A prefabricated pipe pile construction robot and a pipe pile pressing method thereof

Abstract

The application discloses a prefabricated pipe pile construction robot and a pipe pile pressing-down method thereof, and belongs to the field of construction robots. The prefabricated pipe pile construction robot comprises a storage part, a hammering part, a transfer part, a paint brushing part and an expansion part. The storage part is installed on one side of a base part and comprises a circular storage unit, a square storage unit and a lifting track unit, and is used for completing the transfer of pipe piles from a horizontal direction to a vertical direction. The hammering part comprises a hammer pile machine main body and a hydraulic hammer installed on the hammer pile machine main body, and is used for hammering and pressing down the vertical pipe piles. The transfer part is used for transferring the vertical pipe piles to the hammering part and the paint brushing part. The paint brushing part is used for brushing paint on the transferred pipe piles. The expansion part comprises a track support unit as external support. The auxiliary part is installed on the expansion part and comprises an auxiliary butt joint unit used for assisting in fixing the lower pipe piles and the upper pipe piles and a rotary welding unit used for welding the lower pipe piles and the upper pipe piles. The prefabricated pipe pile pressing-down construction whole process integration can be realized, manpower can be saved, and construction efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the technical field of construction engineering, and in particular to a precast pipe pile construction robot, and also to a method for pressing the pipe piles using the precast pipe pile construction robot. Background Technology

[0002] Prestressed concrete pipe piles can be divided into post-tensioned prestressed pipe piles and pre-tensioned prestressed pipe piles. Pre-tensioned prestressed pipe piles are hollow cylindrical slender precast concrete components made using the pre-tensioning prestressing process and centrifugal molding method. They are mainly composed of a cylindrical pile body, end plates, and steel sleeves.

[0003] The current construction method for prestressed concrete pipe piles involves first transporting the pipe piles to the construction site for separate storage, then lifting them with a pile driver and manually securing them. After the pile driver is in place, it is driven down to install the pile section. This process is repeated for lifting, splicing, and driving down the second pile section, and finally driving the pile into place. This process requires a lot of manual assistance in many places. For example, during the process of lifting the pipe pile, it may be difficult to stabilize the pile due to swaying, requiring multiple workers to assist in stabilizing it. Similarly, when welding two pipe pile sections, two workers need to weld simultaneously in symmetrical directions to ensure a stable weld. In addition, the pipe piles are stored on the construction site, which limits their access. Furthermore, the painting process on the construction site is difficult due to the lack of suitable equipment.

[0004] Therefore, there is a need for a precast pipe pile construction robot that integrates storage, transportation, fixing, painting, pressing, welding, and cleaning, as well as a method for pressing the pipe piles. Summary of the Invention

[0005] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a precast pipe pile construction robot, which can realize the whole process of precast pipe pile pressing construction by storing precast pipe piles on the storage mechanism on the machine, and in conjunction with the transfer, fixing, painting, pressing, welding and cleaning mechanisms, greatly improving the construction efficiency.

[0006] The present invention also provides a method for pressing precast pipe piles using a precast pipe pile construction robot, which can be directly applied to existing precast pipe pile pressing construction. By integrating the various processes of precast pipe pile pressing construction into one machine for a complete set of implementation, the efficiency of precast pipe pile pressing is effectively improved, saving manpower and material resources and improving construction quality.

[0007] To achieve the above objectives, the present invention employs the following technical measures:

[0008] The precast pipe pile construction robot of the present invention includes: a base portion, providing support for the entire robot; and a storage portion, installed on one side of the base portion, including a circular storage unit for storing circular pipe piles, a square storage unit for storing square pipe piles, and lifting track units located on the opening sides of the circular and square storage units; the lifting track unit includes a first transverse track and a first vertical track forming an L-shaped track, and transverse lifting units and vertical lifting units that move along their respective tracks are respectively installed on the first transverse track and the first vertical track for transferring pipe piles from the horizontal direction to the vertical direction; a clamping unit for clamping vertical pipe piles and driving the pipe piles to move up and down is installed on the top of the first vertical track; the transverse lifting unit is supported by a first electric trolley, and the transverse pipe pile transfer seat on the first electric trolley is the main body; the first electric trolley is installed on the first transverse track and can move on the track. The lower part of the bottom surface of the transverse pipe pile transfer seat is provided with a first baffle track, on which a first baffle is slidably connected; the hammering part, installed in the middle of the base part, includes a hammer pile driver body and a hydraulic hammer installed on the hammer pile driver body, used to hammer and press down the vertical pipe pile; the transfer part includes a special-shaped track, several circular clamping units and square clamping units installed on the special-shaped track, used to transfer the vertical pipe pile to the hammering part and the painting part; the painting part, installed on the other side of the base part, is used to paint the transferred pipe pile; the extension part, installed on the base part and located to the right of the painting part, includes a track support unit as an external support and a sliding platform unit that moves on its upper part; the auxiliary part, installed on the extension part, includes an auxiliary docking unit for auxiliary fixing of the lower pipe pile and the upper pipe pile and a rotary welding unit for welding the lower pipe pile and the upper pipe pile.

[0009] Preferably, the base portion is a rectangular chassis as the main body, with a first extension platform and a second extension platform respectively on the front two sides, and a number of circular openings on the left side; the bottom of the rectangular chassis is provided with a number of tracked chassis; and a number of hydraulic outriggers are provided below the first extension platform and the second extension platform.

[0010] Furthermore, the circular storage unit consists of three identical irregularly shaped storage mechanisms. Each storage mechanism is mainly composed of a C-shaped baffle, the front of which has several circular openings. A conveyor belt is provided at the bottom of the C-shaped baffle, and a first stepper motor is provided on both sides of the bottom front of the C-shaped baffle. The first stepper motor is connected to the rotating shaft of the conveyor belt to control the rotation of the conveyor belt. Several conveyor baffles are provided on the conveyor belt, with a gap of one pipe pile width between each two adjacent conveyor baffles. The other structures of the square storage unit are the same as those of the circular storage unit, except that the circular openings are replaced with square openings.

[0011] Furthermore, the top of the first baffle is equipped with a rack and pinion track. A micro motor installed on the top right side of the horizontal pipe pile transfer seat drives the gear meshing with the rack and pinion track to rotate on the rack and pinion track, thereby controlling the movement of the first baffle on the first baffle track and realizing the opening and closing function. The vertical lifting unit uses a second electric trolley as the moving mechanism, and the second electric trolley is equipped with a vertical pipe pile transfer seat. A third baffle is installed on the right side of the vertical pipe pile transfer seat, and a third baffle track is installed on the lower part of the bottom surface. A vertically arranged second baffle and a second baffle track are installed on the left side behind it. The second and third baffles are both driven by a micro motor to open and close. The bottom of the vertical pipe pile transfer seat... It also features a semi-circular or rectangular slot for accommodating vertically erected pipe piles; the lifting track unit includes four hydraulic push rods as bottom supports, which are installed on the bottom of a rectangular chassis. Their output shafts pass through a circular opening and are connected to the upper first transverse track. The end of the first transverse track is provided with a first vertical track, the top of the first vertical track is provided with a first track mounting seat, and the bottom of the first track mounting seat is provided with a second transverse track; the circular clamping unit at the top of the first vertical track is moved by a third electric trolley, which is also equipped with an electric push rod three. The end of the electric push rod three is connected to the pipe pile clamping mechanism, and the third electric trolley is installed on the second transverse track.

[0012] Preferably, a telescopic track unit is provided in the middle of the irregular track corresponding to the position of the hammer pile driver body. The telescopic track unit includes a first electric push rod installed on the outside of the irregular track. The irregular track at the telescopic track unit is broken on both sides. The interior of the irregular track at the break point is provided with a C-shaped slot. After the telescopic insert track is inserted, it can slide in it. A movable push plate is provided on the outside of the telescopic insert track, which is positioned corresponding to the first electric push rod. A sloping track is also provided in the middle of the bottom of the irregular track at the break point between the two C-shaped slots.

[0013] Furthermore, the painting section consists of two first pillars on the left and right sides mounted on the rectangular chassis, and a second pillar between the two first pillars. Each pillar has a second top track mounting seat above it, and a third transverse track is located between adjacent pillars below the second top track mounting seat. A circular clamping unit and a square clamping unit are respectively mounted on the two third transverse tracks. Two identical second vertical tracks are located on both sides of the second pillar, and a fourth electric trolley is mounted on the second vertical track. The painting section also includes a painting unit, which is moved by the fourth electric trolley. An electric push rod is mounted on the fourth electric trolley, and a lifting platform is mounted on the electric push rod. Two color identifiers are located on the upper and lower surfaces of the lifting platform. Two roller brush rotating motors are located on the outer side of the lifting platform, and the output shafts of the roller brush rotating motors are connected to the roller brushes. A paint bucket mounted on the rectangular chassis is located at a corresponding position below the roller brushes.

[0014] Preferably, the track support unit includes lateral limiting plates on the left and right sides, vertical limiting plates on the front and rear sides, and a plurality of wheel rails between the lateral and vertical limiting plates, with a drive motor on one side of the wheel rail in the middle; the sliding platform unit includes a mobile platform as a chassis, with bottom baffles on both the front and rear sides of the bottom of the mobile platform, which contact and are restricted by the vertical limiting plates when the platform moves to its maximum range, preventing the platform from moving off the track; an auxiliary storage counterweight box is provided on the upper rear side of the mobile platform, and a rectangular track is provided on the upper front side of the mobile platform, with an extension track at the end of the rectangular track closest to the platform, which can extend to connect with an extension track installed on the second extension platform, one side of the extension track can connect to the rectangular track, and the other side extends to the right side of the hammering part.

[0015] Furthermore, the auxiliary docking unit is sequentially composed of a third electric push rod, a fourth electric push rod, a fifth electric push rod, and an auxiliary clamp connected together. The third electric push rod is mounted on a circular mounting base, the fourth electric push rod is mounted at the end of the third electric push rod, the fifth electric push rod is mounted at the end of the fourth electric push rod, and the auxiliary clamp is mounted at the end of the fifth electric push rod. There are two sets of this mechanism formed by the electric push rods and the clamp, respectively located on the left and right sides of the circular mounting base. The third electric push rod laterally pushes out the fourth electric push rod, the fourth electric push rod vertically pushes out the fifth electric push rod, and the fifth electric push rod then pushes out the auxiliary clamp in the opposite direction to the third electric push rod. The clamps provide auxiliary fixation for the pipe piles. Electric push rods on the upper and lower circular mounting seats respectively assist in fixing the lower and upper pipe piles, thereby improving the stability and accuracy of the pile splicing process. The auxiliary part is supported by a fifth electric trolley, which is mounted on a rectangular track and can move to an extension track. Above the fifth electric trolley are two layers of circular mounting seats, connected by four second electric push rods located at the four corners. The distance between the two circular mounting seats can be controlled by extending and retracting the electric push rods. The auxiliary docking units and rotary welding units mounted on the upper and lower circular mounting seats are completely symmetrical.

