CN109881676B - Pile gripper's control system and pile gripper - Google Patents
Pile gripper's control system and pile gripper Download PDFInfo
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- CN109881676B CN109881676B CN201910089700.5A CN201910089700A CN109881676B CN 109881676 B CN109881676 B CN 109881676B CN 201910089700 A CN201910089700 A CN 201910089700A CN 109881676 B CN109881676 B CN 109881676B
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Abstract
The invention discloses a pile gripper and a control system thereof. The control system comprises a first hydraulic control one-way valve, a second hydraulic control one-way valve, a proportional valve, a controller and a stroke sensor, wherein an oil outlet of the first hydraulic control one-way valve is communicated with a rodless cavity of a pile-embracing oil cylinder, an oil outlet of the second hydraulic control one-way valve is communicated with a rod cavity of the pile-embracing oil cylinder, a pilot oil port and an oil inlet of the proportional valve are communicated with the rodless cavity of the pile-embracing oil cylinder, an oil outlet of the proportional valve is communicated with the rod cavity of the pile-embracing oil cylinder, an electric control end of the proportional valve and the stroke sensor are connected with the controller, the controller is used for controlling the pressure value conducted by the proportional valve according to the length extending out of a piston rod of the pile-embracing oil cylinder to adjust the pile-embracing force of the pile-embracing oil cylinder, the controller can control the pressure value conducted by the proportional valve according to the length extending out of the piston rod to adjust the, the production cost can be reduced.
Description
Technical Field
The invention relates to the field of construction equipment matched with wind power installation ships, in particular to a control system of a pile gripper and the pile gripper.
Background
The construction of offshore wind power requires the installation of pile foundations. When the pile foundation is installed, the pile hammer is generally used for driving the pile foundation into the seabed for a certain depth, and due to the influence of changeable factors such as high winds, sea waves, ocean currents, tides and the like, the seabed soil is soft, and the pile foundation is easy to deflect during pile driving operation, so that the pile foundation cannot be normally installed. Therefore, it is common to use a pile gripper to assist in the pile driving operation. And (4) carrying out verticality adjustment on the pile foundation through the pile embracing device, and righting the pile foundation through the pile embracing device after the verticality adjustment is in place.
Pile embracing forces exerted by pile embracing devices are different for pile foundations with different diameters, pile embracing forces exerted on pile foundations with smaller diameters are also smaller, if the exerted pile embracing forces are too large, the pile foundations can be damaged, while pile embracing forces exerted on pile foundations with larger diameters are also larger, and if the exerted pile embracing forces are too small, the pile foundations are difficult to centralize.
The pile foundation of multiple diameter can be right usually to same pile gripper, and in order to satisfy the pile foundation of great diameter, pile gripper's pile gripper hydro-cylinder can produce very big pile gripper power. When the pile foundation with a smaller diameter is righted, the pile-embracing force generated by the pile-embracing oil cylinder is very large, so that the pile foundation needs to be reinforced to avoid the damage of the pile foundation, and the production cost is increased.
Disclosure of Invention
The embodiment of the invention provides a pile gripper and a control system thereof, which can reduce the production cost. The technical scheme is as follows:
on one hand, the embodiment of the invention provides a control system of a pile gripper, which comprises a first hydraulic control one-way valve, a second hydraulic control one-way valve, a proportional valve, a controller and a stroke sensor, wherein an oil inlet of the first hydraulic control one-way valve is communicated with a first oil port of the control system, an oil outlet of the first hydraulic control one-way valve is communicated with a rodless cavity of the pile gripper oil cylinder, a control oil port of the first hydraulic control one-way valve is communicated with a second oil port of the control system, an oil inlet of the second hydraulic control one-way valve is communicated with a second oil port of the control system, an oil outlet of the second hydraulic control one-way valve is communicated with a rod cavity of the pile gripper oil cylinder, a control oil port of the second hydraulic control one-way valve is communicated with the first oil port of the control system, a pilot oil port and an oil inlet of the proportional valve are communicated with the rodless cavity of the pile gripper oil cylinder, and an oil outlet of the proportional valve, the electric control end of the proportional valve and the stroke sensor are connected with the controller, the stroke sensor is used for detecting the length of the extending piston rod of the pile embracing oil cylinder, and the controller is used for controlling the pressure value of the conduction of the proportional valve to adjust the pile embracing force of the pile embracing oil cylinder according to the length of the extending piston rod of the pile embracing oil cylinder.
