CN108104123A - The automatic centering control system and control method of pile gripper - Google Patents
The automatic centering control system and control method of pile gripper Download PDFInfo
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- CN108104123A CN108104123A CN201711395008.2A CN201711395008A CN108104123A CN 108104123 A CN108104123 A CN 108104123A CN 201711395008 A CN201711395008 A CN 201711395008A CN 108104123 A CN108104123 A CN 108104123A
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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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- Mining & Mineral Resources (AREA)
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- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The present invention relates to marine equipment manufacturing technical fields, it is proposed the automatic centering control system and control method of a kind of pile gripper, applied to pile gripper, pile gripper is arranged on the periphery of pile pile, and automatic centering control system includes controller, at least three retractable driving devices and at least three distance measuring sensors；Retractable driving device has first end and second end, and first end is fixed on pile gripper, and second end is against pile pile；At least three distance measuring sensors are arranged in retractable driving device correspondingly, for measuring the distance between pile pile and corresponding retractable driving device；Controller is used to receiving the real-time range between the pile pile that distance measuring sensor measures in real time and corresponding retractable driving device, and retractable driving device to be controlled to stretch out or retract compared with the initial distance with prestoring in it.The automatic centering control system is automatically controlled by controller, and intelligent depth improves, and facilitates centering rapid, improves efficiency.
Description
Technical field
The present invention relates to marine equipment manufacturing technical field more particularly to a kind of automatic centering control system of pile gripper and
The automatic centering control method of pile gripper.
Background technology
Steel-pipe pile is the common location and installation supporter of the building structure object such as bridge, wind power platform, has construction precision
It is required that the features such as high, operating mode is complicated, pile sinking depth is deep.Steel pipe pile sinking construction is the pass that foundation construction is carried out in marine or waters
Key process.At sea, especially deep-sea construction environment is severe, is influenced by stormy waves, current and tide, is applied in the pile sinking of steel-pipe pile
Work process can generate certain error or displacement bias.
At present, general to embrace steel-pipe pile using pile gripper during steel pipe pile sinking construction, pile gripper can play fixed
Position effect, and hydraulic jack of the installation on pile gripper, are adjusted steel-pipe pile and position.But in steel pipe
In the centering position fixing process of stake, the method manually positioned is used mostly, i.e., after operating personnel have found that deviation occurs in steel-pipe pile
It is just adjusted, entire piling construction process needs more people repeatedly to adjust, and adjustment is difficult, time-consuming and laborious.Further, since at sea
Operation, the vibration in pile driving process is larger, and pile gripper installation site is higher, to operating personnel's personal safety there are potential threat,
The risk bigger especially when carrying on construction work at night.
Above- mentioned information disclosed in the background section is only used for strengthening the understanding of the background to the present invention, therefore it can
To include not formed the information to the prior art known to persons of ordinary skill in the art.
The content of the invention
It is an object of the invention to overcome adjustment existing for the centering adjustment technology of the above-mentioned prior art difficult, time-consuming and laborious
Problem provides a kind of automatic centering control system of pile gripper that can intelligently adjust and the automatic centering control side of pile gripper
Method.
According to an aspect of the present invention, a kind of automatic centering control system of pile gripper is provided, applied to pile gripper, institute
The periphery that pile gripper is arranged on pile pile is stated, the automatic centering control system includes controller, at least three retractable driving devices
And at least three distance measuring sensor；The retractable driving device has first end and second end, and the first end is fixed on
The pile gripper, the second end is against the pile pile；At least three distance measuring sensors are arranged on the flexible drive correspondingly
On dynamic device, for measuring the distance between the pile pile and corresponding described retractable driving device；Controller is used to receive institute
State the real-time range between the pile pile and the corresponding retractable driving device that distance measuring sensor measures in real time, and in it
The initial distance to prestore is compared that the retractable driving device is controlled to stretch out or retract.
According to an embodiment of the present invention, the automatic centering control system further includes at least three pressure sensors,
At least three pressure sensors are arranged between second end and the pile pile of the retractable driving device correspondingly, for examining
Survey active force of the pile pile to the retractable driving device so that the controller control the retractable driving device increase or
Reduce the thrust to the pile pile.
According to an embodiment of the present invention, the automatic centering control system further includes alarm, alarm electrical connection
In the controller, measured when the active force of pressure sensor measurement more than setting active force or the distance measuring sensor
When distance is more than setpoint distance, the alarm is alarmed according to the alarm signal of the controller.