[0016] Preferably, the rotary welding unit consists of an L-shaped track installed in the center of a circular mounting base as its main body, on which a sixth electric trolley is mounted. An electric push rod is positioned above the sixth electric trolley, connecting it to a welding seat. The welding height is controlled by adjusting the extension distance of the electric push rod. The welding seat is generally a claw-shaped structure, with a straight rear section connected to the sixth electric trolley and a semi-circular front section. A slotted semi-circular welding track is provided on the inner side of this semi-circular structure, and a sliding miniature welding torch is mounted on this track. After the upper and lower piles are stabilized using auxiliary clamps, the sixth electric... The trolley moves out from the inside of the L-shaped track, first moving vertically to match the shape of the semi-circular welding track with the pipe pile, and then moving laterally to bring it closer to the pipe pile. At the same time, the electric push rod on the sixth electric trolley pushes out the welding seat to adjust the welding height. Correspondingly, the rotary welding unit at the bottom of the upper circular mounting seat works in sync. Finally, the two rotary welding units are at the same height, and the circle formed by the two semi-circles includes the circular pipe pile. The micro welding guns on the two semi-circular welding tracks move and weld at symmetrical angles. The third, fourth and fifth electric push rods form an electric push rod group, and there are two sets of combined mechanisms with the auxiliary fixture.

[0017] Accordingly, the present invention also provides a method for pressing down precast pipe piles using a precast pipe pile construction robot, the steps of which are as follows:

[0018] S1. Piling Storage and Retrieval: Before construction, the construction personnel will send the round pipe piles and square pipe piles to be used into the conveyor belt in the storage unit through the round or square opening for storage. The conveyor belt is equipped with a conveyor baffle, which, together with the first stepper motor, drives the conveyor belt to rotate. The right side of the C-shaped baffle is set as an opening, and the stored pipe piles are transported out from the right opening.

[0019] S2. Turning and Lifting Piles: When receiving pipe piles from the storage unit, the first horizontal track is first lifted to a suitable height using a hydraulic push rod. The first electric trolley is then moved to one side of the pipe pile, and the first baffle is opened via a micro motor. Simultaneously, the second electric trolley, carrying the vertical pipe pile transfer seat, is lowered to the other side of the pipe pile, and the second and third baffles are opened via a micro motor. At this point, the horizontal and vertical pipe pile transfer seats are at the same height and can support both ends of the pipe pile respectively. When the conveyor belt, in conjunction with the conveyor baffles, pushes the pipe pile into the lifting track unit, the horizontal and vertical pipe pile transfer seats support the pipe pile. At this point, the pipe pile enters the interior of the first and second baffles, and the first and third baffles are closed. The second baffle controls the first electric trolley to move towards the first vertical track. At this time, both ends of the pipe pile are clamped in the rectangular space formed by the horizontal pipe pile transfer seat and the vertical pipe pile transfer seat. Then, the second electric trolley is controlled to raise the vertical pipe pile transfer seat, while the first electric trolley moves the horizontal pipe pile transfer seat inward. The vertical distance between the two lifting units gradually increases and the horizontal distance gradually decreases. When the second electric trolley moves to the highest point and the first electric trolley moves to the rightmost end, the circular pipe pile is vertically inserted into the semi-circular slot. If it is a square pipe pile, it is inserted into the rectangular slot. At this time, the third baffle can be closed to prevent the pipe pile from falling. This completes the transfer of the pipe pile from the horizontal direction to the vertical direction.

[0020] S3. Moving and Transferring: After the storage section completes the horizontal to vertical turning of the pipe pile, control the third electric trolley to move the pipe pile clamping mechanism to above the vertical pipe pile transfer seat. The electric push rod on the third electric trolley pushes the pipe pile clamping mechanism downward to clamp the pipe pile, and then extends the electric push rod back. At this time, lower the second electric trolley until the vertical pipe pile transfer seat is completely separated from the bottom of the pipe pile. Then control the third electric trolley to move to above the circular or square clamping unit on the irregular track on the other side of the second horizontal track. The pipe pile is lowered into the clamping unit below by the electric push rod. When the clamping unit below clamps the pipe pile, the clamping unit above can release the pipe pile and retract the electric push rod. At this time, the pipe pile is vertically clamped in the clamping unit on the irregular track and can be moved and transferred on the irregular track.

[0021] S4. Pipe Pile Painting: When the clamping unit on the irregular track brings the vertical pipe pile to both sides of the painting section, the clamping unit on the third horizontal track is moved to align with the clamping unit on the irregular track. The pipe pile is then pushed to the upper clamping unit by the electric push rod of the lower clamping unit for clamping. After the lower clamping unit is released, the upper clamping unit moves back to the middle of the third horizontal track. The painting unit is then moved up and down on the second support column by controlling the fourth electric trolley. The electric push rod on the trolley pushes out the lifting platform, allowing the roller brush on it to contact the pipe pile. At the same time, the rotary motor on the third electric trolley on the third horizontal track and the rotary motor on the roller brush are started, allowing the roller brush to rotate and paint the pipe pile. The color recognition device on the lifting platform monitors the painting quality. When paint needs to be added, the fourth electric trolley is lowered to immerse the roller brush in the paint bucket. After painting is completed, the pipe pile is put back from the clamping unit on the third horizontal track to the clamping unit on the irregular track in the reverse order. After the paint dries, it can be moved to the telescopic track unit for stabilization.

[0022] S5. Pipe pile fixing: When it is necessary for the hydraulic hammer to clamp the pipe pile, the first electric push rod pushes the moving push plate to insert the telescopic insert plate track into the C-shaped slot. At this time, the disconnected irregular tracks on both sides are reconnected. The electric trolley travels on the track and moves to the bottom of the hydraulic hammer. The clamping mechanism under the hydraulic hammer is lowered to clamp the pipe pile. The electric trolley leaves the telescopic track unit. The first electric push rod on the opposite side is controlled to push the telescopic insert plate track back through the moving push plate, thereby making enough space for the hydraulic hammer to perform the pipe pile pressing operation.

[0023] S6, Pile Splicing Assistance: First, several different types of auxiliary parts are stored on the rectangular track. When welding is required, the welding type auxiliary part is moved from the rectangular track to the extended track to assist in welding construction. When cleaning is required, the welding type auxiliary part is retracted from the extended track, and the cleaning type auxiliary part is dispatched to perform cleaning construction. At the same time, when auxiliary construction is not required, the connection between the rectangular track and the extended track is cut off, that is, the mobile platform is moved back to the rear of the track support unit.

[0024] S7. Welding Cleaning: When splicing the first and second pipe piles, the auxiliary clamp assembly is initially fully retracted, with the entire assembly located inside the circular mounting base. The third electric push rod laterally extends the fourth electric push rod, which in turn extends the fifth electric push rod vertically. The fifth electric push rod then extends the auxiliary clamp in the opposite direction to the third electric push rod, clamping and securing the pipe pile. The electric push rod assemblies on the upper and lower circular mounting bases respectively assist in securing the lower and upper pipe piles, thus aiding in the stability and accuracy of the splicing process and ensuring the quality of subsequent welding. After stabilizing the upper and lower piles using the auxiliary clamps, the sixth electric trolley moves out from the inside of the L-shaped track. It first moves vertically to match the semi-circular welding track with the shape of the pipe pile, then moves laterally to bring it closer to the pipe pile, simultaneously coordinating with the sixth electric trolley... The electric push rod on the vehicle extends out to adjust the welding height of the welding seat. Correspondingly, the rotary welding unit at the bottom of the circular mounting seat above works in sync. Finally, the two rotary welding units are at the same height, and the circular pipe pile is included in the circle formed by the two semicircles. Welding is performed by moving the miniature welding gun on the two semicircular welding tracks at symmetrical angles. When welding square pipe piles is required, the auxiliary part used for circular welding is switched to the auxiliary part used for square welding, that is, the semicircular welding track is changed to half of the square welding track. When the cleaning function is required, the miniature cleaning machine is used to switch the miniature welding gun on the welding track to the cleaning type auxiliary part. After the pile is connected, the hydraulic hammer is used to press the pipe pile down again. If the pile needs to be driven, a metal kit can be installed under the hydraulic hammer to drive the pile. At this point, the entire pile pressing operation is completed.

[0025] Based on the above, the beneficial effects of the precast pipe pile construction robot and its pipe pile pressing method of the present invention are as follows:

[0026] 1. Compared to existing technologies, where construction workers haphazardly pile pipe piles on the construction site, resulting in uneven arrangement and placement, this invention not only leads to performance losses due to pipe piles rolling and falling, but also causes difficulties in retrieval and clamping. Furthermore, the different shapes of the pipe piles result in varying storage conditions, further reducing construction efficiency and space utilization. This invention, through a C-shaped baffle design, combined with a conveyor belt, conveyor baffle, and a first-step motor mechanism, ensures that pipe piles are well-stabilized after being placed in the storage unit. Retrieval simply requires activating the conveyor belt, allowing the pipe pile to automatically exit from the right-side opening. It also allows for increasing the number of storage layers, thereby increasing the storage capacity and significantly improving efficiency and space utilization. Moreover, it can be designed with corresponding square storage units to accommodate square pipe piles, effectively expanding the storage application range.

[0027] 2. Compared to existing hook-based lifting and transportation technologies, which require manual assistance, are time-consuming and labor-intensive, and are prone to swaying and low efficiency due to environmental factors such as strong winds, this invention utilizes a special-shaped horizontal pipe pile transfer seat and a vertical pipe pile transfer seat. These are connected by a first electric trolley and a second electric trolley on the first horizontal and first vertical tracks, respectively. The height is adjusted via hydraulic push rods, allowing for rapid transfer of pipe piles from the storage unit. Closing the first and second baffles enables the pipe pile to be rotated for transport. The horizontal and vertical height difference between the two transfer seats is used to adjust the pipe pile from a horizontal to a vertical orientation. A third baffle further secures the pile, preventing environmental influences and swaying or falling. This method is fast, stable, and, due to its fixed process, avoids environmental impacts, significantly improving transfer speed and quality.

