telescopic roller oil cylinder is provided with an oil cylinder displacement sensor, and the oil cylinder displacement sensors are used for detecting the extending displacement of the piston rods.
5. A deviation rectifying method is characterized in that: the pile stabilizing system with the automatic deviation rectifying function, which is applied to any one of claims 1 to 4, comprises the following steps:
when the pile driving work is started, a hydraulic pile driving hammer drives the pile, the pile foundation is displaced in the vertical direction, a sensing detection device is triggered to detect displacement components of the pile foundation in multiple directions, and the displacement components detected in all directions are respectively sent to an analysis device;
the analysis device calculates a pile foundation deviation angle according to the displacement components in all directions, judges whether the pile foundation deviation angle exceeds a threshold value, and if the calculated pile foundation deviation angle does not exceed the threshold value, no action is performed to wait for the next data analysis; if the calculated pile foundation deviation angle exceeds a threshold value, a hammer stopping signal is sent to a control system of the hydraulic pile driving hammer, and a deviation rectifying signal is sent to a control system of the hydraulic pile embracing device;
the hydraulic pile hammer receives a hammer stopping signal and stops working of the pile hammer;
and the hydraulic pile embracing device receives the deviation correcting signal and controls to correct the angle of the pile foundation.
6. The deviation rectifying method according to claim 5, wherein: the method for calculating the pile foundation deviation angle by the analysis device comprises the following steps:
measuring the distance d between the two piezoresistive displacement sensors for obtaining the relative position;
the displacement in the vertical direction detected by the piezoresistive displacement sensors is X1, X2 and X3 … … Xn respectively, wherein n is more than or equal to 6, and the displacement series are positive numbers;
calculating extreme values Xmax and Xmin of the displacement sequence:
xmax calculation: selecting any displacement data as a maximum value, respectively carrying out difference operation on the displacement data to be operated, if the difference value is greater than 0, continuing, if the difference value is less than 0, selecting the displacement data subjected to the difference operation as a new assumed maximum value, continuing iterative operation until the last displacement data is operated, and outputting a final maximum value Xmax;
calculating Xmin: selecting any displacement data as a minimum value, performing difference operation on the displacement data to be operated respectively, if the difference value is smaller than 0, continuing, if the difference value is larger than 0, selecting the displacement data subjected to the difference operation as a new assumed minimum value, continuing iterative operation until the last displacement data is operated, and outputting a final minimum value Xmin;
and (3) calculating an inclination angle: the calculation formula of the pile foundation deviation angle theta is as follows:
7. the deviation rectifying method according to claim 5, wherein: the method for rectifying the deviation of the pile foundation by the hydraulic pile gripper comprises the following steps:
the control system of the hydraulic pile gripper sets the original extension displacement value of the piston rod of each telescopic roller oil cylinder to be S0;
an oil cylinder displacement sensor arranged on the telescopic roller wheel oil cylinder detects the actual extending displacement S of the piston rod of each telescopic roller wheel oil cylinder and sends the detected displacement data to an analysis device;
the analysis device calculates the correction displacement of each telescopic roller oil cylinder and sends a correction displacement signal to each telescopic roller oil cylinder respectively;
and controlling the hydraulic loop of each telescopic roller oil cylinder to increase or decrease the pressure intensity of each telescopic roller oil cylinder so as to correct the angle.
8. The deviation rectifying method according to claim 7, wherein: the method for calculating the correction displacement of each telescopic roller oil cylinder by the analysis device comprises the following steps:
the pile gripper control system sets the original extension displacement value of the piston rod of each telescopic roller oil cylinder to be S0;
the oil cylinder displacement sensor detects the actual extending displacement of the piston rod of each telescopic roller oil cylinder as S1, S2, S3 and S4 respectively;
the displacements of the telescopic roller oil cylinders needing to be corrected are S1-S0, S2-S0, S3-S0 and S4-S0 respectively;
and respectively sending out extension or retraction correction signals to each telescopic roller oil cylinder according to the deviation direction of the angle and the displacement of each telescopic roller oil cylinder to be corrected.
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