Stepping type water floating positioning and anti-rolling piling platform

Abstract

This application provides a step-type floating positioning and anti-roll pile driving platform, belonging to the technical field of pile driving operation platforms. It includes a floating platform and a pile driver. A rear-mounted pile clamp is installed directly behind the pile driving position of the pile driver. The rear-mounted pile clamp is connected to the floating platform through an underwater rigid component. At least one pair of rear-mounted pile clamps is provided with a longitudinal sliding joint between itself and the underwater rigid component. The vertical distance between the rear-mounted pile clamp and the deck of the floating platform is greater than or equal to 80% of the vertical distance between the deck of the floating platform and the seabed of the operation area. This application addresses the problems of difficult offshore pile positioning and excessive wave disturbance by using a rear-mounted pile clamp to hold onto existing piles. The longitudinal sliding joint between the rear-mounted pile clamp and the underwater rigid component propels the platform to quickly position new piles. The application employs a pile-holding technology that grips the root of existing piles close to the seabed, reducing the platform's impact on existing piles. This enables rapid and high-precision positioning of the vessel under wind and wave conditions and ensures high-quality pile driving.

Description

Technical Field

[0001] This application belongs to the technical field of piling operation platforms, and more specifically, it relates to a stepping waterborne floating positioning anti-sway piling platform. Background Technology

[0002] Compared with land-based piling, water-based piling presents challenges in positioning. On the one hand, it is difficult to pre-determine the piling location; on the other hand, the direction and distance of movement of the piling platform are difficult to control precisely. Even with the help of satellite positioning, there are still problems of poor positioning accuracy and low operational efficiency.

[0003] Existing piling vessels typically use anchor chains for positioning, which suffers from low efficiency, poor accuracy, and excessively high piling costs. They are also greatly affected by weather and sea conditions, making it difficult to meet user needs.

[0004] Using existing piles as a reference, robots can significantly improve the efficiency of ship relocation and positioning by pushing the platform to shift and position before driving new piles. However, this solution is still not suitable for common application environments. Due to limitations such as waterproofing and corrosion resistance, pile-holding robots are usually installed above the water surface (e.g., on the main deck). When the piling platform is being propelled forward, the robot grips the upper part of the existing pile, and the lateral force acting on the pile is too large, which may tilt the existing pile. Especially in near-shore operations, the piling platform is affected by wind, waves, and ocean currents, causing it to drift and fluctuate significantly. The piles themselves are heavy (several tons or even more than ten tons), and the reaction force from driving the piles is also large, further aggravating the platform's fluctuations. This inevitably leads to the loosening, tilting, and height changes of the existing piles, which in turn causes positioning deviations in the new piles, ultimately failing to meet the requirements for photovoltaic module installation.

[0005] If a multi-axis articulated arm robot is used to "flexibly" hold the stake, that is, when the platform fluctuates, the position of the robot's holding arm is adjusted in real time through sensors and sophisticated algorithms to keep the stake stationary, however, a multi-axis articulated arm robot weighing more than 10 tons has not yet been successfully developed (the known multi-axis articulated arm robots used in engineering applications can only bear a load of several hundred kilograms). Even if it is theoretically possible to scale up the development, its cost is unacceptable for engineering applications.

[0006] Therefore, how to provide a floating piling platform that is less affected by weather and sea conditions, has precise positioning, and operates efficiently has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0007] To address the problems existing in the prior art, the technical solution adopted in this application is as follows: a step-type floating positioning and anti-rolling piling platform is provided, including a floating platform and a piling machine. A rear-mounted piling clamp is provided directly behind the piling position of the piling machine. The rear-mounted piling clamp is connected to the floating platform through an underwater rigid component. At least one pair of rear-mounted piling clamps is provided with a longitudinal sliding pair between itself and the underwater rigid component, or a longitudinal sliding pair is provided between the underwater rigid component and the floating platform. The vertical distance between the rear-mounted piling clamp and the deck of the floating platform is greater than or equal to 80% of the vertical distance between the deck of the floating platform and the seabed of the working area.

[0008] Optionally, a vertical sliding pair is provided between the rear-mounted jacking clamp and the underwater rigid component or between the underwater rigid component and the floating platform.

[0009] Optionally, the rear-mounted pile clamp forms a vertical moving pair with the outer wall of the pile.