[0028] 3. Compared to existing technologies that rely on manual labor to vertically install pipe piles into the clamping device under the hydraulic hammer, which typically requires several people to ensure the verticality of the pipe pile and proper clamping, this invention utilizes a special-shaped track with circular and square clamping units to allow the pipe pile to be flexibly transported vertically between the storage, hammering, and painting sections. The openable slot track, also known as a telescopic insert track, allows the clamping device to directly bring the vertical pipe pile to the bottom of the hydraulic hammer. After clamping, the telescopic insert track retracts, creating space for the hammer to press down, achieving rapid and accurate clamping of the pipe pile. This effectively ensures the verticality of the pipe pile, improves clamping efficiency, and avoids safety risks.

[0029] 4. Compared to existing on-site painting techniques, the lack of suitable tools and fixing mechanisms often leads to poor painting results and quality. This invention, through a painting section fixedly installed on the base and a transfer section passing through the painting section, allows the pipe pile to be quickly and vertically transported from the storage section to the painting section. The pipe pile is then transferred to the painting section by exchanging clamping units on the special-shaped track and the third transverse track. The roller brush of the painting unit controls the rotation of the roller brush, which in turn drives the rotation of the pipe pile through the rotation motor in the clamping unit on the third transverse track. A fourth electric trolley moves the lifting platform up and down, and a color recognizer monitors the painting quality of the pipe pile in real time. This achieves rapid, efficient, and comprehensive painting of the pipe pile and monitoring of the painting quality. In addition, the number of transfer sections passing through the painting section can be increased as needed to further improve the painting speed and efficiency.

[0030] 5. Compared to existing technologies that use manual pile splicing, the same swaying problem during pile stabilization can lead to difficulties in connecting the upper and lower piles, making it hard to ensure verticality. Furthermore, welding requires two workers to perform symmetrical welding, demanding high welding skills. Cleaning also requires manual labor, resulting in low efficiency and being time-consuming and labor-intensive. This invention, by setting up an extension section, stores a large number of different types of auxiliary parts, such as welding-type and cleaning-type auxiliary parts suitable for circles and squares. When not in use, these auxiliary parts can be stored on the rectangular track of the mobile platform. The mobile platform can be retracted to the inside of the extension section via the wheel-rail system, improving space utilization and device stability. When needed, the extension section can be moved out to connect the rectangular track with the extension track. Then, different types of auxiliary parts can be sequentially switched and moved to the end of the extension track for operation. This working method significantly expands the application range of the device's auxiliary pile splicing process, handling both circles and squares, and performing both cleaning and welding, greatly saving labor costs and improving work quality and stability.

[0031] 6. The auxiliary part of the present invention sets up two sets of symmetrical structures, one above and one below, and one left and right. The electric push rod combination of the auxiliary docking unit assists in clamping and stabilizing the two pipe piles. Then, the welding seat is extended by the L-shaped rail. The two sets cooperate to achieve symmetrical welding at the same height, which greatly improves the welding efficiency and quality. At the same time, the pile cleaning function can be realized by switching the micro welding gun to a micro cleaning machine, which saves time and effort. Attached Figure Description

[0032] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0033] Figure 1 This is a schematic diagram of the overall structure of the precast pipe pile construction robot of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of the base portion and the hammering portion of the present invention;

[0035] Figure 3 This is a schematic diagram of the storage section of the present invention;

[0036] Figure 4 This is a schematic diagram of the structure of the circular storage cell and the square storage cell of the present invention;

[0037] Figure 5 This is a schematic diagram of the lifting track unit of the present invention;

[0038] Figure 6 This is a schematic diagram of the structure of the lateral lifting unit of the present invention;

[0039] Figure 7 This is a schematic diagram of the vertical lifting unit of the present invention;

[0040] Figure 8 This is a schematic diagram of the structure of the circular clamping unit of the present invention;

[0041] Figure 9 This is a schematic diagram of the transfer section of the present invention;

[0042] Figure 10 This is a partial enlarged view of the telescopic track unit of the present invention;

[0043] Figure 11 This is one of the structural schematic diagrams of the painting part of the present invention;

[0044] Figure 12 This is a second schematic diagram of the painting part of the present invention;

[0045] Figure 13 This is a schematic diagram of the structure of the extended part of the present invention;

[0046] Figure 14 This is a schematic diagram of the track support unit of the present invention;

[0047] Figure 15 This is a schematic diagram of the structure of the sliding platform unit of the present invention;

[0048] Figure 16 This is a schematic diagram of the auxiliary part of the present invention;

[0049] Figure 17 This is a schematic diagram of the auxiliary docking unit and rotary welding unit of the present invention.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1000 - Base section:

[0052] 1001 - Rectangular chassis; 1001a - First extended platform; 1001b - Second extended platform; 1001c - Circular opening; 1002 - Tracked chassis; 1003 - Hydraulic outriggers;

[0053] 2000 - Storage Section:

[0054] 2100 - Circular storage unit; 2101 - Circular opening; 2102 - C-shaped baffle; 2103 - First stepper motor; 2104 - Conveyor belt; 2105 - Conveyor baffle;

[0055] 2200 - Square storage cell; 2201 - Square opening;

[0056] 2300 - Lifting track unit; 2301 - Hydraulic push rod; 2302 - First transverse track; 2303 - First vertical track; 2304 - First top track mounting base; 2305 - Second transverse track;

[0057] 2400 - Lateral lifting unit; 2401 - First electric trolley; 2402 - Lateral pipe pile transfer seat; 2403 - First baffle track; 2404 - First baffle; 2405 - Micro motor;

[0058] 2500 - Vertical lifting unit; 2501 - Second electric trolley; 2502 - Vertical pipe pile transfer seat; 2503a - Second baffle track; 2503b - Second baffle; 2504a - Third baffle track; 2504b - Third baffle; 2505 - Semi-circular slot;

[0059] 2600 - Circular clamping unit; 2601 - Third electric trolley; 2602 - Pipe pile clamping mechanism;

[0060] 2700-Square clamping unit;

[0061] 3000-Hammering Section:

[0062] 3001 - Main body of the pile driver; 3002 - Hydraulic hammer; 3003 - Hydraulic counterweight; 3004 - Circular pipe pile;

[0063] 4000 - Transshipment Section:

[0064] 4001 - Support rod; 4002 - Irregular track;

[0065] 4100 - Telescopic track unit; 4101 - First electric push rod; 4102a - Telescopic insert plate track; 4102b - Moving push plate; 4103a - C-type slot; 4103b - Sloping track;

[0066] 5000 - Painting section:

[0067] 5001 - First support column; 5002 - Second support column; 5003 - Second top track mounting bracket; 5004 - Paint bucket; 5005 - Third transverse track;

[0068] 5100 - Painting unit; 5101 - Fourth electric trolley; 5102 - Lifting platform; 5103 - Color recognizer; 5104 - Roller brush rotary motor; 5105 - Roller brush;

[0069] 6000 - Extended Section:

[0070] 6100 - Track support unit; 6101 - Lateral limiting plate; 6102 - Wheel and rail; 6103 - Drive motor; 6104 - Vertical limiting plate;

[0071] 6200 - Sliding platform unit; 6201 - Moving platform; 6202 - Auxiliary storage counterweight box; 6203 - Rectangular track; 6204 - Extension track; 6205 - Bottom baffle;

[0072] 7000 - Auxiliary Section:

[0073] 7001 - Fifth electric trolley; 7002 - Second electric push rod; 7003 - Circular mounting base;

[0074] 7100 - Auxiliary docking unit; 7101 - Third electric actuator; 7102 - Fourth electric actuator; 7103 - Fifth electric actuator; 7104 - Auxiliary clamp;

[0075] 7200 - Rotary welding unit; 7201 - L-shaped track; 7202 - Sixth electric trolley; 7203a - Welding seat; 7203b - Semi-circular welding track; 7204 - Miniature welding torch. Detailed Implementation

[0076] Below, in conjunction with Figures 1 to 17 This invention provides a detailed description of a precast pipe pile construction robot and its pipe pile pressing method.

[0077] Depend on Figure 1 As shown, the precast pipe pile construction robot of the present invention includes a base part 1000 as the main body, and a storage part 2000, a hammering part 3000, a transfer part 4000, a painting part 5000, an extension part 6000, and an auxiliary part 7000 installed thereon; wherein the hammering part 3000 is installed in the middle of the base part 1000, the storage part 2000 is installed on its left side, the painting part 5000 and the extension part 6000 are installed sequentially on its right side, the transfer part 4000 passes through the hammering part 3000 to connect the storage part 2000 and the painting part 5000 to form a complete loop, and the auxiliary part 7000 is installed on the extension part 6000.

[0078] Depend on Figure 2As shown, the base portion 1000 of the present invention consists of a rectangular chassis 1001 as the main body, with a hammering portion 3000 mounted on the upper part of the middle portion. A first extension platform 1001 and a second extension platform 1001b are respectively provided on the two sides of the front portion, and a plurality of circular openings 1001c are provided on the left side. A plurality of tracked chassis 1002 are provided at the bottom of the rectangular chassis 1001, and a plurality of hydraulic outriggers 1003 are provided below the first extension platform 1001a and the second extension platform 1001b. The purpose of this structure is that the tracked chassis 1002 can support the main body of the rectangular chassis 1001, while the hydraulic outriggers 1003 can be lowered when the robot is fixed to provide additional support for the first extension platform 1001a and the second extension platform 1001b, thereby further improving the stability of the device.

[0079] The hammering part 3000 of the present invention includes a hammer pile driver body 3001, a hydraulic hammer 3002 mounted thereon, and a hydraulic counterweight 3003 mounted behind it. The hydraulic hammer 3002 can clamp a circular pipe pile 3004 and hammer it down.

[0080] Depend on Figure 3 As shown, the storage section 2000 of the present invention includes a circular storage unit 2100, a square storage unit 2200, a lifting track unit 2300, a horizontal lifting unit 2400, a vertical lifting unit 2500, a circular clamping unit 2600, and a square clamping unit 2700.