According to an embodiment of the present invention, the retractable driving device, which is hydraulic cylinder, pneumatic cylinder, straight-line electric is mechanical, electrical pushes away
One kind in cylinder；The automatic centering control system further includes at least three guiders, and at least three guider one is a pair of
Answer between the second end of the retractable driving device and the pile pile.
According to an embodiment of the present invention, the automatic centering control system further includes proportional reversing valve, ratio commutation
Valve is electrically connected to the controller, and the proportional reversing valve is connected to the hydraulic cylinder by pipeline, for according to the control
The stroke of hydraulic cylinder described in the extension and contraction control Signal Regulation of device.
According to an embodiment of the present invention, the automatic centering control system further includes safety valve, safety valve electrical connection
In the controller, the safety valve is connected to the hydraulic cylinder by pipeline, for being controlled according to the thrust of the controller
The thrust of hydraulic cylinder described in Signal Regulation.
According to an embodiment of the present invention, there is the pile gripper more than two and the corresponding automatic centering
Control system is positioned apart from the outside of the pile pile.
According to an aspect of the present invention, a kind of automatic centering control method of pile gripper is provided, with any of the above-described institute
The automatic centering control system for stating pile gripper carries out centering control, including step：
Pile pile initial alignment receives the pile pile of each distance measuring sensor initial measurement and corresponding retractable driving device
Between initial distance；
In construction, receive the pile pile that each distance measuring sensor measures in real time and filled with the corresponding telescopic drive
Real-time range between putting；
Each real-time range is compared with corresponding each initial distance, wherein in the real-time range
During more than the initial distance, the corresponding retractable driving device of control is stretched out, and is less than in the real-time range described initial
Apart from when, the corresponding retractable driving device of control is retracted.
According to an embodiment of the present invention, further include：At least three pressure sensors, it is one-to-one to be arranged on described stretch
Between the second end of contracting driving device and the pile pile, for detecting active force of the pile pile to the retractable driving device；
While initial distance is received, the pile pile of each pressure sensor initial measurement is received to each institute
State the initial forces of retractable driving device；
Receive the real-time effect of the pile pile that each pressure sensor measures in real time to the retractable driving device
Power；
Each real-time effect power is compared with corresponding each initial forces, wherein a reality
When active force when being more than the initial forces, the corresponding retractable driving device of control increases thrust.
According to an embodiment of the present invention, each real-time effect power and setting active force are compared, each
When a real-time effect power wherein at least one is more than the setting active force, control alarm is alarmed；And/or
Each real-time range with setpoint distance is compared, is more than described set in each real-time range wherein at least one
During set a distance, control alarm is alarmed.
As shown from the above technical solution, the present invention possesses at least one of advantages below and good effect：
The automatic centering control system of the pile gripper of the present invention measures pile pile and corresponding flexible drive by distance measuring sensor
The distance between dynamic device；Controller is received between the pile pile that measures in real time of distance measuring sensor and corresponding retractable driving device
After real-time range, retractable driving device to be controlled to stretch out or retract compared with the initial distance to prestore in it, by flexible
The stretching of driving device or adjusting pile pile of retracting.On the one hand, automatically controlled by controller, intelligence degree improves, and makes centering
It is convenient rapid, improve efficiency.On the other hand, operating personnel is not required to participate in adjusting, save manpower, and can be avoided manually
The loss that the operation deviation of operating process and error are brought, while ensure that the personal safety of operating personnel.It in another aspect, can
It realizes the real-time control of pile sinking overall process and adjusts, it is ensured that continuity, stability and the installation accuracy of entire pile driving process.
Description of the drawings
Its example embodiment is described in detail by referring to accompanying drawing, above and other feature of the invention and advantage will become
It is more obvious.
Fig. 1 is the mounting structure schematic diagram of pile gripper and pile pile in the prior art；
The structure diagram of one embodiment of automatic centering control system of the pile gripper of Fig. 2 embodiment of the present invention；
Fig. 3 is the action principle signal of one embodiment of automatic centering control system of the pile gripper of the embodiment of the present invention
Figure；
Fig. 4 is the hydraulic principle schematic diagram in the automatic centering control system of the pile gripper of the embodiment of the present invention.
