CN115704216A

CN115704216A - Construction method of vibroflotation gravel pile machine

Info

Publication number: CN115704216A
Application number: CN202110921354.XA
Authority: CN
Inventors: 孙亮; 赵军; 汤勇军; 韩伟; 石峰; 曹杰; 肖恩尚; 徐方才; 张家俊; 丁海龙; 刘保柱; 牟毓; 周建华
Original assignee: Sinohydro Foundation Engineering Co Ltd
Current assignee: Sinohydro Foundation Engineering Co Ltd
Priority date: 2021-08-11
Filing date: 2021-08-11
Publication date: 2023-02-17

Abstract

The invention discloses a construction method of a vibroflotation gravel pile machine, which comprises the following steps: automatically guiding the vibroflotation gravel pile machine to the pile point to be constructed according to the pile point to be constructed and the longitude and latitude information of the vibroflotation gravel pile machine, and aligning the vibroflotation device system to the pile point to be constructed; after the vibroflotation system is aligned with a construction pile point, adjusting the verticality of the vibroflotation system, and enabling the vibroflotation system to vertically carry out vibroflotation hole-forming construction on the construction pile point; in the process of carrying out hole forming construction on a construction pile point, regulating the flow of the drained water and the pressure of the drained gas of an automatic feeding system for hole forming construction under the action of the vibroflotation system according to the current stratum compactness, and detecting the verticality of the vibroflotation system in real time so as to regulate the verticality of the vibroflotation system according to the detected verticality deviation; after the pile hole is formed through hole forming construction, automatic feeding is carried out in the pile hole meeting the verticality requirement through a loader, and the vibro-replacement gravel pile meeting the verticality requirement and the preset pile diameter requirement is formed through vibro-replacement system construction. The method of the invention has the advantages that the pile driver is automatically in place, the method is suitable for the condition of poor visual field, water and gas are accurately controlled under different strata, automatic feeding is carried out, the weight of stone materials is dynamically measured in real time, and the vibration-impact gravel pile with uniform and continuous pile diameter and the verticality meeting the requirement can be formed.

Description

Construction method of vibroflotation gravel pile machine

Technical Field

The invention relates to the field of vibroflotation pile construction, in particular to a vibroflotation gravel pile machine construction method.

Background

The vibroflotation method is a foundation treatment method, and under the combined action of horizontal vibration of a vibroflotation device of a vibroflotation gravel pile machine and high-pressure water or high-pressure air, loose foundation soil layers are compacted by vibration; or after the hole is formed in the foundation soil layer, the hard coarse-particle material with stable performance is backfilled, and the reinforcement (vibro-impact pile) formed by vibration compaction and the surrounding foundation soil form the foundation treatment method of the composite foundation.

In the process of construction by using the vibroflotation method, stratums with different geological conditions adopt different construction methods, for example, the invention patent with the publication number of CN104372788A describes a vibroflotation gravel pile machine and a construction method suitable for stratums with deep and thick covering layers of more than 50m in detail, but in the construction method, the vibroflotation gravel pile machine adopts the prior art to carry out pile machine positioning, pile hole construction, filling material in holes for pile forming and other constructions, a large amount of manpower and material resources are needed, automatic construction management cannot be realized, and the method does not disclose what kind of stratums need to supply water and air.

For example, when the prior art pile driver takes place, the existing pile driver can be achieved only by the mutual matching of an operator and constructors, and is limited by the eyesight of the constructors, so that human visual errors exist, and particularly, the existing pile driver is limited in vision, low in alignment efficiency, large in alignment error and unsafe in hidden danger due to insufficient night construction or illumination.

For another example, in the prior art, during pile hole construction, vibroflotation construction is performed by adopting a method of connecting a plurality of sections of telescopic guide rods with vibroflots. However, when a hard layer, particularly a large gravel layer is encountered, particularly when a hole is formed in a strong seismic zone, the vibroflot adopting the structure inevitably generates a side slipping phenomenon, so that a pile hole is deviated. When the deflection is light, if the inclined pile hole is not trimmed, the guarantee coefficients of the uniformity and the compactness of the pile diameter of the vibro-replacement gravel pile are influenced, so that the safety of the subsequently formed vibro-replacement gravel pile is poor; if the inclined pile hole is repaired, the vibroflot stops vibroflot construction and repairs the hole in time, which inevitably results in prolonged construction period and increased construction cost. If the deflection is heavy, only the whole pile can be discarded, and the construction progress and the cost are seriously influenced.

For another example, when the hole in the prior art is filled with the material, whether the broken stone is really added into the pile hole after the material is shoveled by the loader cannot be judged. A common monitoring method is to add a monitoring camera to a construction site, but the monitoring mode has the influence of human factors. In order to avoid the situation, two methods are mainly used for weighing the stone in the traditional construction: firstly, the number of the buckets of the loader is counted manually before vibroflotation, and secondly, a special metering weighing platform is manufactured. The former is too rough, and the latter must put the measurement platform of weighing beside the stake hole, because the large-scale equipment bundle pile beside the stake hole, the operation is inconvenient, is more unfavorable for safety.

In addition, the real-time measurement of the pile diameter after the material is fed into the pile hole is one of the key problems of the automation of the vibroflotation process. In common knowledge, the pile diameter of the vibro-replacement gravel pile is closely related to the condition of the stratum, but the problem that the pile diameter is extremely uneven inevitably exists. In the stratum such as the medium-coarse sand layer and the like, the compaction effect is generated in the process of vibroflotation pore-forming, so that the crushed stone filler is difficult to diffuse, and the pile diameter is too small; on the contrary, if the lake phase deposits silty and other strata, the surrounding constraint is too small, so that a large amount of filler is filled, the compaction is difficult, the encryption current is apparently too small, and two measures are usually adopted for treatment, namely, the encryption current standard is reduced, and the filler is enlarged. The former problem is that there is no objective basis, and human factors are too heavy, and the latter problem is that the pile diameter is too large, even string of piles. Until now, no good treatment measures exist, and in engineering practice, a large amount of crushed stones are filled at one time, the height difference of filling materials in holes is lengthened as much as possible, and an average effect is formed, but the treatment method is not visual in practice. For conventional engineering, such blurring is not a problem, but for some strong seismic zones, a great risk is buried. If a super-large strong earthquake occurs and the pressure of the hyperstatic pore water in the stratum needs to be reduced to a safe range, the continuity of the pile body becomes a key problem, the undersize pile diameter caused by the pre-densification effect in the vibroflotation pore-forming process in the medium coarse sand layer becomes the weakest link, once the pile is broken or staggered in a strong earthquake state, the vertical upward drainage effect of the hyperstatic pore water at the lower part of the vibroflotation gravel pile is rapidly reduced, the liquefaction possibility is increased, the vibroflotation engineering effect is seriously reduced, and the integral operation of the engineering is threatened.

Disclosure of Invention

The invention aims to solve the problems and provides a construction method of a vibroflotation gravel pile machine, the vibroflotation gravel pile machine can be automatically and accurately positioned at a pile point to be constructed, construction can be carried out at night or under the condition of insufficient illumination, the verticality and the hole forming speed of a pile hole of vibroflotation construction meet requirements, water and gas can be respectively and accurately controlled to be discharged according to different stratum compactness, stone weight can be automatically fed and dynamically measured in real time, and the vibroflotation gravel pile with uniform and continuous pile diameter can be formed.

In order to achieve the above object, the present invention provides a method for constructing a vibroflotation gravel pile machine, wherein the vibroflotation gravel pile machine comprises an automatic feeding system, a hoisting system, a drill rod system and a vibroflotation device system, and the method comprises:

automatically guiding the vibroflotation gravel pile machine to the pile point to be constructed according to the pile point to be constructed and the longitude and latitude information of the vibroflotation gravel pile machine, and aligning the vibroflotation device system to the pile point to be constructed;

after the vibroflot system is aligned with a construction pile point, adjusting the verticality of the vibroflot system to vertically perform vibroflot hole-forming construction on the construction pile point by the vibroflot system;

in the process of carrying out hole forming construction on a construction pile point, regulating the flow of the drained water and the pressure of the drained gas of an automatic feeding system for hole forming construction under the action of the vibroflotation system according to the current stratum compactness, and detecting the verticality of the vibroflotation system in real time so as to regulate the verticality of the vibroflotation system according to the detected verticality deviation;

after the pile hole is formed through hole forming construction, automatic feeding is carried out in the pile hole meeting the verticality requirement through a loader, and the vibro-replacement gravel pile meeting the verticality requirement and the preset pile diameter requirement is formed through vibro-replacement system construction.

The method for automatically guiding the vibroflotation gravel pile machine and aligning the vibroflotation system to the pile point to be constructed according to the pile point to be constructed and the longitude and latitude information of the vibroflotation gravel pile machine comprises the following steps:

automatically guiding the vibroflotation gravel pile machine to the pile point to be constructed according to the pile point to be constructed and the latitude and longitude information of the vibroflotation gravel pile machine;

and after the vibroflotation gravel pile machine is automatically guided to the pile point to be constructed, a vibroflotation system on the vibroflotation gravel pile machine is aligned to the pile point to be constructed.

The method comprises the following steps of adjusting the verticality of the vibroflotation system, wherein the vibroflotation system comprises a drill rod system and a mast, the drill rod system is arranged in parallel with the mast of the hoisting system, and the vibroflotation system is connected with the bottom of the drill rod system and is parallel to the mast.

Further, adjusting the verticality of the vibroflotation system further comprises the step of detecting and adjusting the verticality of the mast relative to the host computer on the horizontal plane in real time so that the verticality of the mast meets the requirement.

Wherein, according to the flow of the offal of the automatic feed system of current stratum compactness regulation collaborative vibroflot system effect pore-forming construction and the pressure of the offal include:

acquiring the current stratum compactness in the hole forming construction process of the vibroflotation device system;

controlling the flow rate of the sewage supplied for the sewage according to the acquired density of the current stratum; and

controlling the gas supply gas pressure according to the obtained current stratum compactness;

the vibroflot completes pore-forming construction under the synergistic action of the sewage and the sewage by controlling the sewage flow for supplying the sewage and the sewage pressure for supplying the sewage.

Wherein, obtaining the current stratum compactness in the vibroflotation construction process comprises:

acquiring the current vibroflotation current of the vibroflotation device;

searching the stratum compactness corresponding to the current vibroflotation current according to the corresponding relation between the preset vibroflotation current and the stratum compactness;

and determining the searched formation compactness as the current formation compactness.

Wherein, include to the downthehole automatic feeding of stake that accords with the straightness requirement of hanging down through the loader:

after pile holes meeting the verticality requirement are formed, acquiring first weight information and position information of a plurality of loaders when stones are loaded on the loaders in a polling mode;

controlling the loaders in the pile hole feeding area to sequentially feed the loaded stone materials into the pile holes according to the obtained position information of the multiple loaders, and obtaining second weight information of the loaders after feeding the stone materials;

and obtaining the weight of the stones thrown into the pile hole by each bucket of each loader according to the obtained first weight information and second weight information of each loader, and accumulating the weight of the stones thrown into the pile hole by a plurality of loaders to obtain the total weight of the stones thrown into the pile hole by the plurality of loaders.

Before the first weight information of the loader loaded with stones is obtained, the method further comprises the step of carrying out weight calibration on the unloaded loader.

Further, in the process of carrying out pore-forming construction on the construction pile points, the method further comprises the step of carrying out real-time detection on the lowering depth of the vibroflotation system, so that the lowering depth can be adjusted according to the detection result.

Furthermore, in the process of carrying out hole forming construction on the construction pile point, the method also comprises the step of carrying out real-time detection on the hole forming speed of the vibroflotation system so as to adjust the hole forming speed according to the detection result.

Compared with the prior art, the construction method of the vibroflotation gravel pile machine has the following advantages:

1. the method adopts the positioning guide system to accurately position the vibroflotation gravel pile machine and the pile hole to be constructed in real time respectively, then transmits the vibroflotation gravel pile machine and the pile hole to be constructed to the graphical interface of the pile machine, guides a driver to accurately position, can finish the accurate positioning of the vibroflotation gravel pile machine by only one driver in the whole process, does not need the cooperation of measuring personnel, saves manpower, is not limited by the eyesight of the driver, solves the problems of low efficiency and safety at night or under the condition of insufficient illumination, and has high alignment efficiency and small alignment error. In addition, the whole construction process realizes real-time data sharing among the construction unit, the on-duty engineer and the supervision, so that the synchronization between construction and supervision is realized, the coordination cost is reduced to the maximum extent, and the construction efficiency is greatly improved.

2. According to the method, in the process of vibroflotation construction of the deep complex foundation with the depth of more than 50 meters by the vibroflotation system, the verticality of the mast beyond the verticality requirement can be adjusted in time, so that the vibroflotation system can vibroflotation downwards the construction stratum with the verticality meeting the requirement and form vibroflotation gravel pile holes, the uniformity and the compactness of the pile diameter of the formed vibroflotation gravel pile are ensured, the security of the vibroflotation gravel pile is improved, the construction period is effectively shortened, and the construction cost is reduced.

3. The method can acquire the hole-forming speed information in real time, and timely adjust the setting speed of the vibroflot system according to the hole-forming speed, thereby realizing the accurate control of the hole-forming speed of the vibroflot, enabling owners and construction parties to accurately obtain the hole-forming speed of the vibroflot and facilitating the construction according to the stratum.

4. The method can realize automatic feeding and dynamic real-time metering of stones in the construction of the vibro-replacement stone pile machine, avoids multiple and missing records of stones in the same pile hole, is simple and convenient to operate, has accurate metering, realizes synchronization of local and remote weighing data, automatically monitors, effectively ensures quality, improves work efficiency and saves manpower.

5. The method can form the vibroflotation gravel pile with uniform and continuous pile diameter, and solves the problems that the vibroflotation gravel pile formed by vibroflotation construction in stratums such as medium and coarse sand layers and strong-shock high-incidence zones in the field has poor continuity and is easy to break or stagger in a strong-shock state.

6. The method respectively and accurately controls the supply amount of the water drainage pressure and the air drainage pressure according to the compactness of different stratums so that the vibroflot can smoothly complete the deep hole vibroflot construction of the complex stratum under the synergistic action of the proper water drainage flow and the air drainage pressure, thereby solving the problem of the vibroflot construction of the stratum with the deep and thick covering layer of more than 50 m.

7. According to the method, the water feeding pressure inside the telescopic guide rod is always higher than the external slurry pressure through the accurate control of the water feeding pressure, so that the external slurry is prevented from entering the telescopic guide rod from the gap of the telescopic guide rod; and the current water supply flow is controlled to be within the target water supply flow range in the vibroflotation construction process, and the air supply pressure is controlled to be within the target air supply pressure range so as to clear away a small amount of sand entering the telescopic guide rod, so that the telescopic guide rod can freely stretch under the action of water supply and air supply, and the vibroflotation construction of the deep hole of the complex stratum based on the telescopic guide rod can be reliably carried out.

The present invention will be described in detail with reference to the accompanying drawings.

Drawings

FIG. 1 is a perspective view of one perspective of a vibro-replacement stone column machine in the method of the present invention;

FIG. 2 is a perspective view of another perspective of a vibro-replacement pile machine in the method of the present invention;

FIG. 3 is a partial enlarged view of a clasping connection section of the drill rod verticality maintaining device of the present invention;

FIG. 4 is a schematic view of a first construction of the device for maintaining the verticality of a drill rod according to the present invention;

FIG. 5 is a schematic view of a second construction of the device for maintaining the verticality of a drill rod according to the present invention;

FIG. 6 is a schematic structural view of the drill pipe system of the present invention;

FIG. 7 is a partial schematic view of the drill pipe system of the present invention;

FIG. 8 is a schematic view of the connection of the working section of the drill pipe system of the present invention to the vibroflot system;

FIG. 9 is a first schematic block diagram of the perpendicularity adjustment principle of the present invention;

FIG. 10 is a second schematic block diagram of the perpendicularity adjustment principle of the present invention;

FIG. 11 is a schematic block diagram of a mast perpendicularity maintaining arrangement of the present invention;

FIG. 12 is a schematic block diagram of a perpendicularity detecting mechanism of the present invention;

FIG. 13 is a flow chart of the construction of the vibroflotation stone-crushing piling machine of the present invention;

FIG. 14 is a schematic diagram of positioning the antenna relative to the bumper system;

FIG. 15 is a schematic view of the positioning antenna and vibroflot system during real-time positioning;

FIG. 16 is a display of an initial interface for positioning of the vibro-replacement pile driver;

FIG. 17 is an interface display view of the vibroflot system positioned by the vibroflot pile driver in alignment with the pile point to be constructed;

FIG. 18 is a drawing showing an operation interface of each pile hole of the vibro-replacement stone pile machine;

FIG. 19 is a schematic illustration of a loader, vibro-replacement stone stake machine, remote control system;

FIG. 20 is a flow chart of the remote control system controlling the loader to feed material into the pile hole;

FIG. 21 is a schematic view of the loader communicating with a remote control system;

fig. 22 is a flow chart of weighing when the loader drops stones into the pile hole;

FIG. 23 is a schematic view of the vibro-replacement stone column machine of the present invention in communication with a central controller;

FIG. 24 is a flow chart of the communication between the vibro-replacement stone column machine and the central controller;

FIG. 25 is a vibroflot depth detection flow diagram;

FIG. 26 is a schematic view of the structure of the detection pulley;

FIG. 27 is a schematic block diagram of a vibroflot depth and speed regulation system;

fig. 28 is a schematic block diagram of a vibroflot lowering depth detection apparatus;

FIG. 29 is a schematic block diagram of a water-gas linkage control system of the present invention;

FIG. 30 is a flow chart of a method of obtaining current formation compaction according to the present invention;

FIG. 31 is a flow chart of the method for controlling the water supply, gas supply, water discharge and gas discharge according to the present invention;

FIG. 32 is a flow chart of a method of controlling the flow of sewer water supplied to the sewer according to the current formation compaction achieved during vibroflotation construction in accordance with the present invention;

FIG. 33 is a flow chart of a method of the present invention for controlling the aeration supplied aeration based on the current formation compaction achieved during vibroflotation construction;

FIG. 34 is a flow chart of a method of controlling the flow of feedwater to the feedwater of the present invention;

fig. 35 is a flow chart of a method of controlling the upper air pressure to supply upper air in accordance with the present invention.

