Cooperative positioning device of offshore photovoltaic pipe pile

Abstract

The invention provides a cooperative positioning device for an offshore photovoltaic tubular pile, the cooperative positioning device comprises a pile holding mechanism and a telescopic adjusting mechanism, the pile holding mechanism comprises a horizontally arranged connecting beam, a plurality of pile holding parts are arranged on the side, close to the tubular pile, of the connecting beam, the pile holding parts are used for clamping the tubular pile, and the multiple pile holding parts are uniformly distributed on the same side of the connecting beam; the telescopic adjusting mechanism comprises two telescopic adjusting parts, and each telescopic adjusting part is connected to the connecting beam and arranged on the opposite side of the pile embracing part. The arrangement angle of the connecting beam in the horizontal direction is driven to be adjusted by controlling and adjusting the telescopic amount of each telescopic adjusting part, and therefore the positions of the multiple pile embracing parts on the connecting beam are cooperatively adjusted. The arrangement angle of the connecting beam in the horizontal direction is driven and adjusted by controlling and adjusting the multiple telescopic adjusting parts in the telescopic adjusting mechanism to have different telescopic amounts, so that the positions of the multiple pile embracing parts on the connecting beam are cooperatively adjusted, and the positions of multiple pipe piles can be cooperatively adjusted at the same time.

Description

Technical Field

[0001] The present application relates to the technical field of offshore pipe pile foundation construction, and in particular to a collaborative positioning device for offshore photovoltaic pipe piles. Background Art

[0002] In offshore photovoltaic projects, multiple pipe piles need to be installed at designated locations on the sea. The pile gripper is an important clamping device in the offshore pipe pile construction process. When carrying out offshore pipe pile construction, the anchor positioning method is used to transport the pipe piles to the predetermined location.

[0003] Due to the large number of pipe piles in offshore photovoltaic projects, the use of anchoring positioning to position and adjust the pipe piles one by one will result in a large workload and low construction efficiency. In addition, the accuracy of the position of each pipe pile cannot be guaranteed, and the construction requirements cannot be met, which affects the construction quality.

[0004] In summary, it is necessary to provide an improved technical solution to address the above-mentioned deficiencies in the prior art. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a collaborative positioning device for offshore photovoltaic pipe piles, which can solve the problems of low installation accuracy and low operating efficiency of offshore photovoltaic pipe piles.

[0006] The present application specifically provides a collaborative positioning device for offshore photovoltaic pipe piles, including:

[0007] The pile holding mechanism comprises a horizontally arranged connecting beam, wherein the connecting beam is a long strip truss structure; a plurality of pile holding parts are arranged on one side of the connecting beam close to the pipe pile, wherein the pile holding parts are used to clamp the pipe pile, and the plurality of pile holding parts are evenly distributed on the same side of the connecting beam;

[0008] The telescopic adjustment mechanism comprises at least two telescopic adjustment parts, each of which is connected to the connecting beam and is arranged on the opposite side of the pile holding part;

[0009] The arrangement angle of the connecting beam in the horizontal direction is driven and adjusted by controlling and adjusting the telescopic amount of each telescopic adjustment portion, so that the positions of the plurality of pile-holding portions on the connecting beam are coordinated and adjusted.

[0010] In an practicable manner, the telescopic adjustment portion includes a telescopic arm, one end of the telescopic arm is an extended end, and the extended end is hingedly connected to the connecting beam; the other end of the telescopic arm is used for fixed connection with the hull.

[0011] In one practicable manner, each of the telescopic adjustment parts includes an inner arm and an outer arm, the inner arm is coaxially sleeved in the outer arm, a first telescopic cylinder is arranged in the outer arm, and a rod body of the first telescopic cylinder is connected to the inner arm; the telescopic direction of the first telescopic cylinder is a first direction, and the inner arm is telescoped along the first direction on the horizontal plane through the control of the first telescopic cylinder.

[0012] In one practicable manner, a verticality adjustment structure is provided at each pile-holding portion of the connection beam, and the pile-holding portion and the verticality adjustment structure are respectively provided on two opposite vertical surfaces of the connection beam.

[0013] In one practicable manner, corresponding pile-holding parts and verticality adjustment structures are arranged in groups on a connecting beam, and the distance between two adjacent groups of pile-holding parts and verticality adjustment structures can be adjusted according to construction requirements.

