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CN-121976533-A - Marine hanging pile swing restraining device with automatic adjusting function and swing restraining method

CN121976533ACN 121976533 ACN121976533 ACN 121976533ACN-121976533-A

Abstract

The invention belongs to the technical field of floating crane equipment in the sea work industry, in particular to a marine suspended pile swing inhibiting device with an automatic adjusting function and a swing inhibiting method, wherein the device comprises a pile lifter connecting flange plate which is arranged on a pile lifter and is a circular plate; the four steel cable lifting and lowering units are arranged at the lower part of the pile driver connecting flange plate at equal intervals in the circumferential direction by taking the center of the pile driver connecting flange plate as the center of a circle, can be retracted for length, and are used for hoisting the swing inhibiting ball together, the oil supply unit is positioned at the lower center of the pile driver connecting flange plate and used for oiling the swing inhibiting ball, the motion recognition detection unit comprises an origin detection unit and a motion recognition monitoring point P, the origin detection unit is positioned at the lower center of the pile driver connecting flange plate, and the motion recognition monitoring point P is positioned at the top of the swing inhibiting ball. The invention is suitable for the technical problem that the construction progress is slow due to the fact that wind power influences the pile hanging operation process at sea, and the pile hanging positioning and the swinging in the butt joint of the pile feeder and the foundation pile.

Inventors

  • WANG QIYU
  • ZHANG JIAN
  • ZHAO DONGLIANG
  • TANG WENXIAN

Assignees

  • 江苏科技大学

Dates

Publication Date
20260505
Application Date
20260202

Claims (10)