Detailed Description

As shown in fig. 1 and fig. 2, which are perspective views of two views of a vibroflotation gravel pile machine used in the method of the present invention, it can be seen that the vibroflotation gravel pile machine of the present invention includes a hoisting system 100, a drill rod system 200, a vibroflotation system 400 and an automatic feeding system 500.

The hoisting system 100 comprises a main machine 101 of the vibro-replacement pile machine, a mast 102 connected with the main machine, and a main hoisting device 501 arranged at the rear end of the main machine 101, wherein the drill rod system 200 is hoisted through a steel wire rope of the main hoisting device 501 and the mast 102, so that the drill rod system is vertically arranged under the action of self weight.

Drill pipe system 200 has a connection section 201 at an upper portion for connection to a wire line of main winch 501, a support section 202 at a middle portion, and a working section 203 at a lower portion for connection to vibroflot system 400 (typically, as shown in fig. 8, a shock absorbing assembly is disposed between working section 203 and vibroflot system 400). The drill rod system 200 employs a prior art telescoping guide rod such that the axial length of the drill rod system 200 is adjustable to change the lowering or raising position of the vibroflot system relative to the ground. As shown in fig. 6 and 7, the drill rod system 200 has multiple layers of casing pipes sequentially sleeved from inside to outside, the connecting section 201 is a top layer casing pipe, the working section 203 is a bottom layer casing pipe, and the supporting section 202 comprises one or more layers of middle casing pipes. Wherein, two adjacent layers of sleeves can be connected together by adopting the connecting structure in the prior art, so that the two adjacent layers of sleeves can slide axially smoothly and can be prevented from twisting mutually. In operation, the number and length of the multiple layers of casing pipes in the drill pipe system can be determined according to the use requirement, for example, more than 4 layers of casing pipes can be adopted, and the length of each layer of casing pipe can be 18-25 meters (the length of the top layer of casing pipe can be longer). When the vibroflotation gravel pile machine is used, the length of the multilayer sleeve of the drill rod system can be extended or shortened, and when the multilayer sleeve of the telescopic guide rod extends out completely, the total length of the telescopic guide rod can reach 72 meters or even more than one hundred meters, so that the vibroflotation gravel pile machine can be used for vibroflotation hole forming on a stratum with the depth of more than 50 meters. It should be noted that the coaxiality of every two adjacent layers of sleeves in connection is the same, that is, the lengths of the multiple layers of sleeves are extended and then coaxial, so that the sleeves of each layer are perpendicular to the pile hole in the vibroflotation construction process.

The main body 101 is provided with an automatic feeding system 500, which is installed at the rear part of the main body 101 of the hoist system 100 and can be used as a counterweight of the main body 101. The automatic feeding system 500 includes an air pipe winding device 502, a cable winding device 503, and a water pipe winding device 504, and these three devices and the main winding device 501 are set to be fed in synchronization.

The water pipe winding device and the air pipe winding device are respectively provided with a water pipe and an air pipe which are used for being connected with the vibroflot system so as to enable the vibroflot of the vibroflot system to realize the vibroflot construction function, a water pipe used for enabling the vibroflot system to realize the dynamic balance of water pressure in vibroflot construction and an air pipe used for realizing the dynamic balance of air pressure. Wherein, the water pipe and the gas pipe which enable the vibroflot to realize the vibroflot construction function can be respectively called as a sewer pipe and a lower gas pipe, and the supplied water and gas can be respectively called as sewer and lower gas; the water pipe and the air pipe which enable the vibroflotation device system to realize dynamic balance of water pressure and air pressure in vibroflotation construction can be respectively called as a water feeding pipe and an air feeding pipe, and the supplied water and air are respectively called as water feeding and air feeding.

The underground water is sprayed out from the lowest end of the vibroflotation device to carry out water-jet pre-destruction on the stratum, the underground gas is sprayed out from the bottom of the telescopic guide rod to assist the underground water to carry out pre-destruction on the stratum, and the vibroflotation device, the underground water and the underground gas jointly act to complete vibroflotation construction; the water feeding device is characterized in that water flows from bottom to top in the telescopic guide rod under the action of the bottom baffle of the telescopic guide rod, the air feeding device is used for assisting the water feeding device to take away sand and stones entering the guide pipe from bottom to top, the sand and stones in the telescopic guide rod are prevented from being settled and blocking the pipe, and the telescopic guide rod can be freely stretched and retracted under the combined action of the water feeding device and the air feeding device.

In summary, referring to fig. 13, when the vibroflotation pile machine is used for vibroflotation construction of an ultra-deep complex stratum in a strong earthquake zone, the invention provides a method for construction by using the vibroflotation pile machine, which comprises the following steps:

after the vibroflot system is aligned with the pile point to be constructed, the verticality of the vibroflot system is adjusted so that the vibroflot system can carry out vibroflot hole-forming construction on the pile point to be constructed with the verticality meeting the requirement;

in the process of carrying out hole forming construction on a construction pile point, regulating the flow of the drainage and the pressure of the drainage of an automatic feeding system for hole forming construction under the action of the vibroflot system according to the current formation compactness, and detecting the verticality of the vibroflot system in real time so as to regulate the verticality of the vibroflot system according to the detected verticality deviation;

The method of forming the pile body by the vibroflotation construction of the vibroflotation gravel pile machine of the invention is described in detail below.

S100, automatically guiding the vibroflotation gravel pile machine to the pile point to be constructed according to the pile point to be constructed and the longitude and latitude information of the vibroflotation gravel pile machine, and aligning a vibroflotation device system to the pile point to be constructed;

in order to make the vibroflotation gravel pile machine automatically locate at the pile point to be constructed without the cooperation of a measurer and a driver driving the vibroflotation gravel pile machine, the alignment error is small, and the vibroflotation gravel pile machine is not influenced by night or insufficient illumination conditions, before vibroflotation construction of the vibroflotation gravel pile machine, a vibroflotation device system of the vibroflotation gravel pile machine automatically aligns at the pile point to be constructed according to the position information of the pile point to be constructed, and the vibroflotation device system comprises:

s101, before vibroflotation construction of a vibroflotation gravel pile machine, automatically guiding the vibroflotation gravel pile machine to a pile point to be constructed according to the pile point to be constructed and longitude and latitude information of the vibroflotation gravel pile machine;

before vibroflotation construction is carried out by adopting a vibroflotation gravel pile machine, determining the longitude and latitude information of each pile point to be constructed, positioning each pile point to be constructed (the positioning method adopts the prior art method), and obtaining the position information of each pile point to be constructed, wherein the position information of each pile point to be constructed comprises: and information such as pile point position numbers, coordinate information, design depth, design pile diameters and the like, wherein the coordinate information of the pile points in a construction plane coordinate system can be obtained through the longitude and latitude information of the pile points.

The method comprises the steps of determining a current to-be-constructed pile point to be constructed from a plurality of to-be-constructed pile points, then, obtaining coordinate information of a vibroflotation gravel pile machine in a construction plane coordinate system by a positioning guide system (such as a Beidou positioning system) through longitude and latitude information corresponding to the vibroflotation gravel pile machine (similarly, the longitude and latitude information of the vibroflotation gravel pile machine is obtained), automatically guiding the vibroflotation gravel pile machine (provided with a positioning antenna on the vibroflotation gravel pile machine) to the to-be-constructed pile point, adopting the prior art for the guiding process, and adding the equipment number of the vibroflotation gravel pile machine to position information of the current to-be-constructed pile point.

The operation interface of each pile hole of the vibro-replacement stone pile machine can be shown in fig. 18, wherein the piles with the serial numbers of 0105 and 0106 in the drawing are constructed piles, the rest are non-constructed piles, and the pile point to be constructed is one of the non-constructed piles.

After the position information of the pile point to be constructed is obtained, the vibroflotation gravel pile machine is guided to move left and right in the front and back direction through the positioning guide system, so that the vibroflotation gravel pile machine is automatically guided to the pile point to be constructed.

The vibroflotation construction management system of the remote central control room is communicated with the vibroflotation gravel pile machine on the construction site in a wired or wireless mode so as to control the vibroflotation gravel pile machine to execute corresponding actions and monitor the action process and results of the vibroflotation gravel pile machine. During implementation, a set of PLC or a singlechip ARM program communication port (RS 485 or 232 port) is designed on the vibroflotation construction management system, the data types of serial ports on an onboard computer of the vibroflotation gravel pile machine can be remotely inquired through ARM singlechip or PLC programming, inquiry instructions are sent through analyzing data codes and coding, and the inquiry instructions are transmitted out in a certain speed and data format through a remote data transmission radio station. And at the machine-borne computer serial ports installation a miniwatt wireless machine carries the number radio station, machine-borne number radio station channel and data format all are unanimous with the long-range number radio station of construction management system side, this machine-borne number radio station receives the instruction that PLC or the long-range number radio station of singlechip serial ports sent and through the back of decoding among the construction management system, by machine-borne computer discernment, afterwards, according to singlechip or PLC's instruction, reply the data that will transmit, carry out data interchange through serial ports and long-range number radio station. The remote data transmission radio station (full duplex, receiving and transmitting integration) on the remote construction management system receives the signals transmitted by the airborne data transmission radio station on the vibroflotation gravel pile machine, analyzes the required signals by decoding and stripping the encrypted signals, calculates by a decoding circuit and a program, and displays and records the signals in the construction management system.

S102, after the vibroflotation gravel pile machine is automatically guided to a pile point to be constructed, a vibroflotation system on the vibroflotation gravel pile machine is aligned to the pile point to be constructed;

after the vibroflotation gravel pile machine is guided to the pile point to be constructed by the positioning and guiding system, the vibroflotation system on the vibroflotation gravel pile machine is not always aligned with the pile point to be constructed, namely, the position of the vibroflotation system is not always within the position error range of the pile point to be constructed, so that the vibroflotation gravel pile machine needs to be automatically guided to move left and right until the position of the vibroflotation system is within the position error range of the pile point to be constructed. The method for aligning the vibroflotation system on the vibroflotation gravel pile machine to the pile point to be constructed comprises the following steps:

acquiring the position relation between a positioning antenna and a vibroflotation device system on the vibroflotation gravel pile machine so as to acquire the real-time position information of the vibroflotation device system according to the real-time position information of the positioning antenna;

comparing the real-time position information of the vibroflotation system with the position information of the pile point to be constructed to obtain the distance information between the vibroflotation system and the pile point to be constructed;

and aligning a vibroflot system on the vibroflot stone pile machine to a pile point to be constructed according to the acquired distance information.

When the position relation between the positioning antenna and the vibroflotation device system on the vibroflotation gravel pile machine is obtained, initial positioning needs to be respectively carried out on the positions of the positioning antenna and the vibroflotation device system on the vibroflotation gravel pile machine through positioning equipment so as to determine the position relation between the positioning antenna and the vibroflotation device system:

the method comprises the steps that initial positioning is respectively carried out on the vibroflotation system and the positioning antenna of the vibroflotation gravel pile machine through positioning equipment, and initial position information of the vibroflotation system and initial position information of the positioning antenna are obtained;

determining the distance between the vibroflotation system and the positioning antenna according to the initial position information of the vibroflotation system and the positioning antenna;

and determining the linear distance between the installation position of the positioning antenna and the vibroflotation system and the included angle between the connecting line of the vibroflotation system and the positioning antenna and the north through the distance between the positioning antenna and the vibroflotation system.

And the obtaining of the real-time position information of the vibroflot system according to the real-time position information of the positioning antenna comprises:

acquiring the rotation angle of the vibroflotation gravel pile machine relative to the north;

and according to the acquired real-time position information of the positioning antenna, determining the real-time position information of the vibroflotation system through the real-time position information of the positioning antenna, the distance between the vibroflotation system and the positioning antenna and the rotation angle of the vibroflotation gravel pile machine relative to the north direction.

During implementation, on the vibroflotation gravel pile machine, the vibroflotation system and the positioning antenna installation position are initially positioned by using handheld positioning equipment (equipment in the prior art can be adopted), the position relation is determined, and when construction is started, the real-time coordinates of the vibroflotation system are obtained through calculation by taking the real-time positioning antenna position information as the basis, and all the coordinates are coordinates in a plane coordinate system.

The vibroflotation system and the positioning antenna mounting position on the vibroflotation gravel pile machine are shown in fig. 14, wherein G is the positioning antenna mounting position, M is the vibroflotation motor mounting position of the vibroflotation system, and the vibroflotation motor position represents the position of the vibroflotation system in construction.

When the vibroflotation system and the positioning antenna are initially positioned (see fig. 14), the position relationship can be calculated by the following formula:

a＝x ₀ -x′ ₀ (1)

b＝y ₀ -y′ ₀ (2)

in the above formulas:

rho-linear distance between the installation position of the positioning antenna and the vibroflotation motor;

and the angle between the connecting line of the alpha-vibroflotation motor and the positioning antenna and the north is included.

When positioning the vibroflotation system and the positioning antenna in real time (see fig. 15), the vibroflotation system position calculation can be obtained by the following formula:

x′ ₁ ＝ x1 +acosβ+ bsinβ (5)

y′ ₁ ＝ y1 +bcosβ- asinβ (6)

in the formula:

x1, y 1-real-time positioning information obtained by a positioning antenna;

x′ ₁ ，y′ ₁ -vibroflotation motor real-time position information;

the angle of rotation of the beta-vibroflotation gravel pile machine.

Further, when the vibroflotation system on the vibroflotation gravel pile machine is aligned with the pile point to be constructed according to the acquired distance information, the real-time position information of the vibroflotation system and the position information of the pile point to be constructed are also displayed through a graphical interface (as shown in fig. 16). And after the real-time position information of the vibroflotation system is obtained, the position information of the pile point to be constructed is taken as a target point, and the navigation movement of the vibroflotation gravel pile machine is displayed through a graphical interface according to the position and distance relation of the vibroflotation system relative to the target point so as to enable the vibroflotation system to aim at the direction information of the pile point to be constructed.

The distance relation between the vibroflotation gravel pile machine and the pile point to be constructed is visually displayed in a graphic mode by taking Beidou positioning information as a positioning basis, so that constructors are guided to move the vibroflotation gravel pile machine from front to back and left to right by clear distance prompt information, and the vibroflotation device system is aligned to the pile point to be constructed. After the positioning is finished, the graphic interface prompts that the alignment is finished. Night construction can be completely realized in the whole construction process, such as paying-off and point finding, so that the construction efficiency is improved, and the construction period is shortened.

To sum up, location guide system shakes towards rubble stake machine and treats that construction pile hole carries out real-time accurate location respectively, then transmits it to stake machine graphical interface on, guides the driver to carry out accurate location, and whole process only needs the driver alone can accomplish the accurate of shaking towards rubble stake machine and take one's place, does not need the measurement personnel cooperation, has saved the manpower, and does not receive the restriction of driver eyesight, has solved inefficiency and the safety problem under night or the not enough condition of illumination, and counterpoint efficient, it is little to counterpoint the error. In addition, the whole construction process realizes real-time data sharing among a construction unit, an on-duty engineer and a supervision room, so that the synchronization between construction and supervision is realized, the coordination cost is reduced to the maximum extent, and the construction efficiency is greatly improved.

S200, after the vibroflotation system aligns to a pile point to be constructed, adjusting the verticality of the vibroflotation system so that the vibroflotation system performs vibroflotation hole-forming construction on the pile point to be constructed with the verticality meeting the requirement;

after the vibroflotation system is aligned with the pile point to be constructed, namely the position of the vibroflotation system is within the position error range of the pile point to be constructed, the verticality of the vibroflotation system on the vibroflotation gravel pile machine is adjusted, so that the vibroflotation system performs vibroflotation hole-forming construction on the pile point to be constructed according to the required verticality. And in the process of carrying out hole forming construction on the construction pile points, regulating the flow of the drainage and the pressure of the drainage of an automatic feeding system for the cooperative hole forming construction by the vibroflot system according to the current formation compactness so as to ensure that the hole forming can be smoothly carried out, and detecting the verticality of the vibroflot system in real time so as to regulate the verticality of the vibroflot system according to the detected verticality deviation. In addition, the lowering depth and the hole forming speed are detected, so that the vibroflotation system can perform vibroflotation construction on the pile points to be constructed at the verticality meeting the requirements and the hole forming speed meeting the requirements, and an ultra-deep pile hole with the verticality requirement is formed in a deep and complex stratum in a strong seismic zone.

