CN111794225B - Automatic pile hoisting method - Google Patents
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- CN111794225B CN111794225B CN202010656047.9A CN202010656047A CN111794225B CN 111794225 B CN111794225 B CN 111794225B CN 202010656047 A CN202010656047 A CN 202010656047A CN 111794225 B CN111794225 B CN 111794225B
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- 230000007246 mechanism Effects 0.000 description 7
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
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- 238000003032 molecular docking Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
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Abstract
The application discloses an automatic pile hoisting method, which comprises the following steps of (S1) determining a reference plane and a highest reference point according to the related parameters of each current pile hoisting adjusting assembly and the parameters of a pile to be hoisted, wherein the reference plane is a horizontal plane where the bottom surface of the pile is located when the pile is vertically suspended on a pile connecting piece of the pile hoisting adjusting assembly, and the highest point of the reference plane is a point of the top plane of the pile connecting piece which is farthest away from the reference plane when the pile is vertically suspended on the pile connecting piece; (S2) with the reference plane and the highest point as a reference plane and a reference point, the length of each lifting rope stored when the bottom surface of the pile is located on the reference plane is measured; (S3) releasing the lifting ropes through the rope retracting devices of each pile hanging adjusting assembly to allow each pile connecting member to be connected to the lifted member on the pile; (S4) automatically connecting the hung piece and the pile connecting piece by controlling the mechanical arm; and (S5) retracting the lifting ropes to the length to be measured of each lifting rope by controlling the rope retracting devices.
Description
Technical Field
The invention relates to a pile hoisting method of a pile driving barge, in particular to an automatic pile hoisting method.
Background
The pile driving boat is offshore pile driving equipment, a vertical pile is installed in an undersea soil layer through the pile driving boat, and after the vertical pile is installed, a wind power generation and other operation platforms can be installed on the vertical pile. With the demand of expanding the openness and the deep development of coastal areas and the push of the strategic layout of the national economic circle around the sea, the water engineering projects in coastal areas are increasing day by day, and in order to adapt to the construction of engineering projects such as deep water harbor wharfs, cross-sea bridges, offshore wind power foundations and the like, the pile driving ships gradually develop towards large-scale and automatic directions. Meanwhile, the requirements of offshore pile foundation engineering on the operation precision and efficiency of the pile driving barge are continuously improved, but the pile foundation engineering construction is influenced by conditions such as wind power, ocean current, water depth, geology and the like and is limited by environmental conditions, and the traditional pile driving construction process and equipment cannot meet the requirements on safety and construction period.
The piling process of the piling ship on the sea needs to be completed, wherein the processes of positioning the piling ship and the pile transporting ship, digging the pile, lifting the pile, measuring and positioning, self-sinking and stabilizing the pile, deviation adjustment, hammering and sinking, stopping hammering and checking the pile and the like. At present, the pile-lifting boat mainly adopts the modes of manual experience and real-time observation, an operator cooperates with the observation of an observer according to the previous operation experience to slowly adjust the position and the posture of the pile in the pile-lifting process, a large amount of time is consumed, and the accuracy of final pile erection is difficult to guarantee. Particularly, the length and the diameter of piles which need to be driven into the sea foundation are different according to different sea foundation addresses and different requirements at sea. This requires that the piling vessel be able to hoist and position piles of different lengths and diameters. However, in the prior art, the pile driving ship and the pile transporting ship are positioned, scribed, hung and measured and positioned by manual experience. This tends to result in poor accuracy and efficiency.
Most of the existing patents do not pay attention to improving the efficiency and accuracy of the pile hanging process, for example, in patents CN201910531350.3 and CN201910188578.7, the pile hanging process in the whole pile driving process of a pile driving ship is only mentioned roughly, and how to hang the pile is not described; in patents CN201710303120.2 and CN201310267925.8, the safety of the pile hanging process is ensured by adding devices, but there is no concern about how to improve the pile hanging efficiency.
In addition, the pile embracing mechanism arranged on the pile driving ship is fixed relative to the height between decks of the pile embracing ship. Since the length of the pile is sometimes short, when the pile on the pile driving vessel is transported to the pile driving vessel and hoisted on the pile driving vessel, it is necessary to manually observe the relative position between the pile and the pile embracing mechanism so that the hoisted pile can be embraced by the pile embracing mechanism. However, since the pile embracing mechanism is usually installed outside the pile frame, the sight of the operator on the pile driving vessel is easily blocked by the pile frame, so that pile lifting needs to be repeated many times, which inevitably results in the reduction of pile lifting efficiency.
