A pile driving apparatus

Abstract

The application provides a piling device, which comprises a water hammer bin, a pressure generating assembly and a gas generator replacing device, the pressure generating assembly comprises a pressure chamber, a gas guide structure and a gas generator, the gas guide structure is fixed to the side wall of the pressure chamber and communicates with the pressure chamber, the gas generator comprises a plurality of components for loading gas generating agent, the gas generator replacing device comprises a gas generating agent conveyor and a mechanical arm, wherein the gas generating agent conveyor is used for conveying the components loaded with the gas generating agent from one side close to the workboat end to one side close to the mechanical arm, and conveying the components in a second use state from one side close to the mechanical arm to one side close to the workboat end, and the mechanical arm is used for fixedly connecting the components in a first use state with the gas guide structure, and transferring the components in the second use state from the gas guide structure to the gas generating agent conveyor; the piling device provided by the application can realize automatic installation or dismounting of the gas generator.

Description

Technical Field

[0001] This invention relates to the field of offshore wind turbine installation technology, and more particularly to a pile driving device. Background Technology

[0002] Offshore wind resources are more abundant than onshore, making offshore wind farms a trend in wind power development. However, my country's offshore pile driving technology still needs development. Large-diameter pile hammers are limited by manufacturing capabilities, and the gap is mainly filled by importing foreign equipment. Currently, most offshore pile driving equipment uses hydraulic hammers, and large-size hydraulic pile drivers are almost entirely dependent on imports, making them vulnerable and expensive. In offshore applications, these machines are operated by large vessels equipped with heavy cranes, generating hours of noise that travels far in the water, severely impacting the marine ecosystem.

[0003] Although various piling machines based on the water hammer effect have emerged in recent years, they all suffer from serious drawbacks that hinder practical application. Patent document CN113585258A discloses a piling device that utilizes the water hammer effect to achieve a limited penetration depth through a limited number of fuel combustion cycles. However, the limited installation space for the generator restricts its practical application. After the gas generator has burned out, workers must replace and install it, increasing project costs and safety risks due to high-altitude operations, while also severely impacting project efficiency. Furthermore, for full-size, large-diameter piling devices, during the introduction of combustion expansion gas into the water hammer chamber, the gas-liquid boundary is unstable due to hydrostatic pressure, making it impossible to completely guarantee that the water in the water hammer chamber will move upwards during combustion.

[0004] Therefore, there is an urgent need for a piling device to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a piling device that addresses the technical problem that existing piling devices cannot automatically replace the gas generator.

[0006] To solve the above-mentioned technical problems, the present invention provides a piling device, comprising:

[0007] Water hammer chamber, the water hammer chamber has a cavity;

[0008] A pressure generating assembly includes a pressure chamber, a gas guiding structure, and a gas generator. The pressure chamber is hollow and located outside the water hammer chamber, communicating with the bottom of the cavity. The gas guiding structure is fixed to the side wall of the pressure chamber and communicates with it. The gas generator includes multiple components for loading gas-generating agents.

[0009] Gas generator replacement device, including gas-generating agent transmitter and robotic arm;

[0010] The component has a first use state with a gas-generating agent loaded and a second use state without a gas-generating agent loaded; the gas-generating agent transmitter is used to transfer the component in the first use state from the side near the end of the work vessel to the side near the robotic arm, and to transfer the component in the second use state from the side near the robotic arm to the side near the end of the work vessel; the robotic arm is used to fix the component in the first use state to the gas guiding structure, and to transfer the component in the second use state from the gas guiding structure to the gas-generating agent transmitter.

[0011] In the piling device provided in the embodiments of the present invention, the gas-generating agent transmitter includes a conveyor chain, which is a continuous chain structure and is driven by a drive motor on the end of the work vessel.

[0012] In the piling device provided in the embodiments of the present invention, the gas generator replacement device further includes an annular track with a circular hole. The annular track is fitted onto the pressure chamber by a lifting device on the end of the work vessel, and the central axis of the annular track coincides with the central axis of the pressure chamber.

[0013] The first end of the robotic arm is slidably connected to the circular track.

[0014] In the pile driving device provided in the embodiment of the present invention, the second end of the robotic arm is provided with a control motor and a connecting component fixedly connected to the control motor.

[0015] The control motor is used to fix the component to the air guide structure and to disconnect the component from the air guide structure; the connector is used to fix the component to the robotic arm and to disconnect the component from the robotic arm.

[0016] In the piling device provided in the embodiments of the present invention, the end of the connector away from the motor includes a first magnetic element and a plurality of protrusions arranged around the first magnetic element, and the component includes a second magnetic element and a plurality of grooves arranged around the second magnetic element.

[0017] When the robotic arm is fixedly connected to the component, the first magnetic component and the second magnetic component are magnetically connected, and each protrusion is connected to a corresponding groove.

[0018] In the piling device provided in the embodiments of the present invention, the piling device further includes a boundary controller, which is embedded in the water hammer chamber. The boundary controller includes an annular base, which is slidably connected to the inner wall of the water hammer chamber.