[0010] Optionally, the inner wall of the rear-mounted pile clamp is vertically provided with at least two sets of rolling pairs, each rolling pair including multiple horizontal shaft rollers. The distance between the rolling pairs with the longest vertical distance in the same set of rear-mounted pile clamps is greater than the diameter of the pile.

[0011] Optionally, a guide sleeve that can be opened and closed is provided below the pile driver. The vertical distance between the guide sleeve and the rear-mounted pile clamp is less than or equal to 10% of the vertical distance between the floating platform deck and the seabed of the working area. The guide sleeve is set between two or more sets of rolling pairs or above the rear-mounted pile clamp, and the guide sleeve and the rear-mounted pile clamp meet the requirements of mechanical interference avoidance.

[0012] Optionally, the floating platform includes two floating bodies with an inner lateral spacing greater than one lateral pile spacing. The decks of the two floating bodies are equipped with pile drivers. Below the pile drivers are openable guide sleeves, and a rear-mounted pile clamp is located directly behind the guide sleeves.

[0013] Optionally, the pile drivers are arranged laterally opposite each other inside the float, and a pile feeder is set between the pile drivers. The guide sleeve and the rear-mounted pile clamp are both hinged structures that open and close at the front and rear.

[0014] Optionally, a side-mounted pile clamp is provided on the outside of the pile driver. The lateral distance between the side-mounted pile clamp and the nearest pile driving position of the pile driver is one lateral pile spacing. The longitudinal distance between the side-mounted pile clamp and the pile driving position of the pile driver is an integer multiple of the longitudinal pile spacing. The vertical distance between the side-mounted pile clamp and the floating platform deck is greater than or equal to 80% of the vertical distance between the floating platform deck and the seabed of the working area.

[0015] Optionally, the floating platform is provided with multiple independently lifting feet, the lifting mechanism of the feet is equipped with force sensors, a mud support is provided under the feet, and a positioning cone is provided at the bottom of the mud support.

[0016] Optionally, the underwater rigid components include a lower float and multiple struts connecting the main deck and the lower float. The total displacement buoyancy of the lower float and the struts is greater than the total weight of the floating platform when the load reaches the maximum design load. The struts and the floating platform form a vertical sliding pair.

[0017] The beneficial effects of the step-type floating positioning and anti-roll pile driving platform provided in this application are as follows: Compared with the prior art, the step-type floating positioning and anti-roll pile driving platform provided in this application addresses the problems of difficult positioning of pile points at sea and excessive wave disturbance. It uses a rear-mounted pile clamp to hold the old pile, and utilizes the longitudinal moving pair relationship between the rear-mounted pile clamp and the underwater rigid component or the underwater rigid component and the floating platform to longitudinally push the platform to move, thereby quickly positioning the new pile. It adopts a pile holding technology that holds the root of the old pile close to the seabed, reducing the impact of platform fluctuations on the old pile, thereby achieving rapid and high-precision ship positioning under wind and wave conditions and ensuring high-quality pile driving. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a cross-sectional schematic diagram of a stepping waterborne floating positioning and anti-sway piling platform provided in an embodiment of this application;

[0020] Figure 2 This is a top view of the stepping floating positioning and anti-sway piling platform provided in the embodiments of this application;

[0021] Figure 3 A schematic diagram of the movement principle of the stepping floating positioning and anti-sway pile driving platform provided in the embodiments of this application;

[0022] Figure 4 A schematic diagram of the movement principle of the stepping floating positioning and anti-sway pile driving platform provided in the embodiments of this application (B).

[0023] Figure 5 A schematic diagram of the movement principle of the stepping floating positioning and anti-sway pile driving platform provided in the embodiments of this application;

[0024] Figure 6 A schematic diagram of the wasp-waist-shaped idler roller vertical moving pair provided in the embodiments of this application;

[0025] Figure 7This is a schematic diagram of a vertical ball joint provided in an embodiment of this application;

[0026] Figure 8 This is a schematic diagram of the vertical moving pair of the bearing bush provided in an embodiment of this application;

[0027] Figure 9 A top view of the portal-shaped floating platform provided in an embodiment of this application;

[0028] Figure 10 This is a top view of the H-shaped floating platform provided in an embodiment of this application;

[0029] Figure 11 This is a top view of a Y-shaped floating platform provided in an embodiment of this application.