[0081] Depend on Figure 4 As shown, the circular storage unit 2100 consists of three identical irregularly shaped storage mechanisms. The number of layers can be increased according to actual needs to change the storage capacity of the pipe pile. Each storage mechanism consists of a C-shaped baffle 2102 as the main body. The front of the C-shaped baffle 2102 has several circular openings 2101, the size of which is slightly larger than that of the circular pipe pile. A conveyor belt 2104 is provided at the bottom of the C-shaped baffle 2102. A first stepper motor 2103 is provided on both sides of the bottom front of the C-shaped baffle 2102. The first stepper motor 2103 is connected to the rotation shaft of the conveyor belt 2104 to control the rotation of the conveyor belt 2104. Several conveyor baffles 2105 are provided on the conveyor belt 2104, with a spacing of one pipe pile width between each two adjacent conveyor baffles 2105.

[0082] The other structures of the square storage unit 2200 are the same as those of the circular storage unit 2100, except that the circular opening 2101 is replaced with a square opening 2201. The purpose of this structure is that construction workers can send the required circular or square pipe piles into the conveyor belt 2104 in the storage unit through the circular opening 2101 or the square opening 2201 for storage before construction. Since the conveyor belt is equipped with a conveyor baffle 2105, the first stepper motor 2103 drives the conveyor belt 2104 to rotate. Since the right side of the C-shaped baffle 2102 is set as an opening, the stored pipe piles can be transported out from the right opening. Compared to existing technologies, where construction workers haphazardly pile pipe piles on the construction site, resulting in uneven arrangement and placement, this not only leads to performance losses due to pipe piles rolling and falling, but also causes difficulties in retrieval and clamping. Furthermore, the different shapes of the pipe piles result in varying storage conditions, further reducing construction efficiency and space utilization. This invention, through the design of a C-shaped baffle 2102, in conjunction with a conveyor belt 2104, a conveyor baffle 2105, and a first stepper motor 2103, ensures that pipe piles are well secured after being placed in the storage unit. Retrieval simply requires activating the conveyor belt 2104, allowing the pipe pile to automatically exit from the right-side opening. It also increases the number of storage layers, thereby increasing the storage capacity and significantly improving efficiency and space utilization. Moreover, corresponding square storage units 2200 can be designed to accommodate square pipe piles, effectively expanding the storage application range.

[0083] Depend on Figure 5 As shown, the lifting track unit 2300 of the present invention includes four hydraulic push rods 2301 as bottom supports. The hydraulic push rods 2301 are installed on the bottom of the rectangular chassis 1001, and their output shafts pass through the circular opening 1001c and are connected to the upper first horizontal track 2302. The end of the first horizontal track 2302 is provided with a first vertical track 2303, the top of the first vertical track 2303 is provided with a first track mounting seat 2304, and the bottom of the first track mounting seat 2304 is provided with a second horizontal track 2305. The purpose of this structure is that the hydraulic push rods 2301 can push the L-shaped track composed of the first horizontal track 2302 and the first vertical track 2303 to rise and fall, thereby enabling it to obtain the pipe piles for lowering the circular storage unit 2100 or the square storage unit 2200 at different heights.

[0084] Depend on Figure 6 , Figure 7 , Figure 8As shown, the lateral lifting unit 2400 of the present invention is supported by a first electric trolley 2401, with a lateral pipe pile transfer seat 2402 on it as the main body. The first electric trolley 2401 is installed on a first lateral track 2302 and can travel on the track. The lateral pipe pile transfer seat 2402 is an irregular part with an inside corner structure. A first baffle track 2403 is provided on the lower part of its bottom surface. A first baffle 2404 is slidably connected to the first baffle track 2403. A rack track is provided on the top of the first baffle 2404. A micro motor 2405 installed on the top right side of the lateral pipe pile transfer seat 2402 drives the gear meshing with the rack track to rotate on the rack track, thereby controlling the movement of the first baffle 2404 on the first baffle track 2403 to realize the opening and closing function.

[0085] The general structure of the vertical lifting unit 2500 is the same as that of the horizontal lifting unit 2400. It uses the second electric trolley 2501 as the moving mechanism. The second electric trolley 2501 is equipped with a vertical pipe pile transfer seat 2502. In addition to the third baffle 2504b installed on the right side and the third baffle track 2504a on the bottom surface, the vertical pipe pile transfer seat 2502 is also equipped with a vertically arranged second baffle 2503b and a second baffle track 2503a installed on the left side of the rear. The second baffle 2503b and the third baffle 2504b are both driven by a micro motor to open and close. In addition, the bottom of the vertical pipe pile transfer seat 2502 is also provided with a semi-circular slot 2505 of a certain depth to accommodate the upright circular pipe pile. The transfer mechanism at the square pipe pile end should have a rectangular slot to accommodate the upright square pipe pile.

[0086] The circular clamping unit 2600 uses a third electric trolley 2601 as its moving mechanism. The third electric trolley 2601 is also equipped with an electric push rod three, the end of which is connected to the pipe pile clamping mechanism 2602. The pipe pile clamping mechanism 2602 is existing technology and can clamp the pipe pile. This clamping mechanism is suitable for circular pipe piles. The square clamping unit 2700 has a generally similar structure to the circular clamping unit 2600, except that its pipe pile clamping mechanism 2602 is changed to a clamping mechanism suitable for square pipe piles. The third electric trolley 2601 is mounted on the second transverse track 2305. The purpose of this structure is that when receiving pipe piles from the storage unit, the first transverse track 2302 is first raised to a suitable height via the hydraulic push rod 2301. The first electric trolley 2401 is then moved to one side of the pipe pile, and the first baffle 2404 is opened via a micro motor. Simultaneously, the second electric trolley 2501, carrying the vertical pipe pile transfer seat 2502, is lowered to the other side of the pipe pile. The second baffle 2503b and the third baffle 2504b are opened via a micro motor. At this time, the transverse pipe pile transfer seat 2402 and the vertical pipe pile transfer seat 2502 are at the same height and can respectively support both ends of the pipe pile. When the conveyor belt 2104, in conjunction with the conveyor baffle 2105, pushes the pipe pile into the lifting track unit 2300, the transverse pipe pile transfer seat 2402 and the vertical pipe pile transfer seat 2502 support the pipe pile. At this time, the pipe pile enters the first baffle 2404. Inside the second baffle 2503b, the first baffle 2404 and the second baffle 2503b are closed, and the first electric trolley 2401 is controlled to move towards the first vertical track 2303. At this time, both ends of the pipe pile are clamped in the rectangular space formed by the horizontal pipe pile transfer seat 2402 and the vertical pipe pile transfer seat 2502. At this time, the second electric trolley 2501 is controlled to drive the vertical pipe pile transfer seat 2502 to rise, while the first electric trolley 2401 drives the horizontal pipe pile transfer seat 2402 to move inward. The vertical distance between the two lifting units gradually increases and the horizontal distance gradually decreases. When the second electric trolley 2501 moves to the highest point and the first electric trolley 2401 moves to the rightmost end, the circular pipe pile has been vertically inserted into the semi-circular slot 2505. If it is a square pipe pile, it will be inserted into the rectangular slot. At this time, the third baffle 2504b can be closed to prevent the pipe pile from falling. Thus, the transfer of the pipe pile from the horizontal direction to the vertical direction is completed.Compared to existing hook-based lifting and transport methods, which require manual assistance, are time-consuming and labor-intensive, and are prone to swaying and inefficiency due to environmental factors such as strong winds, this invention utilizes a horizontal pipe pile transfer seat 2402 and a vertical pipe pile transfer seat 2502. These are coordinated by a first electric trolley 2401 and a second electric trolley 2501 moving on the first horizontal track 2302 and the first vertical track 2303, respectively. The height is adjusted by a hydraulic push rod 2301, allowing for rapid transfer of pipe piles from the storage unit. Closing the first baffle 2404 and the second baffle 2503b allows for turning and transporting the pipe piles. The horizontal and vertical height difference between the two transfer seats is used to adjust the pipe piles from a horizontal to a vertical orientation. A third baffle 2504b further secures the piles, preventing environmental influences and swaying or falling. This method is fast, stable, and, due to its fixed process, avoids environmental impacts, significantly improving transport speed and quality.

[0087] Depend on Figure 9 , Figure 10 As shown, the transfer section 4000 of the present invention is mainly composed of a special-shaped track 4002. A telescopic track unit 4100 is provided in the middle of the special-shaped track 4002, corresponding to the position of the hammer pile driver body 3001. This telescopic track unit 4100 can be opened or closed to fix the pipe pile to the hydraulic hammer 3002. The special-shaped track 4002 is mounted on the base section 1000 via a support rod 4001. The special-shaped track 4002 is a loop-shaped track that passes through the first extension platform 1001a and the second extension platform 1001b at the front of the rectangular chassis 1001 and enters the painting section 5000 on the rectangular chassis 1001. It also extends to two additional track interfaces, which are respectively connected to one side of the two first vertical tracks 2303 of the storage section 2000. The irregular track 4002 is equipped with several circular clamping units 2600 and square clamping units 2700. The purpose of this structure is that after the storage section 2000 completes the horizontal to vertical rotation of the pipe pile, the third electric trolley 2601 is controlled to move the pipe pile clamping mechanism 2602 to above the vertical pipe pile transfer seat 2502. The electric push rod on the third electric trolley 2601 pushes the pipe pile clamping mechanism 2602 downward to clamp the pipe pile, and then extends the electric push rod back. At this time, the second electric trolley 2501 can be lowered until the vertical pipe pile rotates. When the transport seat 2502 is completely separated from the bottom of the pipe pile, the third electric trolley 2601 is moved to the top of the circular clamping unit 2600 or square clamping unit 2700 on the irregular track 4002 on the other side of the second transverse track 2305. The pipe pile is lowered into the clamping unit below by the electric push rod. When the clamping unit below clamps the pipe pile, the clamping unit above can release the pipe pile and retract the electric push rod. At this time, the pipe pile is vertically clamped in the clamping unit on the irregular track 4002 and can be moved and transported on the irregular track 4002.

