Clamping and centering device for pile gripper of pile driving barge

Abstract

The invention discloses a clamping and centering device for a pile gripper of a pile driving barge, which relates to the technical field of pile grippers and comprises a pile gripping opening and closing mechanism configured to grip and clamp a tubular pile after the tubular pile is hoisted in place; the clamping execution mechanism is configured to apply clamping force from multiple directions after the pile holding opening and closing mechanism clamps the pipe pile and position the pipe pile in a preset center area of the pile gripper; the driving device is connected with the clamping executing mechanism and used for driving the clamping executing mechanism to move in at least one preset direction so as to clamp or release the pipe pile; the guide calibration component is configured to guide the moving track of the pipe pile in the clamping process, so that the pipe pile is automatically centered towards a preset central area; wherein the clamping executing mechanism, the driving device, the guiding calibration component and the self-adaptive adjusting control unit cooperate to achieve centering positioning of a pipe pile in the pile gripper, the clamping action of the device is independent of the opening and closing action of a gripping arm of the pile gripper, and dual positioning is achieved through the pile gripping opening and closing mechanism and the clamping executing mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of pile grippers, and particularly to a clamping and centering device for a pile gripper of a pile driving vessel. Background Art

[0002] In offshore or water pile foundation construction, the pile gripper of a pile driving vessel is the core equipment to ensure the accurate positioning of pipe piles, and its clamping stability and centering accuracy directly affect the driving verticality and construction efficiency of piles. In the prior art, Patent CN218540680U discloses a pile gripper for a pile driving vessel, which fixes the holding arms by locking the limit ear plates with a pin cylinder and sets an anti-collision limit component to expand the holding range. However, the following significant defects exist in the actual application of this solution: The pile gripper of the prior art only relies on the closing of the holding arms to achieve clamping, lacks an independent centering adjustment structure, and relies on manual intervention, resulting in the pipe pile being prone to deviation due to uneven force during the holding process. Especially in complex sea conditions, the unilateral force on the holding arm or the fluctuation of the hydraulic system will exacerbate the eccentric phenomenon, directly affecting the subsequent driving verticality of the pile, and even causing problems such as pile body inclination and abnormal penetration. The common soil squeezing effect and formation obstacle interference in pipe pile construction will further amplify the risk of eccentric clamping.

[0003] The clamping action of the pile gripper of the prior art completely depends on the closing of the holding arms, and lacks a dynamic correction mechanism after clamping. When the diameter of the pipe pile changes or the pile body has a slight deviation, the prior art cannot make real-time adjustments, resulting in uneven distribution of the clamping force, which is likely to cause the pile body to slip or surface damage. In addition, the existing pile grippers are difficult to adapt to different specifications of pipe piles, restricting the versatility of the equipment. Summary of the Invention

[0004] The problem to be solved by the present invention is to solve the problems in the prior art such as prominent eccentric clamping of pipe piles, poor adaptability, lack of secondary adjustment and self-adaptive ability relying on manual labor, and provide a clamping and centering device for a pile gripper of a pile driving vessel that provides precise centering positioning and dual clamping to ensure self-adaptive adjustment and multi-pile diameter compatibility, and provides a more efficient and safe solution for offshore pile driving operations.

[0005] To solve the above problems, the present invention provides a clamping and centering device for a pile gripper of a pile driving vessel, including: A pile holding opening and closing mechanism configured to hold and clamp a pipe pile after the pipe pile is hoisted in place; A clamping execution mechanism configured to apply clamping forces from multiple directions after the pile holding opening and closing mechanism clamps the pipe pile and position the pipe pile in a preset central area of the pile gripper; A driving device connected to the clamping execution mechanism for driving the clamping execution mechanism to move along at least one preset direction to complete the clamping or release of the pipe pile; A guide calibration component, configured to guide the movement trajectory of the pipe pile during the clamping process so that it is automatically centered to a preset central area; The clamping actuator, driving device, guide calibration component and adaptive adjustment control unit work together to realize the center positioning of the pipe pile in the pile gripper, and the clamping action of the device is independent of the opening and closing action of the pile gripper's arm, and double positioning is achieved through the pile gripper opening and closing mechanism and the clamping actuator.