[0030] Figure 12 A cross-sectional schematic diagram of a floating platform with feet provided in an embodiment of this application;

[0031] Figure 13 This is a cross-sectional schematic diagram of a floating platform with a lower buoy provided in an embodiment of this application;

[0032] Figure 14 A three-dimensional schematic diagram showing that the support column and the upper platform form a vertical sliding joint according to an embodiment of this application;

[0033] Figure 15 A perspective view of a guide sleeve disposed between two sets of rolling pairs according to an embodiment of this application;

[0034] Figure 16 A schematic diagram showing the longitudinal sliding pair between the underwater rigid component and the floating platform provided in the embodiments of this application.

[0035] Explanation of reference numerals in the attached drawings: 1-Floating platform; 2-Pile driver; 3-Pile clamp; 4-Pile feeder; 5-Sea level; 6-Seabed; 7-Deck; 8-Underwater rigid component; 9-Vertical guide post; 10-Support column; 11-Lower floating body; 12-Foot; 13-Pile clamp base; 14-Longitudinal slide rail; 15-Longitudinal hydraulic cylinder; 16-Rear-mounted pile clamp; 17-Guide sleeve; 18-Waist-shaped idler roller; 19-Ball bearing; 20-Old pile; 21-New pile; 22-Upper platform; 23-Guide sleeve; 24-Side-mounted pile clamp; 25-Mud support; 26-Positioning cone. Detailed Implementation

[0036] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0037] In this application, "vertical," "horizontal," and "longitudinal" distances refer to distances in a single dimension, i.e., projected distances in a single dimension, without considering the distances in the other two dimensions. For example, if the vertical direction is the Z-coordinate, the longitudinal direction is the Y-coordinate, and the horizontal direction is the X-coordinate, then the vertical distance between two points with coordinates (X,Y,Z) of (0,5,6) and (2,9,15) is 9, the longitudinal distance is 4, and the horizontal distance is 2.

[0038] Example 1

[0039] like Figures 1 to 5 As shown, this application provides a step-type floating positioning and anti-roll piling platform, including a floating platform 1 and a piling machine 2. Three sets of rear-mounted piling clamps 16 are arranged directly behind the piling position of the piling machine 2. "Directly behind" refers to the opposite direction of the floating platform 1's forward movement. In this embodiment, the first two sets of rear-mounted piling clamps 16 are installed on a piling clamp base 13, which is connected to the floating platform 1 via an underwater rigid component 8. As a feasible implementation, the last set of rear-mounted piling clamps 16 can be directly installed on the underwater rigid component 8 (in this case, the underwater rigid component can be considered as the piling clamp base). At least one set of rear-mounted piling clamps 16 is provided with a longitudinal sliding pair (e.g., ...) between it and the underwater rigid component 8. Figure 1 (as shown in the diagram), or a longitudinal sliding pair (such as) is provided between the underwater rigid component 8 and the floating platform 1. Figure 16 (Scheme shown).

[0040] The vertical distance between the rear-mounted jacking clamp 16 and the deck 7 of the floating platform 1 is greater than or equal to 80% of the vertical distance between the deck 7 of the floating platform 1 and the seabed 6 of the operating area.

[0041] The longitudinal range of motion of the rear-mounted pile clamp 16 should at least satisfy the requirement that, while holding the pile, the rear-mounted pile clamp 16 can, through the reaction force of the longitudinal moving pair, cause the floating platform 1 to move a positive integer multiple of the longitudinal pile distance. For example:

[0042] (1) When the work area is prepared to be piled at a longitudinal spacing of 10 meters, the longitudinal spacing of the three sets of rear-mounted pile clamps of the floating platform 1 is also 10 meters. Before the first set of rear-mounted pile clamps 16 moves, the distance between it and the pile driving position of the pile driver 2 is 10 meters. Under the action of the longitudinal moving pair, the rear-mounted pile clamps 16 can move 10 meters towards the pile driving position of the pile driver 2.

[0043] (2) When the work area is prepared to be piled at a longitudinal interval of 10 meters, and two piles (two pile drivers with a longitudinal interval of 10 meters) are driven at the same time in the direction of movement of the floating platform 1, the rear-mounted pile clamp 16 of the floating platform 1 is 20 meters away from the pile driving position of the pile driver 2 corresponding to the pile it is going to hold before it moves. Under the action of the longitudinal moving pair, the rear-mounted pile clamp 16 can move 20 meters to the pile driving position of the pile driver 2 corresponding to the pile it is going to hold.

[0044] To accommodate a wider range of construction conditions, the range of motion of the rear-mounted pile clamp 16 can be set to be greater.