The reference numerals are as follows for main element in figure：
1st, pile pile；2nd, pile gripper frame；3rd, mounting platform；4th, hydraulic cylinder；41st, first chamber；42nd, second chamber；5th, ranging
Sensor；6th, controller；7th, pressure sensor；8th, proportional reversing valve；81st, the first actuator port；82nd, the second actuator port；83、
Oil inlet；84th, oil return opening；9th, safety valve；10th, human-computer interaction device；11st, oil tank；12nd, hydraulic pump；13rd, pulley.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, these embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Identical attached drawing in figure
Mark represents same or similar structure, thus will omit their detailed description.
The embodiment of the present invention provides a kind of automatic centering control system of pile gripper, which is applied to
Pile gripper, pile gripper can be arranged on the periphery of pile pile 1, which can include controller, at least three
Retractable driving device and at least three distance measuring sensors 5 etc.；The retractable driving device has first end and second end,
The first end is fixed on the pile gripper, and the second end is against the pile pile 1；At least three distance measuring sensor 5 one is a pair of
Answer be arranged on the retractable driving device on, for measure between the pile pile 1 and the corresponding retractable driving device away from
From；Controller 6 is used to receive the pile pile 1 and the corresponding retractable driving device that the distance measuring sensor 5 measures in real time
Between real-time range, and the retractable driving device to be controlled to stretch out or contracting compared with the initial distance with prestoring in it
It returns.
The automatic centering control system is described in detail below.
In this example embodiment, illustrate with reference to the mounting structure of pile gripper in the prior art shown in FIG. 1 and pile pile
Figure；Can be provided with pile gripper in the periphery of pile pile 1, pile gripper can include the pile gripper frame 2 that can be arranged on periphery and
Four mounting platforms 3 of 2 periphery of pile gripper frame can be uniformly arranged on.
With reference to the structure diagram of one embodiment of automatic centering control system of pile gripper of the present invention shown in Fig. 2；It stretches
Contracting driving device could be provided as four, in relative status two-by-two.It is right with it that the first end of each retractable driving device is fixed on
On the mounting platform 3 answered, the second end of each retractable driving device is against pile pile 1；Specifically, the telescopic end of retractable driving device
Against pile pile 1, retractable driving device is essentially water setting.Retractable driving device can be hydraulic cylinder 4.Other in the present invention show
In example embodiment, retractable driving device can also be one kind in pneumatic cylinder, linear motor, electrical pushing cylinder etc..Telescopic drive
Device could be provided as three, five or more.
With reference to the action principle signal of one embodiment of automatic centering control system of pile gripper of the present invention shown in Fig. 3
Figure；In this example embodiment, distance measuring sensor 5 could be provided as four, and distance measuring sensor 5 and retractable driving device can be with
Set to correspond, i.e., can set in each retractable driving device there are one distance measuring sensor 5.Distance measuring sensor 5 can
Think laser range sensor 5, or ultrasonic distance-measuring sensor 5, infrared distance measuring sensor 5 etc..Ranging senses
Device 5 can be used for measuring the distance between pile pile 1 and corresponding retractable driving device.In other example embodiments of the present invention
In, distance measuring sensor 5 could be provided as three, five or more, as long as matching with the quantity of retractable driving device.
In this example embodiment, before piling construction is started, the verticality of pile pile 1 is regulated, controller 6 records simultaneously
Store initial distance between each retractable driving device and corresponding pile pile 1.During piling construction, pass through distance measuring sensor
5 measure the real-time range between each retractable driving device and corresponding pile pile 1 in real time, and controller 6 receives the real-time range, and
By the real-time range compared with initial distance corresponding thereto, when real-time range is more than initial distance, control corresponds to
Retractable driving device retract；When real-time range is less than initial distance, corresponding retractable driving device is controlled to stretch out.In addition,
It will be appreciated by persons skilled in the art that initial distance can not also be gathered, but a distance threshold scope can be set
And be stored in controller 6, when one of real-time range exceeds the distance threshold scope, control corresponding telescopic drive
Device is stretched out or retracted.Controller 6 can be that there is data processing function, data to store for microprocessor, microcontroller, industrial personal computer etc.
Function and the control device that control signal etc. can be exported.