[0006] Preferably, the driving device includes a clamping cylinder, which is fixedly arranged on a clamping cylinder seat, and the front end of the clamping cylinder is connected to the translation push rod through a clamping coupling. The power input end of the clamping cylinder is connected to the hydraulic station or independent power source of the pile gripper. The clamping cylinder is arranged in a rigid power connection mode, and the cylinder directly acts on the clamping mechanism, so that the clamping force transmission is stable and the response is fast during the clamping process. The direct drive of the hydraulic cylinder can provide a large thrust to prevent the pile from loosening or vibrating during clamping, thereby improving the clamping stability. The efficient hydraulic clamp can maintain a constant clamping force and precision during repeated operations.

[0007] Preferably, the clamping actuator includes a clamping push plate body, which is in an L-shaped structure. A hollow sliding cavity is fixedly provided at the upper end of the clamping cylinder seat. One end of the clamping push plate body (201) is arranged in the sliding cavity and extends outside the sliding cavity. The extended part of the clamping push plate body is fixedly connected to the clamping block, and the clamping block is fixedly sleeved on the translation push rod. The L-shaped clamping push plate body is composed of two right-angle sections, which can evenly distribute the thrust to the support arms on both sides during the clamping process to form a strong and rigid support structure. The L-shaped structure has uniform load distribution, which improves the thrust transmission efficiency and avoids structural deformation or instability caused by single-point force concentration. The L-shaped component can evenly distribute the load and stress to the support arm, thereby ensuring the stability of the overall structure. Combined with the guiding constraint of the sliding cavity on the push plate, the push plate maintains a stable trajectory during movement, plays a limiting role, reduces the risk of wear and jamming, and further enhances the reliability and durability of thrust transmission.

[0008] Preferably, the guide calibration component includes at least one group of symmetrically arranged V-shaped guide bosses, which are fixedly connected to the clamping block, and guide rollers are arranged between the V-shaped guide bosses to limit the lateral deviation of the pipe pile and guide the pipe pile to the center through rolling friction. The clamping actuator is used in conjunction with the rotating guide roller to automatically guide the pipe pile before clamping to achieve pre-positioning and stable centering. The coordinated movement of the rollers makes the guiding process smooth and impact-free, preventing scratches or impacts on the outer wall of the pipe pile. Practice has shown that the roller device with a V-shaped groove can provide reliable guidance and center positioning during pipeline transportation and installation. This greatly improves the centering accuracy and guiding stability when clamping the pipe pile, ensuring that the pipe pile is always in a centered state before and after clamping.

[0009] Preferably, a pressure sensor is provided at the side end of the guiding roller, and a displacement sensor is provided at the lower end of the translation push rod, for real-time feedback of the position of the translation push rod and the clamping force. The pressure sensor and the displacement sensor are integrated on the clamping actuator to perform real-time monitoring and closed-loop adjustment of the clamping state. The pressure sensor can detect the clamping pressure in the hydraulic system in real time and feedback the signal to the adaptive adjustment control unit to form a closed-loop control logic for precisely adjusting the clamping force; the displacement sensor is installed on the oil cylinder or the push plate to monitor the displacement under the thrust and the position of the pipe pile. When eccentricity or displacement change is detected, the control unit can timely adjust the output of the oil cylinder or trigger the centering action to achieve automatic deviation correction. Installing the position sensor on the driving positioning cylinder can ensure that the part is correctly pushed into the central position. Through the dual-sensor feedback, the present invention realizes the intelligent monitoring and adaptive control of the clamping force and the displacement, further improving the stability and safety of the clamping process.

[0010] Preferably, the pile-holding opening and closing mechanism includes a first arm cylinder and a second arm cylinder, and the first arm cylinder and the second arm cylinder are respectively movably connected to the first arm and the second arm through cylinder hinge shafts.

[0011] Preferably, the ends of the first arm and the second arm away from the arm cylinder are locked by a pin cylinder. The arm cylinder is used to drive the opening and closing of the clamping arm, and the pin cylinder cooperates with the mechanical locking mechanism to lock after the arm is fully extended. When the arm is fully opened, the pin automatically extends and engages with the fixed member to mechanically lock the clamping arm, and it can maintain the locked state even when the hydraulic oil circuit loses pressure. The hydraulic cylinder integrated with the mechanical locking mechanism automatically locks when reaching the limit position and can remain fixed under heavy load conditions. This combined structure improves the reliability of the arm movement and the locking safety, prevents the arm from accidentally retracting or collapsing under high vibration or sudden failure conditions, and enhances the safety and reliability of the equipment operation.