[0019] The boundary controller also includes multiple movable blades fixedly connected to the annular base; the movable blades are used to be in an unfolded state when the pressure chamber generates expansion pressure, and in a folded basic state when the pressure chamber does not generate expansion pressure.

[0020] In the piling device provided in the embodiments of the present invention, a first conductive coil is provided on the outer wall of the water hammer chamber, and a second conductive coil is provided on the annular base.

[0021] When the boundary controller slides in the water hammer chamber, an electromagnetic force is generated between the second conductive coil and the first conductive coil.

[0022] In the piling device provided in the embodiments of the present invention, a plurality of convex guide rails are provided on the inner wall of the water hammer chamber, and a plurality of limiting grooves are provided on the annular base.

[0023] When the boundary controller slides relative to the water hammer chamber, each convex guide rail is connected to a corresponding limit groove.

[0024] In the piling device provided in the embodiments of the present invention, the gas generator further includes an ignition control circuit, and a circuit access hole is provided at the end of the gas guiding structure away from the pressure chamber. The circuit access hole is used to connect an external ignition control circuit.

[0025] The ignition control circuit is used to switch the component located on the gas guiding structure from a first usage state to a second usage state. In the piling device provided in this embodiment of the invention, a one-way valve is provided at the connection position between the gas guiding structure and the pressure chamber. The one-way valve is used to control the communication state between the gas guiding structure and the pressure chamber.

[0026] The beneficial effects of this invention are as follows: Unlike existing technologies, this invention provides a piling device, including a water hammer chamber, a pressure generating assembly, and a gas generator replacement device. The water hammer chamber has a cavity. The pressure generating assembly includes a pressure chamber, a gas guiding structure, and a gas generator. The pressure chamber is hollow inside and located outside the water hammer chamber, communicating with the bottom of the cavity. The gas guiding structure is fixed to the side wall of the pressure chamber and communicates with it. The gas generator includes multiple components for loading gas-generating agents. The gas generator replacement device includes a gas-generating agent transmitter and a robotic arm. Each component has a first usage state with gas-generating agents loaded and a second usage state without gas-generating agents loaded. The gas-generating agent transmitter is used to transfer components in the first usage state from the side near the end of the work vessel to the side near the robotic arm, and to transfer components in the second usage state from the side near the robotic arm to the side near the end of the work vessel. The robotic arm is used to fix the component in the first use state to the gas guiding structure, and to transfer the component in the second use state from the gas guiding structure to the gas-generating agent transmitter. The piling device provided by the present invention sets the pressure chamber on the periphery of the water hammer chamber and communicates with the bottom of the cavity of the water hammer chamber. The gas guiding structure is distributed along the outer wall of the pressure chamber. The robotic arm fixes the component in the first use state to the gas guiding structure. The high-pressure gas generated by the gas generator is transmitted to the liquid in the water hammer chamber through the gas guiding structure, causing it to rise to a certain height. Then the high-pressure gas is discharged, and the rising liquid falls to form a water hammer effect for piling. At the same time, the robotic arm transfers the component in the second use state from the gas guiding structure to the gas-generating agent transmitter, and transfers the component in the first use state from the gas-generating agent transmitter to the gas guiding structure, so as to realize the automated installation or disassembly of the gas generator, thereby improving the engineering efficiency of the piling device. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the piling device provided in an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram showing the connection between the water hammer chamber and the pressure generating component in the piling device provided in this embodiment of the invention.

[0029] Figure 3 This is a cross-sectional view of the pressure generating component in the piling device provided in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the connection between the robotic arm and the circular track in the piling device provided in this embodiment of the invention;

[0031] Figure 5 This is a schematic diagram of the structure of the gas-generating drug transmitter in the piling device provided in this embodiment of the invention;

[0032] Figure 6This is a schematic diagram of the connection between the robotic arm and the components in the piling device provided in this embodiment of the invention;

[0033] Figure 7 This is a schematic diagram of the structure of the body generator replacement device in the piling device provided in the embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the boundary controller and water hammer chamber in the piling device provided in this embodiment of the invention;

[0035] Figure 9 This is a cross-sectional view of the water hammer chamber in a piling device provided in another embodiment of the present invention. Detailed Implementation

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0037] Please see Figures 1 to 9 The present invention provides a piling device 100, including a water hammer chamber 1, a pressure generating component 20, and a gas generator replacement device 30. The water hammer chamber 1 has a cavity. The pressure generating component 20 includes a pressure chamber 33, a gas guiding structure 3, and a gas generator 23. The pressure chamber 33 is hollow inside and is located outside the water hammer chamber 1 and communicates with the bottom of the cavity. The gas guiding structure 3 is fixed to the side wall of the pressure chamber 33 and communicates with the pressure chamber 33. The gas generator 23 includes multiple components 6 for loading gas-generating agents. The gas generator replacement device 30 includes a gas-generating agent transmitter 50 and a robotic arm 4.