[0045] Figures 3-5 The diagram shown is a schematic representation of the movement principle of the stepping floating positioning and anti-sway piling platform provided in this embodiment, illustrating actions A through C. Figure 3 Action A is the pile driving state, in which the rear pile clamp 16 holds the old pile 20, and simultaneously there are three sets of rear pile clamp 16 holding three different old piles 20 at the front and rear. In this embodiment, the rear pile clamp 16 is a left-right horizontal split type. When switching between clamping and releasing states, the two halves of the same rear pile clamp 16 move laterally. As an optional implementation, the rear pile clamp 16 can be a hinged type. It can be noted that in this embodiment, there are two sets of rear pile clamp 16 that can move based on the longitudinal moving joint and one set of rear pile clamp 16 that is fixed in position. The two sets of rear pile clamp 16 that can move based on the longitudinal moving joint are fixed by the pile clamp base 13. The longitudinal movement of these two sets of rear pile clamp 16 is carried out simultaneously. As a feasible implementation, the two sets of rear pile clamp 16 that can move based on the longitudinal moving joint can be fixed separately and moved one by one. That is, the two halves of a rear-mounted pile clamp 16 move in opposite directions to release the old pile 20 and move forward to the position of the pile driver 2. At this time, the other rear-mounted pile clamp 16 remains in the state of holding the old pile 20. After the first rear-mounted pile clamp 16 holds the pile, the two halves of the second rear-mounted pile clamp 16 move in opposite directions to release the old pile 20 and then move forward one longitudinal pile distance to hold the pile previously held by the first rear-mounted pile clamp 16.

[0046] After completing one pile driving cycle, proceed to... Figure 4In action B state, the two sets of rear-mounted pile clamps 16, which can move based on the longitudinal sliding joint, are released. Under the action of the longitudinal cylinder 15, the pile moves forward one pile position along the longitudinal sliding joint. At this moment, the last set of fixed-position rear-mounted pile clamps 16 and the pile clamping device 3 are both in a clamping state, holding the pile to maintain the stability of the floating platform 1. Since the pile held by the pile clamping device 3 is a pile that has already been driven, it is considered that the pile has changed from a new pile 21 to an old pile 20. After the two sets of rear-mounted pile clamps 16, which can move based on the longitudinal sliding joint, complete their movement, they close to clamp the pile, releasing the pile clamping device 3 and the fixed-position rear-mounted pile clamps 16.

[0047] Under the action of the longitudinal sliding joint, the floating platform 1 is propelled forward one longitudinal pile distance to reach the next pile driving position and enter... Figure 5 In action state C, after entering this state, the fixed-position rear-mounted pile clamp 16 and pile gripper 3 close again, rotating back. Figure 3 The state of action A shown completes one action cycle.

[0048] "Longitudinal" refers to the direction of movement of the floating platform 1 to the next working position after completing the piling operation at the original position. After the piling operation is completed, the rear-mounted pile clamp 16 opens and moves forward one pile distance along the longitudinal moving joint under the action of the longitudinal cylinder 15 (moving forward means that the rear-mounted pile clamp 16 moves towards the pile clamp 3), re-clamps the new pile 21, opens the pile clamp 3, and under the action of the longitudinal cylinder 15, pushes the floating platform 1 forward one longitudinal pile distance along the longitudinal moving joint ("moving forward" means that the floating platform moves in the opposite direction to the old pile 20 that has already been driven). Since the longitudinal position of the pile clamp 3 is rigidly fixed on the platform, and the moving distance of the rear-mounted pile clamp 16 is exactly equal to one longitudinal pile distance, the position of the pile clamp 3 is the precise position of the new pile 21. Continue to drive new piles 21, and repeat the process to quickly and efficiently complete one or more rows of piling operations.

[0049] In this embodiment, the rear-mounted jack clamp 16 forms a longitudinal moving pair with the longitudinal slide rail 14 provided on the underwater rigid component 8 through the jack clamp base 13, and moves longitudinally under the drive of the longitudinal cylinder 15.

[0050] Under the action of the longitudinal hydraulic cylinder 15, the rear-mounted pile clamp 16 can hold the old pile 20 that has been driven in. Through the action of the longitudinal moving pair, the floating platform 1 moves forward in a straight line to the position of the new pile 21, which is one or several times the pile spacing, so as to achieve precise positioning of the new pile 21.