Optionally, the controller is configured to control a pressure value at which the proportional valve is turned on, so that a pile holding force of the pile holding cylinder is inversely related to a length of the piston rod of the pile holding cylinder extending out.
Optionally, the controller controls a pressure value of the proportional valve conduction by adopting current, and the controller is used for controlling the pressure value of the proportional valve conduction according to a preset relation between the current and pile holding force of the pile holding oil cylinder.
Optionally, the predetermined relationship between the current and the pile holding force of the pile holding oil cylinder is obtained by:
and inputting a plurality of currents with different sizes into the proportional valve through the controller, detecting a plurality of pile holding forces corresponding to the currents, and obtaining a preset relation between the currents and the pile holding forces of the pile holding oil cylinders.
Optionally, the predetermined relationship between the current and the pile-embracing force of the pile-embracing oil cylinder includes n currents and n pile-embracing forces in one-to-one correspondence, and the current input by the controller to the proportional valve satisfies the following equation:
I＝(F-Fi)*(Ii+1-Ii)/(Fi+1-Fi)+Ii
wherein I is the determined current input to the proportional valve by the controller, IiIs the ith current, I, in the order from small to large in the n currentsi+1The current is the (i + 1) th current in the n currents in the order from small to large, F is the required pile holding force, and F is the required pile holding forceiThe ith pile holding force F is the ith pile holding force of the n pile holding forces in the order from small to largei+1Is the (i + 1) th pile embracing force in the n pile embracing forces according to the sequence from small to large, Fi≤F≤Fi+1I is more than or equal to 1 and less than or equal to n-1, n is more than or equal to 2, and i and n are integers.
Optionally, the required pile holding force satisfies the following equation:
F＝Fmax-Fmax*2S/(D1-D2)
wherein, FmaxThe maximum pile holding force generated by the pile holding oil cylinder, S is the extending length of a piston rod of the pile holding oil cylinder, and D1Maximum diameter of pile foundation adapted to said pile gripper, D2The minimum diameter of the pile foundation adapted to the pile gripper.
Optionally, the hydraulic pile driving device further comprises a safety valve, an oil inlet and a pilot oil port of the safety valve are communicated with the rod cavity of the pile holding oil cylinder, and an oil outlet of the safety valve is communicated with a third oil port of the control system.
Optionally, the safety valve further comprises a first check valve, an oil inlet of the first check valve is communicated with an oil outlet of the proportional valve, and an oil outlet of the first check valve is communicated with an oil outlet of the safety valve.
Optionally, the pile gripper further comprises a second one-way valve, an oil inlet of the second one-way valve is communicated with an oil outlet of the proportional valve, and an oil outlet of the second one-way valve is communicated with a rod cavity of the pile holding oil cylinder.
In a second aspect, an embodiment of the present invention provides a pile gripper, including a control system of the pile gripper according to the first aspect.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least: the hydraulic control valve is provided with a first hydraulic control one-way valve and a second hydraulic control one-way valve. An oil inlet of a first hydraulic control one-way valve is communicated with a first oil port of a control system, an oil outlet of the first hydraulic control one-way valve is communicated with a rodless cavity of a pile embracing oil cylinder, a control oil port of the first hydraulic control one-way valve is communicated with a second oil port of the control system, an oil inlet of a second hydraulic control one-way valve is communicated with a second oil port of the control system, an oil outlet of the second hydraulic control one-way valve is communicated with a rod cavity of the pile embracing oil cylinder, and a control oil port of the second hydraulic control one-way valve is communicated with a first oil port of the control system, so that hydraulic oil can be injected into the rodless cavity of the pile embracing oil cylinder through the first oil port of the control system, the hydraulic oil in the rod cavity of the pile embracing oil cylinder is discharged from the second oil port of the control system through the second hydraulic control one-way valve, a piston rod of the pile embracing oil cylinder is controlled to stretch out, the rod cavity of the pile embracing oil cylinder is injected, thereby controlling the retraction of the piston rod of the pile embracing oil cylinder. The pile embracing force adjusting device is characterized in that a pilot oil port and an oil inlet of a proportional