[0038] The component 6 has a first use state with a gas-generating agent loaded and a second use state without a gas-generating agent loaded. The gas-generating agent transmitter 50 is used to transfer the component 6 in the first use state from the side near the working vessel end 52 to the side near the pile driving device end 51, and to transfer the component 6 in the second use state from the side near the pile driving device end 51 to the side near the working vessel end 52. The robotic arm 4 is used to fix the component 6 in the first use state to the gas guiding structure 3, and to transfer the component 6 in the second use state from the gas guiding structure 3 to the gas-generating agent transmitter 50.

[0039] The piling device 100 provided by the present invention sets the pressure chamber 33 on the periphery of the water hammer chamber 1 and communicates with the bottom of the cavity of the water hammer chamber 1. The air guiding structure 3 is distributed along the outer wall of the pressure chamber 33. The robotic arm 4 fixes the component 6 in the first use state on the air guiding structure 3. The high-pressure gas generated by the gas generator 23 is transmitted to the liquid in the water hammer chamber 1 through the air guiding structure 3, causing it to rise to a certain height. Then the high-pressure gas is discharged, and the rising liquid falls to form a water hammer effect for piling. At the same time, the robotic arm 4 transfers the component 6 in the second use state from the air guiding structure 3 to the gas generating agent transmitter 50, and transfers the component 6 in the first use state from the gas generating agent transmitter 50 to the air guiding structure 3, so as to realize the automated installation or disassembly of the gas generator 23, thereby improving the engineering efficiency of the piling device 100.

[0040] The technical solution of this application will now be described in conjunction with specific embodiments.

[0041] Please see Figures 1 to 8 , Figure 1 This is a schematic diagram of the overall structure of the piling device 100 provided in an embodiment of the present invention. Figure 2 This is a schematic diagram showing the connection between the water hammer chamber 1 and the pressure generating component 20 in the piling device 100 provided in this embodiment of the invention. Figure 3 This is a cross-sectional view of the pressure generating component 20 in the piling device 100 provided in this embodiment of the invention. Figure 4 This is a schematic diagram showing the connection between the robotic arm 4 and the circular track 41 in the piling device 100 provided in this embodiment of the invention. Figure 5 This is a schematic diagram of the structure of the gas-generating agent transmitter 50 in the piling device 100 provided in this embodiment of the invention. Figure 6 This is a schematic diagram showing the connection between the robotic arm 4 and the component 6 in the piling device 100 provided in this embodiment of the invention. Figure 7 This is a schematic diagram of the structure of the body generator replacement device in the piling device 100 provided in this embodiment of the invention. Figure 8 This is a schematic diagram of the boundary controller 2 and the water hammer chamber 1 in the piling device 100 provided in this embodiment of the invention.

[0042] Please see Figure 1 as well as Figure 2 The piling device 100 provided in this embodiment of the invention includes a water hammer chamber 1, which has a cavity for containing liquid. The bottom of the water hammer chamber 1 is detachably connected to the top of the pile body through a connecting support.

[0043] The pile is inserted into the seabed perpendicular to the sea level; the pile driving device 100, based on the water hammer effect, uses the explosive force generated by the fuel explosion and the water hammer effect generated by the high-pressure gas driving the liquid to rise and then fall to act on the pile to carry out the pile driving operation.

[0044] In this embodiment of the invention, the piling device 100 based on the water hammer effect is fastened to the pile body by bolts. In other embodiments, snap-fit ​​or other methods may also be used. It is understood that as long as the piling device 100 based on the water hammer effect and the pile body are fastened together and can be disassembled, it is acceptable.

[0045] The pile body can be a displacement pile or a non-displacement pile. In this embodiment, the pile body is a non-displacement pile. The pile body can be of any shape and size, such as cylindrical, cubic, hexagonal, etc. In this embodiment, the pile body is cylindrical, and the diameter of the pile body is set according to the pile driving requirements.

[0046] It should be noted that liquid is injected into the water hammer chamber 1 by means of a water pump, etc. In this embodiment, the liquid is water; water occupies about one-third of the volume of the water hammer chamber 1, ensuring that there is space for the water column to rise in the upper part of the water hammer chamber 1.

[0047] Please see Figures 1 to 3 , Figure 6 as well as Figure 7 The piling device 100 also includes a pressure generating component 20, which includes a pressure chamber 33, a gas guiding structure 3, and a gas generator 23. The pressure chamber 33 includes an upper part that forms a pressure accumulation space and a lower part that is connected to the water hammer chamber 1 through a passage. The side wall of the pressure chamber 33 has an exhaust hole, and the pressure relief valve is connected to the pressure chamber 33 through the exhaust hole.