[0014] In an practicable manner, the verticality adjustment structure comprises a connecting ear plate provided on the inner arm, the connecting ear plate is provided on the vertical surface of the inner arm extending toward the pipe pile, and the connecting beam is hingedly connected to the connecting ear plate;

[0015] The verticality adjustment structure also includes a first articulated seat arranged on the side of the connecting beam away from the inner arm, a second articulated seat arranged on the top of the connecting beam, and a second telescopic cylinder; the first articulated seat is hinged to the bottom of the pile holding part, the second telescopic cylinder is arranged on the second articulated seat, and the rod head of the second telescopic cylinder is hinged to the middle part of the pile holding part; in the verticality adjustment structure, the verticality of the pile holding part is adjusted by adjusting the telescopic amount of the second telescopic cylinder.

[0016] In an practicable manner, a swing mechanism is provided at the bottom of the telescopic arm, and the swing mechanism is used to control the position of the extended end of the telescopic arm in the second direction of the horizontal plane.

[0017] In an practicable manner, the swing mechanism comprises at least a third telescopic cylinder, an arc-shaped guide rail, and a first support; the first support is arranged at an end of the telescopic arm away from the pile-holding portion, and the first support is hinged to the end corresponding to the outer arm;

[0018] A first connecting piece is provided at the end of the outer arm corresponding to the first support, and a first latch is inserted into the first connecting piece and the first support, so that the telescopic arm swings with the first support as the center, and the swing direction of the telescopic arm is the second direction;

[0019] The arc guide rail is arranged at the bottom of the other end of the outer arm; the third telescopic cylinder is arranged on the side of the outer arm, and when the third telescopic cylinder performs a telescopic action, one end of the telescopic arm is fixed by the first support, and the other end of the telescopic arm slides on the top surface of the arc guide rail to control the swing of the telescopic arm in the second direction.

[0020] In one practicable manner, the pile-holding portion includes a connecting arm and a pile-holding claw; the pile-holding claw is used to clamp and guide the pipe pile for installation, the connecting arm is used to transmit the verticality adjustment action of the verticality adjustment structure, and control the verticality of the pipe pile through the pile-holding claw.

[0021] In one practicable manner, a pile-holding claw is respectively provided at the upper part of the connecting arm and the lower part of the connecting arm; the pile-holding part also includes a plurality of fourth telescopic cylinders provided on the connecting arm, and the telescopic rod of each of the fourth telescopic cylinders is connected to the pile-holding claw, and the opening and closing degree of the pile-holding claw is controlled by controlling the telescopic amount of the fourth telescopic cylinder.

[0022] Compared with the prior art, the beneficial effects of this application are:

[0023] In the technical solution of the present application, by separately controlling and adjusting the multiple telescopic adjustment parts in the telescopic adjustment mechanism to have different telescopic amounts, the arrangement angle of the connecting beam in the horizontal direction is driven to be adjusted, so that the positions of the multiple pile-holding parts on the connecting beam are coordinated and adjusted, and the positions of the multiple pipe piles can be coordinated and adjusted at the same time.

[0024] By setting the telescopic adjustment part, the relative position between the connecting beam and the hull is controlled, thereby controlling the position of the pipe pile in the first direction of the horizontal plane.

[0025] The position of the pipe pile in the second direction of the horizontal plane is controlled by setting the swing mechanism; after the telescopic adjustment mechanism and the swing mechanism are coordinated and adjusted, the position of the pipe pile can be adjusted within the fan area of ​​different radius on the horizontal plane, which greatly increases the adjustment range on the horizontal plane.

[0026] By setting the connecting beam, the connecting beam can be adjusted once, and the pile positions of multiple pipe piles can be adjusted at the same time, which makes the operation easier and improves the piling efficiency.

[0027] By setting up the verticality adjustment structure, the verticality of the pipe piles can be accurately adjusted to compensate for the hull heel angle. This can adapt to different hull inclination angles, ensure the verticality of the pipe pile installation, avoid frequent adjustments to the hull ballast water, and improve construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a front view of the collaborative positioning device for offshore photovoltaic pipe piles according to an embodiment of the present invention.

[0029] Figure 2 It is a top view of the collaborative positioning device of the offshore photovoltaic pipe pile according to an embodiment of the present invention.

[0030] Figure 3 It is a structural schematic diagram of two telescopic adjustment parts with different telescopic amounts in the collaborative positioning device of the offshore photovoltaic pipe pile according to an embodiment of the present invention.

[0031] Figure 4 It is a cross-sectional view of the telescopic arm in the collaborative positioning device of the offshore photovoltaic pipe pile according to an embodiment of the present invention.