  1. 1. The utility model provides a marine hanging pile is restrained and is put with automatically regulated function which characterized in that includes: the pile driver connecting flange device (1) is horizontally arranged on the bottom end surface of the pile driver and is assembled with a conical guide structure at the front end of the internal-bracing pile driver, and the pile driver connecting flange device (1) is horizontally arranged on the bottom end surface of the pile driver; The four steel cable lifting and lowering units (2) are arranged at the lower part of the pile jack connecting flange device (1) at equal intervals in the circumferential direction by taking the center of the pile jack connecting flange device (1) as a circle center and used for winding and unwinding the length, and the four steel cable lifting and lowering units (2) are used for jointly lifting the swing inhibiting balls (4); The oil supply unit (3) is positioned at the center of the lower part of the pile driver connecting flange device (1) and is used for injecting oil into the swing inhibiting ball (4); The motion recognition detection unit (5) comprises a coordinate origin detection unit (501) and a motion recognition monitoring point P (502), wherein the coordinate origin detection unit (501) is positioned at the center of the lower part of the pile driver connecting flange plate (102), and the motion recognition monitoring point P (502) is positioned at the top of the swing inhibition ball (4).
  2. 2. The marine pile hanging swing inhibiting device with the automatic adjusting function is characterized in that the pile lifting device connecting flange device (1) comprises a transition flange sleeve (101) and connecting flange plates (102), wherein a conical sleeve of the transition flange sleeve (101) is assembled with a conical guide structure at the front end of an internal supporting pile lifting device, the conical sleeve is installed with the conical guide structure at the front end of the internal supporting pile lifting device by adopting an interference fit and hot mounting method and is connected with the conical guide structure at the front end of the internal supporting pile lifting device through radial set screws, the radial set screws are perpendicular to conical surfaces, the connecting flange plates (102) are circular plates, through holes are formed in flange bases of the connecting flange plates (102) and the transition flange sleeve (101) and are evenly distributed, the number of the through holes is larger than 6, and the connecting flange plates (102) are horizontally installed on the end face of the bottom of the pile lifting device.
  3. 3. The marine pile sway suppression device with automatic adjustment function according to claim 2, wherein the steel rope lifting and lowering unit (2) comprises a steel rope fixing support (201), a steel rope reel (202), a steel rope driving servo motor (203) and a steel rope (204), wherein the steel rope fixing support (201) and the steel rope driving servo motor (203) are welded on the bottom surface of a pile jack connecting flange plate (102), the steel rope reel (202) is positioned between the steel rope fixing support (201) and the steel rope driving servo motor (203) and driven to rotate by the steel rope driving servo motor (203), an encoder is contained in the steel rope driving servo motor (203) and used for obtaining the lowering length of the steel rope (204), the steel rope (204) is wound on the steel rope reel (202), one end of the steel rope fixing support is fixed on the steel rope reel (202), and the other end of the steel rope fixing support is fixedly connected to a hanging lug ring of the sway suppression ball (4).
  4. 4. The offshore pile hanging and swinging suppression device with the automatic adjusting function is characterized in that the oil supply unit (3) comprises a hydraulic oil drum support (301), an oil supply driving motor (302), a hydraulic oil drum (303) and an oil delivery pipe (304), the hydraulic oil drum support (301) and the oil supply driving motor (302) are welded on the bottom surface of a pile driver connecting flange plate (102), the hydraulic oil drum (303) is located between the hydraulic oil drum support (301) and the oil supply driving motor (302) and driven to rotate by the oil supply driving motor (302), the oil delivery pipe (304) is wound on the hydraulic oil drum (303), one end of the oil delivery pipe (304) penetrates through an opening of the connecting flange plate (102) to be connected with an oil supply port of the pile driver, and one end of the oil delivery pipe (304) is connected with an oil inlet at the top of a swinging suppression ball (4).
  5. 5. The marine pile hanging pendulum restraining device with the automatic adjusting function according to claim 4, wherein a coordinate origin detection unit (501) is fixedly arranged at the center of a pile driver connecting flange plate (102), and a motion identification monitoring point P (502) is fixedly arranged at an oil inlet at the top of a pendulum restraining ball (4) and is connected with an oil conveying pipe (304).
  6. 6. The device for suppressing a swing of an offshore suspended pile with an automatic adjusting function according to claim 5, wherein the origin of coordinates detection unit (501) comprises an inertial measurement unit integrating an accelerometer and a gyroscope and an ultrasonic anemometer, and the inertial measurement unit is used for measuring the offset angle of the swing suppressing ball (4) The ultrasonic anemometer is arranged at the center of a pile driver connecting flange plate (102), and the space position and the offset angle of the swing inhibiting ball are identified in real time according to the coordinates of a motion identification monitoring point P (502).