[0048] In this embodiment of the invention, the air guiding structure 3 is installed on the side wall of the pressure chamber 33 and communicates with the through hole of the side wall of the pressure chamber 33; wherein, the air guiding structure 3 and the side wall of the pressure chamber 33 are connected in a tight-fitting manner by bolts and flanges, and the air guiding structure 3 is used to work in conjunction with the upper part of the pressure chamber 33 to build up pressure during combustion expansion, thereby causing the liquid in the water hammer chamber 1 to move upward to generate a downward force on the pile body.

[0049] In this embodiment of the invention, the air guiding structure 3 installed on the piling device 100 includes, but is not limited to, eight, which can be determined according to the side wall space of the pressure chamber 33 and the requirements of the construction process.

[0050] Specifically, please refer to Figure 2 as well as Figure 6 A one-way valve 32 is provided at the connection position between the air guiding structure 3 and the pressure chamber 33. The one-way valve 32 is used to control the communication state between the air guiding structure 3 and the pressure chamber 33. There is a large hollow cavity near the connection between the air guiding structure 3 and the pressure chamber 33. The one-way valve 32 can be installed in it by a detachable fastening and sealing connection method such as threads or bolts. In other preferred embodiments, the one-way valve 32 can also be limited by two sections of structure and sealed by a flange gasket.

[0051] Please see Figure 1 , Figure 2 , Figure 6 as well as Figure 7 The gas generator 23 includes a plurality of components 6 for loading the gas-producing drug. The components 6 are made of metal and have a first use state with the gas-producing drug loaded and a second use state without the gas-producing drug loaded.

[0052] Specifically, the port 31 of the gas guiding structure 3, which is far from the pressure chamber 33, is provided with an internal thread. The gas-generating agent is filled in the component 6 and installed in the port 31 of the gas guiding structure 3 through the external thread 61 on the component 6. In other embodiments, other detachable fastening connection methods can also be adopted. It should be noted that the metal component 6 is a pressure-bearing component that directly bears the high-pressure gas generated by the combustion of the gas-generating agent.

[0053] In this embodiment of the invention, the gas generator 23 further includes an ignition control circuit, which is fixedly connected to the port 31 in the gas guiding structure 3 that is away from the pressure chamber 33.

[0054] The ignition control circuit is used to switch the component 6 located on the gas guide structure 3 from the first use state to the second use state.

[0055] In this embodiment of the invention, in order to simplify the replacement process of the gas-generating agent, the ignition control circuit and the gas-generating agent are installed independently on the gas guiding structure 3; the outer wall of the port 31 of the gas guiding structure 3 that is far away from the pressure chamber 33 is also provided with a circuit access hole 312, which is used to connect the ignition control circuit externally.

[0056] The remote control terminal is connected to the circuit access hole 312 through the ignition control line, and contacts the gas generating agent in the excitation component 6 through the gas guiding structure 3.

[0057] Please see Figure 6 as well as Figure 7 The inner wall of the gas guiding structure 3 is also provided with a copper conductor ring 311. A copper contact point is integrated at the external thread 61 of the component 6 that loads the gas generating agent. In this way, the ignition control circuit and the gas generating agent can establish an electrical signal connection through the conductor contact. Thus, in this embodiment of the invention, the gas generator 23 can be replaced simply by disassembling and assembling the component 6 that loads the gas generating agent.

[0058] It should be noted that, depending on the actual engineering requirements, the equipment between each gas guiding structure 3 can work independently or collaboratively. Here, we take a single gas guiding structure 3 as an example. After the gas-generating propellant in component 6 is ignited and burned upon receiving a signal from the ignition control circuit, the expanding gas can push the one-way valve 32 to open and enter the pressure chamber 33 through the gas guiding structure 3 to complete pressure accumulation, and then begin the piling operation.

[0059] In this embodiment of the invention, when the gas generator 23 is not working or after the combustion and expansion are completed, the one-way valve 32 will be closed under the pressure in the pressure chamber 33. At this time, the one-way valve 32 can ensure the airtightness of the pressure chamber 33 and the water hammer chamber 1. That is to say, the component 6 in the second use state can be disassembled after the gas generator 23 has finished working. In other preferred embodiments, the gas generator 23 can be replaced after a single piling cycle is completed and the equipment posture is stable.

[0060] Please see Figure 1 , Figure 3 , Figure 4 , Figure 6 as well as Figure 7 The gas generator replacement device 30 includes a gas-generating agent transmitter 50 and a robotic arm 4. The gas-generating agent transmitter 50 is used to transfer the component 6 in the first use state from the side near the end 52 of the work vessel to the side near the robotic arm 4, and to transfer the component 6 in the second use state from the side near the robotic arm 4 to the side near the end 52 of the work vessel. The robotic arm 4 is used to fix the component 6 in the first use state to the gas guiding structure 3, and to transfer the component 6 in the second use state from the gas guiding structure 3 to the gas-generating agent transmitter 50.

[0061] In the piling device 100 provided in the embodiment of the present invention, the gas generator replacement device 30 further includes an annular track 41 with a circular hole. The annular track 41 is sleeved on the pressure chamber 33 by the lifting equipment on the end 52 of the work boat, and the central axis of the annular track 41 coincides with the central axis of the pressure chamber 33.