[0012] Preferably, the clamping actuator, the driving device and the adaptive adjustment control unit are electrically connected to dynamically adjust the clamping range or the guiding path according to the change of the diameter or shape of the pipe pile. The clamping actuator, the driving device and the adaptive adjustment control unit are connected through an electrical system to form a closed-loop control system. Each sensor communicates with the control unit by means of IO-Link or field bus, etc., to transmit data such as pressure and displacement in real time, enabling the controller to automatically adjust the clamping parameters based on the feedback information. With the help of this intelligent control system, the size information and the force-bearing situation of different specifications of pipe piles can be collected in real time and used for parameter calculation, and the control unit automatically optimizes the clamping pressure and the centering action accordingly to achieve the adaptive clamping control of multi-specification pipe piles. The intelligent control not only improves the clamping efficiency, but also enhances the versatility and reliability of the equipment.

[0013] The beneficial technical effects achieved by the present invention compared with the prior art are as follows: By combining the pile-holding opening and closing mechanism with the clamping execution mechanism, the present invention positions the pipe pile in a dual positioning manner, and at the same time endows independent clamping and automatic centering functions, realizing a dual positioning mechanism of "clamping first and then centering" or "synchronous clamping", and completely solving the problem of eccentric clamping of pipe piles. Compared with the prior art that only relies on one-way clamping by the closing of the clamping arms, the device corrects the position of the pipe pile by multi-directional clamping force after clamping, significantly improving the centering accuracy, ensuring the verticality of pile driving, and reducing the risk of pile body inclination caused by eccentricity.

[0014] By using the guiding and calibration component in cooperation with the adaptive adjustment control unit, the present invention automatically guides the pipe pile before clamping, realizes pre-positioning and stable centering. The cooperation of the rollers during movement makes the guiding process smooth and without impact, preventing scratching or impact on the outer wall of the pipe pile, thereby greatly improving the centering accuracy and guiding stability during pipe pile clamping, and ensuring that the pipe pile is always in a centered state before and after clamping. At the same time, the clamping range can also be dynamically adjusted according to the diameter or shape of the pipe pile. Through the dual adaptation of mechanical guidance and intelligent control, it can effectively cope with various pipe pile specifications, greatly expanding the applicable range of the equipment. It effectively solves the problem that the prior art can only adapt to a fixed pile diameter. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the pile-holding and clamping centering device of the pile driving barge of the present invention.

[0016] Figure 2 is a side view of the pile-holding and clamping centering device of the pile driving barge of the present invention.

[0017] Figure 3 is a schematic structural diagram of the pile-holding and clamping centering device of the pile driving barge of the present invention when it is opened.

[0018] Figure 4 is a schematic structural diagram of the pile-holding and clamping centering device of the pile driving barge of the present invention when clamping a large-sized pipe pile.

[0019] Figure 5 is a schematic structural diagram of the pile-holding and clamping centering device of the pile driving barge of the present invention when clamping a small-sized pipe pile.

[0020] Figure 6 is Figure 5 the sectional view taken along A-A in

[0021] Figure 7 is Figure 6 the sectional view taken along B-B in

[0022] Figure 8 is Figure 6 the sectional view taken along C-C in

[0023] Figure 9 It is a schematic structural diagram of the panel of the adaptation adjustment control unit.

[0024] Figure 10 It is a hydraulic control schematic diagram of the pile-holding and centering device of the pile-driving ship of the present invention.

[0025] Figure 11 It is the marine product test certificate of the present invention.