[0051] The vertical distance between the rear-mounted piling clamp 16 and the deck 7 of the floating platform 1 is greater than or equal to 80% of the vertical distance between the deck 7 of the floating platform 1 and the seabed of the working area. On the one hand, this reduces the reaction force on the old pile during the transfer of the floating platform 1, preventing the old pile 20 from tilting. On the other hand, it reduces the swaying effect of the floating platform 1 caused by wind and waves on the old pile 20 during the piling process, preventing the old pile 20 from loosening.

[0052] Assuming a pile is 25m long, after driving, it is inserted 10m into the seabed at a water depth of 8m, 7m above sea level, with a pile diameter of 0.6m. The deck is 2m above sea level. Assuming the pile is a perfectly rigid body, the mud resistance is the only factor limiting tilting. Taking the midpoint of the mud insertion section (5m below the seabed) as the axis of rotation, the influence of two force modes on the pile tilt amplitude—one with the rear-mounted pile clamp 16 on the deck and the other with the clamp 16 at 6m underwater (80% below deck)—can be derived through the following analysis:

[0053] The lever arm from the aft-mounted pile clamp 16 at the deck to the rotation center (5m below the seabed) is 15m, and the lever arm from the aft-mounted pile clamp 16 at 6m underwater (equivalent to 8m below the deck) to the rotation center is 7m. The resistance torque of the mud is obtained by integrating the passive earth pressure of the mud. After simplification, the resistance torque of the mud is determined by the rotational stiffness coefficient and rotation angle of the mud. Therefore, the difference in tilt angle is only related to the lever arm. The tilt angle caused by the force applied by the aft-mounted pile clamp 16 at the deck is 2.14 times that of the force applied by the aft-mounted pile clamp 16 at 6m underwater. When the actual resistance torque of the mud has a non-linear relationship with the tilt angle, the result is consistent when expressed proportionally.

[0054] In extreme cases, when the applied force exceeds the maximum resistance torque of the mud, the pile will continue to tilt until it collapses. Applying force to the deck makes it easier to reach this limit.

[0055] The actual underwater position of the rear-mounted sling clamp 16 can be controlled by using an underwater rangefinder, including but not limited to ultrasonic rangefinders and laser rangefinders; or by using mechanical sensing. In the work area where underwater exploration has been completed in advance, the position of the rear-mounted sling clamp 16 can be directly controlled by the depth it dives to under the action of the longitudinal sliding joint, and the underwater rangefinder is not a necessary device.

[0056] Example 2

[0057] like Figure 1As shown, a vertical sliding pair is provided between the rear-mounted pile clamp 16 and the underwater rigid member 8, or between the underwater rigid member 8 and the floating platform 1. The vertical sliding pair can be provided between the rear-mounted pile clamp 16 and the underwater rigid member 8, or between the underwater rigid member 8 and the floating platform 1. In this embodiment, it is provided between the pile clamp base 13 and the underwater rigid member 8, or between the vertical guide post 9 of the underwater rigid member 8 and the floating platform 1. As a feasible implementation, when the vertical sliding pair is provided between the vertical guide post 9 of the underwater rigid member 8 and the floating platform 1, a vertical guide sleeve is installed on the floating platform 1, the vertical guide post 9 passes through the guide sleeve, a nut is provided at the top of the vertical guide post 9, and a corresponding lead screw and rotary drive are configured on the floating platform 1. When the vertical moving pair is set between the jacking caliper base 13 and the underwater rigid member 8, a guide groove (not shown) is provided on the underwater rigid member 8. The jacking caliper base 13 cooperates with the guide groove through a vertical guide rail. A vertical rack is also installed on the side of the vertical guide rail. A hydraulic motor and a gear set are configured on the underwater rigid member 8 to mesh with the rack.

[0058] Based on the vertical sliding joint, the position of the rear-mounted jack clamp 16 can be adjusted according to the actual working conditions (such as changes in seabed height). When the vertical sliding joint is set between the underwater rigid member 8 and the floating platform 1, the position of the underwater rigid member 8 can be adjusted according to the actual working conditions (such as changes in seabed height) to make it closer to the seabed or to raise it to prevent it from touching the bottom.