Automatic centering control system can also include at least three pressure sensors 7, and three pressure sensors 7 correspond
Between the second end of the retractable driving device and the pile pile 1, pressure sensor 7 can be used for detecting the pile pile
The active force of 1 pair of retractable driving device, so that the controller 6 controls the retractable driving device to increased or decrease to institute
State the thrust of pile pile 1.
In this example embodiment, pressure sensor 7 could be provided as four, and pressure sensor 7 is filled with telescopic drive
Put can be correspond set, i.e., can be set between each retractable driving device and pile pile 1 there are one pressure sensor
7.Pressure sensor 7 can be semiconductor pressure sensor 7 or capacitance-type pressure sensor 7.The present invention's
In other example embodiments, pressure sensor 7 could be provided as three, five or more, as long as and retractable driving device
Quantity match.
In this example embodiment, before piling construction is started, the verticality of pile pile 1 is regulated, controller 6 records simultaneously
Store the initial forces between each retractable driving device and corresponding pile pile 1.Since retractable driving device is substantially horizontal
It sets, and pile pile 1 is that can vertically set, therefore, the value of initial forces is smaller.During piling construction, pass through pressure
Force snesor 7 measures the real-time effect power between each retractable driving device and corresponding pile pile 1 in real time, and by the real-time effect
Power is compared with initial forces corresponding thereto, and when real-time effect power is more than initial forces, control is corresponding to stretch
Contracting driving device increases thrust.In addition, it will be appreciated by persons skilled in the art that initial forces can not also be gathered, and
It is that a force threshold scope can be set and be stored in controller 6, when one of real-time effect power exceeds the effect
During force threshold scope, corresponding retractable driving device is controlled to increase thrust or reduces thrust.
Automatic centering control system can also include at least three guiders, and at least three guiders are one-to-one
Between the second end of retractable driving device and pile pile.In this example embodiment, there are four guider can be set,
Guider there are one being respectively provided between the second end and pile pile of each retractable driving device.Guider can include fixing
In the fixing axle of the second end of retractable driving device, fixing axle can be horizontally disposed and be rotatably arranged in fixing axle
On pulley 13, the wheel face of pulley 13 and pile pile against.In the case of pile pile run-off the straight, the second end of retractable driving device
Relative movement is necessarily had between pile pile, setting guider can be the second end of retractable driving device in pile pile lateral wall
Mobile offer be oriented to and reduce friction between the two, avoid retractable driving device second end and pile pile it is stuck.In addition,
Guider may be set to be the form of guide groove and guide block, guide groove be set in pile pile lateral wall, the of retractable driving device
Two ends set the guide block with guide groove cooperation.
Automatic centering control system can also include alarm, and alarm is electrically connected to the controller 6, when the pressure
When the active force that force snesor 7 measures is more than the distance of setting active force or the measurement of the distance measuring sensor 5 more than setpoint distance,
The alarm is alarmed according to the alarm signal of the controller 6.
In this example embodiment, alarm can be buzzer siren, there are four alarm can be set, each
Retractable driving device corresponds to installation, and there are one alarms.Setting active force and setpoint distance, setting are contained in 6 memory of controller
The maximum effect force value that active force allows between retractable driving device and pile pile 1, setpoint distance are retractable driving device and pipe
The maximum range value allowed between stake 1.It is more than setpoint distance in the real-time range measured by any one distance measuring sensor 5
When, 6 output alarm signal of controller controls corresponding alarm equipment alarm.It is measured by any one pressure sensor 7
Real-time effect power when being more than setting active force, 6 output alarm signal of controller controls corresponding alarm equipment alarm.Pass through
Alarm can remind the verticality of operating personnel's pile pile 1 to already exceed the scope of permission, it is necessary to stop constructing, and remeasure pipe
1 verticality of stake, and corrects process for sinking, it is to be checked it is errorless after, restart piling construction.
Certainly, alarm can also be visual alarm, each retractable driving device can correspond to installation, and there are two reports
Warning lamp, is respectively red respective distances alarm, and yellow corresponds to active force alarm.Can also only with an alarm, if its
In retractable driving device active force or distance reach alarming value, that is, the alarm is controlled to alarm.
Automatic centering control system can also include proportional reversing valve 8, and proportional reversing valve 8 is electrically connected to the controller 6,
The proportional reversing valve 8 is connected to the hydraulic cylinder 4 by pipeline, can be used for being believed according to the extension and contraction control of the controller 6
Number adjust the stroke of the hydraulic cylinder 4.