S210, after the vibroflotation system automatically aligns to a pile point to be constructed, adjusting the verticality of the vibroflotation system to vertically lower the vibroflotation system, so that the stratum of the pile point to be constructed is vibroflotation downwards by the vibroflotation system with the verticality meeting the requirement, and a pile hole meeting the verticality requirement is formed; in the process of vibroflotation pore-forming on a complex stratum with the depth of more than 50 meters by a vibroflotation device of the vibroflotation device system 200, because a stratum with the depth of more than 50 meters is a deep covering layer, the upper part is soft and the lower part is hard and has more large-particle-diameter gravels, the upper part of the upper soft finger is a soft interlayer (such as lake-phase sedimentary silty clay), the lower part of the lower hard finger is a relatively compact hard layer (such as a sand layer or a sand layer with gravels), the vibroflotation device works in the environments of gravels, sand and mud, and if the hard stratum is met, the vibroflotation device is very easy to deflect in the vibroflotation process, so that a pile hole deflects, which causes construction failure and huge loss. Especially, when the construction is carried out on the stratum such as the medium-coarse sand layer in the strong earthquake high-rise area, the inclination of the pile body caused by the deflection of the pile hole causes the inestimable loss. In order to avoid the situation that the vibroflotation device deflects in the vibroflotation process, the drill rod system and the mast of the hoisting system are arranged in parallel, so that the vibroflotation device system connected with the bottom of the drill rod system is parallel to the mast, and the verticality of the vibroflotation device system can be ensured by ensuring the verticality of the mast; when the vibroflotation hole forming construction is carried out through the vibroflotation device, the verticality of the mast relative to the host machine on the horizontal plane is detected in real time, and the verticality of the mast is correspondingly adjusted according to the detection result, so that the verticality of the mast is ensured to meet the requirement, and the vibroflotation device arranged in parallel with the mast can vibroflotation downwards the construction stratum with the verticality meeting the requirement and form a vibroflotation gravel pile hole.

Specifically, the vibroflotation device vertical holding system 300 ensures that the vibroflotation device can vibroflotation downwards towards the construction stratum with the required verticality and form vibroflotation gravel pile holes.

As shown in fig. 1-5, the vibroflot vertical retention system 300 of the present invention comprises: the mast verticality maintaining device is used for enabling the verticality of the mast relative to the host machine on the horizontal plane to meet the requirement during the vibroflotation hole forming construction of the vibroflotation device, so that the vibroflotation device can vibroflotation downwards form vibroflotation gravel pile holes on the pile points to be constructed of the construction stratum with the verticality meeting the requirement; and the drill rod verticality maintaining device is used for enabling the drill rod system to be arranged in parallel with a mast of the hoisting system so that the vibroflot system connected with the bottom of the drill rod system is parallel with the mast.

As shown in fig. 11, the mast verticality maintaining device comprises: the perpendicularity detection mechanism is used for detecting and processing the perpendicularity of the mast relative to the host machine on the horizontal plane in real time when vibroflotation hole forming construction is carried out through the vibroflotation device; the mast angle adjusting mechanism is used for correspondingly adjusting the perpendicularity of the mast according to the detection result of the perpendicularity detecting mechanism so as to enable the perpendicularity of the mast to meet the requirement.

The perpendicularity detection mechanism adopted by the invention is shown in fig. 12 and comprises the following modules: the inclination angle detection module is used for detecting the inclination angle of the mast relative to the host arranged on the horizontal plane in real time to obtain the inclination angle of the mast relative to the host; after obtaining the inclination angle of the mast relative to the host computer, through calculating to obtain the deviation data of the perpendicularity of the mast relative to the host computer (abbreviated as mast perpendicularity); the verticality comparison module is used for determining whether the verticality of the mast needs to be adjusted according to the obtained deviation data of the verticality of the mast; and the sending module is used for sending the comparison result to the controller so that the controller can control the mast angle adjusting mechanism to execute corresponding actions to adjust the perpendicularity of the mast according to the comparison result.

Wherein the inclination angle detection module is arranged inside the mast (not shown in the figure), preferably, the inclination angle detection module is arranged inside the mast near 1/5 of the lower end to detect the inclination angle of the mast more accurately. The inclination angle detection module can adopt an inclination angle sensor, and can also adopt other elements which can detect the inclination angle and process the data in the prior art.

The deviation data calculation module can obtain the deviation data in a manner as shown in fig. 9, that is, after the inclination angle detection module detects the perpendicularity of the mast in real time, the inclination angle of the mast relative to the host is obtained, and then the inclination angle is subtracted by 90 degrees, so that the perpendicularity deviation value of the mast relative to the host is obtained.

Or, the deviation data calculation module may also obtain the deviation data in a manner as shown in fig. 10, that is, after the inclination detection module detects the perpendicularity of the mast in real time, the inclination angle of the mast relative to the host is obtained, and then the absolute value is obtained by subtracting 90 degrees from the inclination angle, so as to obtain the absolute value of the perpendicularity deviation value of the mast relative to the host.

After obtaining the deviation data of the mast verticality, a comparison module determines whether the mast verticality needs to be adjusted, the comparison module compares the obtained deviation data of the mast verticality with a preset threshold interval of the mast verticality set in advance to obtain a corresponding comparison result, and the comparison process comprises the following steps: after real-time deviation data of the perpendicularity of the mast is obtained, whether the deviation data is within a preset threshold interval is judged; if the deviation data exceeds a preset threshold interval, the verticality of the mast needs to be adjusted, and relevant information of the direction and the size of the mast needing to be adjusted is determined; if the deviation data does not exceed the preset threshold interval, the perpendicularity of the mast does not need to be adjusted. The preset threshold interval represents a range of maximum and minimum angles at which the mast can be tilted relative to the vertical plane. The above-described data processing process is performed by a program stored in advance.

After the comparison result is obtained by the comparison module, the comparison result is sent to the controller by the sending module, and the controller controls the mast angle adjusting mechanism to execute corresponding actions according to the comparison result so as to adjust the perpendicularity of the mast. Namely, when the detection result of the perpendicularity detection mechanism shows that the perpendicularity of the mast needs to be correspondingly adjusted so as to enable the perpendicularity of the mast to meet the requirement, namely the deviation data exceeds a preset threshold interval, and the perpendicularity of the mast needs to be adjusted so as to meet the requirement, the controller controls the mast angle adjustment mechanism to execute corresponding actions so as to adjust the perpendicularity of the mast to meet the requirement. The controller is a PLC controller.

It should be noted that, when the perpendicularity of the mast needs to be adjusted, the controller firstly controls the vibroflotation system to stop vibroflotation construction, lifts the vibroflotation system through the lifting system, and then controls the mast angle adjusting mechanism to execute corresponding actions so as to adjust the perpendicularity of the mast to meet the requirements.

Wherein, the mast angle adjusting mechanism of the invention includes: a cylinder body of the deviation-correcting oil cylinder is arranged on the main machine; and the proportional valve is connected with the deviation rectifying oil cylinder. During design, the verticality of the masts can be adjusted through one deviation rectifying oil cylinder, the verticality of the masts can also be adjusted through a pair of deviation rectifying oil cylinders, and the verticality of the masts can also be adjusted through a plurality of pairs of deviation rectifying oil cylinders. The proportional valve controls the action of the deviation-correcting oil cylinder, the proportional valve is connected with the PLC, and the PLC feeds back a signal to control the opening size and the direction of the proportional valve in a closed loop mode, so that the deviation-correcting oil cylinder is controlled to adjust the inclination direction and the inclination size of the mast, and the verticality of the mast is kept within a preset threshold interval meeting the requirements.

Because the verticality of the mast meets the requirement, the vibroflot can vibroflot downwards vibroflot the construction stratum with the verticality meeting the requirement during vibroflot hole-forming construction, and form vibroflot gravel pile holes meeting the verticality requirement.

The invention not only ensures that the verticality of the mast meets the requirement through the mast verticality maintaining device when the vibroflot performs vibroflot hole forming construction, so that the vibroflot performs downward vibroflot on a construction stratum with the verticality meeting the requirement to form vibroflot broken stone pile holes, but also enables the drill rod system and the mast of the hoisting system to be arranged in parallel through the drill rod verticality maintaining device, so that the vibroflot system connected with the bottom of the drill rod system is parallel to the mast, and further enables the verticality of the vibroflot system to always meet the requirement under the condition that the verticality of the mast meets the requirement so as to construct the pile holes meeting the verticality requirement.

Wherein, exert drilling rod straightness holding device that hangs down of horizontal direction restraint power and vertical direction guiding force to drilling rod system includes: the supporting frame is connected with the drill rod system and is used for applying horizontal direction constraint force and vertical direction guide force to the connecting section of the drill rod system; and the fixing frame is respectively connected with the support frame and the mast and is used for fixing the support frame on the mast.

Specifically, the supporting frame may adopt a first structure as shown in fig. 4, and has a pair of vertical columns 303 arranged in parallel in a vertical direction, a horizontal frame 301 vertically connected to top ends of the pair of vertical columns 303 and extending to one side, and a pair of reinforcing columns 302 having two ends connected to two sides of bottom end surfaces of the pair of vertical columns 303 and the horizontal frame 301 respectively. The horizontal frame 301 is provided with a circular through hole, and the circular through hole is connected with the drill rod system connecting section 201. During design, a plurality of clamping grooves 306 extending along the vertical direction can be formed in the inner wall of the circular through hole, correspondingly, a plurality of connecting ribs 204 extending along the length extending direction of the connecting section are arranged on the outer wall of the connecting section 201 of the drill rod system, the clamping grooves 306 on the horizontal frame are connected with the connecting ribs 204 on the outer wall of the connecting section 201 in a matched mode, and the clamping grooves are in clearance fit during connection, so that the connecting section of the drill rod system can slide up and down in the through hole along the vertical direction after penetrating through the through hole. Thus, the lower part of the connection section 201 of the drill rod system penetrates through the through hole on the horizontal frame 301, the connecting rib 204 on the outer wall of the connection section is arranged in the clamping groove 306, and the connection section is applied with horizontal direction constraint force and vertical direction guide force through the through hole and the clamping groove on the horizontal frame 301, so that certain rigid constraint is applied to the connection part of the connection section, the drill rod system is always parallel to the mast, and the vibroflot system connected with the drill rod system is parallel to the mast. In the vibroflotation construction process of the vibroflotation system, the verticality maintaining device of the drill rod ensures that the vibroflotation system can vibroflotation can produce pile holes meeting the verticality requirement when the verticality of the mast meets the requirement.

Of course, a plurality of connecting ribs extending in the vertical direction may be disposed on the inner wall of the circular through hole, and a plurality of clamping grooves (not shown in the figure) matched with the connecting ribs are fixedly disposed on the outer wall of the connecting section 201 of the drill rod system, so that the horizontal frame exerts a certain rigid constraint force on the connecting section in a manner of matching the connecting ribs with the clamping grooves.

Furthermore, the support frame of the present invention may also adopt a second structure as shown in fig. 5, which is based on the first structure, and the two sides of the upper surface of the horizontal frame 301 near the edges are further respectively provided with a barrier 308 to provide safety protection for maintenance personnel when maintaining the drill rod verticality maintaining device and the drill rod system.

The horizontal bracket 301 of the present invention may be an integral structure, and further, in order to facilitate the connection and maintenance of the connection section of the drill rod system with the horizontal bracket 301, the horizontal bracket 301 may be configured to be a structure formed by two parts (as shown in fig. 4), each of the two parts has a half through hole, and the two parts are connected with the lock catch 305 through a hinge and form a complete circular through hole.

And the fixed mount 307 respectively connected with the support frame and the mast 102 is provided with a vertical connecting frame matched and connected with the mast 102, and a pair of upper connecting lugs and a pair of lower connecting lugs which are respectively fixedly connected with the upper end and the lower end of the vertical connecting frame and are vertical to the vertical connecting frame, correspondingly, the upper end and the lower end of the support frame are respectively provided with a pair of upper connecting lugs and a pair of lower connecting lugs, as shown in fig. 4, the pair of upper connecting lugs of the support frame are arranged on two sides of one end, far away from the through hole, of the horizontal frame 301, the pair of lower connecting lugs of the support frame are arranged on the pair of upright posts 303, and the upper connecting lugs and the lower connecting lugs of the support frame are respectively connected with the upper connecting lugs and the lower connecting lugs on the fixed mount 307 through the pin shaft 304, so that the support frame is connected with the fixed mount. Of course, in order to improve the connection strength between the fixing frame and the supporting frame, a plurality of connecting lugs or connecting plates can be arranged.

Compared with the vibroflotation gravel pile machine with the telescopic guide rod in the prior art, although the vibroflotation gravel pile machine with the telescopic guide rod in the prior art is provided with the annular frame on the mast, the annular frame is used for protecting the periphery of the telescopic guide rod (a larger gap is formed between the annular frame and the maximum outer diameter of the telescopic guide rod) through the annular frame so as to prevent the telescopic guide rod and the vibroflotation device from colliding with the mast in the descending process to cause component damage and prevent the vibroflotation device from colliding with the mast due to overlarge shaking amplitude in vibroflotation construction, and therefore, the annular frame cannot solve the problem of inclination of an ultra-deep pile hole generated by the vibroflotation device in vibroflotation construction of a complex stratum. The drill rod verticality maintaining device is adopted to provide rigid constraint force in a horizontal plane and guiding force in a vertical direction for the connecting section of the drill rod system, so that the drill rod system and the mast can be ensured to be parallel, the verticality of the drill rod system and the vibroflot system can be ensured under the condition that the verticality of the mast is ensured, and pile holes with the verticality meeting the requirements can be constructed by vibroflot.

Further, in order to determine the position of the holding connection section according to the length of the connection section of the drill rod system, the hoisting system of the invention further arranges an adjusting cylinder 103 (shown in fig. 3) on the mast 102 for adjusting the position of the drill rod verticality maintaining device relative to the mast, wherein the piston rod of the adjusting cylinder 103 is parallel to the mast and extends vertically downwards, and the tail end of the adjusting cylinder is fixedly connected with a fixed frame 307. The vertical connecting frame of the fixing frame 307 is connected with the mast 102 in a sliding fit mode, so that the position of the fixing frame 307 on the mast is adjusted by adjusting the stretching of the oil cylinder 103, the constraint position of the drill rod verticality maintaining device on the drill rod system connecting section can be adjusted, and the vibroflot system can maintain a better verticality requirement during vibroflot.

In summary, after the vibroflotation system is aligned with the pile point to be constructed, the verticality of the vibroflotation system on the vibroflotation gravel pile machine is adjusted, so that the vibroflotation system can perform vibroflotation construction on the pile point to be constructed with the verticality meeting the requirement, and the vibroflotation construction method comprises the following steps:

s211, arranging the drill rod system and a mast of the hoisting system in parallel so that a vibroflot system connected with the bottom of the drill rod system is parallel to the mast;

in the process of lowering the drill rod system and the vibroflotation device system by using the hoisting system, the verticality of the drill rod system relative to the host is controlled so that the vibroflotation device system lowered by the drill rod system is parallel to the mast. The verticality of the drill rod system is controlled by applying a horizontal constraint force and a vertical guide force to the drill rod system.

It should be noted that the main machine of the vibroflotation gravel pile machine should be arranged on the horizontal ground, and the ground has enough bearing capacity, so that the main machine of the vibroflotation gravel pile machine can be kept horizontal, and the main machine can be kept horizontal by adopting a theodolite to assist in calibration so that the main machine is in a horizontal state and a vertical state.

Because the drill rod system comprises the connecting section, the supporting section and the working section, and the connecting section is suspended on the mast through the first steel wire rope, when horizontal restraining force and vertical guiding force are applied to the drill rod system, the restraining force is applied to the connecting section of the drill rod system. The method for applying the horizontal constraint force and the vertical guide force is a method for applying the horizontal constraint force and the vertical guide force to the connecting section through the drill rod verticality maintaining device.

Exerting horizontal direction restraining force and vertical direction guiding force on the connecting section through the drill rod verticality maintaining device comprises the following steps:

connecting a fixing frame of the drill rod verticality maintaining device with a supporting frame through a plurality of pin shafts;

and mounting the fixed frame on the mast, and enabling the connecting section of the drill rod system to penetrate through the through hole of the support frame so as to apply horizontal constraint force and vertical guide force to the connecting section through the support frame.

When the horizontal frame of the support frame is formed by butting two parts, the lock catch can be opened, one part of the support frame, which is far away from the mast, is in an opened state relative to the other part, which is close to the mast, of the support frame, and after one part of the connection section of the drill rod system penetrates through the through hole of the support frame, the two parts are butted and locked through the lock catch, so that rigid constraint is provided for the connection section. Preferably, the connection section is restrained in a position close to the connection of the connection section and the support section.

Or, when the position of the drill rod verticality maintaining device on the mast is adjustable, the step of applying the horizontal direction restraining force and the vertical direction guiding force to the connecting section through the drill rod verticality maintaining device further comprises the following steps:

before or after the mount that will bore the straightness retention device that hangs down through many round pins axle links together with the support frame, still include:

connecting the fixed frame with a piston rod of an adjusting oil cylinder;

and controlling the piston rod of the adjusting oil cylinder to stretch according to the required holding position of the connecting section of the drill rod system, so as to adjust the vertical position of the fixing frame on the mast through the piston rod until the drill rod verticality maintaining device reaches the required position.

Through the drill rod verticality maintaining device, the drill rod system and the mast of the hoisting system can be arranged in parallel, so that the vibroflot system connected with the bottom of the drill rod system is parallel to the mast. When the verticality of the mast meets the requirement, the vibroflot system can perform vibroflot construction on the stratum according to the required verticality to form a pile hole.