[0032] Figure 5 It is a longitudinal sectional view of the telescopic arm in the collaborative positioning device of the offshore photovoltaic pipe pile according to an embodiment of the present invention.

[0033] Figure 6 It is a structural schematic diagram of the pile-holding claw in the collaborative positioning device for offshore photovoltaic pipe piles according to an embodiment of the present invention.

[0034] The reference numerals are described as follows:

[0035] 100, telescopic arm; 110, outer arm; 111, first ear plate; 112, first connecting piece; 120, inner arm; 121, second ear plate; 130, first telescopic cylinder; 201, arc guide rail; 202, third telescopic cylinder; 203, second support; 204, first support; 205, first latch; 300, connecting beam; 301, connecting ear plate; 401, connecting arm; 402, first articulated seat; 403, second telescopic cylinder; 404, third ear plate; 405, second latch; 406, fourth ear plate; 500, pile clamping claw; 501, circular arc arm; 502, fourth telescopic cylinder; 503, jacking frame; 600, pipe pile. DETAILED DESCRIPTION

[0036] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. These embodiments are only used to illustrate the present invention, but not to limit the present invention.

[0037] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0040] See also Figures 1 to 6 The present application specifically provides a collaborative positioning device for offshore photovoltaic pipe piles, including:

[0041] The pile holding mechanism comprises a horizontally arranged connecting beam 300, wherein the connecting beam 300 is a long truss structure; a plurality of pile holding parts are arranged on the side of the connecting beam 300 close to the pipe pile 600, wherein the pile holding parts are used to clamp the pipe pile 600, and the plurality of pile holding parts are evenly distributed on the same side of the connecting beam 300.

[0042] It should be noted that, in this embodiment, Figure 2 As shown, it specifically includes four pile-holding parts, which can simultaneously coordinately adjust the positions of four pipe piles 600 located in the same row.

[0043] The telescopic adjustment mechanism includes at least two telescopic adjustment parts, each of which is connected to the side of the connecting beam 300 opposite to the pile-holding part. By controlling and adjusting the telescopic amount of each telescopic adjustment part, the setting angle of the connecting beam 300 in the horizontal direction is driven and adjusted, so that the positions of the multiple pile-holding parts on the connecting beam 300 are coordinated and adjusted, so as to achieve simultaneous position adjustment of the multiple pipe piles 600, save construction procedures, and improve construction efficiency and quality.

[0044] In one practicable manner, the collaborative positioning device of the present application also includes a control system, which is communicated with the telescopic adjustment mechanism and adjusts the telescopic amount of the telescopic adjustment mechanism according to specific construction requirements to control the setting angle of the connecting beam 300 in the horizontal direction, thereby collaboratively controlling the positions of the pipe piles 600 on the multiple pile-holding parts.

[0045] In an practicable manner, the telescopic adjustment part includes a telescopic arm 100, one end of the telescopic arm 100 is an extended end, and the extended end is hinged to the connecting beam 300. The other end of the telescopic arm 100 is fixedly connected to the hull.

[0046] It should be noted that, in this embodiment, two telescopic adjustment parts are included, such as Figure 3 As shown, when the extension amounts of the two telescopic adjustment parts are different, the straight line where the connecting beam 300 is located and the center axis of the hull are set to intersect. Therefore, the extension amount of the telescopic arm 100 can be adjusted according to the needs to adjust the inclination angle of the connecting beam 300, thereby controlling the position relationship between the multiple pile holding parts on the connecting beam 300, and being able to adjust the position of a whole row of pipe piles 600 in the horizontal direction, saving construction procedures.

[0047] In one practicable manner, if Figure 4 and Figure 5 As shown, each of the telescopic adjustment parts includes an inner arm 120 and an outer arm 110, wherein the inner arm 120 is coaxially sleeved in the outer arm 110, and a first telescopic cylinder 130 is arranged in the outer arm 110, wherein a rod body of the first telescopic cylinder 130 is connected to the inner arm 120. The telescopic direction of the first telescopic cylinder 130 is a first direction, and the inner arm 120 is controlled by the first telescopic cylinder 130 to telescope along the first direction on the horizontal plane.