[0088] The telescopic track unit 4100 is attached to the irregular track 4002 and includes a first electric push rod 4101 installed on the outside of the irregular track 4002. The irregular track 4002 at the telescopic track unit 4100 is broken at both ends. The interior of the irregular track at the break point has a C-shaped slot 4103a, into which the telescopic insert track 4102a can slide. A movable push plate 4102b is provided on the outside of the telescopic insert track 4102a, corresponding to the position of the first electric push rod 4101. A sloping track 4103b is also provided at the bottom center of the irregular track at the break point, between the two C-shaped slots 4103a. The purpose of this structure is that when the hydraulic hammer 3002 needs to clamp the pipe pile, the movable push plate 4102b is pushed by the first electric push rod 4101. Plate 4102b then inserts the telescopic insert plate track 4102a into the C-shaped slot 4103a. At this time, the disconnected irregular tracks 4002 on both sides are reconnected. Meanwhile, because of the sloped track 4103b, the electric trolley can travel on the track and move to below the hydraulic hammer 3002. The clamping mechanism below the hydraulic hammer 3002 is lowered to clamp the pipe pile. The electric trolley leaves the telescopic track unit 4100 and controls the first electric push rod 4101 on the opposite side to push back the telescopic insert plate track 4102a by moving the push plate 4102b, thereby making enough space for the hydraulic hammer 3002 to perform the pipe pile pressing operation. Compared to existing technologies that rely on manual labor to vertically install pipe piles into the clamping device under a hydraulic hammer, which typically requires several people to ensure the verticality of the pipe pile and proper clamping, this invention utilizes a special-shaped track 4002 and its circular clamping units 2600 and square clamping units 2700 to allow the pipe pile to be flexibly transported vertically between the storage section 2000, the hammering section 3000, and the painting section 5000. The included openable slot track, namely the telescopic insert track 4102a, allows the clamping device to directly bring the vertical pipe pile to the bottom of the hydraulic hammer 3002. After clamping, the telescopic insert track 4102a retracts, creating space for hammering and pressing down, enabling rapid and accurate clamping of the pipe pile. This effectively ensures the verticality of the pipe pile, clamping efficiency, and avoids safety risks.

[0089] Depend on Figure 11 , Figure 12As shown, the painting section 5000 of the present invention consists of two first pillars 5001 mounted on a rectangular base 1001, and a second pillar 5002 between the two first pillars 5001. A second top track mounting base 5003 is provided above each pillar, and a third transverse track 5005 is provided below the second top track mounting base 5003 between adjacent pillars. A circular clamping unit 2600 and a square clamping unit 2700 are respectively mounted on the two third transverse tracks 5005. The third electric trolley of the clamping unit is connected to the clamping mechanism via a rotary motor, which can drive the clamping mechanism to rotate. Two identical second vertical tracks are provided on both sides of the second pillar 5002, and a fourth electric trolley 5101 is mounted on these second vertical tracks. The painting unit 5100 uses the fourth electric trolley 5101 as the moving mechanism. The fourth electric trolley 5101 is equipped with an electric push rod, and the electric push rod is equipped with a lifting platform 5102. The upper and lower surfaces of the lifting platform 5102 are respectively equipped with two color recognizers 5103. Two roller brush rotary motors 5104 are provided on the outer side of the lifting platform 5102. The output shaft of the roller brush rotary motor 5104 is connected to the roller brush 5105. A paint bucket 5004 mounted on a rectangular chassis 1001 is provided at the corresponding position below the roller brush 5105. The purpose of this structure is that when the clamping unit on the irregular track 4002 brings the vertical pipe pile to both sides of the painting section 5000, the clamping unit on the third transverse track 5005 is moved to align with the clamping unit on the irregular track 4002. The pipe pile is pushed to the upper clamping unit by the electric push rod of the lower clamping unit for clamping. After the lower clamping unit is released, the upper clamping unit moves back to the middle of the third transverse track 5005. The painting unit is then driven by the fourth electric trolley 5101 to the second... The support column 5002 moves up and down, and the lifting platform 5102 is pushed out by the fourth electric trolley 5101, so that the roller brush 5105 on it comes into contact with the pipe pile. At the same time, the rotary motor on the third electric trolley on the third transverse track 5005 and the roller brush rotary motor 5104 are activated, so that the roller brush 5105 can rotate up and down to paint the pipe pile. The color recognizer 5103 on the lifting platform 5102 monitors the painting quality. When paint needs to be added, the fourth electric trolley 5101 is lowered so that the roller brush 5105 is immersed in the paint bucket 5004. After painting, the pipe pile is put back from the clamping unit on the third transverse track 5005 into the clamping unit on the special track 4002 in reverse order. After the paint dries, it can be moved to the telescopic track unit 4100 for stabilization. The color recognizer 5103 is a general component that can determine whether the pipe pile has been painted by monitoring the color change of the pipe pile.Compared to existing on-site painting techniques, which often result in poor painting effects and quality due to a lack of suitable tools and fixing mechanisms, this invention utilizes a painting section 5000 fixedly installed on the base section 1000, in conjunction with a transfer section 4000 passing through the painting section 5000. This allows the pipe pile to be quickly and vertically transported from the storage section 2000 to the painting section 5000. The pipe pile is then transferred into the painting section 5000 by exchanging clamping units on the irregular track 4002 and the third transverse track 5005, and then the painting unit... The roller brush rotary motor 5104 of 5100 controls the rotation of the roller brush 5105, which in turn drives the rotation of the pipe pile in the clamping unit on the third transverse track 5005. The fourth electric trolley 5101 drives the lifting platform 5102 to move up and down. With the addition of the color recognition device 5103, the painting quality of the pipe pile is monitored in real time, realizing rapid and convenient all-round painting of the pipe pile and monitoring of the painting quality. At the same time, the number of times the end of the transfer part 4000 passes through the painting part 5000 can be increased as needed to further improve the painting speed and efficiency.

[0090] Depend on Figures 13-15 As shown, the extension portion 6000 of the present invention is installed above the rectangular chassis 1001 on the right side of the painting portion 5000. It includes a track support unit 6100 as an external support and a sliding platform unit 6200 that moves on its upper part. The auxiliary portion 7000 is installed on the sliding platform unit 6200. The track support unit 6100 includes horizontal limiting plates 6101 on the left and right sides, vertical limiting plates 6104 on the front and rear sides, and a plurality of wheel rails 6102 between the horizontal limiting plates 6101 and the vertical limiting plates 6104. A drive motor 6103 is provided on one side of the wheel rail 6102 in the middle. The purpose of this structure is to install the sliding platform unit 6200 on the track formed by the wheel rails 6102, and to use the rectangular space formed by the horizontal limiting plates 6101 and the vertical limiting plates 6104 as the maximum range of platform movement. The drive motor 6103 drives the central wheel rail 6102 to rotate, thereby making the platform slide on the track.

[0091] The sliding platform unit 6200 includes a mobile platform 6201 serving as a chassis. Bottom baffles 6205 are provided on both the front and rear sides of the bottom of the mobile platform 6201. When the platform moves to its maximum range, the bottom baffles 6205 contact and are restricted by the vertical limiting plate 6104, preventing the platform from moving off the track. An auxiliary storage counterweight box 6202 is provided on the upper rear side of the mobile platform 6201. This box can be used to store welding materials, painting materials, and cleaned-up waste, and also serves as a counterweight to ensure platform stability. A rectangular track 6203 is provided on the upper front side of the mobile platform 6201. An extension track is provided at the end of the rectangular track 6203 closest to the platform, which can extend to connect with the extension track 6204 installed on the second extension platform 1001b. One side of the extended track 6204 can be connected to the rectangular track 6203, and the other side extends to the right side of the hammering part 3000. The purpose of this structure is to store several different types of auxiliary parts 7000 on the rectangular track 6203. When welding is required, the welding type auxiliary part 7000 is moved from the rectangular track 6203 to the extended track 6204 for welding assistance. When cleaning is required, the welding type auxiliary part 7000 is retrieved from the extended track 6204, and the cleaning type auxiliary part 7000 is dispatched for cleaning. At the same time, when auxiliary construction is not required, the connection between the rectangular track 6203 and the extended track 6204 can be cut off, that is, the moving platform 6201 is moved back to the rear of the track support unit 6100, the center of gravity of this part is shifted, and the overall stability of the device is further improved.

[0092] Depend on Figure 16 , Figure 17 As shown, the auxiliary part 7000 of the present invention is supported at the bottom by a fifth electric trolley 7001, which is mounted on a rectangular track 6203 and can be moved to an extension track 6204. Two layers of circular mounting seats 7003 are provided above the fifth electric trolley 7001. The two layers of circular mounting seats 7003 are connected by four second electric push rods 7002 located at the four corners. The distance between the two circular mounting seats 7003 can be controlled by controlling the extension and retraction of the electric push rods 7002. The auxiliary docking unit 7100 mounted on the upper and lower circular mounting seats 7003 is completely symmetrical to the rotary welding unit 7200, that is, the components of the lower circular mounting seat 7003 are mounted on top of it, and the components of the upper circular mounting seat 7003 are mounted on the bottom of it.

[0093] The auxiliary docking unit 7100 is composed of a third electric push rod 7101, a fourth electric push rod 7102, a fifth electric push rod 7103, and an auxiliary clamp 7104 connected in sequence. The third electric push rod 7101 is mounted on the circular mounting base 7003, the fourth electric push rod 7102 is mounted at the end of the third electric push rod 7101, the fifth electric push rod 7103 is mounted at the end of the fourth electric push rod 7102, and the auxiliary clamp 7104 is mounted at the end of the fifth electric push rod 7103. The third electric push rod 7101, the fourth electric push rod 7102, and the fifth electric push rod 7103 form an electric push rod group. There are two sets of combined mechanisms with the auxiliary clamp 7104, which are respectively located on the left and right sides of the circular mounting base 7003. The purpose of this structure is to allow the device to be fully retracted when (…). Figure 17 (To be fully deployed), the entire assembly is located inside the circular mounting base 7003. The fourth electric push rod 7102 is pushed out laterally by the third electric push rod 7101, and the fifth electric push rod 7103 is pushed out vertically by the fourth electric push rod 7102. The fifth electric push rod 7103 then pushes out the auxiliary clamp 7104 in the opposite direction to the third electric push rod 7101 to clamp and fix the pipe pile. The electric push rod assemblies on the upper and lower circular mounting bases 7003 respectively assist in fixing the lower and upper pipe piles, thereby assisting in the stability and accuracy of the pile splicing process and ensuring the quality of the subsequent welding process.