S212, when vibroflotation construction is carried out through the vibroflotation device system, the verticality of the main machine, relative to the mast, on the horizontal plane meets the requirement, so that the vibroflotation device can downwards vibroflotation on the construction stratum with the verticality meeting the requirement to form vibroflotation gravel pile holes

After making drilling rod system, vibroflotation ware system and hoist and mount system's mast parallel through drilling rod straightness retention device that hangs down, utilize the vibroflotation ware system to carry out vibroflotation construction to the stratum, when vibroflotation construction, need to make the mast be located the straightness that hangs down of host computer relatively on the horizontal plane and meet the requirements to vibroflotation ware with the straightness that hangs down that meets the requirements shakes downwards to the construction stratum that the degree of depth exceeds 50 meters and have the macroseism many hairlines of deep overburden and forms vibroflotation gravel pile hole, it includes the following step:

s021, when vibroflotation construction is carried out through a vibroflotation device system, detecting the verticality of the mast relative to a host positioned on a horizontal plane in real time to obtain real-time deviation data of the verticality of the mast;

carry out vibroflotation pore-creating work progress through vibroflotation device, carry out real-time detection and processing to the straightness that hangs down of mast host computer on being located the horizontal plane relatively, include: the inclination angle of the mast relative to the host is obtained by detecting the inclination angle of the mast relative to the host arranged on the horizontal plane in real time; after the inclination angle of the mast relative to the host is obtained, real-time deviation data of the perpendicularity of the mast relative to the host (the perpendicularity of the mast is simply referred to as the perpendicularity of the mast) is obtained through calculation.

After the inclination angle of the mast relative to the main machine (i.e. the included angle between the mast and the main machine) is obtained, the mast verticality deviation data can be obtained through calculation by the following method: the inclination angle detection module is used for detecting the perpendicularity of the mast in real time to obtain the inclination angle of the mast relative to the host, and then subtracting 90 degrees from the inclination angle to obtain the perpendicularity deviation value of the mast relative to the host, wherein the deviation value is the real-time deviation data of the perpendicularity of the mast. Alternatively, the following method may be used: the inclination angle detection module is used for detecting the perpendicularity of the mast in real time to obtain the inclination angle of the mast relative to the host, then the inclination angle is subtracted by 90 degrees to obtain an absolute value of the perpendicularity deviation value of the mast relative to the host, and the absolute value of the deviation value is real-time deviation data of the perpendicularity of the mast.

S022, judging whether the perpendicularity of the mast needs to be adjusted or not according to the obtained real-time deviation data of the perpendicularity of the mast;

after real-time deviation data of the mast perpendicularity is obtained through calculation, whether the mast perpendicularity needs to be adjusted or not is judged according to the real-time deviation data, namely whether the deviation data is within a preset threshold interval or not is judged, if the deviation data exceeds the preset threshold interval, the mast perpendicularity needs to be adjusted, and if the deviation data does not exceed the preset threshold interval, the mast perpendicularity does not need to be adjusted.

Specifically, after real-time deviation data of the perpendicularity of the mast is obtained, whether the perpendicularity of the mast needs to be adjusted is determined through a comparison module, the obtained deviation data of the perpendicularity of the mast is compared with a preset threshold interval of the perpendicularity of the mast set in advance through the comparison module, and a corresponding comparison result is obtained, and the comparison process is as follows: after real-time deviation data of the perpendicularity of the mast is obtained, whether the deviation data are within a preset threshold interval or not is judged; if the deviation data exceeds a preset threshold interval, the perpendicularity of the mast needs to be adjusted, and relevant information of the adjustment direction (namely the mast needs to be tilted forwards or backwards) and the size of the mast is determined; if the deviation data does not exceed the preset threshold interval, the perpendicularity of the mast is not required to be adjusted. The preset threshold interval represents a range of maximum and minimum angles at which the mast can be tilted relative to the vertical plane.

S023, if the verticality of the mast needs to be adjusted, adjusting the verticality of the mast to meet the requirement, so that the vibroflot system can vibroflot the construction stratum downwards with the verticality meeting the requirement and form vibroflot gravel pile holes.

And when the obtained comparison result indicates that the deviation data of the mast perpendicularity exceeds a preset threshold interval and the mast perpendicularity needs to be adjusted to meet the requirement, the comparison result is sent to the PLC, and the controller controls the mast angle adjusting mechanism to execute corresponding action according to the comparison result so as to adjust the mast perpendicularity and enable the mast perpendicularity to meet the requirement.

Specifically, if the perpendicularity of the mast needs to be adjusted, the controller firstly controls the vibroflotation system to stop vibroflotation construction, and lifts the vibroflotation system through the hoisting system; then, corresponding actions are executed by controlling the mast angle adjusting mechanism so as to adjust the perpendicularity of the mast to meet the requirements: the PLC controller controls the opening size and the direction of the proportional valve, so that the mast is driven by the deviation rectifying oil cylinder to deflect relative to the host machine to adjust the inclination direction and the inclination size, and the perpendicularity of the mast is within a preset threshold interval meeting the requirement. And finally, lowering the lifted vibroflotation system, and continuing vibroflotation construction on the stratum by using the vibroflotation system.

By adopting the method, the telescopic guide rod system is in rigid connection, the verticality of the telescopic guide rod system is directly ensured by a mast vertical mechanism, the verticality of the mast meets the requirement, the verticality of the drill rod system and the vibroflot in vibroflot construction which are arranged in parallel with the mast meets the requirement, and the guide rod and the vibroflot system can still keep vertical when encountering a hard layer or larger gravels. In engineering practice, the vibroflotation construction is carried out on harder strata with hole depth of over 50 meters in a strong earthquake zone, particularly on strata with larger gravels, the impact force on hard layers and gravels is kept, the verticality of pile holes is ensured, the probability of rotary digging or impact in the construction is far lower than that of the traditional method (rotary digging or hard smashing impact is hardly needed), the vibroflotation gravel pile is far superior to the traditional method in quality and work efficiency, and the uniformity and compactness of the pile diameter of the subsequently formed vibroflotation gravel pile holes and vibroflotation gravel piles are ensured, so that the vibroflotation gravel pile has good safety performance.

S220, in the process of vertically lowering the vibroflotation system, adjusting the hole forming speed of the vibroflotation system so that the vibroflotation system can vibroflotation downwards the stratum of the pile point to be constructed at the hole forming speed meeting the requirement;

transfer perpendicularly and shake towards the in-process that dashes the pore-forming downwards in order to treat the stratum of construction stake point with the straightness that hangs down that accords with the requirement through shaking towards the ware system, prior art can realize shaking the detection towards the degree of depth, but, the operator shakes and dashes and is under the construction and carry out manual control through the degree of depth mark limit on the visual observation guide arm, is difficult to accurate definite to pore-forming degree of depth and pore-forming speed, and this will influence construction quality, in addition, also does not benefit to the owner and carries out cost accounting.

In order to solve the problems, in the process of vertically lowering the vibroflotation device system, the lowering depth of the vibroflotation device system is detected in real time to obtain the real-time lowering depth and the hole forming speed of the vibroflotation device system, the setting depth under the vibroflotation device system is timely adjusted according to the obtained depth information, and the real-time hole forming speed of the vibroflotation device system is adjusted according to the obtained hole forming speed, so that the precise control of the hole forming depth and speed is realized, the vibroflotation depth can be accurately obtained by a user so as to facilitate cost accounting, safe hole forming can be carried out according to stratum conditions, and the hole forming efficiency and the construction quality are improved.

In order to achieve the above object, the depth and the hole forming speed of the lower setting of the vibroflotation device system are monitored and controlled in real time by the vibroflotation device depth and speed control system, as shown in fig. 27, the vibroflotation device depth and speed control system comprises a vibroflotation device lowering depth detection device and a vibroflotation device depth and speed control device.

The vibroflotation device lowering depth detection device is used for detecting the lowering depth of the vibroflotation device system in real time in the process of vertically lowering the vibroflotation device system, and judging whether the vibroflotation device system reaches the preset depth and the hole forming speed. And the vibroflotation device depth and speed regulation and control device is used for regulating the depth and speed of the vibroflotation device system placed under the hoisting system when the vibroflotation device system does not reach the preset depth and the hole forming speed so as to regulate the vibroflotation hole forming speed and ensure that the vibroflotation device system is placed to the preset depth.

As shown in fig. 28, the vibroflot lowering depth detection device includes: the depth query and return mechanism sends a depth query instruction to the vibroflotation gravel pile machine through the controller so that the vibroflotation gravel pile machine can detect the real-time depth of the vibroflotation device system and feed back the detection result to the controller; the depth zero calibration module is used for performing zero calibration when the vibroflot system reaches a depth zero point; the lower depth detection mechanism is used for detecting the depth of the vibroflot system in real time according to the instruction sent by the vibroflot lower depth inquiry mechanism; and the preset depth judgment and output module is used for judging whether the lowering depth reaches the preset depth or not according to the obtained real-time lowering depth of the vibroflotation device system if the lowering depth of the vibroflotation device system exceeds the zero depth (namely is below the zero depth), and outputting a judgment result to the controller so that the controller controls the depth regulation and control device to work according to the judgment result to ensure that the vibroflotation device system is lowered to the preset depth.

As shown in fig. 23, the lowering depth query and return mechanism includes: the vibroflotation construction management system and the remote data transmission station 602 which are arranged in the remote central control room 601 as described above are communicated with the controller 603 (a PLC or a singlechip upper computer system); the airborne computer 104 and the airborne digital transmission station 105 are installed on the main machine 101 of the vibroflotation gravel pile machine, the airborne computer 104 is communicated with a remote controller (a PLC or a singlechip upper computer system) through the airborne digital transmission station 105 and the remote digital transmission station 602, and the communication can be wireless communication or wired communication.

Specifically, as shown in fig. 24, the vibroflotation construction management system in the remote central control room queries the data type of the serial port on the onboard computer of the vibroflotation gravel pile machine through the controller (ARM single chip microcomputer or PLC programmed remote), sends query instructions such as depth, drill position, hole forming speed and the like through analyzing data codes and coding, and sends the query instructions out through a remote data transmission radio station at a certain rate in a data format. The airborne digital transmission radio station installed on the serial port of the airborne computer receives the query instruction sent by the PLC in the construction management system or the single chip microcomputer serial port remote digital transmission radio station, and the query instruction is decoded and recognized by the airborne computer, and then the data to be transmitted, such as information of depth, drill bit position, pore-forming speed and the like, is replied according to the instruction of the single chip microcomputer or the PLC, and data exchange is carried out through the serial port and the remote digital transmission radio station.

The remote data transmission radio station (full duplex, receiving and transmitting integration) on the remote construction management system receives the signal sent by the airborne data transmission radio station on the vibro-replacement pile machine, analyzes the required signals of depth, drill bit position, speed and the like by decoding and stripping the encrypted signal, and displays and records the signals in the construction management system by program calculation through a decoding circuit.

It should be noted that, during vibroflotation construction of the vibroflotation gravel pile machine, the instruction sent by the remote controller to the vibroflotation gravel pile machine through the remote data transmission station comprises an instruction for controlling each system to execute corresponding actions and an instruction for inquiring or controlling various parameters such as the inclination and the tension of the pile machine, and the airborne data transmission station on the vibroflotation gravel pile machine receives and decodes the instructions, and the instructions are identified by the airborne computer. Through the wireless transmission mode, the bidirectional error correction coding realizes the remote wireless transmission of data, and the data of the remote control room and the vibroflotation gravel pile machine are unified and facilitated, so that the construction management system of the remote central control room is consistent with the display data on the onboard computer of the vibroflotation gravel pile machine, and the operation handle provides the eyes for the vibroflotation gravel pile machine.

In order to keep the consistency of the data on the remote construction management system and the onboard computer, zero calibration of depth is required, zero clearing operation can be performed on the construction management system side (PLC and singlechip or ARM), and zero clearing operation can also be performed on the vibro-replacement pile machine.

Wherein, adopt degree of depth zero-bit calibration module to carry out the zero clearing operation, this degree of depth zero-bit calibration module can set up in construction management system side, also can set up on the machine carries the computer of vibroflotation rubble stake machine, includes: the depth zero point confirmation unit is used for judging whether the vibroflotation device system reaches the depth zero point or not according to the lowering condition of the vibroflotation device system; and the zero clearing module is used for clearing the depth when the vibroflot system reaches the zero point of the depth. When the bottom of a water outlet (lower water outlet) of the vibroflotation device is superposed with the zero elevation of the designed orifice, the vibroflotation device system is judged to reach the zero depth, and the depth after the zero depth is reached (namely the depth below the orifice) is the vibroflotation depth of the vibroflotation device system.

And whether the vibroflotation system reaches the zero point of the depth can be judged by a method of artificial observation or an automatic judgment method, preferably, a zero point confirmation unit is adopted for automatic judgment. For example, a detection element can be installed at the zero position of the design orifice, and when the vibroflot system is slowly lowered so that the bottom of the water outlet of the vibroflot is detected by the detection element, the zero clearing module executes zero clearing operation. After the zero clearing operation, the vibroflotation device system is lowered, and the lowering depth detected by the vibroflotation device lowering depth detection mechanism is the vibroflotation depth of the vibroflotation device. The detection element can adopt a proximity sensor or an element which can sense the position of an object in the prior art. Or the vibroflotation device system is slowly lowered, when the bottom of the vibroflotation device system contacts the ground, the tension sensor for detecting the tension of the steel wire rope connected with the drill rod system detects that the tension suddenly changes, and the zero clearing module executes zero clearing operation.

Wherein, vibroflot is transferred depth detection mechanism and can adopt the first structure as shown in fig. 23, includes: a detection pulley 106 mounted on the crown block at the top of the mast 102, wherein the center of the detection pulley 106 passes through a pulley shaft mounted on one side of the crown block, and a plurality of detection hole sites 1061 (as shown in fig. 26) are uniformly arranged along the circumferential direction of the detection pulley 106, so that a steel wire rope for hoisting the drill rod system 200 bypasses the detection pulley 106; a distance detecting element (not shown in fig. 23) mounted on the overhead traveling crane and adjacent to the detecting pulley 106 is connected to the depth control device, and is configured to detect a distance of one hole per rotation of the pulley, where the distance of the hole is an actual depth moving distance of the vibroflot system, and the distance can be calculated by using a formula D = f × D, where D is a depth variation value of the vibroflot system, f is a number of pulses (count up and down) of the inductive switch, and D is a distance between two holes of the pulley. When the device is used, the distance detection element can adopt an inductive proximity switch sensor and the like.

Alternatively, the lower depth detection mechanism of the vibroflotation device may also adopt a second structure (not shown in the figure), that is, a pulley is installed on the crown block at the top of the mast 102 (unlike the pulley of the first structure, the pulley does not need to be provided with a plurality of detection holes, thereby enhancing the strength of the pulley), the pulley is installed on a pulley shaft installed on one side of the crown block in a penetrating manner at the center, a depth detection element is installed on the pulley shaft, the depth detection element can adopt an encoder, and the angle rotated by the pulley is detected by the encoder, thereby calculating the actual depth moving distance of the vibroflotation device system.

In the construction process, a depth zero clearing operation is required, and as shown in fig. 25, it is determined whether the vibroflot system moves to a depth zero point by a depth zero point determination unit: if the vibroflotation system does not move to the zero depth point, the vibroflotation system continues to be slowly lowered until the vibroflotation system moves to the zero depth point, and the zero clearing module executes the zero depth clearing operation; and if the vibroflotation system moves to the depth zero point, the zero clearing module executes the depth zero clearing operation. And then, the vibroflotation system is lowered, when the pulley rotates under the action of the steel wire rope lowering drill rod system and the vibroflotation system, the depth detection element detects all hole positions or angles rotated by the pulley to obtain a lowered depth change value of the vibroflotation system, and the lowered depth of the vibroflotation system can be determined according to the depth change value.

Wherein, predetermine the degree of depth and judge and output module includes: after the lowering depth of the vibroflotation system is below the zero depth position, after the real-time lowering depth of the vibroflotation system is obtained, the lowering depth is compared with a preset depth, and a comparison unit of a comparison result is obtained, wherein the preset depth is the vibroflotation depth determined by a construction party (such as an owner); and outputting a judgment result output module for judging whether the transfer depth of the vibroflotation system reaches the preset depth according to the comparison result, wherein if the comparison result is that the transfer depth is smaller than the preset depth, a judgment result comprising the depth value that the transfer depth does not reach the preset depth and needs to be transferred continuously is output, if the comparison result is that the transfer depth is equal to the preset depth, a judgment result that the transfer depth reaches the preset depth and does not need to be transferred continuously is output, and the judgment results are all transmitted to a controller of a remote central control room.

And after a judgment result that the lowering depth of the vibroflotation system does not reach the preset depth is obtained, the vibroflotation system is adjusted to be lowered to the preset depth through the vibroflotation depth and speed regulation and control device, the function of the regulation and control device is realized by the PLC and the main hoisting device, the main hoisting control module of the controller controls the main hoisting device to act according to the judgment result, so that the drill rod system and the vibroflotation system are continuously and vertically lowered through the steel wire rope of the main hoisting device until the vibroflotation system reaches the preset depth, and the steel wire rope bypasses a pulley on a crown block at the top of a mast of the hoisting system.

When the lowering depth of the vibroflotation device system is detected by the lowering depth detection mechanism, the lowering speed of the vibroflotation device system is calculated through the lowering speed calculation and output module, namely, when the lowering depth of the vibroflotation device system is obtained, the lowering depth of the vibroflotation device system in unit time is calculated through the lowering speed calculation unit according to the lowering depth, the lowering speed of the vibroflotation device system is obtained, the lowering speed is the pore-forming speed of the vibroflotation device system, and then, whether the pore-forming speed of the vibroflotation device system needs to be adjusted or not is judged through the speed judgment and output unit according to the obtained pore-forming speed of the vibroflotation device system, and the judgment result is output.

When the lowering speed of the vibroflotation system is calculated, the total depth of the lowering of the vibroflotation system in a period of time is detected, and the total depth is obtained by dividing the period of time; the method can also be obtained by detecting the lowering depth of the vibroflotation system in real time. Wherein, speed is judged and the output module includes: the comparison unit is used for comparing the hole forming speed with a preset hole forming speed threshold interval after the hole forming speed of the vibroflotation device system is obtained; the result output module judges that the pore-forming speed does not need to be adjusted if the pore-forming speed is within a preset pore-forming speed threshold interval; and if the pore-forming speed is not within the preset pore-forming speed threshold interval, judging that the pore-forming speed needs to be adjusted.