  7. 7. A method for suppressing a swing of an offshore pile suppressing apparatus having an automatic adjusting function according to claim 1 or 4, comprising the steps of: S1, when a pile jack is fixed with a tubular pile, a steel cable winding drum (202) of a steel cable lifting and lowering unit (2) in the swing suppression device is locked, a steel cable (204) is completely contracted and wound on the surface of the steel cable winding drum (202), and a swing suppression ball (4) is static and close to the pile jack connecting flange device (1); s2, when the crane boom rope is lifted, the pile lifting device and the pipe pile are gradually lifted to the vertical direction from the horizontal position, when the pipe pile is in a completely vertical state, a coordinate origin detection unit (501) connected with the lower surface of the flange plate (102), the vertical upward direction as the z-axis direction, the extending direction of the tail end of the crane boom of the pile as the x-axis, the right hand method determines the y-axis to construct a three-dimensional coordinate system, simultaneously, four steel rope driving servo motors (203) are started to rotate to drive a steel rope winding drum (202) to rotate, steel ropes (204) wound on the steel rope winding drum (202) are gradually lowered and stopped after being lowered to a certain height in advance, the initial length L of a steel rope to be wound is read according to an internal encoder of the driving servo motors (203), when wind force is small or stable, the coordinate (x 0 ,y 0 ,z 0 ) of the IMU sensor relative to an initial marking point P is read, and an offset angle is recognized through an inertia measurement unit to obtain an offset angle ; S3, motion recognition detection and adjustment phase: Acquiring the relative wind speed of the tubular pile and wind and the air temperature and humidity parameters in real time according to the ultrasonic anemometer, and simultaneously measuring the offset angle by the inertia measurement unit Based on the relative wind speed, the air temperature and humidity parameters and the offset angle, calculating and obtaining wind resistance F (t), determining the sum of pile lifting device and suspended pipe pile mass m 1 , the sum of pile lifting device and suspended pipe pile mass m 1 , the sum of pile lifting device and suspended pipe pile mass m 2 , the sum of non-oil-injection swing-inhibiting ball mass m 2 and p point coordinates, and the motion recognition monitoring point p point coordinates and the offset angle Commonly used as input variables to be input into a preset vibration inhibition control vibration equation Solving a system steady state solution of the vibration equation of the anti-swing control under the input variable, and analyzing and outputting key dimensionless parameters of the anti-swing control from the steady state solution, wherein the key dimensionless parameters comprise the mass ratio of the anti-swing device to the main structure in the steady state Natural frequency ratio of pendulum suppressor and main structure Damping ratio of the pendulum inhibitor to the main structure ; S4, in the swing suppression working stage, the optimal solution is solved in the step S3 by taking the minimum swing suppression degree as an optimal condition, and the correlation function of the optimal frequency and the damping ratio of the swing suppression device is obtained And Obtaining the optimal falling height of the swing inhibiting device And optimal oil delivery quality According to the optimal oil delivery quality And the optimal falling height of the swing inhibiting device The coordinate origin detecting unit (501) adjusts the result of the initial marking point P coordinate (x 0 ,y 0 ,z 0 ) in real time, and feeds back the result to the steel cable servo driving motor (203) to rotate to continuously release or recover the steel cable (204), meanwhile, the oil conveying pipe (304) is slowly lowered or retracted at the same speed under the driving of the oil supply driving motor (302), and when the swing inhibiting ball (4) is adjusted to the optimal height, the oil supply pump is simultaneously started, and the optimal oil conveying quality of the swing inhibiting device is achieved And controlling the oil pump to adjust the oil quantity filled and recovered in the swing inhibiting ball (4), stopping the steel cable from being lowered and the oil supply to be stopped after the steady oil quantity and the rope length are set, and closing the oil supply port of the swing inhibiting ball (4).
  8. 8. The method for suppressing a swing of an offshore pile suppressing apparatus with an automatic adjusting function as set forth in claim 7, wherein S3, the suppressing a swing control vibration equation comprises And In the form of: ; Wherein the method comprises the steps of In order to offset the pile jack and the pipe pile in the horizontal direction under the influence of wind power, Is the included angle between the initial marking point p and the vertical direction in the swing inhibiting device.
  9. 9. The method for suppressing a swing of an offshore pile suppressing apparatus with automatic adjusting function as set forth in claim 7, wherein S3, the key dimensionless parameters are resolved and outputted in a system steady state solution , , Comprises the steps of causing , The weight ratio of the swing inhibiting device to the pile driver to the pile is the sum of the weights of the pile driver and the pile; to restrain pendulum device and pile driver and the integral natural frequency ratio of the pipe pile; For the damping ratio of the swing inhibiting device to the pile jack and the pipe pile, the stable state solutions of the swing inhibiting device are determined by utilizing the Longguge tower method to be respectively as follows: ; ; Wherein the method comprises the steps of , , And The natural frequency and the damping ratio of the pile jack and the tubular pile are respectively, In order to restrain the ratio of the swing excitation frequency to the natural frequency of the pile jack and the pile, 、 、 、 Are all constant and are used for the preparation of the high-voltage power supply, For real-time acquisition of parameters, the value is constant at a certain time t Under the action of the water-based paint, To offset the amplitude, at time t, the value is constant.
  10. 10. The method for suppressing the swing of the marine pile suppressing device with the automatic adjusting function according to claim 7, wherein in S4, the optimal frequency and damping ratio formula of the swing suppressing device are respectively: ; Determining the optimal steel rope running length according to the above formula: ; Optimal oil delivery quality: 。

