海上嵌岩钢管桩内卷边切割机器人的设计研究

Design and Research of Inner Flange Cutting Robot for Offshore Rock Embedded Steel Pipe Pile

海上风电桩在基础打桩过程中,容易造成钢管桩下端内卷边,这会增加下插的阻力,须将影响下钻的内卷边切除,提高风电桩插桩效率。现阶段内卷边的处理多是潜水员下水切割,处理过程较为繁琐,难以应对复杂的工况,且有一定的危险性。为解决以上问题,设计了一种用于海上嵌岩式钢管桩内卷边切除的切割机器人。通过对钢管桩内卷边切割现有的施工工艺和施工作业要求进行分析,总结了内卷边切割机器人所需满足的设计要求,提出了适用于切割钢管内卷边的多轴联动机器人系统;确定了总体方案,对内卷边切割机器人的力学性能进行分析,并进行具体结构设计。基于SPH-FEM耦合算法,对磨料水射流切割钢管壁过程进行研究,确定切割工艺参数,对射流反作用进行分析,并结合切割参数进行算例验证。理论分析以及仿真模拟验证表明,所设计的内卷边切割机器人符合施工要求,能改善海上嵌岩式钢管桩内卷边的精确切除问题,有助于完善海上风电桩基础施工工艺的完整性,可为后续内卷边处理技术的发展提供经验。

In the foundation piling process of offshore wind power piles,inner flange easily occurs at the lower end of the steel pipe pile.This increases the resistance to insertion,and needs to be cut off,so as to improve the efficiency of wind power pile insertion.Currently,the inner flanges are mostly cut off by divers under water.The treatment is relatively cumbersome,not applicable to complex conditions,and somewhat risky.A cutting robot for cutting off the inner flanges of offshore rock embedded steel pipe pile was designed.By analyzing the existing technologies and operation requirements for cutting the inner flanges of steel pipe piles,the design requirements that the inner flange cutting robot needs to meet were summarized,a multi-axis linkage robot system suitable for cutting the inner flange of steel pipes was proposed,the overall plan was determined,the mechanical performance of the inner flange cutting robot was analyzed,and specific structural design was carried out.Based on the SPH-FEM algorithm,the process of abrasive water jet cutting steel pipe wall was investigated,the cutting process parameters were determined,the jet reaction was analyzed,and a case verification was conducted using cutting parameters.The theoretical analysis and simulation show that the designed inner flange cutting robot meets the requirements,ensures the precise inner flange cutting of offshore rock embedded steel pipe pile,helps to improve the technology integrity of offshore wind power pile foundation,and provides reference for the subsequent development of inner flange treatment technologies.