[0094] The rotary welding unit 7200 consists of an L-shaped track 7201 installed in the middle of a circular mounting base 7003 as its main body, on which a sixth electric trolley 7202 is mounted. An electric push rod 2 is mounted above the sixth electric trolley 7202 and is connected to the welding seat 7203a above it. The welding height can be controlled by controlling the distance that the electric push rod 2 extends above the sixth electric trolley 7202. The welding seat 7203a is an irregularly shaped component, generally in the form of a hook. Its rear end, connected to the sixth electric trolley 7202, is linear, while its front end is semi-circular. The inner side of this semi-circular structure has a slotted semi-circular welding track 7203b, on which a sliding miniature welding torch 7204 is mounted. The purpose of this structure is that after the auxiliary clamp 7104 stabilizes the upper and lower piles, the sixth electric trolley 7202 moves out from the inner side of the L-shaped track 7201. First, it moves vertically to match the shape of the semi-circular welding track 7203b with the pipe pile, then it moves laterally to bring it closer to the pipe pile, simultaneously being pushed out by the electric push rod on the sixth electric trolley 7202. The welding height of the welding seat 7203a is adjusted accordingly. Simultaneously, the rotary welding unit 7200 at the bottom of the upper circular mounting seat 7003 works in sync, ultimately bringing the two rotary welding units 7200 to the same height. The circular structure formed by the two semicircles encloses the circular pipe pile. Welding is performed symmetrically by the miniature welding gun 7204 on the two semicircular welding tracks 7203b. It should be noted that the semicircular welding track 7203b is only suitable for circular pipe piles. When welding square pipe piles, the auxiliary part 7000 used for circular welding is switched to an auxiliary part used for square welding, i.e., the semicircular welding track 7203b is changed to half a square welding track.

[0095] When a cleaning function is required, the miniature welding torch 7204 on the welding track is replaced with a miniature cleaning machine, an auxiliary part for cleaning. Both the miniature welding torch 7204 and the miniature cleaning machine are existing technologies, capable of spot welding or cleaning. This can be achieved by mounting them on an electric trolley, which moves along the welding track. Compared to existing manual pile splicing techniques, which suffer from the same swaying problem as pile stabilization, potentially leading to difficulties in aligning the upper and lower piles and ensuring perpendicularity, and requiring two workers for symmetrical welding, demanding high welding skills, and requiring manual cleaning, this invention addresses these issues by providing an extension section 6000 to store a large number of different types of auxiliary parts 7000. For example, auxiliary parts applicable to circular and square welding and cleaning types can be stored on the rectangular track 6203 of the mobile platform 6201 when not in use. The mobile platform 6201 can be retracted into the inside of the extension section 6000 via the wheel rail 6102, improving space utilization and device stability. When needed, the extension section 6000 can be moved out to connect the rectangular track 6203 with the extension track 6204. Then, different types of auxiliary parts 7000 can be switched and moved to the end of the extension track 6204 for operation as needed. This working method greatly improves the application range of the device's auxiliary pile connection process, which can handle both circular and square shapes, and can perform both cleaning and welding, significantly saving labor costs and improving work quality and stability. The auxiliary part 7000 of the present invention sets up two sets of symmetrical structures, one above and one below, and one left and right. The electric push rod combination of the auxiliary docking unit 7100 is used to assist in clamping and stabilizing the two pipe piles. Then, the welding seat 7203a is extended by the L-shaped rail 7201. The two sets cooperate to achieve symmetrical welding at the same height, which greatly improves the welding efficiency and quality. At the same time, the pile cleaning function can be realized by switching the micro welding gun to a micro cleaning machine, which saves time and effort.

[0096] Accordingly, the precast pipe pile construction robot's pipe pile pressing method provided by the present invention includes the following steps:

[0097] S1. Piling Storage and Retrieval: Before construction, construction personnel can send the round pipe piles and square pipe piles needed into the storage unit via the round opening 2101 or the square opening 2201 onto the conveyor belt 2104. Since the conveyor belt is equipped with a conveyor baffle 2105, the first stepper motor 2103 drives the conveyor belt 2104 to rotate. Since the right side of the C-shaped baffle 2102 is set as an opening, the stored pipe piles can be transported out from the right opening.

[0098] S2, Turning and Lifting Piles: When receiving pipe piles from the storage unit, the first horizontal track 2302 is first lifted to a suitable height using the hydraulic push rod 2301. The first electric trolley 2401 is then moved to one side of the pipe pile, and the first baffle 2404 is opened via a micro motor. Simultaneously, the second electric trolley 2501, carrying the vertical pipe pile transfer seat 2502, is lowered to the other side of the pipe pile. The second baffle 2503b and the third baffle 2504b are opened via a micro motor. At this time, the horizontal pipe pile transfer seat 2402 and the vertical pipe pile transfer seat 2502 are at the same height and can support both ends of the pipe pile respectively. When the conveyor belt 2104, in conjunction with the conveyor baffle 2105, pushes the pipe pile into the lifting track unit 2300, the horizontal pipe pile transfer seat 2402 and the vertical pipe pile transfer seat 2502 support the pipe pile. At this time, the pipe pile enters the interior of the first baffle 2404 and the second baffle 2503b. Close the first baffle 2404 and the second baffle 2503b, and control the first electric trolley 2401 to move towards the first vertical track 2303. At this time, both ends of the pipe pile are clamped in the rectangular space formed by the horizontal pipe pile transfer seat 2402 and the vertical pipe pile transfer seat 2502. At this time, control the second electric trolley 2501 to drive the vertical pipe pile transfer seat 2502 to rise, and at the same time cooperate with the first electric trolley 2401 to drive the horizontal pipe pile transfer seat 2402 to move inward. The vertical distance between the two lifting units gradually increases and the horizontal distance gradually decreases. When the second electric trolley 2501 moves to the highest point and the first electric trolley 2401 moves to the rightmost end, the circular pipe pile has been vertically inserted into the semi-circular slot 2505. If it is a square pipe pile, it will be inserted into the rectangular slot. At this time, the third baffle 2504b can be closed to prevent the pipe pile from falling. This completes the transfer of the pipe pile from the horizontal direction to the vertical direction.

[0099] S3. Moving and Transferring: After the storage section 2000 completes the horizontal to vertical rotation of the pipe pile, the third electric trolley 2601 is controlled to move the pipe pile clamping mechanism 2602 above the vertical pipe pile transfer seat 2502. The electric push rod on the third electric trolley pushes the pipe pile clamping mechanism 2602 downwards to clamp the pipe pile, and then extends the electric push rod back. At this time, the second electric trolley 2501 can be lowered until the vertical pipe pile transfer seat 2502 is completely separated from the bottom of the pipe pile. At this point, the control... The third electric trolley 2601 moves to the top of the circular clamping unit 2600 or square clamping unit 2700 on the irregular track 4002 on the other side of the second transverse track 2305. The pipe pile is lowered into the clamping unit below by the electric push rod. After the clamping unit below clamps the pipe pile, the clamping unit above can release the pipe pile and retract the electric push rod. At this time, the pipe pile is vertically clamped in the clamping unit on the irregular track 4002 and can be moved and transported on the irregular track 4002.

[0100] S4. Pipe Pile Painting: When the clamping unit on the irregular track 4002 brings the vertical pipe pile to both sides of the painting section 5000, the clamping unit on the third transverse track 5005 is moved to align with the clamping unit on the irregular track 4002. The pipe pile is then pushed to the upper clamping unit by the electric push rod of the lower clamping unit for clamping, and then the lower clamping unit is released. The upper clamping unit moves back to the middle of the third transverse track 5005. The fourth electric trolley 5101 is controlled to move the painting unit up and down on the second support column 5002. The electric push rod on the trolley pushes out the lifting platform 5102, allowing the roller brush 510 on it to move. 5. Upon contact with the pipe pile, the rotary motor on the third electric trolley on the third transverse track 5005 and the rotary motor 5104 of the roller brush are activated, allowing the roller brush 5105 to rotate up and down to paint the pipe pile. At the same time, the color recognizer 5103 on the lifting platform 5102 monitors the painting quality. When paint needs to be added, the fourth electric trolley 5101 is lowered to immerse the roller brush 5105 in the paint bucket 5004. After painting is completed, the pipe pile is placed from the clamping unit on the third transverse track 5005 back into the clamping unit on the special track 4002 in the reverse order. After the paint dries, it can be moved to the telescopic track unit 4100 for stabilization.

[0101] S5. Pipe pile fixing: When the hydraulic hammer 3002 needs to clamp the pipe pile, the first electric push rod 4101 pushes the moving push plate 4102b, thereby inserting the telescopic insert plate track 4102a into the C-shaped slot 4103a. At this time, the disconnected irregular tracks 4002 on both sides are reconnected. At the same time, because there is a slope track 4103b, the electric trolley can travel on the track and move to the bottom of the hydraulic hammer 3002. The clamping mechanism under the hydraulic hammer 3002 is lowered to clamp the pipe pile. The electric trolley leaves the telescopic track unit 4100, and the first electric push rod 4101 on the opposite side is controlled to push the telescopic insert plate track 4102a back through the moving push plate 4102b, thereby making enough space for the hydraulic hammer 3002 to perform the pipe pile pressing operation.

[0102] S6, Pile Connection Assistance: First, several different types of auxiliary parts 7000 are stored on the rectangular track 6203. When welding is required, the welding type auxiliary part 7000 is moved from the rectangular track 6203 to the extension track 6204 for welding assistance. When cleaning is required, the welding type auxiliary part is retrieved from the extension track 6204, and the cleaning type auxiliary part is dispatched for cleaning. At the same time, when auxiliary construction is not required, the connection between the rectangular track 6203 and the extension track 6204 can be cut off, that is, the moving platform 6201 is moved back to the rear of the track support unit 6100.

[0103] S7. Welding Cleaning: When splicing the first and second pipe piles, the auxiliary clamp assembly of the auxiliary part 7000 is initially fully retracted. This assembly is entirely located inside the circular mounting base 7003. The fourth electric push rod 7102 is pushed out laterally by the third electric push rod 7101, and the fifth electric push rod 7103 is pushed out vertically by the fourth electric push rod 7102. The fifth electric push rod 7103 then pushes out the auxiliary clamp 7104 in the opposite direction to the third electric push rod 7101 to clamp and fix the pipe pile. The electric push rod assemblies on the upper and lower circular mounting bases 7003 respectively assist in fixing the lower and upper pipe piles, thereby assisting in the stability and accuracy of the splicing process and ensuring the quality of the subsequent welding process. After the upper and lower piles are stabilized by the auxiliary clamp 7104, the sixth electric trolley 7202 moves out from the inside of the L-shaped track 7201. It first moves vertically to match the shape of the semi-circular welding track 7203b with the shape of the pipe pile, and then moves laterally to make it... Approaching the pipe pile, the welding height is adjusted by simultaneously pushing out the welding seat 7203a with the electric push rod on the sixth electric trolley 7202. Correspondingly, the rotary welding unit 7200 at the bottom of the upper circular mounting seat 7003 works in sync, and finally the two rotary welding units 7200 are at the same height, with the circular pipe pile included in the circle formed by the two semicircles. Welding is performed by moving the miniature welding gun 7204 on the two semicircular welding tracks 7203b at symmetrical angles. It should be noted that the semicircular welding track 7203b is only suitable for circular pipe piles. When welding square pipe piles, the auxiliary part 7000 used for circular welding is switched to the auxiliary part 7000 used for square welding, that is, the semicircular welding track 7203b is changed to half a square welding track. When the cleaning function is required, the miniature cleaning machine that switches the miniature welding gun 7204 on the welding track to the cleaning type auxiliary part 7000 is used. After the pile splicing is completed, the hydraulic hammer 3002 is used to press down the pipe pile again. If it is necessary to drive the pile, a metal kit can be installed under the hydraulic hammer 3002 to drive the pile. At this point, the entire pipe pile pressing work is completed.