[0026] In the figure: 1 - Pile-holding opening and closing mechanism, 101 - First pile-holding arm oil cylinder, 102 - Oil cylinder hinge shaft, 103 - First pile-holding arm, 104 - Second pile-holding arm oil cylinder, 105 - Second pile-holding arm, 106 - Pin oil cylinder, 2 - Clamping execution mechanism, 201 - Clamping push plate body, 202 - Clamping block, 3 - Pipe pile, 4 - Driving device, 401 - Clamping oil cylinder, 402 - Translation push rod, 403 - Clamping oil cylinder seat, 404 - Sliding cavity, 5 - Guiding and calibrating component, 501 - V-shaped guiding convex platform, 502 - Guiding roller, 503 - Pressure sensor, 504 - Displacement sensor, 6 - Adaptation adjustment control unit. Specific implementation mode

[0027] The present invention will be further explained and described below in conjunction with the accompanying drawings and embodiments.

[0028] Referring to Figures 1 - 8 As shown, the present invention provides a pile-holding and centering device for a pile-driving ship, including: a pile-holding opening and closing mechanism 1 configured to hold and clamp a pipe pile 3 after the pipe pile 3 is hoisted in place; a clamping execution mechanism 2 configured to apply clamping forces from multiple directions after the pile-holding opening and closing mechanism 1 clamps the pipe pile 3 and position the pipe pile 3 in a preset central area of the pile-holder; a driving device 4 connected to the clamping execution mechanism 2 for driving the clamping execution mechanism 2 to move along at least one preset direction to complete the clamping or release of the pipe pile 3; a guiding and calibrating component 5 configured to guide the moving track of the pipe pile 3 during the clamping process to automatically align it with the preset central area; wherein, the clamping execution mechanism 2, the driving device 4, the guiding and calibrating component 5 and the adaptive adjustment control unit 6 cooperate to achieve the centering positioning of the pipe pile in the pile-holder, and the clamping and centering actions of the device are independent of the opening and closing actions of the pile-holding arms of the pile-holder, and double positioning is achieved through the pile-holding opening and closing mechanism 1 and the clamping execution mechanism 2.

[0029] The pile holding opening and closing mechanism 1 includes a first arm cylinder 101 and a second arm cylinder 104, and the first arm cylinder 101 and the second arm cylinder 104 are respectively movably connected to the first arm 103 and the second arm 105 through the cylinder hinge shaft 102. The ends of the first arm 103 and the second arm 105 away from the arm cylinder are locked by the latch cylinder 106. The arm cylinders 101 and 104 are used to drive the opening and closing of the clamping arm, and the latch cylinder 106 cooperates with the mechanical locking mechanism to lock the arm after the arm is fully deployed. When the arm is fully opened, the latch automatically extends and engages with the fixed component to mechanically lock the clamping arm. Even if the hydraulic oil circuit loses pressure, the locking state can be maintained. The hydraulic cylinder with an integrated mechanical locking mechanism automatically locks when it reaches the limit position and can remain fixed under heavy load conditions. This combined structure improves the reliability of the arm action and the locking safety, prevents the arm from accidentally retracting or collapsing under high vibration or sudden failure, and enhances the safety and reliability of equipment operation.

[0030] The clamping actuator 2 includes a clamping push plate body 201, which is an L-shaped structure. A hollow sliding cavity 404 is fixedly provided at the upper end of the clamping cylinder seat 403. One end of the clamping push plate body 201 is arranged in the sliding cavity 404 and extends outside the sliding cavity 404. The extended part of the clamping push plate body 201 is fixedly connected to the clamping block 202, and the clamping block 202 is fixedly sleeved on the translation push rod 402. The L-shaped clamping push plate body 201 is composed of two right-angle sections, which can evenly distribute the thrust to the support arms on both sides during the clamping process to form a strong and rigid support structure. The L-shaped structure has uniform load distribution, improves the thrust transmission efficiency, and avoids structural deformation or instability caused by single-point force concentration. The L-shaped component can evenly distribute the load and stress to the support arm, thereby ensuring the stability of the overall structure. Combined with the guiding constraint of the sliding cavity 404 on the push plate, the push plate maintains a stable trajectory during movement, plays a limiting role, reduces the risk of wear and jamming, and further enhances the reliability and durability of thrust transmission.