With reference to pile gripper of the present invention shown in Fig. 4 automatic centering control system in hydraulic principle schematic diagram.Originally showing
In example embodiment, proportional reversing valve 8 can be three-position four-way electromagnetic directional valve, and three-position four-way electromagnetic directional valve has the first work
Make hydraulic fluid port 81, the second actuator port 82, oil inlet 83 and oil return opening 84, the first actuator port 81 and the second actuator port 82 are right
The first chamber 41 of hydraulic cylinder 4 and second chamber 42 should be connected to, oil inlet 83 is connected to hydraulic pump 12, hydraulic pump by pipeline
12 are connected to oil tank 11 by oil pipe, and check valve can be provided between oil inlet 83 and hydraulic pump 12, and the oil return opening 84 is logical
It crosses oil return pipe and is connected to oil tank 11.When three-position four-way electromagnetic directional valve is in resting position, oil inlet 83 is connected with oil return opening 84,
And the first actuator port 81 and the second actuator port 82 are then closed.Since the fluid that hydraulic pump 12 exports flows to fuel tank, so, this
Kind operating position is referred to as 12 off-load of hydraulic pump or hydraulic pump 12 bypasses.Three-position four-way electromagnetic directional valve commutates to the right, then oil inlet
Mouth 83 is connected with the first actuator port 81, and the second actuator port 82 is then connected with oil return opening 84, and the piston rod of hydraulic cylinder 4 is stretched
Go out, check valve is used to protect hydraulic pump 12 at this time.Oil inlet 83 is connected with the second actuator port 82, and the first actuator port 81 is then
It is connected with oil return opening 84, the piston rod of hydraulic cylinder 4 is retracted.
Automatic centering control system can also include safety valve 9, and safety valve 9 is electrically connected to the controller 6, the safety
Valve 9 is connected to the hydraulic cylinder 4 by pipeline, can be used for adjusting the liquid according to the thrust control signals of the controller 6
The thrust of cylinder pressure 4.When the real-time effect power of pressure sensor measurement is more than setting active force, controller control safety-valve is beaten
It opens, the fluid in hydraulic cylinder is discharged, the pressure in hydraulic cylinder is made to be no more than permissible value, so as to ensure hydraulic cylinder not because of pressure mistake
It is high and accident occurs.
Safety valve 9 is that opening and closing element is lower in normally off by external force effect, when the pressure medium rise in equipment or pipeline
During more than specified value, by outside system discharge medium prevent that pressure medium in pipeline or equipment is more than the special of specified value
Valve.Safety valve belongs to automatic valve class, is mainly used for boiler, on pressure vessels and pipes, and control pressure is no more than specified value, right
Personal safety and equipment have run important protective effect.Safety valve plays safeguard protection in systems.When system pressure is more than
During specified value, safety valve is opened, and a part of gas/fluid in system is discharged into outside air/pipeline, is no more than system pressure
Permissible value, so as to ensure system not because accident occurs during hypertonia.
In this example embodiment, automatic centering control system can also include human-computer interaction device 10, human-computer interaction
Device 10 can be touch-screen, or display screen and keyboard；Operating personnel can be inputted by human-computer interaction device 10 and be set
Be set for firmly, setpoint distance, safe pressure etc., real-time effect power, real-time range etc. can also be observed.
In this example embodiment, two groups of pile grippers can be provided in the periphery of pile pile 1, two groups of pile grippers can between
It is arranged at every ground on the outside of the pile pile, automatic centering control system can be provided on every group of pile gripper.The present invention's
In other example embodiments, the pile gripper of three groups or more groups can also be set, can be provided on every group of pile gripper
Automatic centering control system.
Further, the present invention also provides a kind of automatic centering control method of pile gripper, the automatic centering control sides
Method is used to carry out the automatic centering control system of above-mentioned pile gripper centering control, the automatic centering control method can include with
Lower step：
1 initial alignment of pile pile receives the pile pile 1 of each 5 initial measurement of distance measuring sensor and corresponding telescopic drive
Initial distance between device.
In construction, the pile pile 1 and the corresponding telescopic drive that each distance measuring sensor 5 measures in real time are received
Real-time range between device.
Each real-time range is compared with corresponding each initial distance, wherein in the real-time range
During more than the initial distance, the corresponding retractable driving device of control is stretched out, and is less than in the real-time range described initial
Apart from when, the corresponding retractable driving device of control is retracted.