[0104] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A precast pipe pile construction robot, characterized in that, include: The base section (1000) provides support for the entire robot; The storage section (2000), installed on one side of the base section (1000), includes a circular storage unit (2100) for storing circular pipe piles, a square storage unit (2200) for storing square pipe piles, and a lifting track unit (2300) located on the opening side of the circular storage unit (2100) and the square storage unit (2200); the lifting track unit (2300) includes a first transverse track (2302) and a first vertical track (2303) forming an L-shaped track, the first transverse track... A horizontal lifting unit (2400) and a vertical lifting unit (2500) that move along their respective tracks are installed on the track (2302) and the first vertical track (2303) respectively, for transferring the pipe pile from the horizontal direction to the vertical direction; a clamping unit for clamping the vertical pipe pile and driving the pipe pile to move up and down is installed on the top of the first vertical track (2303); the horizontal lifting unit (2400) is supported by a first electric trolley (2401), and the horizontal pipe pile transfer seat on the first electric trolley (2401) is... The first electric trolley (2402) serves as the main body; the first electric trolley (2401) is installed on the first transverse track (2302) and can move on the track; the bottom surface of the transverse pipe pile transfer seat (2402) is provided with a first baffle track (2403), and a first baffle (2404) is slidably connected on the first baffle track (2403); the vertical lifting unit (2500) uses the second electric trolley (2501) as the moving mechanism, and the second electric trolley (2501) is provided with a vertical pipe pile transfer seat (2502). The vertical pipe pile transfer seat (2502) is provided with a third baffle (2504b) on its right side and a third baffle track (2504a) on its bottom. A vertically arranged second baffle (2503b) and a second baffle track (2503a) are provided on its left rear side. The second baffle (2503b) and the third baffle (2504b) are both driven by a micro motor to open and close. The bottom of the vertical pipe pile transfer seat (2502) is also provided with a semi-circular slot (2505) or a rectangular slot for cooperating with the upright pipe pile. The hammering part (3000) is installed in the middle of the base part (1000) and includes the hammering pile driver body (3001) and the hydraulic hammer (3002) installed on the hammering pile driver body (3001), which is used to hammer and press down the vertical pipe pile; The transfer section (4000) includes a special-shaped track (4002), a plurality of circular clamping units (2600) and square clamping units (2700) installed on the special-shaped track (4002), for transferring the vertical pipe pile to the hammering section (3000) and the painting section (5000); The painting section (5000) is installed on the other side of the base section (1000) and is used to paint the pipe piles that have been transported. The extension section (6000), mounted on the base section (1000) and located on the right side of the painting section (5000), includes a track support unit (6100) as an external support and a sliding platform unit (6200) that moves on its upper part. The auxiliary part (7000), installed on the extension part (6000), includes an auxiliary docking unit (7100) for auxiliary fixing of the lower pipe pile and the upper pipe pile and a rotary welding unit (7200) for welding the lower pipe pile and the upper pipe pile.

2. The precast pipe pile construction robot according to claim 1, characterized in that, The base portion (1000) is mainly composed of a rectangular chassis (1001), with a first extension platform (1001a) and a second extension platform (1001b) on its front two sides, and a number of circular openings (1001c) on its left side; a number of tracked chassis (1002) are provided at the bottom of the rectangular chassis (1001); a number of hydraulic outriggers (1003) are provided below the first extension platform (1001a) and the second extension platform (1001b).

3. The precast pipe pile construction robot according to claim 2, characterized in that, The circular storage unit (2100) consists of three identical irregular storage mechanisms. Each storage mechanism is composed of a C-shaped baffle (2102) as its main body. The front of the C-shaped baffle (2102) has several circular openings (2101). A conveyor belt (2104) is provided at the bottom of the C-shaped baffle (2102). A first stepper motor (2103) is provided on both sides of the bottom front of the C-shaped baffle (2102). The first stepper motor (2103) is connected to the rotation shaft of the conveyor belt (2104) to control the rotation of the conveyor belt (2104). Several conveyor baffles (2105) are provided on the conveyor belt (2104). The width of a pipe pile is between each pair of adjacent conveyor baffles (2105). The other structures of the square storage unit (2200) are the same as those of the circular storage unit (2100), except that the circular opening (2101) is replaced with a square opening (2201).

4. The precast pipe pile construction robot according to claim 3, characterized in that, The top of the first baffle (2404) is provided with a rack and pinion track. The gear meshing with the rack and pinion track is driven by the micro motor (2405) installed on the top right side of the transverse pipe pile transfer seat (2402) to rotate on the rack and pinion track, thereby controlling the movement of the first baffle (2404) on the first baffle track (2403) to realize the opening and closing function. The lifting track unit (2300) includes four hydraulic push rods (2301) that serve as bottom supports. The hydraulic push rods (2301) are mounted on the bottom of a rectangular chassis (1001). Their output shafts pass through a circular opening (1001c) and are connected to the upper first transverse track (2302). The end of the first transverse track (2302) is provided with a first vertical track (2303). The top of the first vertical track (2303) is provided with a first track mounting seat (2304). Below the first track mounting seat (2304) is a second transverse track (2305). The circular clamping unit (2600) at the top of the first vertical track (2303) is moved by the third electric trolley (2601). The third electric trolley (2601) is also equipped with an electric push rod three. The end of the electric push rod three is connected to the pipe pile clamping mechanism (2602). The third electric trolley (2601) is installed on the second horizontal track (2305).

5. The precast pipe pile construction robot according to claim 4, characterized in that, A telescopic track unit (4100) is provided in the middle of the irregular track (4002) corresponding to the position of the hammer pile driver body (3001). The telescopic track unit (4100) includes a first electric push rod (4101) installed on the outside of the irregular track (4002). The irregular track (4002) at the telescopic track unit (4100) is broken on both sides. The interior of the irregular track at the break point is provided with a C-shaped slot (4103a). The telescopic insert track (4102a) can slide in it after being inserted. A movable push plate (4102b) is provided on the outside of the telescopic insert track (4102a), which is positioned corresponding to the first electric push rod (4101). A slope track (4103b) is also provided in the middle of the bottom of the irregular track at the break point between the two C-shaped slots (4103a).

6. The precast pipe pile construction robot according to claim 5, characterized in that, The painting section (5000) consists of two first pillars (5001) on the left and right sides mounted on the rectangular chassis (1001) and a second pillar (5002) between the two first pillars (5001). A second top track mounting seat (5003) is provided above each pillar, and a third horizontal track (5005) is provided below the second top track mounting seat (5003) between two adjacent pillars. A circular clamping unit (2600) and a square clamping unit (2700) are respectively installed on the two third horizontal tracks (5005). Two identical second vertical tracks are provided on both sides of the second pillar (5002), and a fourth electric trolley (5101) is provided on the second vertical track. The painting section (5000) also has a painting unit (5100), which is moved by a fourth electric trolley (5101). An electric push rod is installed on the fourth electric trolley (5101), and a lifting platform (5102) is provided on the electric push rod. Two color identifiers (5103) are provided on the upper and lower surfaces of the lifting platform (5102). Two roller brush rotating motors (5104) are provided on the outer side of the lifting platform (5102). The output shaft of the roller brush rotating motor (5104) is connected to the roller brush (5105). A paint bucket (5004) is installed on a rectangular chassis (1001) at the corresponding position below the roller brush (5105).

7. The precast pipe pile construction robot according to claim 6, characterized in that, The track support unit (6100) includes a horizontal limiting plate (6101) on the left and right sides, a vertical limiting plate (6104) on the front and rear sides, and a plurality of wheel rails (6102) between the horizontal limiting plate (6101) and the vertical limiting plate (6104). A drive motor (6103) is provided on one side of the wheel rail (6102) in the middle. The sliding platform unit (6200) includes a mobile platform (6201) as a chassis. The mobile platform (6201) has bottom baffles (6205) on both the front and rear sides of its bottom. When the platform moves to its maximum range, the bottom baffles (6205) contact and are restricted by the vertical limiting plate (6104), preventing the platform from moving off the track. An auxiliary storage counterweight box (6202) is provided on the upper rear side of the mobile platform (6201). A rectangular track (6203) is provided on the upper front side of the mobile platform (6201). An extension track is provided at the end of the rectangular track (6203) closest to the platform, which can extend to connect with the extension track (6204) installed on the second extension platform (1001b). One side of the extension track (6204) can be connected to the rectangular track (6203), and the other side extends to the right side of the hammering part (3000).

8. The precast pipe pile construction robot according to claim 7, characterized in that, The auxiliary docking unit (7100) is composed of a third electric push rod (7101), a fourth electric push rod (7102), a fifth electric push rod (7103), and an auxiliary clamp (7104) connected in sequence. The third electric push rod (7101) is installed on a circular mounting base (7003), the fourth electric push rod (7102) is installed at the end of the third electric push rod (7101), the fifth electric push rod (7103) is installed at the end of the fourth electric push rod (7102), and the auxiliary clamp (7104) is installed at the end of the fifth electric push rod (7103). The third electric push rod (7101), the fourth electric push rod (7102), and the fifth electric push rod (7103) form an electric push rod group. There are two sets of combined mechanisms formed with the auxiliary clamp (7104). The two sets of combined mechanisms are respectively located on the left and right sides of the circular mounting base (7003). The fourth electric push rod (7102) is pushed out laterally by the third electric push rod (7101), and the fifth electric push rod (7103) is pushed out vertically by the fourth electric push rod (7102). The fifth electric push rod (7103) then pushes out the auxiliary clamp (7104) in the opposite direction to the third electric push rod (7101) to clamp and fix the pipe pile. The electric push rod groups on the upper and lower circular mounting bases (7003) respectively assist in fixing the lower pipe pile and the upper pipe pile, thereby assisting in the stability and accuracy of the pile splicing process. The auxiliary part (7000) is supported at the bottom by the fifth electric trolley (7001), which is mounted on a rectangular track (6203) and can be moved to the extension track (6204). There are two layers of circular mounting seats (7003) above the fifth electric trolley (7001). The two layers of circular mounting seats (7003) are connected by four second electric push rods (7002) located at the four corners. The distance between the two circular mounting seats (7003) can be controlled by controlling the extension and retraction of the second electric push rods (7002). The auxiliary docking unit (7100) mounted on the upper and lower circular mounting seats (7003) is completely symmetrical with the rotary welding unit (7200).