[0062] The first end of the robotic arm 4 is slidably connected to the circular track 41.

[0063] Specifically, the circular track 41 and the gas-generating drug transmitter 50 are both erected near the piling device 100 by means of the lifting equipment on the end 52 of the work boat. The piling device 100 also needs the aforementioned lifting equipment to stabilize its posture and move. The circular track 41 and the robotic arm 4 on it are further stabilized by auxiliary components and maintain a relatively fixed position with the piling device 100.

[0064] In the piling device 100 provided in the embodiment of the present invention, the second end (working end) of the robotic arm 4 is provided with a control motor 42 and a connector 43 fixedly connected to the control motor 42;

[0065] Among them, the control motor 42 is used to establish and disconnect the threaded connection between the component 6 and the air guiding structure 3, and the connector 43 is used to realize the flexible connection and disconnection between the robotic arm 4 and the component 6.

[0066] In order to transmit the rotational torque of the control motor 42, in this embodiment of the invention, the end of the connector 43 away from the control motor 42 includes a first magnetic element 62 and a plurality of protrusions arranged around the first magnetic element 62, and the component 6 includes a second magnetic element and a plurality of grooves arranged around the second magnetic element.

[0067] When the robotic arm 4 is fixedly connected to the component 6, the first magnetic component 62 is magnetically connected to the second magnetic component, and each protrusion is connected to a corresponding groove.

[0068] The aforementioned concave-convex structure can transmit and control the rotational torque of the motor 42. The electromagnet can be flexibly connected through electrical signals. In other preferred embodiments, flexible force transmission can also be achieved by means of snap-fit ​​or other methods.

[0069] It should be noted that the number of robotic arms 4 is determined by the number of gas guiding structures 3. It is important to note that due to the difference between the piling operation time and the gas generator 23 replacement time, the robotic arms 4 in this embodiment can move on the circular track 41. This allows one robotic arm 4 to serve multiple gas guiding structures 3. In other words, the number of devices and the servo rules can be flexibly determined according to the actual site conditions. Another benefit is that it significantly enhances the flexibility of component 6 in transferring between the gas-generating drug transmitter 50 and the gas guiding structure 3. In other words, this design significantly enhances the applicability of the equipment. This design also reduces the degree of freedom requirement for the robotic arms 4. Using robotic arms 4 with lower degrees of freedom enhances equipment reliability and significantly reduces manufacturing and usage costs.

[0070] Please see Figure 1 , Figure 5 , Figure 7 as well as Figure 8 The gas-generating drug transmitter 50 includes a conveyor chain 5, and the working vessel end 52 includes a conveyor motor; wherein, the conveyor chain 5 is a continuous chain structure, and the conveyor motor is used to drive the movement of the conveyor chain 5.

[0071] Specifically, the conveyor chain 5 is a continuous chain structure set between the work vessel and the piling device 100, used to transport the component 6 in the first use state and retrieve the component 6 in the second use state, and the workers' work tasks can be completed on the ship.

[0072] Specifically, in this embodiment of the invention, the conveyor chain 5 transports and loads the component 6 in the first use state during the stage from the working vessel end 52 to the piling device 100 end, and loads the component 6 in the second use state during the stage from the piling device 100 end to the working vessel end 52, thus simultaneously completing the tasks of supplying the gas-generating agent and recovering the component 6 loaded in the second use state.

[0073] Specifically, after the conveyor chain 5 brings the component 6 in the first use state to the vicinity of the piling device 100, the robotic arm 4 removes the component 6 in the first use state and transfers it to the gas guiding structure 3. After the gas generator 23 finishes combustion and completes this round of penetration impact piling, the robotic arm 4 unloads the component 6 in the second use state from the gas guiding structure 3 and transfers it to the original empty position on the conveyor chain 5.

[0074] Furthermore, the conveyor chain 5 moves forward, and the robotic arm 4 removes the gas-generating agent from the next position and begins a new round of loading, unloading, and piling operations. In this manner, the conveyor chain 5 continues to move, the robotic arm 4 repeats the above disassembly operations, and the piling device 100 continuously repeats each piling cycle, gradually driving the pile into the ground.

[0075] In this embodiment of the invention, workers only need to operate the control equipment and monitor its status, disassemble the component 6 used for loading the gas-generating agent, and load new components 6 already filled with the gas-generating agent from the workboat. It should be noted that the number of conveyor chains 5 includes, but is not limited to, one; multiple conveyor chains 5 can also be used to shorten operation time.

[0076] It should be noted that the operating time of the equipment is determined by the time of a single burning pile driving cycle. Therefore, the number of robotic arms 4 and the number of equipment, as well as the number of conveyor chains 5, are all affected by the time of a single pile driving cycle. Thus, in actual operation, improving work efficiency requires scientific work organization and scheme design.