valve are communicated with a rodless cavity of a pile embracing oil cylinder, an oil outlet of the proportional valve is communicated with a rod cavity of the pile embracing oil cylinder, the pressure of the rodless cavity of the pile embracing oil cylinder can be limited through the proportional valve, when the pressure of the rodless cavity of the pile embracing oil cylinder reaches the pressure value of the conduction of the proportional valve, the rodless cavity and the rod cavity of the pile embracing oil cylinder are communicated through the proportional valve, the larger the pressure value of the conduction of the pile embracing oil cylinder is, the larger the pile embracing force provided by the pile embracing oil cylinder is, the pressure value of the conduction of the proportional valve can be controlled through a controller, the length of the extension of a piston rod of the pile embracing oil cylinder is detected through a stroke sensor, the longer the length of the extension of the piston rod indicates that the diameter of a pile foundation is smaller, otherwise, the diameter of the pile foundation is larger, and, the pile holding force is matched with the pile foundation, so that the pile foundation with smaller diameter does not need to be reinforced, and the production cost can be reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a pile gripper provided in an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is a schematic structural diagram of a control system of a pile gripper according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a pile clip according to an embodiment of the present invention. Fig. 2 is a top view of fig. 1. As shown in fig. 1 and 2, the pile gripper includes a pile gripper bracket 20 and two sets of arms 30. Each group of embracing arm 30 comprises a fixed embracing arm 301 and two movable embracing arms 302, the fixed embracing arm 301 is in a semi-ring shape, the fixed embracing arm 301 is fixedly connected to the pile embracing device support 20, the two movable embracing arms 302 are respectively hinged to two ends of the fixed embracing arm 301, and the two movable embracing arms 302 are controlled to rotate so as to be encircled into a ring shape by the two movable embracing arms 302 and the fixed embracing arm 301. Pile embracing oil cylinders 303 are arranged on the fixed embracing arm 301 and the movable embracing arm 302, the pile embracing oil cylinders 303 on the fixed embracing arm 301 are arranged along the radial direction of the circumference where the fixed embracing arm 301 is located, and the pile embracing oil cylinders 303 on the movable embracing arm 302 are arranged along the radial direction of the circumference where the movable embracing arm 302 is located. When the pile embracing device is used for operation, the two movable embracing arms 302 and the fixed embracing arm 301 are encircled into a circular ring shape, the pile embracing oil cylinder 303 stretches to abut against the outer wall of a pile foundation, and the pile embracing device can adapt to the pile foundations with different diameters by controlling the length of the pile embracing oil cylinder 303.
Fig. 3 is a schematic structural diagram of a control system of a pile gripper according to an embodiment of the present invention. As shown in fig. 3, the control system of the pile gripper comprises a first pilot operated check valve a1, a second pilot operated check valve a2, a proportional valve A3, a controller (not shown) and a stroke sensor 3031.
An oil inlet of the first hydraulic control one-way valve A1 is communicated with a first oil port of the control system, an oil outlet of the first hydraulic control one-way valve A1 is communicated with a rodless cavity of the pile holding oil cylinder, and a control oil port of the first hydraulic control one-way valve A1 is communicated with a second oil port of the control system. An oil inlet of the second hydraulic control one-way valve A2 is communicated with a second oil port of the control system, an oil outlet of the second hydraulic control one-way valve A2 is communicated with a rod cavity of the pile-embracing oil cylinder, and a control oil port of the second hydraulic control one-way valve A2 is communicated with a first oil port of the control system. The pilot oil port and the oil inlet of the proportional valve A3 are communicated with the rodless cavity of the pile-embracing oil cylinder, and the oil outlet of the proportional valve A3 is communicated with the rod cavity of the pile-embracing oil cylinder.
The electric control end of the proportional valve A3 and the stroke sensor 3031 are connected with the controller. The stroke sensor 3031 is used for detecting the extending length of a piston rod of the pile embracing oil cylinder, and the controller is used for controlling the pressure value of the conduction of the proportional valve A3 according to the extending length of the piston rod of the pile embracing oil cylinder so as to adjust the pile embracing force of the pile embracing oil cylinder.