In this example embodiment, it can also include：At least three pressure sensors 7, it is one-to-one arranged on described
Between the second end of retractable driving device and the pile pile 1, for detecting effect of the pile pile 1 to the retractable driving device
Power.
While initial distance is received, the pile pile 1 of each 7 initial measurement of pressure sensor is received to each
The initial forces of the retractable driving device.
Receive the real-time work of the pile pile 1 that each pressure sensor 7 measures in real time to the retractable driving device
Firmly.
Each real-time effect power is compared with corresponding each initial forces, wherein a reality
When active force when being more than the initial forces, the corresponding retractable driving device of control increases thrust.
In this example embodiment, each real-time effect power and setting active force can be compared, each
When a real-time effect power wherein at least one is more than the setting active force, control alarm is alarmed；And/or
Person can compare each real-time range with setpoint distance, big in each real-time range wherein at least one
When the setpoint distance, control alarm is alarmed.
Its control method is described in detail in the automatic centering control system of above-mentioned pile gripper, herein not
It repeats again.
The automatic centering control system of the pile gripper of the present invention measures pile pile 1 by distance measuring sensor 5 and is stretched with corresponding
The distance between contracting driving device；Controller 6 receives the pile pile 1 that distance measuring sensor 5 measures in real time and is filled with corresponding telescopic drive
After real-time range between putting, retractable driving device to be controlled to stretch out or retract compared with the initial distance to prestore in it,
Stretching or adjusting pile pile 1 of retracting by retractable driving device.On the one hand, automatically controlled by controller 6, intelligence degree carries
Height facilitates centering rapid, improves efficiency.On the other hand, operating personnel is not required to participate in adjusting, save manpower, Er Qieneng
The loss that the operation deviation of manual operation process is enough avoided to be brought with error, while ensure that the personal safety of operating personnel.Again
On the one hand, it can realize the real-time control of pile sinking overall process and adjust, it is ensured that continuity, the stability of entire pile driving process
And installation accuracy.Another aspect can record the data during piling construction by controller 6, facilitate induction and conclusion same
The pile sinking rule in the same marine site of batch, beneficial reference is provided for subsequent construction.
Above-mentioned described feature, structure or characteristic can be incorporated in one or more embodiment party in any suitable manner
In formula, if possible, it is characterized in discussed in each embodiment interchangeable.In above description, provide many specific thin
Section fully understands embodiments of the present invention so as to provide.It will be appreciated, however, by one skilled in the art that this can be put into practice
The technical solution of invention is without one or more in the specific detail or other methods, component, material may be employed
Material etc..In other cases, it is not shown in detail or describes each side of known features, material or operation to avoid the fuzzy present invention
Face.
When certain structure other structures " on " when, it is possible to refer to that certain structural integrity is formed in other structures or refers to certain
Structure " direct " is arranged in other structures or refers to certain structure and is arranged on by another structure " indirect " in other structures.
In this specification, term "one", " one ", "the", " described " and " at least three " representing there are one or
Multiple element/components/etc.；Term "comprising", " comprising " and " having " are representing the open meaning being included
And refer to the element except listing/component/also may be present in addition to waiting other element/component/etc..
It should be appreciated that the present invention is not limited in its application to the detailed construction and arrangement of the component of this specification proposition
Mode.The present invention can have other embodiment, and can realize and perform in many ways.Aforesaid deformation form and
Modification is fallen within the scope of the present invention.It should be appreciated that this disclosure and the present invention limited are extended in text
And/or it is mentioned in attached drawing or all alternative combinations of two or more apparent independent features.It is all these different
Combination forms multiple alternative aspects of the present invention.Embodiment described in this specification illustrates to become known for realizing the present invention
Best mode, and will enable those skilled in the art using the present invention.
Claims (10)
1. a kind of automatic centering control system of pile gripper, applied to pile gripper, the pile gripper is arranged on the periphery of pile pile,
It is characterized in that, the automatic centering control system includes：
At least three retractable driving devices, the retractable driving device have first end and second end, and the first end is fixed
In the pile gripper, the second end is against the pile pile；
At least three distance measuring sensors, correspondingly in the retractable driving device, for measure the pile pile with it is right
The distance between described retractable driving device answered；
Controller, for receive the pile pile and the corresponding retractable driving device that the distance measuring sensor measures in real time it
Between real-time range, and the retractable driving device to be controlled to stretch out or retract compared with the initial distance with prestoring in it.