[0059] Example 3

[0060] like Figure 1 , Figure 6 , Figure 7 and Figure 8 As shown, the rear-mounted pile clamp 16 and the outer wall of the pile form a vertical moving pair. As a feasible implementation, this vertical moving pair can be a roller (preferably a wasp-waisted roller 18), a ball bearing 19, or a bearing bush (the inner wall of the rear-mounted pile clamp 16 is clearance-fitted with the outer diameter of the pile). Figure 6 The sample shown is the wasp-waisted idler roller 18 solution. Figure 7 The design shown is the 19-ball bearing solution. Figure 8 The demonstration showcases a bearing solution. Figure 6 The honeycomb-shaped idler roller 18 is used in conjunction with the old pile 20, in Figure 7 The middle part is made of ball bearing 19 and old pile 20, in Figure 8 The height of the rear-mounted pile clamp 16 is greater than the pile diameter, forming a clearance fit between the bearing bush and the outer diameter of the pile.

[0061] Through the above scheme, the rear-mounted pile clamp 16 and the outer wall of the pile form a vertical moving pair, and the vertical moving pair forms a floating fit. When the floating platform 1 is affected by the water waves and rises and falls, the rear-mounted pile clamp 16 will float up and down accordingly, thereby reducing the interference of the vertical movement of the floating platform 1 on the old pile 20.

[0062] Example 4

[0063] like Figure 6 As shown, the inner wall of the rear-mounted pile clamp 16 is vertically provided with at least two sets of rolling pairs. Each rolling pair includes multiple horizontal axis rollers. In this embodiment, the horizontal axis rollers are wasp-waist shaped rollers 18. The distance between the rolling pairs with the longest vertical distance within the same set of rear-mounted pile clamps 16 is greater than the diameter of the pile. In this embodiment, the rear-mounted pile clamp 16 is provided with two sets of rolling pairs, each set including two wasp-waist shaped rollers 18. The distance between the rolling pairs is the vertical distance between the axes of rotation of the wasp-waist shaped rollers 18, and the distance between the rolling pairs is 120% of the pile diameter. The distance between the rolling pairs with the longest vertical distance within the same set of rear-mounted pile clamps 16 is greater than the diameter of the pile, which helps to keep the horizontal plane of the rear-mounted pile clamp 16 perpendicular to the pile, thereby improving the stability of the floating platform 1 in terms of displacement and fixation.

[0064] Example 5

[0065] like Figures 9-11 As shown, the pile clamp 3 and the guide sleeve 17 overlap in the top view. To illustrate the positional relationship between the guide sleeve 17 and the pile clamp 16, Figures 9-11 The pile clamp 3 is concealed. The floating platform 1 includes two floating bodies with an inner lateral spacing greater than one lateral pile spacing. Piling machines 2 are installed on the decks of both floating bodies. Below the piling machines 2 are openable guide sleeves 17, and directly behind the guide sleeves 17 are rear-mounted pile clamps 16. Here, "inner lateral spacing greater than one lateral pile spacing" refers to the lateral spacing between the two floating bodies, sufficient to accommodate two piles in the same row being driven simultaneously. Increasing the width of the floating platform 1 significantly increases the lateral moment of inertia at the waterline, enhancing its resistance to rolling and overturning, and dispersing wave impact forces, preventing concentrated loads from causing violent movement. Wave forces are partially canceled out due to phase differences at a wider spacing. When the piles are subjected to wave, flow loads, or piling reaction forces, the double-row, multi-set rear-mounted pile clamps 16 distribute the load, significantly reducing single-point stress. Furthermore, the double-row, multi-set rear-mounted pile clamps 16 also help improve the straightness of longitudinal movement. As a feasible layout scheme, from a planar perspective, the middle section of the floating body and the platform can form a gate shape ( Figure 9 Scheme), H-shape ( Figure 10 The plan has a relatively long floating body and a Y-shaped structure. Figure 11 (Scheme) or I-shape (with a longer middle section).

[0066] Example 6

[0067] like Figure 13 As shown, a guide sleeve 17 that can be opened and closed is provided below the pile driver 2. The vertical distance between the guide sleeve 17 and the rear-mounted pile clamp 16 is less than or equal to 10% of the vertical distance between the deck 7 of the floating platform 1 and the seabed 6 of the working area. The guide sleeve 17 is positioned above the rear-mounted pile clamp, and the guide sleeve 17 and the rear-mounted pile clamp 16 meet the requirements for mechanical interference avoidance. After the pile driving is completed and before the floating platform 1 begins to move, the guide sleeve 17 can also play a role in stabilizing the floating platform 1. Therefore, its vertical position should be set as close as possible to the rear-mounted pile clamp 16. However, since the impact of the floating platform 1 on the pile during the movement is significantly greater than the impact of the floating platform 1 on the pile in the fixed state, the guide sleeve 17 is positioned above the rear-mounted pile clamp 16. This design leaves space below the rear-mounted pile clamp 16, allowing the rear-mounted pile clamp 16 to be positioned as low as possible. Since the guide sleeve 17 may be holding the pile while the rear-mounted pile clamp 16 is holding the newly driven pile, the arrangement of the guide sleeve 17 and the rear-mounted pile clamp 16 should meet the premise of avoiding mechanical interference.