The hydraulic control valve is provided with a first hydraulic control one-way valve and a second hydraulic control one-way valve. An oil inlet of a first hydraulic control one-way valve is communicated with a first oil port of a control system, an oil outlet of the first hydraulic control one-way valve is communicated with a rodless cavity of a pile embracing oil cylinder, a control oil port of the first hydraulic control one-way valve is communicated with a second oil port of the control system, an oil inlet of a second hydraulic control one-way valve is communicated with a second oil port of the control system, an oil outlet of the second hydraulic control one-way valve is communicated with a rod cavity of the pile embracing oil cylinder, and a control oil port of the second hydraulic control one-way valve is communicated with a first oil port of the control system, so that hydraulic oil can be injected into the rodless cavity of the pile embracing oil cylinder through the first oil port of the control system, the hydraulic oil in the rod cavity of the pile embracing oil cylinder is discharged from the second oil port of the control system through the second hydraulic control one-way valve, a piston rod of the pile embracing oil cylinder is controlled to stretch out, the rod cavity of the pile embracing oil cylinder is injected, thereby controlling the retraction of the piston rod of the pile embracing oil cylinder. The pile embracing force adjusting device is characterized in that a pilot oil port and an oil inlet of a proportional valve are communicated with a rodless cavity of a pile embracing oil cylinder, an oil outlet of the proportional valve is communicated with a rod cavity of the pile embracing oil cylinder, the pressure of the rodless cavity of the pile embracing oil cylinder can be limited through the proportional valve, when the pressure of the rodless cavity of the pile embracing oil cylinder reaches the pressure value of the conduction of the proportional valve, the rodless cavity and the rod cavity of the pile embracing oil cylinder are communicated through the proportional valve, the larger the pressure value of the conduction of the pile embracing oil cylinder is, the larger the pile embracing force provided by the pile embracing oil cylinder is, the pressure value of the conduction of the proportional valve can be controlled through a controller, the length of the extension of a piston rod of the pile embracing oil cylinder is detected through a stroke sensor, the longer the length of the extension of the piston rod indicates that the diameter of a pile foundation is smaller, otherwise, the diameter of the pile foundation is larger, and, the pile holding force is matched with the pile foundation, so that the pile foundation with smaller diameter does not need to be reinforced, and the production cost can be reduced.
Specifically, the controller may be configured to control the pressure value at which the proportional valve a3 is turned on, so that the pile holding force of the pile holding cylinder is inversely related to the length of the extending piston rod of the pile holding cylinder. Generally, when a pile foundation with a large diameter is righted, the required pile holding force is larger, so that the pile holding force of the pile holding oil cylinder is inversely related to the extending length of a piston rod of the pile holding oil cylinder, a pile gripper can generate a large pile holding force when the pile foundation with a large diameter is righted, and a small pile holding force can be generated when the pile foundation with a small diameter is righted. Meanwhile, when a pile foundation with a smaller diameter is righted, pile holding force is smaller, bending moment generated by a pile holding oil cylinder can be reduced, and the possibility of damage of a pile holding device is reduced.
Alternatively, the controller may control the pressure value at which the proportional valve A3 is conducted by using a current, and the controller is used for controlling the pressure value at which the proportional valve A3 is conducted according to a predetermined relation between the current and the pile holding force of the pile holding oil cylinder. By adopting the current control proportional valve A3, the larger the current is, the larger the pressure value of the conduction of the proportional valve A3 is, and the control is conveniently carried out according to the electric signal proportional valve A3, so that the pile embracing force of the pile embracing device is adjusted.
For example, the predetermined relationship between the current and the pile holding force of the pile holding cylinder may be obtained by:
a plurality of currents with different magnitudes are input into the proportional valve A3 through the controller, a plurality of pile holding forces corresponding to the currents are detected, and a preset relation between the currents and the pile holding forces of the pile holding oil cylinders is obtained.
For example, 10 currents with different magnitudes can be sequentially input into the proportional valve a3 through the controller, and the pile-embracing force actually acting on the pile foundation by the pile-embracing oil cylinder is sequentially detected, so that 10 pile-embracing forces corresponding to the 10 currents one by one can be obtained. When the preset relation between the current and the pile holding force of the pile holding oil cylinder is obtained, the preset relation can be obtained by testing on the same pile foundation. In actual processing, other numbers of currents may be used to obtain more corresponding pile holding forces, for example, 20 currents are used to obtain 20 pile holding forces corresponding to 20 currents.