2. the automatic centering control system of pile gripper according to claim 1, which is characterized in that the automatic centering control
System further includes：
At least three pressure sensors, correspondingly between the second end of the retractable driving device and the pile pile,
For detecting active force of the pile pile to the retractable driving device, so that the controller controls the retractable driving device
Increased or decrease the thrust to the pile pile.
3. the automatic centering control system of pile gripper according to claim 2, which is characterized in that the automatic centering control
System further includes：
Alarm is electrically connected to the controller, when the active force of pressure sensor measurement is more than setting active force or institute
When stating the distance of distance measuring sensor measurement more than setpoint distance, the alarm is alarmed according to the alarm signal of the controller.
4. the automatic centering control system of pile gripper according to claim 1, which is characterized in that the retractable driving device
For one kind in hydraulic cylinder, pneumatic cylinder, linear motor, electrical pushing cylinder；The automatic centering control system further includes：
At least three guiders, correspondingly between the second end of the retractable driving device and the pile pile.
5. the automatic centering control system of pile gripper according to claim 4, which is characterized in that the automatic centering control
System further includes：
Proportional reversing valve, is electrically connected to the controller, and the proportional reversing valve is connected to the hydraulic cylinder by pipeline, is used for
According to the stroke of hydraulic cylinder described in the extension and contraction control Signal Regulation of the controller.
6. the automatic centering control system of pile gripper according to claim 4, which is characterized in that the automatic centering control
System further includes：
Safety valve is electrically connected to the controller, and the safety valve is connected to the hydraulic cylinder by pipeline, for according to
The thrust control signals of controller adjust the thrust of the hydraulic cylinder.
7. the automatic centering control system of pile gripper according to claim 1, which is characterized in that there is institute more than two
Pile gripper and the corresponding automatic centering control system are stated, is positioned apart from the outside of the pile pile.
8. a kind of automatic centering control method of pile gripper, with the automatic centering of the pile gripper as described in claim any one of 1-7
Control system carries out centering control, which is characterized in that including step：
Pile pile initial alignment, between the pile pile and the corresponding retractable driving device that receive each distance measuring sensor initial measurement
Initial distance；
In construction, receive the pile pile and the corresponding retractable driving device that each distance measuring sensor measures in real time it
Between real-time range；
Each real-time range is compared with corresponding each initial distance, wherein being more than in the real-time range
During the initial distance, the corresponding retractable driving device of control is stretched out, and is less than the initial distance in the real-time range
When, the corresponding retractable driving device of control is retracted.
9. the automatic centering control method of pile gripper according to claim 8, which is characterized in that further include：At least three
Pressure sensor, it is described for detecting correspondingly between the second end of the retractable driving device and the pile pile
Pile pile is to the active force of the retractable driving device；
While initial distance is received, receive the pile pile of each pressure sensor initial measurement and described stretched to each
The initial forces of contracting driving device；
Receive the real-time effect power of the pile pile that each pressure sensor measures in real time to the retractable driving device；
Each real-time effect power is compared with corresponding each initial forces, wherein a real-time work
When being firmly more than the initial forces, the corresponding retractable driving device of control increases thrust.
10. the automatic centering control method of pile gripper according to claim 9, which is characterized in that will be each described real-time
Active force is compared with setting active force, is more than the setting active force in each real-time effect power wherein at least one
When, control alarm is alarmed；And/or
Each real-time range with setpoint distance is compared, is more than institute in each real-time range wherein at least one
When stating setpoint distance, control alarm is alarmed.
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| CN111827284A (en) * | 2020-07-13 | 2020-10-27 | 中国建筑第八工程局有限公司 | Steel casing positioning device and construction method thereof |
| CN109183714B (en) * | 2018-10-30 | 2020-11-06 | 保利长大海外工程有限公司 | Construction method and system for vertical breakwater |
| WO2021058544A1 (en) | 2019-09-23 | 2021-04-01 | Itrec B.V. | A pile upending and holding system and method |
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| CN111827284A (en) * | 2020-07-13 | 2020-10-27 | 中国建筑第八工程局有限公司 | Steel casing positioning device and construction method thereof |
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