Description

Marine hanging pile swing restraining device with automatic adjusting function and swing restraining method Technical Field The invention belongs to the technical field of floating crane equipment in the sea industry, and particularly relates to a device and a method for suppressing swing of an offshore suspended pile with an automatic adjusting function. Background In recent years, as the competition for ocean resources is more and more vigorous, a great deal of research is carried out on engineering technology and basic research in the ocean field in various countries in the world, and particularly, the aspect of ocean equipment is gradually moved to deep water at present, and the construction difficulty is also gradually increased. The difficulty of offshore piling construction is greatly increased under severe construction environments such as large sea wave, high wind speed and the like, and the root cause is that the pile hanging device swings greatly under the action of sea waves and wind waves, is difficult to accurately and efficiently dock with expected set positioning targets, prolongs the operation time and increases the safety risk. The offshore pile is used as an important construction component of an offshore foundation, under the influence of wind and wave coupling, the hoisting device can swing greatly, and especially the construction difficulty in the process of butting the pile feeder and the foundation pile is increased. How to effectively restrain the swing of a pile hanging device and to accomplish pile sinking and piling in an efficient butt joint way is an urgent problem to be solved by modern marine construction equipment. The existing method for inhibiting the swing of the suspended piles is mainly focused on the control of the stability of the crane ship, the first method is to increase the stability of the ship body by increasing the size and draft of the ship body so as to improve the swing problem of the suspended pile machinery on the ship, but the method can effectively control the swing caused by sea waves and water currents, and has an unobvious swing effect on the wind load effect of offshore operation. The second method is to directly act on the lifting hook by using a pulling method such as a steel rope, and the rope pulling forces in different directions are controlled by adjusting the length and the stretching angle of the lifting hook steel rope in the lifting device, so that the swinging control effect is realized. However, the first method has higher input cost and high implementation difficulty, and the second method needs real-time feedback for adjusting the angle of the lifting hook by the steel cable and is influenced by the response time of the control system algorithm, so that the effect is poor. Disclosure of Invention The invention aims at providing an offshore pile swing inhibiting device with an automatic adjusting function and a swing inhibiting method, aiming at the problems that the input cost is higher and the implementation difficulty is high in the first method for inhibiting the swing of the existing offshore pile, the angle of a steel rope of a lifting hook needs to be fed back in real time and the effect is poor due to the influence of the response time of a control system algorithm in the second method. In order to achieve the above purpose, the present invention adopts the following technical scheme: The invention relates to a marine hanging pile swing inhibiting device with an automatic adjusting function, which comprises the following components: the pile driver connecting flange device is horizontally arranged on the bottom end surface of the pile driver and is assembled with the conical guide structure at the front end of the internal-support pile driver; The four steel cable lifting and lowering units are circumferentially and equidistantly arranged at the lower part of the pile jack connecting flange device by taking the center of the pile jack connecting flange device as the center of a circle, can be retracted and extended, and jointly lift the swing inhibiting balls; The oil supply unit is positioned at the center of the lower part of the pile driver connecting flange device and is used for injecting oil into the swing inhibition ball; the motion recognition detection unit comprises an origin detection unit and a motion recognition monitoring point P, wherein the origin detection unit is positioned at the center of the lower part of the pile extractor connecting flange device, and the motion recognition monitoring point P is positioned at the top of the swing inhibition ball. The pile driver connecting flange device comprises a transition flange sleeve and connecting flange plates, wherein a conical sleeve of the transition flange sleeve is assembled with a conical guide structure at the front end of an internal-support pile driver, the conical sleeve is installed with the conical guide structure at the front end of the internal-support