The depth and speed regulation and control device of the vibroflotation device comprises a proportional valve, the proportional valve is connected with a hydraulic oil cylinder of a main hoisting device through an oil way, and the opening size (namely the opening degree of the proportional valve) of the proportional valve is controlled by a main hoisting control module of a controller so as to control the speed of releasing a steel wire rope by the main hoisting device, so that the speed of releasing the vibroflotation device system by the main hoisting device is regulated, namely, the regulation of the hole forming speed can be realized.

When the speed of the vibroflotation system lowered by the main winding device is adjusted according to the obtained hole forming speed, if the hole forming speed exceeds the upper limit of a preset hole forming speed threshold interval, the opening degree of the proportional valve is controlled to be reduced through the controller, so that the lowering speed of the vibroflotation system is reduced, and the lowering speed (namely the hole forming speed) of the vibroflotation system is detected and calculated through the lowering depth detection mechanism and the lowering speed calculation unit, so that the hole forming speed meets the requirement; if the hole forming speed is smaller than the lower limit of the preset hole forming speed threshold interval and is greater than or equal to the preset minimum hole forming speed, the opening of the proportional valve is controlled to be increased through the controller, and therefore the lowering speed of the vibroflotation device system is increased until the hole forming speed meets the requirement; and if the hole forming speed is less than the preset minimum hole forming speed, the controller sends out an alarm prompt.

The method comprises the steps of setting a target pore-forming speed and a minimum pore-forming speed in advance according to the construction stratum condition before pore-forming construction, and determining a preset pore-forming speed threshold interval according to the target pore-forming speed, wherein the preset pore-forming speed threshold interval is determined by the target pore-forming speed and a control error thereof, the minimum pore-forming speed is predetermined according to the construction stratum hardness, and the minimum pore-forming speed is a safe pore-forming speed set for preventing equipment such as a vibroflot system and the like under the current condition from being damaged due to the fact that the construction stratum hardness is large.

To sum up, in the process of vertically lowering the vibroflotation device system, the real-time monitoring and control of the lower setting depth and the pore-forming speed of the vibroflotation device system by the vibroflotation device depth and speed control system comprises the following steps:

in the process of vertically lowering the vibroflotation system, detecting the lowering depth of the vibroflotation system in real time to obtain the real-time lowering depth and the hole forming speed of the vibroflotation system;

after the real-time transfer depth of the vibroflotation device system is obtained, judging whether the transfer depth reaches the preset depth or not, if the transfer depth does not reach the preset depth, continuing to vertically transfer the vibroflotation device system to the preset depth through the hoisting system;

and after the hole forming speed of the vibroflotation device system is obtained, judging whether the hole forming speed of the vibroflotation device system needs to be adjusted or not, and when the hole forming speed of the vibroflotation device system needs to be adjusted, adjusting the speed of the vibroflotation device system placed under the hoisting system so as to adjust the hole forming speed of vibroflotation.

Specifically, in the process of vertically lowering the vibroflotation device system, the real-time monitoring and control of the lower setting depth and the pore-forming speed of the vibroflotation device system by the vibroflotation device speed control system comprises the following steps:

s221, detecting the lowering depth of the vibroflotation system in real time in the process of vertically lowering the vibroflotation system so as to obtain the real-time lowering depth and the hole forming speed of the vibroflotation system;

in the process of vertically lowering the vibroflotation system, the lowering depth of the vibroflotation system is detected in real time to obtain the lowering depth of the vibroflotation system, and the lowering speed of the vibroflotation system is obtained through the lowering depth, so that the hole forming speed of the vibroflotation system is obtained.

The remote controller sends a depth query instruction to the vibroflotation gravel pile machine through the remote data transmission radio station, the airborne data transmission radio station on the vibroflotation gravel pile machine receives and decodes the instructions, the instructions are identified by the airborne computer, then, according to the depth query instruction sent by the controller, each system on the vibroflotation gravel pile machine executes corresponding actions, and replies to-be-transmitted data, such as depth, drill bit position, speed and the like, and data exchange is carried out through the airborne computer serial port and the airborne data transmission radio station. The remote data transmission radio station receives signals such as depth, speed and the like sent by the airborne data transmission radio station, analyzes the required signals by decoding and stripping the encrypted signals, and displays and records the signals in the construction management system through a decoding circuit and program calculation.

With the vibroflotation system lowered, as shown in fig. 25, it is first determined by the depth zero point confirmation unit whether the vibroflotation system moves to the depth zero point, which is generally the ground with the same elevation as the ground at the bottom of the pile machine: if the vibroflotation system does not move to the depth zero point, the vibroflotation system is continuously and slowly released until the vibroflotation system moves to the depth zero point, and the zero clearing module executes the depth zero clearing operation; and if the vibroflotation system moves to the depth zero point, the zero clearing module executes the depth zero clearing operation. And after the zero position calibration is carried out on the depth, the depth zero clearing information is transmitted back to the remote controller, so that the depth zero position displayed on the remote construction management system is consistent with the depth zero position displayed on the onboard computer.

Along with the continuation of vibroflotation device system is transferred, vibroflotation device system carries out the vibroflotation construction under the degree of depth zero-bit to according to the degree of depth inquiry instruction, carry out real-time detection to the transfer degree of depth of vibroflotation device system through transferring degree of depth detection mechanism: when the pulley rotates under the action of the steel wire rope lowering drill rod system and the vibroflotation device system, the depth detection element detects all hole positions or angles rotated by the pulley to obtain a lowered depth change value of the vibroflotation device system, and then the real-time lowering depth of the vibroflotation device system can be calculated through the depth zero position according to the depth change value. This vibroflotation device system's real-time transfer degree of depth will show on airborne computer to through data coding, error correction handles write to RS232 mouth, by writing into airborne digital transmission radio station, send for long-range digital transmission radio station through airborne digital transmission radio station encryption, long-range digital transmission radio station receives the back, the deciphering, the decoding sends into remote control ware (PLC or singlechip serial ports), after PLC or singlechip serial ports are resolved, show and record in construction management system, make the operative hand and the personnel that use long-range construction management system can see relevant data in step.

And after the lowering depth of the vibroflotation system is obtained, calculating the lowering depth of the vibroflotation system in unit time, thereby obtaining the lowering speed of the vibroflotation system and the hole forming speed of the vibroflotation system.

S222, after the real-time lowering depth of the vibroflotation device system is obtained, judging whether the lowering depth reaches a preset depth or not, and if the lowering depth does not reach the preset depth, continuing to vertically lower the vibroflotation device system to the preset depth through a hoisting system;

after obtaining vibroflotation device system's real-time transfer degree of depth, whether need judge and transfer the degree of depth and reach preset degree of depth, include:

after the real-time lowering depth of the vibroflotation system is obtained, comparing the lowering depth with a preset depth, and obtaining a comparison result;

if the comparison result is that the lowering depth is smaller than the preset depth, the lowering depth does not reach the preset depth;

and if the comparison result is that the lowering depth is equal to the preset depth, the lowering depth reaches the preset depth.

Specifically, the lowering depth of the vibroflotation system is located below the zero depth position, and after the real-time lowering depth of the vibroflotation system is obtained, the lowering depth is compared with the preset depth to obtain a comparison result. And if the comparison result is that the transfer depth is smaller than the preset depth, outputting a judgment result comprising the depth value that the transfer depth does not reach the preset depth and the depth value required to be continuously transferred, if the comparison result is that the transfer depth is equal to the preset depth, outputting a judgment result that the transfer depth reaches the preset depth and the transfer is not required to be continuously transferred, and transmitting the judgment results to a controller of the remote central control room.

And after a judgment result that the lowering depth of the vibroflotation system does not reach the preset depth is obtained, the controller controls the main hoisting device to act according to the judgment result so as to continuously vertically lower the drill rod system and the vibroflotation system through a steel wire rope of the main hoisting device until the vibroflotation system reaches the preset depth.

And S223, after the hole forming speed of the vibroflotation system is obtained, judging whether the hole forming speed of the vibroflotation system needs to be adjusted or not, and when the hole forming speed of the vibroflotation system needs to be adjusted, adjusting the speed of the vibroflotation system under the hoisting system so as to adjust the hole forming speed of vibroflotation.

After the lowering depth of the vibroflotation system is obtained, the hole forming speed is analyzed while the lowering depth is judged to reach the preset depth, so that whether the hole forming speed of the vibroflotation system needs to be adjusted is judged.

After the pore-forming speed of the vibroflotation system is obtained, the pore-forming speed is compared with a preset pore-forming speed threshold interval, if the pore-forming speed is within the preset pore-forming speed threshold interval, it is determined that the pore-forming speed does not need to be adjusted, and if the pore-forming speed is not within the preset pore-forming speed threshold interval, it is determined that the pore-forming speed needs to be adjusted.

When the pore-forming speed is judged not to be within the preset pore-forming speed threshold interval according to the obtained pore-forming speed of the vibroflotation device system, the relationship between the pore-forming speed and the upper limit, the lower limit and the minimum pore-forming speed within the preset pore-forming speed threshold interval needs to be determined after the pore-forming speed of the vibroflotation device system needs to be adjusted:

if the pore-forming speed exceeds the upper limit of the preset pore-forming speed threshold interval, the pore-forming speed needs to be reduced until the pore-forming speed reaches the preset pore-forming speed threshold interval; if the pore-forming speed is smaller than the lower limit of the preset pore-forming speed threshold interval and is greater than or equal to the minimum pore-forming speed, the pore-forming speed needs to be increased until the pore-forming speed reaches the preset pore-forming speed threshold interval; and if the hole forming speed is less than the minimum hole forming speed, stopping vibroflotation, and sending an alarm prompt by the controller.

The opening of the proportional valve is controlled by the controller main winch control module, and the speed of the vibroflotation system under the main winch device is adjusted so as to adjust the hole forming speed of the vibroflotation system. If the opening of the proportional valve is controlled to be reduced through the controller main winch control module, the speed of the vibroflot system placed under the main winch device is reduced, and the placement speed (namely the hole forming speed) of the vibroflot system is detected and calculated through the placement depth detection mechanism and the placement speed calculation and output module, so that the hole forming speed meets the requirement; if the hole forming speed is smaller than the lower limit of the preset hole forming speed threshold interval and is greater than or equal to the preset minimum hole forming speed, the opening of the proportional valve is controlled to be increased through the controller, and therefore the lowering speed of the vibroflotation device system is increased until the hole forming speed meets the requirement; and if the hole forming speed is less than the preset minimum hole forming speed, the controller sends out an alarm prompt.

Specifically, when the hole forming speed is adjusted, if the hole forming speed exceeds the upper limit of a preset hole forming speed threshold interval, the opening of a proportional valve is controlled to be reduced through a controller so as to reduce the speed of the vibroflotation system under a main winding device, the lowering speed (namely the hole forming speed) of the vibroflotation system is detected and calculated through a lowering depth detection mechanism and a lowering speed calculation and output module, the result is fed back to the controller, and the hole forming speed meets the requirement after closed-loop control; if the hole forming speed is smaller than the lower limit of the preset hole forming speed threshold interval and is greater than or equal to the preset minimum hole forming speed, the opening of the proportional valve is controlled to be increased through the controller, and therefore the lowering speed of the vibroflotation device system is increased until the hole forming speed meets the requirement; and if the hole forming speed is less than the preset minimum hole forming speed, the controller sends out an alarm prompt. The minimum hole forming speed is predetermined according to the hardness of the construction stratum, and is a safe hole forming speed set for preventing the equipment such as a vibroflot system and the like under the current condition from being damaged due to the high hardness of the construction stratum.

Before pore-forming construction, a target pore-forming speed and a minimum pore-forming speed are set in advance according to construction stratum conditions, and a preset pore-forming speed threshold interval is determined according to the target pore-forming speed, namely the preset pore-forming speed threshold interval is determined by the target pore-forming speed and a control error thereof, for example, if the target pore-forming speed is 1.88m/min and the control error is 0.12m/min, the preset pore-forming speed threshold interval is [1.76m/min, 2.00m/min ], and for a hard stratum, the minimum pore-forming speed can be set to be 0.6m/min.

If the actual pore-forming speed reaches 3m/min, a controller (such as a PLC) gives a signal to control the proportional valve to be closed, the speed of the main hoisting device is reduced along with the signal until the control index reaches the upper limit of a preset pore-forming speed threshold interval of 2.00m/min, and the standard requirement is met.

If the actual pore-forming speed is 0.70m/min, a controller (such as a PLC) gives a signal to control the proportional valve to be opened greatly, the speed of the winch is increased accordingly until the control index reaches the lower limit of the preset pore-forming speed threshold interval of 1.76m/min, the standard requirement is met, and the work efficiency is improved as much as possible. And if the actual hole forming speed cannot be obviously accelerated after the opening of the proportional valve is increased, manual intervention is required, and the controller gives a prompt at the moment.

If the actual pore-forming speed is less than or equal to 0.6m/min, the controller gives an alarm and directly carries out manual intervention.

By adopting the method, the speed of the vibroflotation system put down by the main winch can be controlled in real time, so that the hole forming speed of the vibroflotation system is controlled, and the real-time hole forming speed can be controlled to be not more than 2.00m/min, so that the hole forming speed meets the requirements of the technical Specification for foundation treatment of hydropower engineering vibroflotation.

In the process of vertically lowering the vibroflotation device system, the lower setting depth and the hole forming speed of the vibroflotation device system are monitored and regulated in real time, the information of the lower setting depth and the hole forming speed of the vibroflotation device system can be obtained in real time, and the lower setting depth and the hole forming speed of the vibroflotation device system are timely regulated according to the depth information and the hole forming speed, so that the precise control of the vibroflotation device depth and the hole forming speed is realized, a homeowner can accurately obtain the vibroflotation pile depth, and the cost accounting is facilitated. In addition, when the vibroflotation gravel pile machine is in vibroflotation construction, the remote controller exchanges data with the vibroflotation gravel pile machine and the upper computer thereof through the remote data transmission station and the onboard data transmission station, so that the remote construction management system can be consistent with the display data on the onboard computer of the vibroflotation gravel pile machine, and eyes for operating the vibroflotation gravel pile machine are provided.

S230, in the process of carrying out pore-forming construction on the construction pile points, adjusting the flow of launching water and the pressure of launching air of an automatic feeding system for the pore-forming construction by cooperating with the vibroflot system according to the current stratum compactness;

in the process of carrying out hole forming construction on the construction pile point through the vibroflotation system, besides detecting and adjusting the lowering depth and the hole forming speed of the vibroflotation system, the flow of the discharged water and the pressure of the discharged gas of the automatic feeding system are adjusted according to the current formation compactness, so that the vibroflotation system is cooperated to carry out the hole forming construction on the formation of the construction pile point by downward vibroflotation. In addition, the water feeding and the gas feeding are correspondingly regulated according to the conditions so as to realize the water-gas linkage control in the hole forming construction of the vibroflot system and ensure the smooth operation of the deep hole vibroflot hole forming construction.

The invention is used for leading the water-air linkage of the vibroflotation gravel pile machine to adopt the following control method, comprising the following steps: in the vibroflotation construction process, the water supply flow for supplying water and the air supply pressure for supplying air are controlled in real time, so that the telescopic guide rod can freely stretch under the combined action of the water supply and the air supply; acquiring the current stratum compactness in the vibroflotation construction process; and controlling the flow rate of the sewage supplied with the sewage and the pressure of the sewage supplied with the sewage in real time according to the current stratum compactness so that the vibroflotation device, the sewage and the sewage jointly act to complete vibroflotation construction.

The method is suitable for deep hole vibroflotation with complex stratum, and guarantees smooth deep hole vibroflotation construction by automatically controlling water feeding and gas feeding in the vibroflotation construction process and automatically controlling the supply of water feeding and gas feeding according to the current stratum compactness.

The water-gas linkage control method is described in detail below with reference to the accompanying drawings and examples.

As shown in fig. 31, the embodiment provides a water-air linkage control method for a vibroflotation gravel pile machine, which includes:

s231, enabling a pipeline for supplying water and air to penetrate from the top of the telescopic guide rod to the lower part of the telescopic guide rod so that water and air can form water flow and air flow from bottom to top in the telescopic guide rod under the action of a baffle plate at the lower part of the telescopic guide rod and flow out from the top of the telescopic guide rod;

s232, penetrating a pipeline for supplying the launching water through the telescopic guide rod and the vibroflot and then extending out of the bottom end of the vibroflot so that the launching water is sprayed out from the bottom end of the vibroflot to carry out water-flushing pre-destruction on the stratum;

s233, penetrating a pipeline for supplying the aeration through the telescopic guide rod and extending out of the side wall of the sleeve at the bottom of the telescopic guide rod, so that the aeration is sprayed out from the bottom of the telescopic guide rod to carry out air impact pre-damage on the stratum;

s234, controlling the water feeding pressure inside the telescopic guide rod to be always greater than the external slurry pressure in the vibroflotation construction process so as to prevent external slurry from entering the telescopic guide rod from the gap of the telescopic guide rod; at the same time

S235, controlling the flow rate of the supplied water and the air pressure of the supplied air so as to remove a small amount of sand entering the telescopic guide rod under the synergistic action of the supplied water and the supplied air;

s236, controlling the flow rate of the sewage supplied according to the compactness of the current stratum obtained in the vibroflotation construction process; and

s237, controlling the gas discharge pressure for supplying gas discharge according to the current stratum compactness acquired in the vibroflotation construction process;

and S238, controlling the sewage flow for supplying sewage and the sewage pressure for supplying sewage, so that the vibroflotation construction is completed under the cooperative action of the sewage and the sewage.