After the preset relation is obtained, the required pile embracing force is known for pile foundations with different diameters, so that when operation is carried out, according to the preset relation between the current and the pile embracing force of the pile embracing oil cylinder, the current corresponding to the required pile embracing force is determined, the determined current is adopted by the controller to control the pressure value of the conduction of the proportional valve A3, and therefore after the pile embracing oil cylinder extends to abut against the pile foundations, when the pile embracing force on the pile embracing oil cylinder exceeds the required pile embracing force, the proportional valve A3 is conducted, the pile embracing force is reduced, and therefore the pile embracing force generated by the pile embracing oil cylinder cannot exceed the required pile embracing force.
Alternatively, the predetermined relationship between the current and the pile holding force of the pile holding oil cylinder may include n currents and n pile holding forces in one-to-one correspondence. The current input by the controller to the proportional valve a3 satisfies the following equation:
I＝(F-Fi)*(Ii+1-Ii)/(Fi+1-Fi)+Ii (1)
where I is the determined current input by the controller to proportional valve A3, IiIs the ith current of n currents in the order from small to large, Ii+1Is the (i + 1) th current of the n currents in the order from small to large, F is the required pile holding force, FiIs the ith pile holding force F in the n pile holding forces in the order from small to bigi+1Is the (i + 1) th pile-embracing force in the n pile-embracing forces in the order from small to large, Fi≤F≤Fi+1I is more than or equal to 1 and less than or equal to n-1, n is more than or equal to 2, and i and n are integers.
Since the required pile holding force may not be included in the n pile holding forces, a current corresponding to any required pile holding force may be determined according to equation (1).
The pile holding force required for pile foundations of different diameters is generally known. The required pile holding force generally satisfies the following equation:
F＝Fmax-Fmax*2S/(D1-D2) (2)
wherein, FmaxThe maximum pile-holding force generated by the pile-holding oil cylinder, S is the extending length of the piston rod of the pile-holding oil cylinder, and D1Maximum diameter of pile foundation adapted to pile gripper, D2The minimum diameter of the pile foundation adapted to the pile gripper.
The pile holding force required by pile foundations with different diameters can be determined according to equation (2). Of course, the magnitude of the pile holding force may be determined in other ways, such as construction experience and the like. In actual production, because the influence of the structure, the material of pile foundation etc. required pile power may be different, can confirm required pile power according to the experience in the work progress. Under the condition of lacking construction experience, the required pile holding force can be determined according to equation (2), and the determined pile holding force can be increased or decreased according to the accumulation of experience on the basis of the pile holding force determined by equation (2), so that the pile holding force is more in line with the actual production requirement.
As shown in fig. 3, the control system may also include a relief valve a 4. An oil inlet and a pilot oil port of the safety valve A4 are communicated with a rod cavity of the pile embracing oil cylinder, and an oil outlet of the safety valve A4 is communicated with a third oil port of the control system. Therefore, the pressure of a rod cavity of the pile embracing oil cylinder can be prevented from being overlarge, and when the pressure of the rod cavity of the pile embracing oil cylinder is overlarge, the safety valve A4 is switched on, so that the pressure in the rod cavity of the pile embracing oil cylinder is reduced, and the damage of the pile embracing oil cylinder is avoided.
Optionally, the control system may also include a first check valve a 5. The oil inlet of the first one-way valve A5 is communicated with the oil outlet of the proportional valve A3, and the oil outlet of the first one-way valve A5 is communicated with the oil outlet of the safety valve A4. If the pressure in the rodless cavity of the pile-embracing oil cylinder is too high, and the proportional valve A3 is conducted, hydraulic oil can be discharged through the third oil port of the control system through the first check valve A5, and therefore the pressure in the rodless cavity of the pile-embracing oil cylinder is reduced.
As shown in fig. 3, the control system may also include a second check valve a 6. An oil inlet of the second one-way valve A6 is communicated with an oil outlet of the proportional valve A3, and an oil outlet of the second one-way valve A6 is communicated with a rod cavity of the pile-embracing oil cylinder. The second check valve A6 is arranged, so that hydraulic oil in a rod cavity of the pile-embracing oil cylinder can be prevented from flowing back to a rodless cavity of the pile-embracing oil cylinder, and the pressure of the rodless cavity of the pile-embracing oil cylinder and the pressure of the rod cavity of the pile-embracing oil cylinder can be more stable.
Embodiments of the present invention also provide a pile gripper, which may include a control system of the pile gripper shown in fig. 3.