[0068] Example 7

[0069] like Figure 9 and Figure 10 As shown, compared to Embodiment 5, the pile drivers 2 are arranged laterally opposite each other inside the floating platform, and a pile feeder 4 is arranged between the pile drivers 2. The guide sleeve 17 and the rear-mounted pile clamp 16 are both hinged structures that open and close at the front and rear. The opposite arrangement of the pile drivers 2 can effectively improve the pile feeding efficiency, reduce the pile feeding distance, and improve the safety of operation. After the pile driving is completed, the rear-mounted pile clamp 16, which is responsible for moving the floating platform 1, holds the newly driven pile. The other rear-mounted pile clamps 16 and the guide sleeve 17 are opened by hinges and retracted into the projection plane of the floating platform 1, leaving enough space for the old piles 20 to move backward.

[0070] Example 8

[0071] like Figure 10As shown, compared with Embodiment 1, this embodiment has a side-mounted pile clamp 24 on the outer side of the pile driver 2. The lateral distance between the side-mounted pile clamp 24 and the nearest pile driving position of the pile driver 2 is one lateral pile spacing, and the longitudinal distance between the side-mounted pile clamp 24 and the pile driving position of the pile driver 2 is an integer multiple of the longitudinal pile spacing. The position of the side-mounted pile clamp 24 refers to the position of the pile held by the side-mounted pile clamp 24. The rear-mounted pile clamp is located inside the floating body. The swing of the floating platform 1 is concentrated on the piles inside the floating bodies on both sides. The stress area is concentrated. When the outer side of the floating platform 1 is subjected to large wind and wave impacts, the central fixation will bear a large bending moment and shear force. The addition of the side-mounted pile clamp 24 on the outer side of the floating platform 1 can fully disperse the force, and the weight and external load of the floating platform 1 can be more evenly distributed on the entire support structure of the floating platform 1. The four fixed points can effectively disperse the wind and wave impact force on the platform and reduce the stress concentration at the central fixed point. Especially during the movement of the rear-mounted pile clamp, the side-mounted pile clamp can effectively stabilize the moving platform. In addition, the side-mounted pile clamp also has the function of keeping the newly driven row (or two rows) of piles parallel to the row of old piles already driven on the side.

[0072] Consistent with Embodiment 1, the vertical distance between the side-mounted jacking clamp 24 and the deck 7 of the floating platform 1 is greater than or equal to 80% of the vertical distance between the deck 7 of the floating platform 1 and the seabed 6 of the operating area.

[0073] Example 9

[0074] like Figure 12 As shown, the floating platform 1 is equipped with multiple independently lifting feet 12. Each foot 12 lifting mechanism is equipped with a force sensor. A mud support 25 is located below each foot 12, and a positioning cone 26 is positioned at the bottom of the mud support 25. The positioning cone 26 compresses the seabed sediment, fixing the foot 12 in place. After the positioning cone 26 penetrates the seabed, the swaying of the floating platform 1 is dissipated through seabed shear. The seabed topography is undulating and irregular, and the density of the seabed sediment varies due to undercurrents. The force sensors detect the force on the foot 12, ensuring that the foot 12 is fully ballasted on the seabed. The independent lifting of each foot 12 fully adapts to the undulations of the seabed, and the cooperation of the mud support 25 and the positioning cone 26 effectively reduces platform swaying.

[0075] Example 10

[0076] like Figure 13As shown, the difference between this embodiment and Embodiment 1 is that the underwater rigid component includes a lower float 11 and multiple supports 10 connecting the upper platform 22 and the lower float 11. The total buoyancy of the lower float 11 and the supports 10 is greater than the total weight of the floating platform 1 when the load reaches its maximum design load. Compared with Embodiment 5, in this embodiment, the waterline is located on the side wall of the supports 10, and the waterline is the cross-section of the supports 10. By reducing the waterline, the water surface can be cut more effectively, reducing the pitching and rolling motions caused by water resistance.