9. The precast pipe pile construction robot according to claim 8, characterized in that, The rotary welding unit (7200) consists of an L-shaped track (7201) installed in the middle of a circular mounting base (7003) as its main body, on which a sixth electric trolley (7202) is mounted. An electric push rod two is mounted above the sixth electric trolley (7202), and is connected to the welding seat (7203a) above it. The welding height is controlled by controlling the distance that the electric push rod two above the sixth electric trolley (7202) extends. The welding seat (7203a) is generally shaped like a hook. Its rear end, connected to the sixth electric trolley (7202), is a straight structure, while its front end is a semi-circular structure. The inner side of this semi-circular structure has a slotted semi-circular welding track (7203b). A sliding miniature welding torch (7204) is mounted on this semi-circular welding track (7203b). After the upper and lower piles are stabilized using the auxiliary clamp (7104), the sixth electric trolley (7202) moves out from the inner side of the L-shaped track (7201), first moving vertically to align the semi-circular welding track (7203b) with... The shape of the pipe pile is matched, and then it is moved laterally to get closer to the pipe pile. At the same time, the electric push rod on the sixth electric trolley (7202) pushes out the welding seat (7203a) to adjust the welding height. Correspondingly, the rotary welding unit (7200) at the bottom of the upper circular mounting seat (7003) works in sync. Finally, the two rotary welding units (7200) are at the same height, and the circular pipe pile is included in the circle formed by the two semicircles. The micro welding gun (7204) on the two semicircular welding rails (7203b) moves and welds at a symmetrical angle.

10. A method for pressing down precast pipe piles using the precast pipe pile construction robot as described in claim 9, characterized in that, The steps are as follows: S1. Piling Storage and Retrieval: Before construction, the construction personnel will send the round pipe piles and square pipe piles to be used into the conveyor belt (2104) in the storage unit through the round opening (2101) or the square opening (2201) for storage. The conveyor belt is equipped with a conveyor baffle (2105), which, together with the first stepper motor (2103), drives the conveyor belt (2104) to rotate. The right side of the C-shaped baffle (2102) is set as an opening, and the stored pipe piles are transported out from the right opening. S2, Turning and Lifting Piles: When it is necessary to receive pipe piles from the storage unit, the first horizontal track (2302) is first lifted to a suitable height by the hydraulic push rod (2301), the first electric trolley (2401) is controlled to move to one side of the pipe pile, the first baffle (2404) is opened by the micro motor, and at the same time the second electric trolley (2501) is controlled to descend to the other side of the pipe pile with the vertical pipe pile transfer seat (2502), and the second baffle (2503b) and the third baffle are opened by the micro motor. Plate (2504b), at this time the horizontal pipe pile transfer seat (2402) and the vertical pipe pile transfer seat (2502) are at the same height, and can respectively support the two ends of the pipe pile. When the conveyor belt (2104) and the conveyor baffle (2105) push the pipe pile into the lifting track unit (2300), the horizontal pipe pile transfer seat (2402) and the vertical pipe pile transfer seat (2502) support the pipe pile. At this time, the pipe pile enters the inner of the first baffle (2404) and the second baffle (2503b). The first baffle (2404) and the second baffle (2503b) are closed, and the first electric trolley (2401) is controlled to move towards the first vertical track (2303). At this time, both ends of the pipe pile are clamped in the rectangular space formed by the horizontal pipe pile transfer seat (2402) and the vertical pipe pile transfer seat (2502). At this time, the second electric trolley (2501) is controlled to drive the vertical pipe pile transfer seat (2502) to rise, while cooperating with the first electric trolley (2401) to drive the horizontal... As the pipe pile transfer seat (2402) moves inward, the vertical distance between the two lifting units gradually increases and the horizontal distance gradually decreases. When the second electric trolley (2501) moves to the highest point and the first electric trolley (2401) moves to the rightmost end, the circular pipe pile is vertically inserted into the semi-circular slot (2505). If it is a square pipe pile, it is inserted into the rectangular slot. At this time, the third baffle (2504b) can be closed to prevent the pipe pile from falling. Thus, the transfer of the pipe pile from the horizontal direction to the vertical direction is completed. S3. Moving and Transferring: After the storage section (2000) completes the horizontal to vertical rotation of the pipe pile, the third electric trolley (2601) is controlled to move the pipe pile clamping mechanism (2602) above the vertical pipe pile transfer seat (2502). The electric push rod on the third electric trolley pushes the pipe pile clamping mechanism (2602) downward to clamp the pipe pile, and then extends the electric push rod back. At this time, the second electric trolley (2501) is lowered until the vertical pipe pile transfer seat (2502) is completely separated from the bottom of the pipe pile. At this time, the control... The third electric trolley (2601) moves to the top of the circular clamping unit (2600) or square clamping unit (2700) on the irregular track (4002) on the other side of the second transverse track (2305). The pipe pile is lowered into the clamping unit below by the electric push rod. When the clamping unit below clamps the pipe pile, the clamping unit above can release the pipe pile and retract the electric push rod. At this time, the pipe pile is vertically clamped in the clamping unit on the irregular track (4002) and can be moved and transported on the irregular track (4002). S4. Pipe Pile Painting: When the clamping unit on the irregular track (4002) brings the vertical pipe pile to both sides of the painting section (5000), the clamping unit on the third transverse track (5005) is moved to align with the clamping unit on the irregular track (4002). The pipe pile is then pushed to the upper clamping unit by the electric push rod of the lower clamping unit for clamping. After the lower clamping unit is released, the upper clamping unit moves back to the middle of the third transverse track (5005). The painting unit is then moved up and down on the second support column (5002) by controlling the fourth electric trolley (5101). The electric push rod on the trolley pushes out the lifting platform (5102), causing the roller brush (5105) on it to... When the pipe pile contacts, the rotary motor on the third electric trolley on the third transverse track (5005) and the rotary motor of the roller brush (5104) are started simultaneously, so that the roller brush (5105) can rotate up and down to paint the pipe pile. At the same time, the color recognition device (5103) on the lifting platform (5102) monitors the painting quality. When it is necessary to add paint, the fourth electric trolley (5101) is lowered so that the roller brush (5105) is immersed in the paint bucket (5004). After the painting is completed, the pipe pile is put from the clamping unit on the third transverse track (5005) back into the clamping unit on the special track (4002) in the reverse order. After the paint dries, it can be moved to the telescopic track unit (4100) for stabilization. S5. Pipe pile fixing: When it is necessary for the hydraulic hammer (3002) to clamp the pipe pile, the first electric push rod (4101) pushes the moving push plate (4102b) to insert the telescopic insert plate track (4102a) into the C-shaped slot (4103a). At this time, the disconnected special-shaped tracks (4002) on both sides are reconnected. The electric trolley travels on the track and moves to the bottom of the hydraulic hammer (3002). The clamping mechanism under the hydraulic hammer (3002) is lowered to clamp the pipe pile. The electric trolley leaves the telescopic track unit (4100). The first electric push rod (4101) on the opposite side is controlled to push the telescopic insert plate track (4102a) back through the moving push plate (4102b), thereby making enough space for the hydraulic hammer (3002) to perform the pipe pile pressing operation. S6, Pile splicing assistance: First, several different types of auxiliary parts (7000) are stored on the rectangular track (6203). When welding is required, the auxiliary part (7000) of the welding type is moved from the rectangular track (6203) to the extension track (6204) for welding assistance construction. When cleaning is required, the auxiliary part of the welding type is retrieved from the extension track (6204), and the auxiliary part of the cleaning type is dispatched for cleaning construction. At the same time, when auxiliary construction is not required, the connection between the rectangular track (6203) and the extension track (6204) is cut off, that is, the mobile platform (6201) is moved back to the rear of the track support unit (6100). S7. Welding Cleaning: When splicing the first and second pipe piles, the auxiliary clamp assembly of the auxiliary part (7000) is completely retracted at the beginning. The entire assembly is located inside the circular mounting base (7003). The fourth electric push rod (7102) is pushed out laterally by the third electric push rod (7101), and the fifth electric push rod (7103) is pushed out vertically by the fourth electric push rod (7102). The fifth electric push rod (7103) then pushes out the auxiliary clamp (7104) in the opposite direction to the third electric push rod (7101). The pipe piles are clamped and fixed with auxiliary force. Electric push rods on the upper and lower circular mounting bases (7003) are used to assist in fixing the lower and upper pipe piles respectively, thereby aiding in the stability and accuracy of the pile splicing process and ensuring the quality of subsequent welding processes. After the upper and lower piles are stabilized by the auxiliary clamps (7104), the sixth electric trolley (7202) moves out from the inside of the L-shaped track (7201), first moving vertically to match the shape of the semi-circular welding track (7203b) with the pipe pile shape, and then moving laterally to bring it closer to the pipe pile. Simultaneously, the electric push rod on the sixth electric trolley (7202) pushes out the welding seat (7203a) to adjust the welding height. Correspondingly, the rotary welding unit (7200) at the bottom of the upper circular mounting seat (7003) works in sync, and finally the two rotary welding units (7200) are at the same height. The circle formed by its two semicircles includes the circular pipe pile. The micro welding gun (7204) on the two semicircular welding rails (7203b) moves and welds at a symmetrical angle. When it is necessary to weld the square pipe pile... During welding, the auxiliary part used for circular welding is switched to the auxiliary part used for square welding, that is, the semi-circular welding track (7203b) is changed to a half-square welding track. When the cleaning function is required, the micro cleaning machine that switches the micro welding gun (7204) on the welding track to the cleaning type auxiliary part is used. After the pile is connected, the hydraulic hammer (3002) is pressed down on the pipe pile again. If the pile needs to be driven, a metal kit can be installed under the hydraulic hammer (3002) for driving the pile. At this point, the entire pipe pile pressing work is completed.

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