Furthermore, since the piles are transported by the pile transport vessels before being hoisted, the piles are placed transversely on the pile transport vessels in order to transport the piles more and to ensure the safety during transport. Thus, when it is desired to erect a pile in a vertical direction from the pile driving vessel, the pile must also be erected. Piles are often heavy and can easily cause injury to workers once they fall down. In addition, the pile hanging mode also reduces the efficiency of pile hanging.
More importantly, because the piles are different in length, the positions of the piles with different lengths relative to the pile driving boat are different after the piles are hoisted, and therefore the positions of the bottom surfaces of the hoisted piles cannot be kept at the same horizontal plane, and troubles are brought to subsequent piling.
Disclosure of Invention
It is an object of the present invention to provide an automatic pile hoisting method in which the pile driving barge can automatically right the pile.
Another object of the invention is to provide an automatic pile driving method, wherein the pile driving vessel can be adapted to right piles of different diameters and different lengths.
Another object of the present invention is to provide a pile driving barge and a method for lifting the pile driving barge, in which the pile driving barge can rapidly adjust the pile driving of the pile driving barge to a lifting position, thereby improving the efficiency of pile lifting.
Another object of the present invention is to provide an automatic pile driving method, wherein the pile driving barge comprises a pile embracing mechanism, wherein the pile driving barge can automatically hoist the bottom surface of the pile to a vertical position lower than the pile embracing mechanism, so that piles of different sizes can be embraced by the pile embracing mechanism.
In order to achieve at least one of the above objects, the present invention provides an automatic pile hoisting method, wherein the automatic pile hoisting method comprises the steps of:
(S1) determining a reference plane and a highest reference point according to the related parameters of each current pile hanging adjusting assembly and the parameters of a pile to be hung, wherein the reference plane is a horizontal plane where the bottom surface of the pile is located when the pile is vertically hung on a pile connecting piece of the pile hanging adjusting assembly, and the highest point of the reference plane is a point of the top plane of the pile connecting piece which is farthest away from the reference plane when the pile is vertically hung on the pile connecting piece;
(S2) with the reference plane and the highest point as reference planes and reference points, the length of each lifting rope when the bottom surface of the pile is located on the reference plane is planned to be measured;
(S3) releasing the lifting rope by the rope retracting device of each pile lifting adjusting assembly to allow each of the pile connecting members connected to the ends of the lifting rope to be respectively connected to the lifted member on the pile;
(S4) automatically connecting the hoisted piece and the pile connecting piece by controlling a mechanical arm; and (S5) retracting the lifting ropes to the length of each lifting rope to be measured by controlling the rope retracting devices so as to lift the pile.
According to one embodiment of the invention, the automatic pile hoisting method comprises the following steps:
before the step (S5), laying the pile flat to a horizontal plane parallel to the reference plane by controlling the lifting ropes.
According to an embodiment of the invention, the horizontal plane is an x-y plane defined by the reference plane, and the center point of the pile coincides with an origin of an x-y-z plane defined by the x-y plane and a z-axis formed by a vertical direction perpendicular to the x-y plane.
According to one embodiment of the invention, the automatic pile hoisting method comprises the following steps:
the pile is lifted at least a predetermined height along the z-axis by controlling the hoist line.
According to an embodiment of the present invention, the predetermined height is
According to an embodiment of the invention the height of the reference plane relative to the sea level is smaller than the height of a pile gripper arranged on the pile driving vessel relative to the sea level.
According to an embodiment of the invention, the step (S5) comprises:
and rotating the pile for 90 degrees by controlling the rope winding and unwinding device by taking the y axis as a rotating shaft and taking the center of the pile lifted to the preset height as a rotating center so as to hoist the pile.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.
Drawings
Figure 1 shows a side view of the pile driving vessel according to the invention.
Figure 2 shows a schematic view of the pile of the invention when it is being lifted from a horizontal position.
Detailed Description
The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
A piling vessel 100 according to a preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings of fig. 1-2. In particular, the pile driving vessel 100 comprises a hull 10, wherein the hull 10 has a deck 11. The piling vessel 100 further includes a control device 20, a pile frame 30, and at least three pile suspension adjustment assemblies 40, namely a first pile suspension adjustment assembly 40a, a second pile suspension adjustment assembly 40b, and a third pile suspension adjustment assembly 40c.