[0048] Specifically, Figure 4 As shown, a first ear plate 111 is provided at the cylinder tail of the first telescopic cylinder 130, and the first telescopic cylinder 130 is connected to the outer arm 110 through the first ear plate 111, and the rod head of the telescopic rod of the first telescopic cylinder 130 is connected to the inner arm 120 through the second ear plate 121. The first telescopic cylinder 130 is in communication connection with a control system, and the control system controls the telescopic amount of the rod body of each first telescopic cylinder 130 according to the predetermined position of the pipe pile 600.

[0049] In one practicable manner, a verticality adjustment structure is provided at each pile-holding portion of the connection beam 300 .

[0050] It should be noted that, in this embodiment, two verticality adjustment structures are provided, and the distance between the two verticality adjustment structures is adjusted according to the construction requirements on site. If the current wind farm requires that the distance between two adjacent pipe piles 600 is 5m after the pile driving is completed, the distance between the two verticality adjustment structures is set to 5m before the pipe piles 600 are clamped. If the current wind farm requires that the distance between two adjacent pipe piles 600 is 6m after the pile driving is completed, the distance between the two verticality adjustment structures is set to 6m before the pipe piles 600 are clamped.

[0051] In one practicable manner, the verticality adjustment structure includes a connecting ear plate 301 disposed on the inner arm 120 , the connecting ear plate 301 is disposed on the vertical surface of the inner arm 120 extending toward the pipe pile 600 , and the connecting beam 300 is hinged to the connecting ear plate 301 .

[0052] It should be noted that if Figure 1As shown, in this embodiment, the connecting ear plate 301 at least includes an upper connecting ear plate 301 and a lower connecting ear plate 301, and an upper connecting member and a lower connecting member are arranged on the connecting beam 300 on the side close to the inner arm 120, the upper connecting member is hinged to the upper connecting ear plate 301, and the lower connecting member is hinged to the lower connecting ear plate 301.

[0053] The verticality adjustment structure further includes a first articulated seat 402 disposed on the side of the connecting beam 300 away from the inner arm 120, a second articulated seat disposed on the top of the connecting beam 300, and a second telescopic cylinder 403. The first articulated seat 402 is articulated with the bottom of the pile-holding part, the second telescopic cylinder 403 is disposed on the second articulated seat, and the rod head of the second telescopic cylinder 403 is articulated with the middle of the pile-holding part. In the verticality adjustment structure, the verticality of the pile-holding part is adjusted by adjusting the telescopic amount of the second telescopic cylinder 403.

[0054] In one feasible manner, the second telescopic cylinder 403 is communicatively connected to the control system, and the control system controls the telescopic amount of the second telescopic cylinder 403 according to construction requirements to accurately control the verticality of the pile holding part, and can further control the verticality of the installation of each pipe pile 600 according to construction requirements.

[0055] In one practicable manner, if Figure 1 and Figure 2 As shown, a swing mechanism is provided at the bottom of the telescopic arm 100 , and the swing mechanism is used to control the position of the extended end of the telescopic arm 100 in the second direction of the horizontal plane.

[0056] It should be noted that the swing mechanism at least includes a third telescopic cylinder 202, an arc guide rail 201, a first support 204, and a second support 203. The first support 204 is provided at an end of the telescopic arm 100 away from the pile holding portion, and is hinged to the corresponding end of the outer arm 110.

[0057] Specifically, a first connecting member 112 is provided at the end of the outer arm 110 corresponding to the first support 204, and a first latch 205 is inserted into the first connecting member 112 and the first support 204, so that the telescopic arm 100 swings with the first support 204 as the center, and the swing direction of the telescopic arm 100 is the second direction. The arc guide rail 201 is provided at the bottom of the other end of the outer arm 110. The third telescopic cylinder 202 is provided at the side of the outer arm 110. When the third telescopic cylinder 202 performs a telescopic action, one end of the telescopic arm 100 is fixed, and the other end of the telescopic arm 100 slides on the top surface of the arc guide rail 201 to complete the swing of the telescopic arm 100 in the second direction.

[0058] It should be noted that the second support 203 is disposed at the bottom of the third telescopic cylinder 202 so that the third telescopic cylinder 202 and the telescopic arm 100 are disposed on the same horizontal plane, and the telescopic amount of the third telescopic rod is transmitted to the telescopic arm 100 .

[0059] In one practicable manner, if Figure 6 As shown, the pile holding part includes a connecting arm 401 and a pile holding claw 500. After the connecting arm 401 is arranged vertically, the pile holding claw 500 and the verticality adjustment structure are respectively arranged on the left and right sides of the connecting arm 401. The pile holding claw 500 is used to clamp and guide the pipe pile 600 for installation, and the connecting arm 401 is used to transmit the verticality adjustment action of the verticality adjustment structure and control the verticality of the pipe pile 600 through the pile holding claw 500.