[0077] Please see Figure 3 as well as Figure 8 The piling device 100 also includes a boundary controller 2, which is embedded in the water hammer chamber 1. The boundary controller 2 includes an annular base 21, which is slidably connected to the inner wall of the water hammer chamber 1.

[0078] The boundary controller 2 also includes a plurality of movable blades 22 fixedly connected to the annular base 21; the movable blades 22 are used to be in an unfolded state when the pressure chamber 33 generates expansion pressure, and in a folded basic state when the pressure chamber 33 does not generate expansion pressure.

[0079] In the piling device 100 provided in the embodiment of the present invention, a first conductive coil is provided on the outer wall of the water hammer chamber 1, and a second conductive coil is provided on the annular base 21.

[0080] When the boundary controller 2 slides in the water hammer chamber 1, an electromagnetic force is generated between the second conductive coil and the first conductive coil.

[0081] In the piling device 100 provided in the embodiment of the present invention, a plurality of convex guide rails 11 are provided on the inner wall of the water hammer chamber 1, and a plurality of limiting grooves are provided on the annular base 21.

[0082] When the boundary controller 2 slides relative to the water hammer chamber 1, each convex guide rail 11 is connected to a corresponding limiting groove.

[0083] Specifically, to improve the operating power of the equipment, the diameter of the water hammer chamber 1 must be increased to accommodate more water. This necessitates addressing the problem of unsatisfactory water rise caused by bubble collapse under hydrostatic pressure. The boundary controller 2 consists of an annular base 21 and flexible movable blades 22. Both the movable blades 22 and the annular base 21 are shaped to match the inner wall of the water hammer chamber 1. In other words, the structural shape of the boundary controller 2 allows it to move smoothly upwards in its deployed state and withstand relatively small impact loads from the water in its basic state.

[0084] In this embodiment of the invention, the state transitions of the boundary controller 2 are all passively completed under the action of gas-liquid pressure and gravity. After the gas burns and expands, it enters the pressure chamber 33 and establishes pressure. Then, it pushes the water in the water hammer chamber 1 to flow upward through the passage at the bottom of the pressure chamber 33. The upward movement of the gas and water will push the boundary controller 2 to unfold and move upward accordingly. In other stages, due to the lack of upward force, the movable blades 22 in the boundary controller 2 are in the basic folded state. That is to say, when it is not in the upward movement stage, the impact load it bears is small.

[0085] In other embodiments, if the large-sized boundary controller 2 experiences severe impact loads on the side wall of the water hammer chamber 1 during its descent, a conductive coil can be added based on the law of electromagnetic induction to absorb the potential energy of the controller. In other words, by setting a first conductive coil around the water hammer chamber 1 and a second conductive coil on the boundary controller 2, the impact load during its descent can be effectively reduced.

[0086] It should be noted that after the gas generator 23 burns and expands the gas into the water hammer chamber 1, the force on the boundary controller 2 is complex. During the upward movement of the boundary controller 2, there may be excessive movement, which may lead to increased friction between the equipment and may also cause impact between the equipment. Therefore, by setting multiple convex guide rails 11 on the inner wall of the water hammer chamber 1 and setting multiple limiting grooves on the annular base 21 of the boundary controller 2 that match the convex guide rails 11, the above problems will not occur or can at least be significantly improved.

[0087] Please see Figure 9 This is a cross-sectional view of the water hammer chamber 1 in the piling device 100 provided in another embodiment of the present invention; Figure 9 The provided piling device 100 and Figures 1 to 8 The internal structures provided are largely the same, with the only difference being:

[0088] The water hammer chamber 1 of the piling device 100 includes a first sub-chamber 12 and a second sub-chamber 13 embedded in the first sub-chamber 12. The inner diameter of the second sub-chamber 13 is smaller than the inner diameter of the first sub-chamber 12, and the bottom of the second sub-chamber 13 is connected to the bottom of the first sub-chamber 12. This design can increase the effective diameter of the water hammer chamber 1 in the piling device 100, thereby increasing the operating power of the equipment.

[0089] To facilitate a better understanding of the embodiments of the present invention, the usage process of the embodiments of this application is described in detail below:

[0090] S10, when piling begins, the pile to be driven is erected with the help of the lifting device of the work vessel and the piling device 100 is lifted. Then the piling device 100 is transferred to the end of the pile body and fixedly connected to the top of the pile body.

[0091] S20, the transmission motor of the working boat end 52 drives the conveyor chain 5, so that the component 6 loaded with gas-generating drug on the conveyor chain 5 is conveyed from the working boat end 52 to a position close to the robotic arm 4.

[0092] S30, the remote control terminal controls the robotic arm 4 to grab the component 6 loaded with gas-generating agent through the first control system, and transfers the component 6 loaded with gas-generating agent to the gas guiding structure 3, so that the component 6 loaded with gas-generating agent is fixedly connected to the gas guiding structure 3. At the same time, the ship's water pump fills the water hammer chamber with seawater after simple filtration.