Each of the pile adjustment assemblies 40 includes a pile member 41, a lifting rope 42 and a rope takeup and retraction device 43. One end of the lifting rope 42 of each of the pile adjustment assemblies 40 is retractably connected to the rope reel 43. The stake attaching member 41 of each stake adjusting assembly 40 is secured to the other end of the lifting rope 42. The rope retraction device 43 of each of the pile adjustment assemblies 40 is secured to the deck 11.
That is, the first stake adjusting assembly 40a includes a first stake member 41a, a first lifting rope 42a, and a first rope takeup and release device 43a. The second pile adjustment assembly 40b includes a second pile connecting member 41b, a second lifting rope 42b and a second rope reel 43b. The third pile driving adjustment assembly 40c includes a third pile connecting member 41c, a third lifting rope 42c and a third rope retracting device 43c.
The piling barge 100 also includes a belaying device 50. After one end of each of the first, second, and third lifting ropes 42a, 42b, and 42c passes through the rope binder 50, the first, second, and third lifting ropes 42a, 42b, and 42c are fixedly connected to the first, second, and third pile members 41a, 41b, and 41c, respectively, so that the stress points of the first, second, and third lifting ropes 42a, 42b, and 42c can be concentrated on the rope binder 50.
The pile frame 30 is supported to the hull 10 in such a manner as to be maintained perpendicular to the deck 11, to form a high end 31 at a predetermined height above the deck 11 of the hull 10. After each lifting rope 42 is spanned over the high end 31 of the pile frame 30, the end of the lifting rope 42 to which the pile connecting member 41 is fixed is suspended vertically from the high end 31 by gravity.
Preferably, the high end 31 of the pile frame 30 is provided with at least one set of fixed pulleys 60, wherein the lifting rope 42 is supported by the fixed pulleys 60 when passing over the high end 31 of the pile frame 30. Thereby allowing the sling 42 to slide quickly when stowed or released.
The first, second, and third rope reel 43a, 43b, and 43c are controllably connected to the control device 20, respectively, so that each of the first, second, and third lifting ropes 42a, 42b, and 42c can be automatically reeled in and out by the control device 20.
Referring to fig. 2, the pile connecting member 41 is provided for connecting piles 800 to be fixed. It should be noted that each pile 800 is provided with at least three suspended members 801, specifically, a first suspended member 801a, a second suspended member 801b, and a third suspended member 801c, which are respectively used for abutting against one pile connecting member 41.
Two of the suspended members 801 are symmetrically disposed at the same height position on both sides of the pile 800 when vertically placed, and illustratively, the first suspended member 801a and the third suspended member 801c are symmetrically disposed at the same height position on both sides of the pile 800 when vertically placed. Another of the connectors is provided at another location on the pile 800 when in the vertical position, such as the second suspended member 801b.
The second suspended member 801b is at the same height as one of the first suspended member 801a and the second suspended member 801b when the pile 800 is horizontally placed, such as in the present example where the second suspended member 801b is at the same height as the first suspended member 801a when the pile 800 is horizontally placed.
For example, the first suspended member 801a, the second suspended member 801b, and the third suspended member 801c may be butted against the first pile connecting member 41a, the second pile connecting member 41b, and the third pile connecting member 41c, respectively. The first suspended member 801a, the second suspended member 801b, and the third suspended member 801c may be manually engaged with the first pile member 41a, the second pile member 41b, and the third pile member 41c, or may be automatically engaged with the robot arm, and the present invention is not limited thereto. Preferably, the docking is performed automatically by a robotic arm.
It should be noted that the pile connecting member 41 is configured as a hook, and correspondingly, the hung member 801 on the pile 800 is a hanging lug. The control device 20 may be implemented as a control apparatus such as a computer having a control function. The rope reel 43 is embodied as a winch.
The control means 20 is arranged to automatically hoist the pile in a predetermined manner. The method for automatically hoisting the pile by the control device 20 comprises the following steps:
determining a reference plane 900 and a highest reference point P according to the parameters of each pile hanging adjustment assembly 40 and the parameters of the pile, wherein the reference plane 900 is a horizontal plane on which the bottom surface of the pile 800 is located when the pile 800 is vertically suspended from the pile connecting member 41, and the highest reference point P is a point of the top plane of the pile connecting member 41 which is farthest from the reference plane 900 when the pile 800 is vertically suspended from the pile connecting member 41.