[0060] Specifically, Figure 1 As shown, a pile clamping claw 500 is respectively provided at the upper part of the connecting arm 401 and the lower part of the connecting arm 401 to ensure stability in the process of clamping the pipe pile 600 .

[0061] Each pile gripper 500 includes two arc arms 501, and two push frames 503 are installed on each arc arm 501. The push frames 503 are installed on the inner side of the arc arms 501 through a bolt group, and a roller is installed at the front end of each push frame 503. The roller contacts the outer arm 110 of the pipe pile 600 to prevent damage to the outer arm 110 of the pipe pile 600.

[0062] It should be noted that the four pushing frames 503 in each pile holding claw 500 are evenly distributed on the inner side of the pile holding claw 500, and the center angle between two adjacent pushing frames 503 is 90 degrees, which is considered to enable the clamped part outside the pipe pile 600 to be evenly stressed, thereby ensuring the clamping stability during the position adjustment process.

[0063] In an practicable manner, a third ear plate 404 is provided on a side of the connecting arm 401 close to the pipe pile 600 , a plug hole is provided on the third ear plate 404 , and the arc arm 501 is hinged to the third ear plate 404 via a second latch 405 .

[0064] In one practicable manner, a fourth ear plate 406 is respectively provided on the front and rear sides of the connecting arm 401, and a fourth telescopic cylinder 502 is hinged on each fourth ear plate 406, the telescopic rod of the fourth telescopic cylinder 502 is connected to the arc arm 501 through a hinge point, and the fourth telescopic cylinder 502 is communicatively connected to the control system, and the telescopic amount of the fourth telescopic cylinder 502 is controlled by the control system, and the fourth telescopic cylinder 502 pulls the arc arm 501 to open and close, so as to control the opening and closing degree of the pile holding claw 500, so that the pile holding claw 500 in the present application can be suitable for pipe piles 600 of different diameters.

[0065] It should be noted that the first telescopic cylinder 130 , the second telescopic cylinder 403 , the third telescopic cylinder 202 , and the fourth telescopic cylinder 502 in the present application may be air cylinders or oil cylinders.

[0066] In summary, the present application provides a collaborative positioning device for offshore photovoltaic pipe piles 600, which drives the adjustment of the horizontal arrangement angle of the connecting beam 300 by separately controlling the adjustment of multiple telescopic adjustment parts in the telescopic adjustment mechanism to have different telescopic amounts, thereby collaboratively adjusting the positions of multiple pile-holding parts on the connecting beam 300, and being able to collaboratively adjust the positions of multiple pipe piles 600 at the same time.

[0067] By setting the telescopic adjustment part, the relative position between the connecting beam 300 and the hull is controlled, thereby controlling the position of the pipe pile 600 in the first direction of the horizontal plane.

[0068] By setting the swing mechanism, the position of the pipe pile 600 in the second direction of the horizontal plane is controlled; after the telescopic adjustment mechanism and the swing mechanism are coordinated and adjusted, the position of the pipe pile 600 can be adjusted within the fan area of ​​different radius on the horizontal plane, which greatly increases the adjustment range on the horizontal plane.

[0069] By setting the connection beam 300 , the connection beam 300 can be adjusted once, and the pile positions of multiple pipe piles 600 can be adjusted at the same time, which makes the operation easier and improves the pile driving efficiency.

[0070] By setting up the verticality adjustment structure, the verticality of the pipe pile 600 can be accurately adjusted to compensate for the heel angle of the hull. This can adapt to different hull inclination angles, ensure the verticality of the installation of the pipe pile 600, avoid frequent adjustment of the hull ballast water, and improve construction efficiency.

[0071] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A collaborative positioning device for offshore photovoltaic pipe piles, characterized in that: include: The pile holding mechanism comprises a horizontally arranged connecting beam, wherein the connecting beam is a long strip truss structure; a plurality of pile holding parts are arranged on one side of the connecting beam close to the pipe pile, wherein the pile holding parts are used to clamp the pipe pile, and the plurality of pile holding parts are evenly distributed on the same side of the connecting beam; The telescopic adjustment mechanism comprises at least two telescopic adjustment parts, each of which is connected to the connecting beam and is arranged on the opposite side of the pile holding part; The arrangement angle of the connecting beam in the horizontal direction is driven and adjusted by controlling and adjusting the telescopic amount of each telescopic adjustment portion, so that the positions of the plurality of pile-holding portions on the connecting beam are coordinated and adjusted.