The water discharge control method according to the present embodiment will be described in detail below with reference to the drawings.

As shown in fig. 30, obtaining the current formation compactness during vibroflotation construction includes:

acquiring the current vibroflotation current of the vibroflotation device;

and determining the searched stratum compactness as the current stratum compactness.

As shown in fig. 29, the vibroflot system is connected to the remote controller through a vibroflot frequency conversion cabinet, and the vibroflot frequency conversion cabinet and the controller are connected wirelessly or by wire.

When a stratum with even local distribution is encountered, the obtained instantaneous value of the vibroflotation current is stable, and the obtaining of the current vibroflotation current of the vibroflotation motor of the vibroflotation system (the obtaining of the vibroflotation current of the vibroflotation motor of the vibroflotation system is simply referred to as the vibroflotation current of the vibroflotation) is realized in the following way: acquiring a vibroflotation current instantaneous value of a vibroflotation device; and determining the obtained surge current instantaneous value as the current surge current.

In specific implementation of the embodiment, the controller acquires a vibroflotation current signal of the vibroflotation device from the vibroflotation device frequency conversion cabinet, and determines the acquired vibroflotation current as the current vibroflotation current. Or, a current detection sensor (not shown in the figure) is installed on a vibroflotation outgoing line of the vibroflotation device frequency conversion cabinet connected with the vibroflotation device; when the vibroflotation device is started, a vibroflotation current signal is generated by the current detection sensor and is transmitted to the controller in real time in a wired or wireless mode. And the controller determines the current vibroflotation current as the vibroflotation current transmitted from the current detection sensor in real time. The current detection sensor may be any sensor capable of detecting current in the prior art, such as a current transformer.

When a stratum with uneven local distribution is encountered, the jump of the instantaneous value of the obtained vibroflotation current is large, and the obtaining of the current vibroflotation current of the vibroflotation device is realized by the following method: acquiring a plurality of vibroflotation current instantaneous values of a vibroflotation device; averaging the obtained plurality of instantaneous values of the vibroflotation current to obtain an average vibroflotation current; and determining the average vibroflotation current as the current vibroflotation current. And the interval time for acquiring the instantaneous values of the two adjacent vibrating current is equal. The method for averaging the acquired plurality of surge current instantaneous values is as follows: compiling n (n is more than or equal to 2) continuous obtained instantaneous values of the vibroflotation current into a queue, adding the n instantaneous values of the vibroflotation current in the queue and then averaging; adding a newly acquired surge current instantaneous value into the tail of the queue, simultaneously removing a surge current instantaneous value at the head of the queue to form a new queue, and adding n surge current instantaneous values in the new queue and then averaging.

In practice, the method for obtaining the instantaneous value of the surge current is as described above. Specifically, a current averaging processing module can be arranged in the controller, the controller acquires a vibroflotation current instantaneous value from a vibroflotation frequency conversion cabinet or a current detection sensor, and n (n is more than or equal to 2) vibroflotation current instantaneous values in a queue are averaged by the current averaging processing module to obtain an average vibroflotation current; the controller determines the average current as the present current.

Searching the stratum compactness corresponding to the current vibroflotation current according to the preset corresponding relation between the vibroflotation current and the stratum compactness; and determining the found formation compactness as the current formation compactness, wherein the specific implementation mode is as follows:

the controller is preset with the corresponding relation between the vibroflotation current and the formation compactness. The corresponding relation between the vibroflotation current and the stratum compactness is obtained through tests, namely before formal construction, a test pile is firstly made on site, and the controller analyzes a large amount of data obtained by the test pile to determine the corresponding relation between the vibroflotation current and the stratum compactness.

In one embodiment of this example, the vibroflotation current is correlated to formation compaction as shown in table 1. The stratum compactness is divided into three levels of soft, medium and hard, and the corresponding relation between the stratum compactness of different levels and the vibroflotation current is obtained through field test data.

TABLE 1 correspondence between vibroflotation current and formation compaction

Vibroflotation current I	Formation density Dr
		I<0.3Ie	Soft
0.3Ie≤I<0.8Ie	In (1)
		I≥0.8Ie	Hard

Wherein, ie shown in table 1 is rated current of the vibroflotation motor of the vibroflotation system.

And after the controller obtains the current vibroflotation current, determining the stratum compactness corresponding to the current vibroflotation current as the current stratum compactness through the lookup table 1. For example, when the controller acquires the current vibroflotation current I =0.3Ie, the current formation compactness is determined as the medium level by looking up table 1.

It should be noted that table 1 only shows one corresponding relationship between the vibroflotation current and the formation compactness, and for a more complex formation, the controller may obtain other more complex corresponding relationships according to field test data.

Wherein, the launching flow rate of the launching is controlled according to the current stratum compactness obtained in the vibroflotation construction process, as shown in fig. 32, including:

acquiring the current launching pressure of the supplied launching water;

searching a target launching pressure corresponding to the current stratum compactness according to the corresponding relation between the preset launching pressure and the stratum compactness;

and controlling the launching flow of the launching supplied by the second water pump by comparing the current launching pressure with the target launching pressure so that the current launching pressure is within the range of the target launching pressure.

The controller converts the difference signal between the current launching pressure and the target launching pressure into a control signal, and controls the launching flow of the launching supplied by the second water pump so that the current launching pressure is within the target launching pressure range.

Wherein obtaining the current launch pressure of the supply launch comprises:

acquiring a plurality of instantaneous launching pressures of the supply launching water;

averaging the multiple instantaneous launching pressures to obtain an average launching pressure;

the resulting average launching pressure is determined as the current launching pressure.

Wherein, when a plurality of instantaneous launching pressures of the supplied launching water are obtained, the interval time for obtaining two adjacent instantaneous launching pressures is equal.

The invention can adopt a plunger pump BW450 to supply the sewage, and can also adopt other water pumps to supply the sewage as long as the supplied sewage pressure and the supplied sewage flow meet the requirements.

Because the plunger pump supplies water and has the characteristics that pulsating pressure and instantaneous flow fluctuate greatly, therefore:

in an embodiment of this embodiment, the multiple instantaneous lower water pressures are averaged to obtain an average lower water pressure, and the specific implementation manner is as follows: n (n is more than or equal to 2) continuously acquired instantaneous launching pressures form a sampling interval, and the n instantaneous launching pressures in the sampling interval are added to obtain an arithmetic mean value.

In another embodiment of this embodiment, the average of the multiple instantaneous launching pressures is obtained, and the specific implementation manner is as follows: n (n is more than or equal to 2) continuous acquired instantaneous launching pressures form a sampling interval, and the root mean square is calculated from the n instantaneous launching pressures in the sampling interval.

In the two embodiments, the n instantaneous launching pressures in the last sampling interval are not overlapped with the n instantaneous launching pressures in the next sampling interval. For example, the first sampling interval contains the 1 st and 2 nd instantaneous launch pressures, the second sampling interval contains the 3 rd and 4 th instantaneous launch pressures, and so on.

In the above two embodiments, as shown in fig. 29, a second water supply pressure detection sensor and a second water supply flow detection sensor are installed on the water outlet pipeline of the second water pump, and are respectively used for detecting the instantaneous water discharge pressure and the instantaneous water discharge flow of the water supplied by the second water pump in real time. The second water supply pressure detecting sensor and the second water supply flow detecting sensor may employ any sensors capable of detecting water pressure and water flow in the prior art. For example, the second feed water pressure detection sensor may employ a pressure transmitter, and the second feed water flow detection sensor may employ an electromagnetic flowmeter.

And a pressure signal averaging circuit is added in the second water supply pressure detection sensor and used for averaging n continuous instantaneous lower water pressures detected by the second water supply pressure detection sensor to obtain an average lower water pressure, and the controller acquires the average lower water pressure and determines the average lower water pressure as the current lower water pressure.

In addition, a flow signal averaging circuit is added in the second water supply flow detection sensor and used for averaging n continuous instantaneous lower water flows to obtain an average lower water flow, and the controller determines the acquired average lower water flow as the current lower water flow.

As shown in fig. 29, the second supply water pressure detecting sensor and the second supply water flow detecting sensor transmit the average sewer pressure signal and the average sewer flow signal to the remote terminal unit RTU, which transmits the signals to the controller by wireless. The remote terminal unit RTU can be a unit provided or connected with an on-board computer on the vibro-replacement stone pile machine, and can also be a unit independently arranged outside the vibro-replacement stone pile machine.

The controller may also be additionally provided with a pressure signal average processing module and a flow signal average processing module, and average-processes the n instantaneous lower water pressures transmitted from the second water supply pressure detection sensor and average-processes the n instantaneous lower water flows transmitted from the second water supply flow detection sensor to obtain an average lower water pressure and an average lower water flow, respectively, and determines the average lower water pressure as the current lower water pressure and the average lower water flow as the current lower water flow.

The method comprises the following steps of searching a target launching pressure corresponding to the current stratum compactness according to the corresponding relation between the preset launching pressure and the stratum compactness, and adopting the following specific implementation mode:

the controller is preset with the corresponding relation between the drainage pressure and the formation compactness. The corresponding relation between the water pressure and the stratum compactness is obtained through tests, namely before formal construction, a test pile is firstly made on site, and the controller analyzes a large amount of data obtained through the test pile to determine the corresponding relation between the water pressure and the stratum compactness.

In one embodiment of this example, the relationship between the groundwater pressure and the formation compaction is shown in table 2. The stratum compactness is divided into three grades of soft, medium and hard, and the corresponding relation between the stratum compactness of different grades and the groundwater pressure is obtained through field test data.

TABLE 2 corresponding relationship between water pressure and formation compactness

Launching pressure P (MPa)	Formation density Dr
		0.3～0.5	Soft
0.5～0.7	In
		0.7～0.8	Hard

The controller finds the target launching pressure corresponding to the current formation compaction through the lookup table 2. As shown in table 2, the lower and upper limits are set for the launching pressure corresponding to the formation compactness of each level. For example, when the controller determines the current formation compactness as the intermediate level through the lookup table 1, the target launching pressure corresponding to the intermediate level current formation compactness is found to be 0.5-0.7 MPa through the lookup table 2.

It should be noted that table 2 only shows one corresponding relationship between the water pressure and the formation compactness, and for a more complex formation, the controller may obtain other more complex corresponding relationships according to field test data.

Wherein, through comparing present launching pressure and target launching pressure, the offal flow of control second water pump supply launching makes present launching pressure be located target launching pressure within range, specifically includes: when the current launching pressure is larger than the target launching pressure upper limit, controlling a second water pump to reduce the launching flow; when the current launching pressure is smaller than the target launching pressure lower limit, controlling a second water pump to increase the launching flow; and when the current launching pressure is within the target launching pressure range, controlling the second water pump to maintain the launching flow.

As shown in fig. 29, the second water pump is connected to the controller through the second pump frequency conversion cabinet in this embodiment, and the second pump frequency conversion cabinet and the controller are connected wirelessly or through a wire. The controller controls the rotating speed of the second water pump by controlling the second water pump frequency conversion cabinet to change the output frequency, so that the sewage flow supplied by the second water pump for sewage is changed, and when the sewage flow discharged by the water outlet pipeline of the second water pump is increased, the sewage pressure is increased; when the flow rate of the sewage discharged by the water outlet pipeline of the second water pump is reduced, the pressure of the sewage is reduced.

In the vibroflotation construction process, if only water is supplied, and the construction effect is not obvious, the air is supplied in an auxiliary way.

The air bleeding control method of the present embodiment will be described in detail below with reference to the drawings.

Wherein, the gas pressure of the gas supply according to the current formation compactness obtained in the vibroflotation construction process is controlled, as shown in fig. 33, including:

acquiring the pressure of the lower air for supplying the lower air;

searching a target gas discharge pressure corresponding to the current formation compactness according to the corresponding relation between the preset gas discharge pressure and the formation compactness;

and controlling the pressure of the second air compressor for supplying the exhaust air by comparing the acquired exhaust air pressure with the target exhaust air pressure, so that the acquired exhaust air pressure is in the range of the target exhaust air pressure.

The controller converts the difference signal of the acquired air pressure and the target air pressure into a control signal, and controls the air pressure supplied by the second air compressor to be within the target air pressure range.

In the present embodiment, the current formation compactness is obtained by referring to the foregoing launching control method.

Wherein, this embodiment obtains the pressure of holding down the gas of supply and specifically includes: and detecting the instantaneous air supply pressure of the second air compressor for supplying air in real time, and acquiring the instantaneous air supply pressure with equal interval time.

In one embodiment of this embodiment, the method of obtaining the following air pressure is as follows:

as shown in fig. 29, an air tank is disposed at an outlet of the second air compressor, and a second air supply pressure detection sensor is installed on an air outlet pipeline of the air tank, for detecting an instantaneous air supply pressure of the second air compressor for supplying the air. The second air supply pressure detection sensor may employ any sensor capable of detecting air pressure in the related art. For example, a pressure transmitter may be employed.

In addition, a second air supply flow detection sensor is arranged on an air outlet pipeline of the air storage tank of the second air compressor and used for detecting the lower air flow of the lower air supplied by the second air compressor. The second supply air flow rate detection sensor may employ any sensor capable of detecting the amount of air flow in the related art. For example, a vortex shedding flowmeter may be used.

The second air supply pressure detection sensor and the second air supply flow detection sensor transmit the detected pressure signal and flow signal to the remote terminal unit RTU, and the RTU transmits the signal to the controller through wireless transmission.

According to the preset corresponding relation between the gas pressure and the formation compactness, the target gas pressure corresponding to the current formation compactness is searched, and the specific implementation mode is as follows:

the controller is preset with the corresponding relation between the pressure of the gas and the compactness of the stratum. The corresponding relation between the gas pressure and the formation compactness is obtained through tests, namely before formal construction, a test pile is firstly made on site, and the controller analyzes and determines the corresponding relation between the gas pressure and the formation compactness through a large amount of data obtained by the test pile.

In one embodiment of this example, the relationship between the sweep gas pressure and the formation compaction is shown in Table 3. The stratum compactness is divided into three grades of soft, medium and hard, and the corresponding relation between the stratum compactness of different grades and the lower air pressure is obtained through field test data.

TABLE 3 corresponding relationship between gas pressure and formation compactness

Pressure of lower air P (MPa)	Formation density Dr
		0	Soft
0.3～0.5	In
		0.7～0.8	Hard

The controller looks up the target downhole pressure corresponding to the current formation compaction via look-up table 3. As shown in table 3, the lower air pressure corresponding to the formation compactness of each level is set to an upper limit and a lower limit. For example, when the controller determines the current formation compactness as the intermediate level through the lookup table 1, the target lower gas pressure corresponding to the intermediate level current formation compactness is found to be 0.3-0.5 MPa through the lookup table 3.

It should be noted that table 3 only shows one corresponding relationship between the gas pressure and the formation compactness, and for a more complex formation, the controller may obtain other more complex corresponding relationships according to field test data.

Wherein, through the lower atmospheric pressure of comparison acquisition and target, the lower atmospheric pressure of the supply of control second air compressor machine lower gas makes the lower atmospheric pressure who acquires lie in the target lower gas pressure within range, specifically includes:

when the obtained lower air pressure is greater than the target lower air pressure upper limit, controlling a second air compressor to reduce the lower air pressure; when the obtained lower air pressure is smaller than the target lower air pressure limit, controlling a second air compressor to increase the lower air pressure; and when the acquired lower air pressure is within the target lower air pressure range, controlling the second air compressor to maintain the lower air pressure.

In one embodiment of this embodiment, as shown in fig. 29, a second electric control valve is attached to an air outlet line of the air tank, and the lower air pressure is controlled by controlling the valve opening degree of the second electric control valve. As shown in fig. 29, the controller of the present embodiment wirelessly transmits a valve opening signal to the remote terminal unit RTU, and controls the valve opening of the second electrically-controlled regulator valve by the RTU. When the valve of the second electric regulating valve is opened to be large, the lower air flow is increased, and the lower air pressure is increased; when the valve of the second electric control valve is opened, the lower air flow is reduced, and the lower air pressure is reduced.

For a deep and thick covering complex stratum, the method automatically controls the supply amount of the water discharge pressure and the air discharge pressure respectively according to the compactness of different stratums, thereby being matched with a vibroflot to smoothly complete deep hole vibroflot construction.

Deep hole vibroflotation construction based on flexible guide arm needs to cooperate the water supply.

The water supply control method of the present embodiment will be described in detail below with reference to the accompanying drawings.

The water feeding control principle of the embodiment is as follows: 1. controlling the water feeding pressure, controlling the water feeding pressure in the telescopic guide rod to be always greater than the mud pressure of the pile hole, forcing the water feeding in the telescopic guide rod to flow to the mud in the pile hole from the sleeve gap of the telescopic guide rod, and realizing the dynamic balance of water pressure in the pipe so as to prevent sand and stone in the mud from entering and being clamped in the sleeve gap; 2, control water supply flow, the in-process of discharging behind the upward flow of water follow bottom sleeve pipe top to the top layer sleeve pipe, through making the water supply flow in the flexible guide arm keep at certain level to will get into a small amount of grit in the flexible guide arm by accident and take out, avoid the card at the bushing gap.

Based on the principle, the embodiment can avoid the pipe clamping through real-time control water flow on the basis of ensuring the dynamic balance of the water pressure in the pipe, and the purpose of freely stretching and retracting the telescopic guide rod is realized.