The hydraulic control valve is provided with a first hydraulic control one-way valve and a second hydraulic control one-way valve. An oil inlet of a first hydraulic control one-way valve is communicated with a first oil port of a control system, an oil outlet of the first hydraulic control one-way valve is communicated with a rodless cavity of a pile embracing oil cylinder, a control oil port of the first hydraulic control one-way valve is communicated with a second oil port of the control system, an oil inlet of a second hydraulic control one-way valve is communicated with a second oil port of the control system, an oil outlet of the second hydraulic control one-way valve is communicated with a rod cavity of the pile embracing oil cylinder, and a control oil port of the second hydraulic control one-way valve is communicated with a first oil port of the control system, so that hydraulic oil can be injected into the rodless cavity of the pile embracing oil cylinder through the first oil port of the control system, the hydraulic oil in the rod cavity of the pile embracing oil cylinder is discharged from the second oil port of the control system through the second hydraulic control one-way valve, a piston rod of the pile embracing oil cylinder is controlled to stretch out, the rod cavity of the pile embracing oil cylinder is injected, thereby controlling the retraction of the piston rod of the pile embracing oil cylinder. The pile embracing force adjusting device is characterized in that a pilot oil port and an oil inlet of a proportional valve are communicated with a rodless cavity of a pile embracing oil cylinder, an oil outlet of the proportional valve is communicated with a rod cavity of the pile embracing oil cylinder, the pressure of the rodless cavity of the pile embracing oil cylinder can be limited through the proportional valve, when the pressure of the rodless cavity of the pile embracing oil cylinder reaches the pressure value of the conduction of the proportional valve, the rodless cavity and the rod cavity of the pile embracing oil cylinder are communicated through the proportional valve, the larger the pressure value of the conduction of the pile embracing oil cylinder is, the larger the pile embracing force provided by the pile embracing oil cylinder is, the pressure value of the conduction of the proportional valve can be controlled through a controller, the length of the extension of a piston rod of the pile embracing oil cylinder is detected through a stroke sensor, the longer the length of the extension of the piston rod indicates that the diameter of a pile foundation is smaller, otherwise, the diameter of the pile foundation is larger, and, the pile holding force is matched with the pile foundation, so that the pile foundation with smaller diameter does not need to be reinforced, and the production cost can be reduced.
Optionally, a scanner 201 may be provided on the pile gripper support 20 of the pile gripper, the scanner 201 being configured to scan the pile foundation to determine the verticality of the pile foundation.
As shown in fig. 1, two scanners 201 may be disposed on the pile gripper support 20, each of the two scanners 201 takes 3 points on the pile foundation, the central coordinates of the upper portion of the pile foundation are determined by the 3 points scanned by one of the scanners 201, the central coordinates of the lower portion of the pile foundation are determined by the 3 points scanned by the other scanner 201, and the perpendicularity of the pile foundation can be obtained by the central coordinates of the upper portion of the pile foundation and the central coordinates of the lower portion of the pile foundation, so that the pile foundation can be conveniently centered.