Regardless of the diameter and length of the pile 800, the bottom surface of the pile 800 remains at the reference plane 900 after the pile 800 is straightened. After the pile 800 is suspended, the axis 800 of the pile 800 will be perpendicular to the reference plane 900. Thus, the reference plane 900 may be defined as an x-y plane and the axial direction of the pile 800 may be the z-axis.
However, since the length and diameter of the pile 800 are different, the height of the highest reference point P with respect to the hull 10 is different after the pile 800 is suspended. And the reference plane 900 is always in the x-y plane, so that, although the diameter and length of the pile 800 are different, as long as the bottom surface of the pile is always maintained in the reference plane 900 after the pile is suspended, the bottom surface of the pile can be maintained in the reference plane, that is, the x-y plane, regardless of the length and diameter of the pile when the pile is suspended.
The method for automatically hoisting the pile by the control device 20 further comprises the following steps: the length of each of the lifting cords 42 that is stored when the bottom surface of the pile 800 is at the datum plane 900 is to be measured.
When the bottom surface of the pile 800 needs to be adjusted to the reference plane 900, the first suspended piece 801a, the second suspended piece 801b, and the third suspended piece 801c on the pile 800 are connected to the first pile connecting piece 41a, the second pile connecting piece 41b, and the third pile connecting piece 41c, respectively. The control device 20 controls the first rope winding and unwinding device 43a, the second rope winding and unwinding device 43b, and the third rope winding and unwinding device 43c to wind and unwind the first lifting rope 42a, the second lifting rope 42b, and the third lifting rope 42c respectively according to the lengths to be measured at which the first lifting rope 42a, the second lifting rope 42b, and the third lifting rope 42c are wound and unwound, so that the first lifting rope 42a, the second lifting rope 42b, and the third lifting rope 42c can adjust the pile 800 at the same time, and the bottom surface of the pile 800 is located on the reference plane 900.
For example, after the pile 800 is suspended, the lengths of the first and third lifting ropes 42a and 42c between the fixed pulley 60 and the point P are Δ h 1 Wherein, Δ h 1 ＝H-h 1 。
H is a vertical distance between a center of the fixed sheave 60 supporting the lifting rope 42b at the high end 31 and the reference plane 900;
h 1 is the height of the point P from the reference plane 900. And is
At this time, the coordinate of the point P in the x-y-z coordinate system is (0, h) 1 )。
The automatic pile hoisting method further comprises the following steps:
releasing the first, second, and third lifting ropes 42a, 42b, and 42c to allow the first, second, and third piles 41a, 41b, and 41c to which the ends of the first, second, and third lifting ropes 42a, 42b, and 42c are connected to be connectable to the first, second, and third hoisted members 801a, 801b, and 801c on the pile 800, respectively; and
the first pile driving element 41a, the second pile driving element 41b, and the third pile driving element 41c are automatically connected to the first suspended element 801a, the second suspended element 801b, and the third suspended element 801c of the pile 800 by controlling a robot arm.
Preferably, when it is desired to lift the pile 800 in a horizontal position on the pile-carrying vessel. First, the first lifting rope 42a, the second lifting rope 42b, and the third lifting rope 42c can be released by controlling the first rope housing 43a, the second rope housing 43b, and the third rope housing 43c, respectively, so that the first pile member 41a, the second pile member 41b, and the third pile member 41c of the first lifting rope 42a, the second lifting rope 42b, and the third lifting rope 42c can be connected to the first suspended member 801a, the second suspended member 801b, and the third suspended member 801c of the pile 800, respectively.
The first, second and third rope retraction devices 43a, 43b, 43c then automatically control the retraction of the first, second and third lift ropes 42a, 42b, 42c to lift the pile 800 off the pile vessel until the axis of the pile 800 remains on the datum plane 900. Preferably in the present invention the axis of the pile 800 when it is lifted off the pile carrier coincides with the y-axis, the centre of the pile 800 being the origin of the x-y-z coordinate system, when in the reference plane 900.
Then, the first lifting rope 42a, the second lifting rope 42b and the third lifting rope 42c are controlled to rotate 90 degrees in a vertical plane by taking the center of the pile 800 as an axis point, and the first lifting rope 42a, the second lifting rope 42b and the third lifting rope 42c respectively reach the planned winding and unwinding lengths, so that the pile 800 is lifted.
It will be appreciated that, since the first, second and third lifting cords 42a, 42b, 42c are ultimately at the desired stored lengths, the bottom surface of the pile 800 will be at the datum plane 900 after the pile 800 is erected.