Wherein, in the vibroflotation construction process, the inside pressure of going up water of control flexible guide arm is greater than outside mud pressure all the time, and the concrete implementation is as follows:

the internal water-feeding pressure of the telescopic guide rod comprises water-feeding static pressure (rho) _{Water (I)} gh) and the upper water pressure (delta P) supplied by the first water pump, wherein the upper water pressure inside the telescopic guide rod is always greater than the external mud pressure, namely the upper hydrostatic pressure (rho) in the telescopic guide rod is controlled _{Water (W)} gh) and the upper water pressure (delta P) supplied by the first water pump are more than the mud pressure (rho) in the pile hole outside the telescopic guide rod _{Pulp and its production process} gh), namely the upper water pressure (delta P) supplied by the first water pump is controlled to be greater than the mud pressure (rho) in the pile hole outside the telescopic guide rod _{Pulp and its production process} gh) and the upper hydrostatic pressure (rho) in the telescopic guide rod _{Water (W)} gh), i.e. DeltaP > ρ _{Pulp and its production process} gh-ρ _{Water (W)} gh。

Where ρ is _{Water (I)} ＝1g/cm ³ ，ρ _{Pulp and its production process} ＝1.4g/cm ³ G ≈ 10m/s, Δ P > 0.4MPa provided h =100 m.

According to the calculation, when the hole depth is 100m, the hydraulic pressure in the telescopic guide rod can be kept in dynamic balance by controlling the upper water pressure supplied by the first water pump to be more than 0.4MPa, and sand in slurry is prevented from entering and being clamped in the gap of the casing.

In specific implementation, the first water pump can adopt a water pump with the minimum pump pressure of more than 0.4MPa. For example, a plunger pump BW320 was used, with a minimum pump pressure of 1.5MPa.

Specifically, the internal water-feeding pressure of the telescopic guide rod is controlled to be always greater than the external slurry pressure, namely the water-feeding pressure supplied by the first water pump can be controlled in the following way: acquiring a current water feeding pressure of supplied water feeding; controlling the water feeding pressure of the first water pump for supplying water by comparing the current water feeding pressure with the reference water feeding pressure to enable the current water feeding pressure to be larger than or equal to the reference water feeding pressure; wherein, the sum of the water feeding pressure of the reference and the water feeding static pressure inside the telescopic guide rod is always larger than the external mud pressure.

The specific implementation of obtaining the current water-supply pressure may refer to obtaining the current water-discharge pressure. When the hole depth is 100m, the reference water feeding pressure is 0.4MPa.

Under satisfying present water pressure and being greater than water pressure's on the benchmark condition, this embodiment will come a small amount of grit that accidentally gets into in the flexible guide arm to take away through real time control water flow, avoids the card at the bushing gap.

In which the flow rate of the feedwater to be supplied is controlled, as shown in fig. 34, the method includes:

acquiring the current water supply flow of the first water pump supplying water;

and controlling the water supply flow of the first water pump to supply water by comparing the current water supply flow with the target water supply flow, so that the current water supply flow is within the target water supply flow range.

The controller converts the difference value signal of the current water supply flow and the target water supply flow into a control signal, and controls the water supply flow of the first water pump for supplying water so that the current water supply flow is within the target water supply flow range.

The specific implementation of obtaining the current upper water flow rate of the first water pump supplying the upper water refers to obtaining the current lower water flow rate.

This embodiment is through comparing present water supply flow and target water supply flow, and the water supply flow who controls first water pump supply water specifically includes: when the current upper water flow is larger than the target upper water flow, controlling a first water pump to reduce the upper water flow; when the current upper water flow is smaller than the target upper water flow lower limit, controlling the first water pump to increase the upper water flow; and when the current water supply flow is within the target water supply flow range, controlling the first water pump to maintain the water supply flow.

In one embodiment of this embodiment, the target feedwater flow range is set to 280 ± 10L/min. The maximum flow rate 320L/min of the plunger pump BW320 is greater than the target feed water flow rate. Other first water pumps which can meet the supply requirements of the water supply pressure and the water supply flow of the embodiment at the same time can be selected.

As shown in fig. 29, a first water supply pressure detection sensor and a first water supply flow rate detection sensor are installed on the water outlet pipeline of the first water pump, and are respectively used for detecting the instantaneous water supply pressure and the instantaneous water supply flow rate of the supplied water of the first water pump in real time. The first water supply pressure detecting sensor and the first water supply flow detecting sensor may employ any sensors capable of detecting water pressure and water flow in the prior art. For example, the first supply water pressure detection sensor may employ a pressure transmitter, and the first supply water flow detection sensor may employ an electromagnetic flowmeter.

As shown in fig. 29, the first water pump is connected to the controller through a first water pump frequency conversion cabinet, and the first water pump frequency conversion cabinet and the controller are connected wirelessly or through wires. The controller controls the rotating speed of the first water pump by changing the output frequency of the first water pump frequency conversion cabinet, and further changes the water supply flow of the first water pump for supplying water, so that the current water supply flow is located in a target water supply flow range.

In an embodiment of this embodiment, the plunger pump is used to supply the upper water, and the method for the controller to obtain the current upper water flow and the current upper water pressure refers to the method for the plunger pump to supply the lower water, and the method for the controller to obtain the current lower water flow and the current lower water pressure is not described again.

Based on the deep hole vibroflotation construction of flexible guide arm, if only supply water, when the construction effect is not obvious, supplementary supply is aerifyd.

The aeration control method of the present embodiment will be described in detail below with reference to the drawings.

Wherein the upper air pressure for supplying the upper air is controlled, as shown in fig. 35, including:

acquiring the upper air pressure of the upper air supplied by the first air compressor;

and controlling the upper air pressure of the upper air supplied by the first air compressor by comparing the obtained upper air pressure with the target upper air pressure, so that the obtained upper air pressure is within the target upper air pressure range.

Wherein, acquire the last atmospheric pressure of first air compressor machine supply gas-feeding, specifically include: and detecting the instantaneous air supply pressure of the first air compressor for supplying air in real time, and acquiring the instantaneous air supply pressure with equal interval time.

In one embodiment of this embodiment, the method of obtaining the upper air pressure is as follows:

as shown in fig. 29, an air tank is disposed at an outlet of the first air compressor, and a first air supply pressure detection sensor is installed on an air outlet pipeline of the air tank, for detecting an instantaneous air supply pressure of the first air compressor. The first air supply pressure detection sensor may employ any sensor capable of detecting air pressure in the related art. For example, a pressure transmitter may be employed.

In addition, a first air supply flow detection sensor is arranged on an air outlet pipeline of an air storage tank of the first air compressor and used for detecting the air supply flow of the supplied air of the first air compressor. The first supply air flow rate detection sensor may employ any sensor capable of detecting the amount of air flow in the related art. For example, a vortex shedding flowmeter may be employed.

The first air supply pressure detection sensor and the first air supply flow detection sensor transmit detected pressure signals and flow signals to the remote terminal unit RTU, and the RTU transmits signals to the controller through wireless.

Wherein, through the last atmospheric pressure of comparison acquisition and target, the last atmospheric pressure of the supply of control first air compressor machine gas, make the last atmospheric pressure who acquires be located the target and go up the atmospheric pressure within range, specifically include:

when the obtained upper air pressure is greater than the target upper air pressure limit, controlling a first air compressor to reduce the upper air pressure; when the obtained upper air pressure is smaller than the target upper air pressure lower limit, controlling a first air compressor to increase the upper air pressure; and when the acquired upper air pressure is within the target upper air pressure range, controlling the first air compressor to maintain the upper air pressure.

In one embodiment of this example, the target upper air pressure range is set to 0.3 to 0.4MPa.

As shown in fig. 29, a first electric control valve is installed in an air outlet line of the air tank, and the upper air pressure is controlled by controlling the valve opening degree of the first electric control valve. As shown in fig. 29, the controller of the present embodiment wirelessly transmits a valve opening signal to the remote terminal unit RTU, and controls the valve opening of the first electrically controlled regulator valve by the RTU. When the valve of the first electric regulating valve is opened to be large, the upper air flow is increased, and the upper air pressure is increased; when the valve of the first electric regulating valve is opened, the upper air flow is reduced, and the upper air pressure is reduced.

In the embodiment, a vibroflotation gravel pile machine is adopted, a telescopic guide rod is connected with a vibroflotation device, and the water-air linkage automatic control process comprises the following steps:

1. after the vibroflotation device is started, a second water supply pressure detection sensor detects the instantaneous water discharge pressure in real time, a second water supply flow detection sensor detects the instantaneous water discharge flow in real time, a second air supply pressure detection sensor detects the instantaneous air discharge pressure in real time, a second air supply flow detection sensor detects the instantaneous air discharge flow in real time, a first water supply pressure detection sensor detects the instantaneous water supply pressure in real time, a first water supply flow detection sensor detects the instantaneous water supply flow in real time, a first air supply pressure detection sensor detects the instantaneous air supply pressure in real time, and a first air supply flow detection sensor detects the instantaneous air supply flow in real time;

2. the controller acquires current vibroflotation current, current launching pressure, current launching flow, descending air pressure, descending air flow, current ascending water pressure, current ascending water flow, ascending air pressure and ascending air flow;

3. the controller determines the current stratum compactness corresponding to the current vibroflotation current according to the obtained current vibroflotation current lookup table 1; determining a target launching pressure corresponding to the current formation compactness through a lookup table 2; determining a target gas pressure corresponding to the current formation compactness through a lookup table 3;

4. the controller compares the obtained current launching pressure with the target launching pressure which is searched and determined, converts the difference signal into a control signal to control the output frequency of the second water pump frequency conversion cabinet, changes the launching flow rate of launching supplied by the second water pump by controlling the rotating speed of the second water pump, and further changes the launching pressure so that the current launching pressure is within the range of the target launching pressure;

the controller compares the acquired lower air pressure with the target lower air pressure determined by searching, and converts the difference signal into a control signal to control the valve opening of the second electric regulating valve, so that the lower air pressure is changed and is positioned in the target lower air pressure range;

the controller compares the acquired current water supply flow with a target water supply flow, converts the difference signal into a control signal to control the output frequency of the first water pump frequency conversion cabinet, and controls the change of the rotating speed of the first water pump to supply the water supply flow of water supply by the first water pump so that the current water supply flow is positioned in the target water supply flow range;

the controller compares the acquired upper air pressure with the target upper air pressure, and converts the difference signal into a control signal to control the valve opening of the first electric regulating valve, so that the upper air pressure is changed and is positioned in the target upper air pressure range. In conclusion, the supply amount of the water drainage pressure and the air drainage pressure is accurately controlled according to the compactness of different stratums, so that the vibroflot can smoothly complete deep hole vibroflot construction of complex stratums under the synergistic action of the proper water drainage pressure and the proper air drainage pressure, and the problem of vibroflot construction of stratums with deep and thick covering layers of more than 50m is solved; in addition, the water feeding pressure inside the telescopic guide rod is always higher than the external slurry pressure through the accurate control of the water feeding pressure, so that the external slurry is prevented from entering the telescopic guide rod from the gap of the telescopic guide rod; and the current water supply flow is controlled to be within the target water supply flow range in the vibroflotation construction process, and the air supply pressure is controlled to be within the target air supply pressure range so as to clear away a small amount of sand entering the telescopic guide rod, so that the telescopic guide rod can freely stretch under the action of water supply and air supply, and the vibroflotation construction of the deep hole of the complex stratum based on the telescopic guide rod can be reliably carried out.

S300, after pile holes meeting the verticality requirement are formed, automatically feeding materials into the pile holes through a loader, and forming uniform and continuous vibro-replacement gravel piles meeting the verticality requirement through all sections of pile bodies from bottom to top; and in the process of forming the vibroflotation gravel pile, comparing the pile diameter of each section of pile body with the preset pile diameter, and adjusting vibroflotation parameters of the vibroflotation system according to the comparison result to obtain the pile body meeting the preset pile diameter requirement.

After the pile hole meeting the verticality requirement is formed through the steps, hole cleaning is carried out, then stone materials are gradually thrown into the pile hole after hole cleaning through a plurality of loaders, in the process of gradually throwing the stone materials, vibroflotation encryption construction is carried out on the stone materials thrown into the pile hole through a vibroflotation device system of a vibroflotation gravel pile machine, the pile diameter of a formed pile body is obtained in real time in the vibroflotation encryption construction process, and encryption vibroflotation parameters are adjusted in time through the pile diameter obtaining result, so that a complete pile body of the vibroflotation gravel pile with the continuous uniform pile diameter meeting the requirement is formed through each section of the pile body after the encryption treatment from bottom to top, and the problems that the vibroflotation gravel pile body formed by vibroflotation construction on the ground layers such as medium and coarse sand layers in a strong-shock high-incidence zone is poor in continuity and is easy to break or stagger in a strong-shock state are solved.

Wherein, after forming the stake hole that accords with the straightness requirement of hanging down and carrying out clear hole processing back, through loader automatic feeding and through vibroflotation construction formation of vibroflotation rubble stake machine continuous, even pile body includes following step:

acquiring the depth of a charge level in a pile hole formed by construction of a vibroflotation gravel pile machine before stone is thrown;

putting stone into the pile hole subjected to charge level depth measurement, performing vibroflotation compaction construction on the section of stone by a vibroflotation gravel pile machine to form a section of pile body, and measuring the charge level depth of the section of pile body;

acquiring the average pile diameter of each linear meter of the section of pile body through the height difference of the depth of the section of pile body in the pile hole before and after stone throwing;

and comparing the average pile diameter of the section of pile body with a preset pile diameter, and adjusting the vibroflotation parameters of the vibroflotation gravel pile machine according to the comparison result to form the pile body of the vibroflotation gravel pile meeting the pile diameter requirement.

Wherein, the vibroflotation parameters comprise vibroflotation current density, water pressure of launching water and air pressure of launching air. The vibroflotation current density is the actual current of a vibroflotation device motor when the vibroflotation device system works, the lower water is the water supplied by a water supply pipeline which extends out from the bottom end of the vibroflotation device after penetrating through the telescopic guide rod and the vibroflotation device, the lower water is sprayed out from the bottom end of the vibroflotation device to carry out water-jet pre-destruction on the stratum, the lower air is the air supplied to the side position of the bottom layer sleeve pipe bottom of the telescopic guide rod of the drill rod system, and the shock absorber and the vibroflotation device are arranged below an outlet of the lower air.

Specifically, after hole cleaning treatment is carried out on a pile hole which is formed in the construction process of the vibroflotation gravel pile machine and meets the perpendicularity requirement, loose stones are gradually thrown into the pile hole through a plurality of loaders, and the stones are vibroflotation encrypted through a vibroflotation device system of the vibroflotation gravel pile machine in the process of gradually throwing the stones, so that the loose stones are compacted into an encrypted pile body. During construction, stone materials thrown at intervals (or at certain heights, which is only explained at intervals) form a section of pile body, and a plurality of sections of pile bodies from bottom to top are connected to form the vibration-washed gravel pile which is uniform, continuous and meets the verticality requirement. Correspondingly, in the process of forming the pile body in a period of time, the depth of the material surface before the stone material is not thrown (namely before the pile body is not formed) and the depth of the material surface after the stone material is thrown (before the pile body is formed) are respectively measured to obtain the height difference of the corresponding pile body section formed by vibroflotation of the stone material thrown in the period of time before the stone material is thrown and after the stone material is thrown in the pile hole, so that the pile diameter of the pile body section is obtained by calculation according to the height difference and a method specified by a standard.

When the depth of a material surface in a pile hole formed by construction of the vibroflotation gravel pile machine before stone is thrown and the depth of the material surface after the stone is thrown are measured respectively, a method of arranging a material surface depth measuring device on an auxiliary hoisting device of the vibroflotation gravel pile machine is adopted. The auxiliary hoisting device is arranged at the rear part of a main machine (not shown in the figure) of the vibro-replacement gravel pile machine, the auxiliary hoisting device is used for releasing a steel wire rope which can stretch into a pile hole formed by the vibro-replacement gravel pile machine in construction, a heavy hammer can be hung at the tail end of the steel wire rope, an induction element (such as a pressure sensor and an encoder) is arranged on the auxiliary hoisting device, when the heavy hammer touches the upper surface of stone thrown in the pile hole, the induction element can sense corresponding change generated by the auxiliary hoisting device (such as pressure change of hydraulic oil provided by the auxiliary hoisting device or change of output torque of a rotating shaft of the auxiliary hoisting device), the change is transmitted to the controller, and the controller calculates according to the change to determine the depth of a material surface before the stone is thrown in and the depth of the material surface after the stone is thrown in.

Before measuring the initial charge level depth before putting in the downthehole building stones that do not put in of stake that shakes and dashes the construction of rubble stake machine and form, treat to throw in to downthehole building stones initial weight of waiting to put in of stake and measure to acquire the loose bulk density who waits to put in the building stones, and treat to throw in building stones weight and weigh, in order to obtain the initial weight of waiting to put in the building stones. And after measuring the depth of the material surface before throwing the stone material into the pile hole, throwing loose stone material to be thrown into the pile hole to obtain the true throwing weight of the stone material thrown into the pile hole and the stacking volume of the stone material in the pile hole, measuring the depth of the material surface in the pile hole after throwing the stone material, then performing vibroflotation encryption construction, and obtaining the average filling amount of each linear meter of the pile body in a loose state when the section of pile body is formed in the pile hole according to the stacking volume, the initial depth of the material surface and the depth of the material surface after throwing. And finally, calculating to obtain the average pile diameter of each linear meter of the section of pile body through a formula specified by specifications according to the obtained average filling amount of each linear meter of the pile body in a loose state.

Next, a method of calculating the pile diameter before and after the stone is thrown will be described in detail.