[0093] S40, the remote control terminal disconnects the connection between the robotic arm 4 and the component 6 containing the gas-generating agent through the first control system. At the same time, the remote control terminal controls the ignition control circuit in the gas generator 23 through the second control system. The ignition control circuit is connected to the circuit access hole 312, and the gas-generating agent in the component 6 is contacted and activated through the gas guide structure 3, igniting the gas-generating agent inside the component 6 to cause it to explode and generate a large amount of gas. S50, the high-pressure gas enters the pressure chamber 33 through the one-way valve 32 which is in the open state, and enters the water hammer chamber 1 to drive the water column thereto move upward. At this time, during the movement of the water column, the boundary controller 2 is pushed from the folded state to the unfolded state.

[0094] S60, when the water column rises to a certain height, the pressure relief valve on the side wall of the pressure chamber 33 is opened, the gas in the pressure chamber 33 is discharged, and the water column descends and acts on the pile body to form a water hammer for pile driving; at this time, during the process of the water column descending, the boundary controller 2 is pushed to switch from the unfolded state to the folded state.

[0095] S70, after completing one pile driving, the above steps can be repeated for the next pile driving until all the gas-generating propellant in component 6 is burned.

[0096] S80, the remote control terminal controls the robotic arm 4 through the first control system to grab the component 6 of the gas-generating propellant that has burned out on the gas-guiding structure 3, and transfer the component 6 of the gas-generating propellant that has burned out from the gas-guiding structure 3 to the conveyor chain 5, so that the conveyor chain 5 can collect the component 6 of the gas-generating propellant that has burned out to the end 52 of the work vessel.

[0097] S90, repeat steps S20 to S80 until the bottom of the pile is inserted into the preset position on the bottom of the seabed.

[0098] Compared with the prior art, the embodiments of the present invention have at least the following effects:

[0099] First, the gas guiding structure 3 is set on the periphery of the piling device 100, and the ignition control circuit of the gas generator 23 is integrated with the gas guiding structure 3. Only the component 6 that loads the gas-generating agent is a replaceable part, which facilitates the installation and removal of the gas-generating agent. A one-way valve 32 is installed in the gas guiding structure 3, which can still ensure the sealing of the pressure chamber 33 after the generator is removed. This allows the gas generator 23 to be installed and removed during the operation of the equipment, thereby realizing the fully automated continuous operation of the equipment.

[0100] Secondly, the gas generator replacement device 30 proposed in this invention, which works in conjunction with the piling device 100, overcomes the limitations of the limited space on the side wall of the pressure chamber 33, enabling automated replacement of the gas generator 23, expanding the application scope of the equipment, and opening up application prospects for the water hammer effect piling device 100. To reduce operation time, improve operational efficiency, and minimize the impact on the marine environment, this solution proposes to install a gas guiding structure 3 between the gas generator 23 and the pressure chamber 33. This structure provides installation positions for the one-way valve 32 and the generator control circuit. Based on this design, this invention proposes an implementation method for generator replacement that can be performed at any time. Furthermore, based on this design, this invention proposes to independently design and install the control circuit and gas-generating agent of the gas generator 23, simplifying the generator replacement operation.

[0101] Third, the boundary controller 2 proposed in this invention can effectively expand the design space of the water hammer chamber 1 diameter. By increasing the diameter of the water hammer chamber 1, the peak power of the piling device 100 can be effectively increased, meeting the needs of future high-power piling devices 100. The boundary controller 2 proposed in this invention is a passive working component, which is only deployed during the upward movement of combustion expansion. Therefore, it does not bear the water hammer impact load. At the same time, it works in water with high specific heat capacity, and the heat load and impact load it receives during combustion expansion are small. Therefore, it can effectively reduce the cost of use and maintenance, achieving twice the result with half the effort.

[0102] In summary, unlike existing technologies, this invention provides a piling device 100, including a water hammer chamber 1, a pressure generating component 20, and a gas generator replacement device 30. The water hammer chamber 1 has a cavity. The pressure generating component 20 includes a pressure chamber 33, a gas guiding structure 3, and a gas generator 23. The pressure chamber 33 is hollow inside and is located outside the water hammer chamber 1, communicating with the bottom of the cavity. The gas guiding structure 3 is fixed to the side wall of the pressure chamber 33 and communicates with the pressure chamber 33. The gas generator 23 includes multiple components 6 for loading gas-generating agents. The gas generator replacement device 30 includes a gas-generating agent transmitter 50 and a robotic arm 4. Components 6 have a first usage state with gas-generating agents loaded and a second usage state without gas-generating agents loaded. The gas-generating agent transmitter 50 is used to transport components 6 in the first usage state from the side near the working vessel end 52 to a predetermined position near the robotic arm 4, and to transport components 6 in the second usage state from the side near the robotic arm 4 to the side near the working vessel end 52. The robotic arm 4 is used to fix the component 6 in the first use state to the gas guiding structure 3, and to transfer the component 6 in the second use state from the gas guiding structure 3 to the gas-generating agent transmitter 50. The piling device 100 provided by the present invention sets the pressure chamber 33 on the periphery of the water hammer chamber 1 and communicates with the bottom of the cavity of the water hammer chamber 1. The gas guiding structure 3 is distributed along the outer wall of the pressure chamber 33. The robotic arm 4 fixes the component 6 in the first use state to the gas guiding structure 3. The high-pressure gas generated by the gas generator 23 is transmitted to the liquid in the water hammer chamber 1 through the gas guiding structure 3, causing it to rise to a certain height. Then the high-pressure gas is discharged. The rising liquid falls to form a water hammer effect for piling. At the same time, the robotic arm 4 transfers the component 6 in the second use state from the gas guiding structure 3 to the gas-generating agent transmitter 50, and transfers the component 6 in the first use state from the gas-generating agent transmitter 50 to the gas guiding structure 3, so as to realize the automated installation or disassembly of the gas generator 23, thereby improving the engineering efficiency of the piling device 100.