2. The cooperative positioning device for offshore photovoltaic pipe piles according to claim 1, characterized in that: The telescopic adjustment part comprises a telescopic arm, one end of which is an extended end, and the extended end is hingedly connected to the connecting beam; the other end of the telescopic arm is used for fixed connection with the hull.

3. The cooperative positioning device for offshore photovoltaic pipe piles according to claim 2, characterized in that: Each of the telescopic adjustment parts includes an inner arm and an outer arm, the inner arm is coaxially sleeved in the outer arm, a first telescopic cylinder is arranged in the outer arm, and the rod body of the first telescopic cylinder is connected to the inner arm; the telescopic direction of the first telescopic cylinder is a first direction, and the inner arm is telescoped along the first direction on the horizontal plane through the control of the first telescopic cylinder.

4. The cooperative positioning device for offshore photovoltaic pipe piles according to claim 3, characterized in that: A verticality adjustment structure is arranged at each pile-holding portion of the connection beam, and the pile-holding portion and the verticality adjustment structure are arranged on two opposite vertical surfaces of the connection beam respectively.

5. The cooperative positioning device for offshore photovoltaic pipe piles according to claim 4, characterized in that: The corresponding pile-holding parts and the verticality adjustment structures are arranged in groups on the connecting beam, and the distance between two adjacent groups of the pile-holding parts and the verticality adjustment structures can be adjusted according to construction requirements.

6. The cooperative positioning device for offshore photovoltaic pipe piles according to claim 4, characterized in that: The verticality adjustment structure comprises a connecting ear plate arranged on the inner arm, the connecting ear plate is arranged on the vertical surface of the inner arm extending toward the pipe pile, and the connecting beam is hinged to the connecting ear plate; The verticality adjustment structure also includes a first articulated seat arranged on the side of the connecting beam away from the inner arm, a second articulated seat arranged on the top of the connecting beam, and a second telescopic cylinder; the first articulated seat is hinged to the bottom of the pile holding part, the second telescopic cylinder is arranged on the second articulated seat, and the rod head of the second telescopic cylinder is hinged to the middle part of the pile holding part; in the verticality adjustment structure, the verticality of the pile holding part is adjusted by adjusting the telescopic amount of the second telescopic cylinder.

7. The cooperative positioning device for offshore photovoltaic pipe piles according to any one of claims 1 to 6, characterized in that: A swing mechanism is arranged at the bottom of the telescopic arm, and the swing mechanism is used to control the position of the extended end of the telescopic arm in the second direction of the horizontal plane.

8. The cooperative positioning device for offshore photovoltaic pipe piles according to claim 7, characterized in that: The swing mechanism at least comprises a third telescopic cylinder, an arc-shaped guide rail, and a first support; the first support is arranged at an end of the telescopic arm away from the pile-holding part, and the first support is hinged to the end corresponding to the outer arm; A first connecting piece is provided at the end of the outer arm corresponding to the first support, and a first latch is inserted into the first connecting piece and the first support, so that the telescopic arm swings with the first support as the center, and the swing direction of the telescopic arm is the second direction; The arc guide rail is arranged at the bottom of the other end of the outer arm; the third telescopic cylinder is arranged on the side of the outer arm, and when the third telescopic cylinder performs a telescopic action, one end of the telescopic arm is fixed by the first support, and the other end of the telescopic arm slides on the top surface of the arc guide rail to control the swing of the telescopic arm in the second direction.

9. The cooperative positioning device for offshore photovoltaic pipe piles according to claim 8, characterized in that: The pile-holding part includes a connecting arm and a pile-holding claw; the pile-holding claw is used to clamp and guide the pipe pile for installation, and the connecting arm is used to transmit the verticality adjustment action of the verticality adjustment structure and control the verticality of the pipe pile through the pile-holding claw.

10. The cooperative positioning device for offshore photovoltaic pipe piles according to claim 9, characterized in that: A pile-holding claw is respectively arranged on the upper part of the connecting arm and the lower part of the connecting arm; The pile-holding part also includes a plurality of fourth telescopic cylinders arranged on the connecting arm, and the telescopic rod of each of the fourth telescopic cylinders is connected to the pile-holding claw. The opening and closing degree of the pile-holding claw is controlled by controlling the telescopic amount of the fourth telescopic cylinder.

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