It is worth mentioning that, in the above manner, no matter how long and the diameter of the pile 800 are, the bottom surface of the pile 800 can always maintain the same horizontal height after the pile 800 is automatically suspended. In this way, subsequent piling operations are facilitated.
It is further worth mentioning that the pile driving barge 100 further comprises a pile gripper 70, wherein the height of the reference plane 900 relative to the sea level is lower than the height of the pile gripper 70 relative to the sea level. Thus, after the pile 800 is suspended in the above manner, the pile 800 is always in a position where it can be clasped by the pile clasper 70.
In another example of the present invention, after the axial direction of the pile 800 is located at the reference plane 900, the pile 800 is usually lifted in order that the pile 800 does not contact the sea surface during the subsequent rotation, which would result in an excessive pressure on the pile frame 30.
Specifically, when the axial direction of the pile 800 is located in the reference plane 900 and the axis of the pile 800 coincides with the z-axis, the pile 800 is lifted at least a predetermined height along the z-axis. Preferably, the predetermined height is:
When the pile 800 is hoisted, the first lifting rope 42a and the second lifting rope 42b are synchronously contracted, wherein the first lifting rope 42a and the second lifting rope 42b are stressed the same, and the third lifting rope 42c is always kept in a loose state. When the pile 800 is lifted at least the predetermined height along the z-axis, the end of the first lifting rope 42a connected to the first pile connecting member 41a and the end of the second lifting rope 42b connected to the second pile connecting member 41b are separated from point P by a distance of
The distance from point P to the end of the third lifting rope 42c connected to the third pile connecting member 41c is:
and the length of the first lifting rope 42a and the second lifting rope 42b which are synchronously contracted is
Then, the third steel wire 42c rotates the pile 800 by 90 degrees with the y-axis as a rotation axis and the center of the pile 800 lifted by the predetermined height as a rotation center, and the pile 800 is just in the hanging state.
At this time, when the pile 800 is turned from the horizontal state to the vertical state, the lengths of the first lifting rope 42a, the second lifting rope 42b, and the third lifting rope 42c that need to be stored are:
wherein b is 3 The distance from the center of the hung part 801 to the origin of the pile coordinate system,
it will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments, and any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.
Claims (3)
1. An automatic pile hoisting method is characterized by comprising the following steps:
(S1) determining a reference plane and a highest reference point according to relevant parameters of each current hanging pile adjusting assembly and parameters of a pile to be lifted, wherein each hanging pile adjusting assembly comprises a pile connecting piece, a lifting rope and a rope retracting device, at least three hung pieces, specifically a first hung piece, a second hung piece and a third hung piece are arranged on each pile and are respectively used for butting one pile connecting piece, the two hung pieces are symmetrically arranged at the same height position on two sides of the pile in a vertical placement state, the other pile connecting piece is arranged at the other position on the pile in the vertical placement state, the first hung piece, the second hung piece and the third hung piece are respectively connected to one pile connecting piece, specifically the first pile connecting piece, the second pile connecting piece and the third pile connecting piece, the first pile connecting piece, the second pile connecting piece and the third pile connecting piece are connected to the lifting rope, specifically the first lifting rope, the second lifting rope and the third hanging rope are connected to the pile connecting piece, the first pile connecting piece, the second hanging rope and the third pile connecting piece are connected to the lifting rope, the reference point of the hanging pile connecting piece is far away from the top of the hanging pile connecting plane, and the highest reference point of the hanging pile connecting plane is the suspended piece when the hanging pile is located on the vertical plane;
(S2) with the reference plane and the highest reference point as reference surfaces and reference points, the length of each lifting rope which is stored when the bottom surface of the pile is located on the reference plane is planned to be measured;
(S3) releasing the lifting rope by the rope reel of each pile driving adjustment assembly to allow each pile connecting member connected to the end of the lifting rope to be respectively connected to the lifted member on the pile;
(S4) automatically connecting the hoisted piece and the pile connecting piece by controlling a mechanical arm; and