[0031] The driving device 4 includes a clamping cylinder 401, which is fixedly arranged on a clamping cylinder seat 403. The front end of the clamping cylinder 401 is connected to the translation push rod 402 through a clamping coupling. The power input end of the clamping cylinder 401 is connected to the hydraulic station or independent power source of the pile gripper. The clamping cylinder 401 is arranged in a rigid power connection mode. The cylinder directly acts on the clamping mechanism, so that the clamping force is transmitted stably and the response is fast during the clamping process. The direct drive of the hydraulic cylinder can provide a large thrust to prevent the pile from loosening or vibrating during clamping, thereby improving the clamping stability. The efficient hydraulic clamp can maintain a constant clamping force and precision during repeated operations.

[0032] The guiding and calibrating component 5 includes at least one set of symmetrically arranged V-shaped guiding bosses 501, the V-shaped guiding bosses 501 are fixedly connected to the clamping blocks 202, and guiding rollers 502 are arranged between the V-shaped guiding bosses 501 to restrict the lateral offset of the pipe pile by rolling friction and guide the pipe pile to be centered. The clamping actuator 2 is used in cooperation with the rotating guiding rollers 502 to automatically guide the pipe pile before clamping, realizing pre-positioning and stable centering. The cooperation of the rollers during movement makes the guiding process smooth and without impact, preventing scratching or impact on the outer wall of the pipe pile. Practice shows that the roller device with a V-shaped groove can provide reliable guiding and central positioning during pipeline transportation and installation. Thus, the centering accuracy and guiding stability during pipe pile clamping are greatly improved, ensuring that the pipe pile is always in the centered state before and after clamping.

[0033] A pressure sensor 503 is provided at the side end of the guiding roller 502, and a displacement sensor 504 is provided at the lower end of the translation push rod 402, which is used to feedback the position and clamping force of the translation push rod 402 in real time. The pressure sensor and the displacement sensor are integrated on the clamping actuator to monitor and perform closed-loop adjustment on the clamping state in real time. The pressure sensor can detect the clamping pressure in the hydraulic system in real time and feedback the signal to the adaptive adjustment control unit 6 to form a closed-loop control logic for precisely adjusting the clamping force; the displacement sensor is installed on the oil cylinder or the push plate to monitor the displacement under the thrust and the position of the pipe pile. When eccentricity or displacement change is detected, the control unit can timely adjust the output of the oil cylinder or trigger the centering action to achieve automatic deviation correction. Installing the position sensor on the driving and positioning cylinder can ensure that the part is correctly pushed into the central position. Through the feedback of the dual sensors, the present invention realizes the intelligent monitoring and adaptive control of the clamping force and displacement, further improving the stability and safety of the clamping process.

[0034] Refer to Figures 9 - 10 As shown in the figure, the clamping actuator 1, the driving device 4 and the adaptive adjustment control unit 6 are electrically connected to dynamically adjust the clamping range or the guiding path according to the change of the diameter or shape of the pipe pile 3. The clamping actuator, the driving device and the adaptive adjustment control unit are connected through an electrical system to form a closed-loop control system. Each sensor communicates with the control unit by means of IO-Link or fieldbus, etc., to transmit data such as pressure and displacement in real time, enabling the controller to automatically adjust the clamping parameters based on the feedback information. With the help of this intelligent control system, the size information and force conditions of different specifications of pipe piles can be collected in real time and used for parameter calculation. The control unit automatically optimizes the clamping pressure and the centering action accordingly to achieve the adaptive clamping control of multi-specification pipe piles. The intelligent control not only improves the clamping efficiency, but also enhances the versatility and reliability of the equipment.

[0035] To facilitate the understanding of the above technical solution of the present invention, the above technical solution of the present invention will be described in detail through specific usage modes below.