The working process of the pile gripper is briefly described below with reference to the pile gripper shown in fig. 1:
after the pile foundation is surrounded by the two groups of embracing arms, the embracing pile oil cylinders on one group of embracing arms are controlled to extend out to abut against the pile foundation, and the extending lengths of the plurality of embracing pile oil cylinders are the same. And controlling the pressure value of the conduction of the proportional valve according to the extending length of the piston rod of the pile embracing oil cylinder, and adjusting the pile embracing force of the pile embracing oil cylinder to enable the pile embracing force of the pile embracing oil cylinder to be matched with the pile foundation. And then controlling pile embracing oil cylinders on the other group of embracing arms to stretch out to push the pile foundation, and measuring the verticality of the pile foundation in the process of pushing the pile foundation by the pile embracing oil cylinders until the verticality meets the construction requirement.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A control system of a pile gripper is characterized by comprising a first hydraulic control one-way valve (A1), a second hydraulic control one-way valve (A2), a proportional valve (A3), a controller and a stroke sensor (3031), wherein an oil inlet of the first hydraulic control one-way valve (A1) is communicated with a first oil port of the control system, an oil outlet of the first hydraulic control one-way valve (A1) is communicated with a rodless cavity of a pile gripper oil cylinder, a control oil port of the first hydraulic control one-way valve (A1) is communicated with a second oil port of the control system, an oil inlet of the second hydraulic control one-way valve (A2) is communicated with a second oil port of the control system, an oil outlet of the second hydraulic control one-way valve (A2) is communicated with a rod cavity of the pile gripper oil cylinder, a control oil port of the second hydraulic control one-way valve (A2) is communicated with the first oil port of the control system, a pilot oil port of the proportional valve (A3) and a rodless cavity of the pile gripper oil cylinder are communicated with the rodless cavity, an oil outlet of the proportional valve (A3) is communicated with a rod cavity of the pile embracing oil cylinder, an electric control end of the proportional valve (A3) and the stroke sensor (3031) are connected with the controller, the stroke sensor (3031) is used for detecting the extending length of a piston rod of the pile embracing oil cylinder, the controller is used for controlling the pressure value of the conduction of the proportional valve (A3) according to the extending length of the piston rod of the pile embracing oil cylinder so as to adjust the pile embracing force of the pile embracing oil cylinder, so that the pile embracing force of the pile embracing oil cylinder is inversely related to the extending length of the piston rod of the pile embracing oil cylinder, the controller controls the pressure value of the conduction of the proportional valve (A3) by adopting current, the controller is used for controlling the pressure value of the conduction of the proportional valve (A3) according to the preset relation between the current and the pile embracing force of the pile embracing oil cylinder, and the preset relation between the current and the pile embracing force of the pile embracing oil cylinder is obtained by adopting the following mode:
a plurality of currents with different magnitudes are input to the proportional valve (A3) through the controller, a plurality of pile holding forces corresponding to the currents are detected, and a preset relation between the currents and the pile holding forces of the pile holding oil cylinders is obtained.
2. The control system according to claim 1, wherein the predetermined relationship between the current and the pile-embracing force of the pile-embracing cylinder includes n currents and n pile-embracing forces in one-to-one correspondence, and the current input by the controller to the proportional valve (a3) satisfies the following equation:
I＝(F-Fi)*(Ii+1-Ii)/(Fi+1-Fi)+Ii
wherein I is the determined current input by the controller to the proportional valve (A3), IiIs the ith current, I, in the order from small to large in the n currentsi+1The current is the (i + 1) th current in the n currents in the order from small to large, F is the required pile holding force, and F is the required pile holding forceiThe ith pile holding force F is the ith pile holding force of the n pile holding forces in the order from small to largei+1Is the (i + 1) th pile embracing force in the n pile embracing forces according to the sequence from small to large, Fi≤F≤Fi+1I is more than or equal to 1 and less than or equal to n-1, n is more than or equal to 2, and i and n are integers.
3. A control system according to claim 2, wherein the required pile holding force satisfies the equation:
F＝Fmax-Fmax*2S/(D1-D2)
wherein, FmaxThe maximum pile holding force generated by the pile holding oil cylinder, S is the extending length of a piston rod of the pile holding oil cylinder, and D1Maximum diameter of pile foundation adapted to said pile gripper, D2The minimum diameter of the pile foundation adapted to the pile gripper.
4. The control system according to any one of claims 1 to 3, further comprising a safety valve (A4), wherein an oil inlet and a pilot oil port of the safety valve (A4) are communicated with the rod cavity of the pile embracing cylinder, and an oil outlet of the safety valve (A4) is communicated with a third oil port of the control system.
5. The control system of claim 4, further comprising a first one-way valve (A5), an oil inlet of the first one-way valve (A5) being in communication with an oil outlet of the proportional valve (A3), an oil outlet of the first one-way valve (A5) being in communication with an oil outlet of the relief valve (A4).
6. The control system of a pile gripper according to any one of claims 1 to 3, further comprising a second one-way valve (A6), wherein an oil inlet of the second one-way valve (A6) is communicated with an oil outlet of the proportional valve (A3), and an oil outlet of the second one-way valve (A6) is communicated with a rod cavity of the pile gripper cylinder.
7. A pile gripper comprising a control system of a pile gripper according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910089700.5A CN109881676B (en) | 2019-01-30 | 2019-01-30 | Pile gripper's control system and pile gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910089700.5A CN109881676B (en) | 2019-01-30 | 2019-01-30 | Pile gripper's control system and pile gripper |
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