[0103] It should be noted that all the above embodiments belong to the same inventive concept, and the descriptions of each embodiment have different focuses. Where the description in a particular embodiment is not exhaustive, please refer to the descriptions in other embodiments. The above embodiments only illustrate the implementation of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the inventive concept, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A piling device, characterized in that, include: A water hammer chamber, wherein the water hammer chamber has a cavity; A pressure generating assembly includes a pressure chamber, a gas guiding structure, and a gas generator. The pressure chamber is hollow inside and is located outside the water hammer chamber and communicates with the bottom of the cavity. The gas guiding structure is fixed to the side wall of the pressure chamber and communicates with the pressure chamber. The gas generator includes multiple components for loading gas-generating drugs. And a gas generator replacement device, including a gas-generating agent transmitter and a robotic arm; The component has a first usage state with the gas-generating agent loaded and a second usage state without the gas-generating agent loaded; the gas-generating agent transmitter is used to transfer the component in the first usage state from the side near the end of the work vessel to the side near the robotic arm, and to transfer the component in the second usage state from the side near the robotic arm to the side near the end of the work vessel; the robotic arm is used to fix the component in the first usage state to the gas guiding structure, and to transfer the component in the second usage state from the gas guiding structure to the gas-generating agent transmitter; The gas generator replacement device further includes an annular track with a circular hole. The annular track is mounted on the pressure chamber via a lifting device on the end of the workboat, and the central axis of the annular track coincides with the central axis of the pressure chamber. The first end of the robotic arm is slidably connected to the annular track, and the second end of the robotic arm is provided with a control motor and a connector fixedly connected to the control motor. The control motor is used to fix the component to the air guide structure and to disconnect the component from the air guide structure; the connector is used to fix the component to the robotic arm and to disconnect the component from the robotic arm.

2. The piling device according to claim 1, characterized in that, The gas-generating agent transmitter includes a conveyor chain, which is a continuous chain structure and is driven by a drive motor on the end of the work vessel.

3. The piling device according to claim 1, characterized in that, The end of the connector away from the motor includes a first magnetic element and a plurality of protrusions surrounding the first magnetic element; the component includes a second magnetic element and a plurality of grooves surrounding the second magnetic element. When the robotic arm is fixedly connected to the component, the first magnetic component and the second magnetic component are magnetically connected, and each of the protrusions is connected to a corresponding groove.

4. The piling device according to claim 1, characterized in that, The piling device also includes a boundary controller, which is embedded in the water hammer chamber. The boundary controller includes an annular base, which is slidably connected to the inner wall of the water hammer chamber. The boundary controller further includes a plurality of movable blades fixedly connected to the annular base; the movable blades are used to be in an unfolded state when the pressure chamber generates expansion pressure, and in a folded basic state when the pressure chamber does not generate expansion pressure.

5. The piling device according to claim 4, characterized in that, A first conductive coil is provided on the outer wall of the water hammer chamber, and a second conductive coil is provided on the annular base; When the boundary controller slides in the water hammer chamber, an electromagnetic force is generated between the second conductive coil and the first conductive coil.

6. The piling device according to claim 4, characterized in that, The inner wall of the water hammer chamber is provided with multiple convex guide rails, and the annular base is provided with multiple limiting grooves. When the boundary controller slides relative to the water hammer chamber, each of the convex guide rails is connected to a corresponding limiting groove.

7. The piling device according to claim 1, characterized in that, The gas generator also includes an ignition control circuit, and a circuit access hole is provided at the end of the gas guiding structure away from the pressure chamber. The circuit access hole is used to connect the ignition control circuit externally. The ignition control circuit is used to switch the component located on the gas guide structure from the first use state to the second use state.

8. The piling device according to claim 7, characterized in that, A one-way valve is provided at the connection position between the air guiding structure and the pressure chamber. The one-way valve is used to control the communication state between the air guiding structure and the pressure chamber.

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