Before throwing the stone material of will waiting to put into to the stake downthehole, measure through treating to throw into to the downthehole stone material initial weight of waiting of stake to obtain the loose bulk density of stone material:

piling the stone to be thrown into a cylinder with the diameter of 1m and the height of 1m, flattening the surface, and calculating the volume V of the stone according to the following formula ₁ ：

V ₁ ＝3.142*0.5 ² *1＝0.7855m ³ (formula 1)

Obtaining the initial weight G of the stone by weighing the stone ₁ (kg), calculating the loose bulk density ρ of the rock material according to the following formula ₁ ：

ρ ₁ ＝(G ₁ /1000)/V ₁ ＝G ₁ *1.273*10 ^-3 cm ³ /g (formula 2)

The material surface depth measuring device arranged on the auxiliary hoisting device on the vibro-replacement stone pile machine is used for measuring the initial depth h of the material surface before the stone to be thrown into the pile hole ₁ (ii) a Then, the stone material to be cast is poured into the pile hole, and the real cast weight G poured into the pile hole is recorded ₂ And the pile volume V in the pile bore ₂ Wherein the bulk volume V ₂ Calculated by the following formula:

V ₂ ＝G ₂ /ρ ₁ (formula 3)

Obtaining the true throwing weight G of the stone ₂ And the pile volume V in the pile bore ₂ Then, the depth h of the charge level in the pile hole after charging is detected by a charge level depth measuring device ₂ (ii) a Then, the average filling material amount V of each linear meter of the pile body is calculated _m It is calculated by the following formula:

V _m ＝V ₂ /(h ₁ -h ₂ ) (formula 4)

After that, vibroflotation operation is carried out, and the average pile diameter d is calculated according to the following formula specified by the specification ₀ ：

d ₀ ＝2*sqrt(η*V _m /3.142) (equation 5)

Wherein eta is the compaction coefficient, is generally 0.7-0.8 and is determined by field test results.

Wherein, when throwing in the stake after having carried out charge level depth measurement to wait to throw in the building stones, obtain the true weight of puting in of throwing in the downthehole building stones of stake and include:

acquiring first weight information of a plurality of loaders and position information of the plurality of loaders when stones to be thrown are loaded in a polling mode;

controlling the loaders in the pile hole feeding area to sequentially feed the loaded stone into the pile holes according to the obtained position information of the multiple loaders so as to obtain second weight information of the loaders after the stone is fed;

and obtaining the weight of the stone thrown into the pile hole by each bucket of each loader according to the obtained first weight information and the second weight information of each loader, and accumulating the weight of the stone thrown into the pile hole by each bucket of the plurality of loaders to obtain the real throwing weight of the stone thrown into the pile hole.

Specifically, in order to realize automatic feeding and dynamic real-time weight metering of stone materials and remotely monitor the feeding condition in the process of throwing the stone materials into pile holes by a loader, the vibroflotation construction management system in a remote central control room and all the loaders 700 loaded with the stone materials to be thrown in a construction site are networked in the same local area network through wireless AP equipment 800 (as shown in fig. 19 and 21), and each loader is provided with a wireless signal transceiver for being wirelessly connected with a host of the vibroflotation construction management system in the remote central control room. A set of PLC or single chip microcomputer ARM program communication port (RS 485 or 232 port) is designed on the vibroflotation construction management system, and empty load weight information of all loaders, weighing information and position information of stones thrown in each bucket and the like are inquired and received in a remote polling mode through ARM single chip microcomputer or PLC programming (as shown in figure 20). The weighing information of different states of each loader is directly read from the loader without conversion errors. Through the judgment of the marks, the weight of all loader data meeting the distance requirement is accumulated (as shown in fig. 22), and the accumulated loaders are provided with mark bits to prevent repeated accumulation, so that the weight accumulation of multiple loaders for loading the same pile hole is realized.

When the real throwing weight of the stones thrown into the same pile hole by the multiple loaders in a certain time period is calculated (if the stones are thrown into the pile hole by only one loader in a certain time period, the weight of the stones thrown into the same pile hole by one loader in a certain time period is calculated, and the following description is given by taking the multiple loaders as an example), the remote vibroflotation construction management system acquires first weight information and position information of the multiple loaders when the multiple loaders are loaded with the stones to be thrown in a polling mode; then, according to the obtained position information of the plurality of loaders, controlling the loaders in the pile hole feeding area to sequentially feed the loaded stones into the pile holes, and obtaining second weight information of each loader after feeding the stones; and finally, according to the obtained first weight information and the second weight information of each loader, obtaining the weight of the stone thrown into the pile hole by each bucket of each loader, and accumulating the weight of the stone thrown into the pile hole by each bucket of the multiple loaders to obtain the total weight of the stone thrown into the same pile hole by the multiple loaders in a certain time period, wherein the total weight of the stone is the real thrown weight.

In order to obtain the position and the number information of the loader, each loader is provided with a positioning element for positioning the loader and an identity identification element for marking the identity (such as the number) of the loader, and the positioning element and the identity identification element can adopt the prior art and are not described again. And the position information and the serial number information of each loader can be sent to a remote vibroflotation construction management system.

In order to directly read the weighing information under different states from the loader to avoid conversion errors, the invention is characterized in that a detection element capable of detecting the weight of the loader under different states is arranged on the loader, the detection element is used for calibrating the unloaded weight of the loader under the unloaded state without stone, and then the first weight information and the second weight information after the stone is loaded and the stone is unloaded are obtained according to the calibrated unloaded weight detection.

During implementation, a position switch can be installed on the loader, and the weight of the loader is detected through the height of the position switch: firstly, taking the original height of a position switch of a loader in an idle load state without stone as a reference, calibrating the weight of a hydraulic system in the loader by using a standard weight, and sending the calibrated idle load weight information of the idle load loader to a controller (such as a PLC controller) of a remote vibroflotation construction management system; after the stone is loaded on the loader, recording first weight information G1 displayed by a hydraulic system in the loader at a corresponding height by taking the height of a position switch when the loader is fully loaded with the stone as a reference, and sending the first weight information G1 to a remote controller; and after the loader puts the building stones into the pile hole, recording second weight information G2 displayed by a hydraulic system in the loader at the corresponding height by taking the height of the position switch after the building stones are put as a reference, and sending the second weight information G2 to the remote controller. The remote controller obtains the weight G of the stone material thrown into the pile hole by each loader (i.e. the single-hopper throwing weight of the loader) through the obtained first weight information G1 and second weight information G2 of each loader, and then accumulates the single-hopper throwing weight of each loader in the same pile hole to obtain the total weight of the stone material thrown into the same pile hole by a plurality of loaders. The corresponding weight information of the position switch at different heights can be tabulated in advance and input into the remote vibroflotation construction management system. The corresponding relation between the position of the position switch and the weight is obtained through tests, namely, before formal construction, the tests are firstly carried out on site, and the controller analyzes and determines the corresponding relation between the position of the position switch and the weight of stone materials contained in the loader through a large amount of data obtained through the tests.

Or, a special pressure taking module (such as a pressure sensor) can be installed on the inlet and outlet flanges of the main push oil cylinder of the loader through a high-strength bolt, the pressure taking module is used for detecting the oil pressure difference of the inlet and outlet of the main push oil cylinder at a fixed position when the loader is in different states, the corresponding oil pressure difference which is in linear relation with the weight of the loader is obtained through nonlinear calibration, so that the oil pressure of the main push oil cylinder is obtained, and corresponding weight information is obtained through the oil pressure. Correspondingly, the weight information corresponding to different oil pressure differences can be tabulated in advance and input into the remote vibroflotation construction management system. The corresponding relation between different oil pressure differences and the weight is obtained through tests, namely before formal construction, the tests are firstly carried out on site, and the controller analyzes a large amount of data obtained through the tests to determine the corresponding relation between the oil pressure differences and the weight.

Wherein, according to the loader position information who acquires, the control is located the stake hole and throws the loader in the material region and put in the stake downthehole including with the building stones that load:

after the position information of the loader is obtained, the position information is compared with the position information of the pile hole;

if the distance between the position of the loader and the position of the pile hole is smaller than or equal to a preset value, the loader is positioned in a feeding area of the pile hole and can feed the loaded stone into the pile hole;

if the distance between the position of the loader and the position of the pile hole is larger than the preset value, the loader is not located in the feeding area of the pile hole and needs to move towards the pile hole until the loader is located in the feeding area of the pile hole.

The invention utilizes the Beidou positioning system equipped with the loader to set the accumulation switch, namely when the distance between the loader and the hole opening of the pile hole is less than or equal to 5m according to the positioning element (such as a Beidou positioning antenna) arranged in the cab of the loader, the loader is judged to be positioned in the feeding area of the pile hole, and the stone unloaded by the loader is fed into the pile hole, thereby avoiding multiple marks and missing marks of the stone fed into a single pile hole, ensuring the dynamic real-time automatic metering of the stone and realizing the remote real-time monitoring of the loading weight of the loader.

And after the rock material is thrown into the pile hole by the loader within a period of time (the period of time can be determined according to the on-site feeding condition) obtained by the steps, and the average pile diameter per linear meter of the section of pile body formed by the vibration and impact construction of the vibration and impact gravel pile machine is encrypted, comparing the average pile diameter of the section of pile body with the preset pile diameter, and adjusting the vibration and impact parameters of the vibration and impact gravel pile machine according to the comparison result. The preset pile diameter is obtained by performing a test pile on site according to preset vibroflotation parameters before construction.

And the average pile diameter of the section of pile body is compared with the preset pile diameter, and the vibroflotation parameters of the vibroflotation gravel pile machine are adjusted according to the comparison result, wherein the vibroflotation parameters comprise:

the average pile diameter d of the section of pile body ₀ And a predetermined pile diameter d _s Comparing;

average pile diameter d ₀ Slightly larger than or equal to the preset pile diameter d _s Then, the vibroflotation gravel pile machine carries out vibroflotation encryption operation according to the original vibroflotation parameters;

if mean pile diameter d ₀ Less than a predetermined pile diameter d _s And performing vibroflotation pile-expanding operation on the vibroflotation gravel pile machine according to the adjusted vibroflotation parameters.

It should be noted that, in the process of forming a pile body by using a vibroflotation gravel pile machine to vibroflotation compaction construction of a section of stone thrown into a pile hole, the average vibroflotation current or instantaneous vibroflotation current in the construction process of the section can be used as vibroflotation compaction current. Generally, the rush current before adjustment is slightly less than or equal to the preset current. And the vibroflotation current in the construction process is related to the compactness of the current construction stratum. The controller is preset with the corresponding relation between the vibroflotation encryption current and the formation compactness. The corresponding relation between the vibroflotation enciphered current and the stratum compactness is obtained through tests, namely before formal construction, a test pile is firstly made on site, and the controller analyzes and determines the corresponding relation between the vibroflotation enciphered current and the stratum compactness through a large amount of data obtained by the test pile. In addition, in the vibrating and impacting construction process of the vibrating and impacting device system, the motor of the vibrating and impacting device is also correspondingly provided with rated current so as to prevent the motor from being burnt out through the rated current.

Comparing the average pile diameter of the section of pile body with the preset pile diameter to obtain the average pile diameter d ₀ Less than a predetermined pile diameter d _s When the current construction stratum is in a high density state, the stratum is hard, and the currently adopted vibroflotation parameters, particularly vibroflotation encryption current, are relatively small, so that the vibroflotation encryption current needs to be increased. I.e. if the average pile diameter d ₀ Less than a predetermined pile diameter d _s And the vibroflotation gravel pile machine needs vibroflotation compaction construction by using the vibroflotation compaction current after being increased.

When the vibroflotation compaction construction is carried out through the adjusted vibroflotation compaction current vibroflotation gravel pile machine, the stratum compactness corresponding to the adjusted vibroflotation compaction current, namely the current stratum compactness, is determined, then the launching pressure and the air pressure corresponding to the current stratum compactness are searched according to the preset corresponding relation between the launching pressure, the air pressure and the stratum compactness, and finally the launching flow for supplying the launching and the air flow for supplying the air are controlled to respectively reach the required target pressures, so that the vibroflotation pile expansion construction is completed by the vibroflotation of the vibroflotation system, the adjusted vibroflotation compaction current, the target launching pressure and the air pressure in a coordinated mode.

Wherein, the controller is preset with the corresponding relation of the pressure of the drainage, the pressure of the drainage and the compactness of the stratum. The corresponding relation between the water pressure, the gas pressure and the formation compactness is obtained through tests, namely before formal construction, a test pile is firstly made on site, and the controller analyzes a large amount of data obtained through the test pile to determine the corresponding relation between the water pressure, the gas pressure and the formation compactness.

Lower pair average pile diameter d ₀ Less than a predetermined pile diameter d _s The vibration-impact pile expanding operation scheme adopted in the process is described as follows:

if d is ₀ <0.5d _s And the situation shows that the stratum has high hardness, the vibroflotation encryption current of the vibroflotation motor is added to the maximum, and vibroflotation construction can be carried out by adopting the vibroflotation parameters as follows: the vibroflotation encryption current is more than the preset current by 30-50A and less than or equal to 90% of the rated current; the water pressure of the launching is more than 1MPa; the air pressure of the lower air is more than 0.7MPa;

if 0.5d _s <d ₀ <0.8d _s And if the stratum hardness is medium, the following vibroflotation parameters can be adopted for vibroflotation construction: the vibroflotation encryption current is greater than the preset current by 20-30A and less than or equal to 90% of the rated current; the water pressure of the launching is 0.7-0.8MPa; the pressure of the lower air is 0.5-0.6MPa;

if 0.8d _s <d ₀ <d _s To illustrate that the formation hardness is general, the following vibroflotation parameters can be adopted for vibroflotation construction: the vibroflotation encryption current is greater than 10-20A of the preset current and less than or equal to 90% of the rated current; the water pressure of the launching is 0.5-0.6MPa; the pressure of the lower air is 0.3-0.4MPa.

By the scheme, different vibroflotation parameters are adopted for vibroflotation pile expansion according to different stratum conditions, and the pile diameter of the formed pile body meets the preset pile diameter requirement, so that the continuous and uniform complete pile body from bottom to top is formed.

In conclusion, the weight of the stone is measured by the loader and transmitted to the remote vibroflotation construction management system in real time, so that the loading weight of the loader is remotely monitored in real time, automatic matching between the loader and the pile holes is realized through position comparison, the pile hole in which the stone unloaded by the loader is put is determined, multiple marks and missing marks of the stone in the same pile hole are effectively avoided, and dynamic real-time automatic measurement of the stone is ensured. By the method, the fed stone materials are automatically fed into the pile hole, and the vibroflotation compaction is carried out on the fed stone materials by the vibroflotation gravel pile machine, so that a vibroflotation gravel pile which is continuous, compact and meets the verticality requirement can be formed, the vibroflotation gravel pile can form a good vertical drainage channel in a strong earthquake stratum, the drainage distance of hyperstatic pore water in the stratum is greatly reduced, the accelerated dissipation of the pore water pressure by times or even tens of times is realized, the control or inhibition of the rising of the hyperstatic pore water pressure plays a vital role, and the earthquake liquefaction resistance and the earthquake resistance effect of the composite foundation are fundamentally improved.

Although the present invention has been described in detail, the present invention is not limited thereto, and those skilled in the art can modify the principle of the present invention, and thus, various modifications made in accordance with the principle of the present invention should be understood to fall within the scope of the present invention.

Claims

1. A method for constructing a vibroflotation gravel pile machine, wherein the vibroflotation gravel pile machine comprises an automatic feeding system, a hoisting system, a drill rod system and a vibroflotation device system, and is characterized by comprising the following steps:

2. The method of claim 1, automatically guiding the vibroflotation gravel pile machine and aligning the vibroflotation system thereof with the construction pile point according to the longitude and latitude information of the pile point to be constructed and the vibroflotation gravel pile machine comprises:

automatically guiding the vibroflotation gravel pile machine to the pile point to be constructed according to the pile point to be constructed and the longitude and latitude information of the vibroflotation gravel pile machine;

after the vibroflotation gravel pile machine is automatically guided to the pile point to be constructed, the vibroflotation device system on the vibroflotation gravel pile machine is aligned to the pile point to be constructed.

3. The method according to claim 1, wherein adjusting the perpendicularity of the vibroflot system includes the step of positioning a drill pipe system of the vibroflot pile machine parallel to a mast of the hoist system such that the vibroflot system connected to the bottom of the drill pipe system is parallel to the mast.

4. The method of claim 3, wherein adjusting the perpendicularity of the vibroflot system further comprises the step of detecting and adjusting the perpendicularity of the mast relative to the host machine located on a horizontal plane in real time so that the mast perpendicularity meets requirements.

5. The method of claim 1, wherein adjusting the flow rate of the effluent and the pressure of the effluent of an auto-feed system for collaborative vibroflot system action pore-creating construction according to the current formation compaction comprises:

acquiring the current stratum compactness in the hole forming construction process of the vibroflotation system;

controlling the gas supply pressure of the supplied gas according to the obtained current stratum compactness;

the hole forming construction is completed under the cooperative action of the sewage and the gas by controlling the sewage flow for supplying the sewage and the gas pressure for supplying the gas.

6. The method of claim 5, wherein obtaining a current formation compaction during vibroflotation construction comprises:

acquiring the current vibroflotation current of the vibroflotation device;

7. The method of claim 1, wherein automatically feeding piles into the pile holes meeting the verticality requirement by a loader comprises:

after pile holes meeting the verticality requirement are formed, acquiring first weight information of a plurality of loaders when stones are loaded and position information of the loaders in a polling mode;

8. The method of claim 7, further comprising the step of weight calibrating the unloaded loader prior to obtaining the first weight information when the loader is loaded with stone.

9. The method according to claim 1, further comprising the step of detecting the lowering depth of the vibroflot system in real time during the hole forming construction of the construction pile point, so as to adjust the lowering depth according to the detection result.

10. The method as claimed in any one of claims 1 to 9, further comprising a step of detecting the hole-forming speed of the vibroflot system in real time during the hole-forming construction of the construction pile point, so as to adjust the hole-forming speed according to the detection result.