(S5) retracting the lifting ropes to the length of each lifting rope to be measured by controlling the rope retracting devices so as to correct the pile;
prior to said step (S5), laying said pile flat to a horizontal plane parallel to said reference plane by controlling said lifting ropes;
the height of the reference plane relative to the sea level is smaller than that of a pile gripper arranged on the pile driving barge relative to the sea level;
wherein the horizontal plane is an x-y plane defined by the reference plane and the center point of the pile coincides with an origin of an x-y-z coordinate system defined by the x-y plane and a z-axis formed by a vertical direction perpendicular to the x-y plane;
the automatic pile hanging method comprises the following steps:
lifting the pile at least a predetermined height along the z-axis by controlling the lifting line,
wherein the diameter of the pile is d 1 Wherein the length b of the pile 1 (ii) a When the pile is lifted at least the predetermined height along the z-axis, the end of the first lifting rope connected to the first pile element and the end of the second lifting rope connected to the second pile element are each spaced from the highest reference point by a distance of
The distance from the end part of the third lifting rope connected to the third pile connecting piece to the highest datum point is as follows:
the length of the first lifting rope and the second lifting rope which are synchronously contracted is
Taking the y axis as a rotating shaft and the center of the pile after the preset height is lifted as a rotating center, and rotating the pile for 90 degrees to ensure that the pile is just in a lifting state;
when the pile is turned to a vertical state from a horizontal state, the lengths of the first lifting rope, the second lifting rope and the third lifting rope which need to be retracted are as follows:
wherein b is 3 Is the distance from the center of the hung part to the origin of the pile coordinate system,
theta is the included angle between the central line of the pile and the horizontal plane of the piling ship in the rotating process,
h 1 is the height of the highest reference point from the reference plane;
the distance between the center of each hung part and the cylindrical surface of the pile is d 2 ；
The distance from the center of the hung part to the center of the pile body is b 2 ，
h 2 The lengths of the first pile connecting member and the third pile connecting member are the same.
2. The automatic pile hanging method according to claim 1, characterized in that the step (S5) comprises:
and rotating the pile for 90 degrees by controlling the rope winding and unwinding device by taking the y axis as a rotating shaft and taking the center of the pile after the preset height is lifted as a rotating center so as to correct the pile.
3. The automatic pipe piling method of claim 2, wherein one end of each of the first, second and third lifting ropes is fixedly connected to the first, second and third pile connecting members after passing through a rope binder, so that the stress points of the first, second and third lifting ropes are concentrated at the rope binder.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2647819Y (en) * | 2003-09-26 | 2004-10-13 | 润弘精密工程事业股份有限公司 | Self-rotary sling |
| CN103738834B (en) * | 2013-12-23 | 2016-02-17 | 攀钢集团工程技术有限公司 | A kind of adjustable 3 hanging methods |
| KR101743358B1 (en) * | 2015-09-08 | 2017-06-02 | 원병천 | Pile lifting device |
| CN106395628B (en) * | 2015-11-30 | 2018-01-26 | 中国化学工程第三建设有限公司 | A kind of method of the aerial group pair of heavy tower equipment segmental hoisting |
| CN105858435A (en) * | 2016-04-26 | 2016-08-17 | 中国海洋石油总公司 | Technology for hoisting strip-shaped inclined steel structures in place through single crane |
| CN207419473U (en) * | 2017-11-22 | 2018-05-29 | 盐城市双强管桩有限公司 | A kind of crawler-belt type full-automatic piling machine |
| CN207891885U (en) * | 2018-02-05 | 2018-09-21 | 中交天航滨海环保浚航工程有限公司 | A kind of Level System for the control of broken stone pile machine driving depth |
| KR102155651B1 (en) * | 2018-07-19 | 2020-09-15 | 주식회사 협성기초기술 | Pile lifting device and construction method using the same |
| CN109208596A (en) * | 2018-11-06 | 2019-01-15 | 江苏龙源振华海洋工程有限公司 | One word of one kind turns over technique |
| CN109914408B (en) * | 2019-03-13 | 2020-06-02 | 江苏科技大学 | Pile driving ship and attitude adjusting, positioning control and pile driving method thereof |
| CN110106791A (en) * | 2019-05-24 | 2019-08-09 | 中铁六局集团有限公司 | The construction method of CFST Arch Bridge stull hoist controlling |
| CN110453709A (en) * | 2019-06-24 | 2019-11-15 | 中交第三航务工程局有限公司 | A kind of offshore wind farm large-diameter pile process for sinking |
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2020
- 2020-07-09 CN CN202010656047.9A patent/CN111794225B/en active Active
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Denomination of invention: An automatic pile lifting method Granted publication date: 20221021 Pledgee: Bank of Communications Ltd. Shanghai Xuhui sub branch Pledgor: SHANGHAI XIONGCHENG MARINE ENGINEERING CO.,LTD. Registration number: Y2024310000070 |