[0077] Example 11

[0078] like Figure 14 As shown, the support column 10 and the upper platform 22 form a vertical moving pair. In this embodiment, a guide sleeve 23 is provided through the upper platform 22 to allow the support column 10 to pass through. As a feasible implementation, the support column 10 and the guide sleeve 23 are connected by a slide rail, and a control box is provided above the upper platform 22, which houses a height adjustment mechanism. This mechanism uses a motor-driven winch system to control the rise and fall of the support column 10 relative to the upper platform 22 by winding or releasing the steel cable.

[0079] Example 12

[0080] like Figure 15 As shown, in order to position the guide sleeve 17 as close to the seabed as possible, the guide sleeve 17 is positioned between the upper and lower rolling pairs of the rear-mounted jacking caliper 16. In this embodiment, the guide sleeve 17 and the rear-mounted jacking caliper 16 are arranged opposite each other.

[0081] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A step-by-step floating positioning and roll damping piling platform on water, comprising a floating platform and a piling machine, characterized in that: A rear-mounted pile clamp is installed directly behind the pile driving position of the pile driver. The rear-mounted pile clamp is connected to the floating platform via an underwater rigid component. At least one pair of the rear-mounted pile clamps is provided with a longitudinal sliding joint between the rear-mounted pile clamps and the underwater rigid component, or a longitudinal sliding joint is provided between the underwater rigid component and the floating platform. The vertical distance between the rear-mounted pile clamps and the deck of the floating platform is greater than or equal to 80% of the vertical distance between the deck of the floating platform and the seabed of the working area. A vertical moving pair is provided between the rear-mounted jacking clamp and the underwater rigid component or between the underwater rigid component and the floating platform; The rear-mounted pile clamp forms a vertical moving pair with the outer wall of the pile.

2. The step-by-step floating location-stabilizing pile-driving platform over water as claimed in claim 1, characterized in that: The inner wall of the rear-mounted pile clamp is vertically provided with at least two sets of rolling pairs, each rolling pair including multiple horizontal shaft rollers. The distance between the rolling pairs with the longest vertical distance in the same set of rear-mounted pile clamps is greater than the diameter of the pile.

3. The stepping-type floating positioning and anti-sway piling platform as described in claim 1, characterized in that: The pile driver is provided with an openable guide sleeve below it. The vertical distance between the guide sleeve and the rear-mounted pile clamp is less than or equal to 10% of the vertical distance between the floating platform deck and the seabed of the working area. The guide sleeve is set between two or more sets of rolling pairs or above the rear-mounted pile clamp, and the guide sleeve and the rear-mounted pile clamp meet the requirements of mechanical interference avoidance.

4. The step-by-step floating location-stabilizing pile-driving platform over water as claimed in claim 1, characterized in that: The floating platform includes two floating bodies with an inner lateral spacing greater than one lateral pile spacing. Both floating bodies are equipped with pile drivers on their decks. Below the pile drivers are openable guide sleeves, and behind the guide sleeves are rear-mounted pile clamps.

5. The step-by-step floating location-stabilizing pile-driving platform over water as claimed in claim 4, characterized in that: The pile drivers are arranged laterally opposite each other inside the float body, and a pile feeder is arranged between the pile drivers. The guide sleeve and the rear-mounted pile clamp are both hinged structures that open and close at the front and rear.

6. The step-by-step floating location-stabilizing pile-driving platform over water as claimed in claim 1, characterized in that: The pile driver is equipped with a side-mounted pile clamp on its outer side. The lateral distance between the side-mounted pile clamp and the nearest pile driving position of the pile driver is one lateral pile spacing. The longitudinal distance between the side-mounted pile clamp and the pile driving position of the pile driver is an integer multiple of the longitudinal pile spacing. The vertical distance between the side-mounted pile clamp and the floating platform deck is greater than or equal to 80% of the vertical distance between the floating platform deck and the seabed of the working area.

7. The step-by-step floating location-stabilizing pile-driving platform over water as claimed in claim 1, characterized in that: The floating platform is provided with multiple independently lifting feet. The lifting mechanism of the feet is equipped with a force sensor. A mud support is provided under the feet, and a positioning cone is provided at the bottom of the mud support.

8. The step-by-step floating location-stabilizing pile-driving platform over water as claimed in claim 1, characterized in that: The underwater rigid component includes a lower float and multiple struts connecting the main deck and the lower float. The total displacement buoyancy of the lower float and the struts is greater than the total weight of the floating platform when the load reaches the maximum design load. The struts and the floating platform form a vertical sliding pair.

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