[0036] The specific working process is as follows: Step 1: The pile-holding opening and closing mechanism operates. After the pipe pile 3 is hoisted in place, the first boom cylinder 101 and the second boom cylinder 104 of the pile-holding opening and closing mechanism 1 drive the first boom 103 and the second boom 105 to open. When the booms are unfolded to a preset angle, the pin cylinder 106 automatically extends to mechanically lock the booms, forming a stable holding space. Step 2: Preliminary clamping and guiding calibration. After the booms are closed, the driving device 4 is started, and the clamping cylinder 401 pushes the translation push rod 402 forward, driving the clamping push plate body 201 to slide forward in the sliding cavity 404. The clamping push plate body 201 drives the clamping block 202 to approach the pipe pile 3. At this time, the V-shaped guiding boss 501 and the guiding roller 502 of the guiding calibration component 5 contact the outer wall of the pipe pile, guiding the pipe pile to move towards the preset central area through rolling friction. The pressure sensor 503 detects the contact pressure in real time, and the displacement sensor 504 monitors the displacement of the translation push rod 402 to ensure uniform distribution of the clamping force. Step 3: Dual positioning and adaptive adjustment. After the pipe pile 3 is initially centered, the clamping execution mechanism 2 continues to apply multi-directional clamping force. The adaptive adjustment control unit 6 dynamically adjusts the output pressure and displacement of the clamping cylinder 401 according to the sensor feedback data. If it is detected that the diameter of the pipe pile changes or there is an eccentric trend Figure 4 it is a large pipe pile, Figure 5 it is a small pipe pile, the control unit automatically corrects the guiding path of the guiding roller 502 and adjusts the clamping force to ensure that the pipe pile is always in the centered state. Step 4: Clamping and locking and construction preparation. After clamping is completed, the pin cylinder 106 keeps the booms in the locked state, and the clamping block 202 fixes the pipe pile through a rigid structure. At this time, the device enters the stable clamping mode and can perform subsequent pile driving operations.

[0037] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is 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 operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" 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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] It should be noted that in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0039] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features described herein.

Claims

1. A pile clamping and centering device for a pile driving vessel, comprising: The pile-holding opening and closing mechanism (1) is configured to hold and clamp the pipe pile (3) after the pipe pile (3) is hoisted into place; and is characterized in that: The clamping actuator (2) is configured to apply clamping force from multiple directions after the pile-holding opening and closing mechanism (1) clamps the pipe pile (3), and to position the pipe pile (3) in a preset central area of ​​the pile gripper; A driving device (4) connected to the clamping actuator (2) and used to drive the clamping actuator (2) to move along at least one preset direction to complete the clamping or releasing of the pipe pile (3); A guide calibration component (5) configured to guide the movement trajectory of the pipe pile (3) during the clamping process so that it is automatically centered towards a preset central area; The clamping actuator (2), the driving device (4), the guide calibration component (5) and the adaptive adjustment control unit (6) work together to achieve the central positioning of the pipe pile in the pile gripper, and the clamping action of the device is independent of the opening and closing action of the gripping arm of the pile gripper, so that dual positioning is achieved through the pile gripping opening and closing mechanism (1) and the clamping actuator (2).

2. The pile gripper clamping and centering device of the pile driving vessel according to claim 1, characterized in that, The driving device (4) comprises a clamping cylinder (401), the clamping cylinder (401) being fixedly arranged on a clamping cylinder seat (403), the front end of the clamping cylinder (401) being transmission-connected to a translation push rod (402) via a clamping coupling, and the power input end of the clamping cylinder (401) being connected to a hydraulic station or an independent power source of the pile gripper.

3. The pile gripper clamping and centering device of the pile driving vessel according to claim 2, characterized in that, The clamping actuator (2) comprises a clamping push plate body (201), the clamping push plate body (201) is an L-shaped structure, a hollow sliding cavity (404) is fixedly arranged at the upper end of the clamping cylinder seat (403), one end of the clamping push plate body (201) is arranged in the sliding cavity (404) and extends outside the sliding cavity (404), the extended part of the clamping push plate body (201) is fixedly connected to the clamping block (202), and the clamping block (202) is fixedly sleeved on the translation push rod (402).

4. The pile gripper clamping and centering device of the pile driving vessel according to claim 3, wherein, The guide calibration component (5) comprises at least one group of symmetrically arranged V-shaped guide bosses (501), the V-shaped guide bosses (501) being fixedly connected to the clamping block (202), and guide rollers (502) being arranged between the V-shaped guide bosses (501) to limit the lateral deviation of the pipe pile and guide the pipe pile to center through rolling friction.

5. The pile gripper clamping and centering device of the pile driving vessel according to claim 4, wherein, A pressure sensor (503) is provided at the side end of the guide roller (502), and a displacement sensor (504) is provided at the lower end of the translation push rod (402) for real-time feedback of the position and clamping force of the translation push rod (402).

6. The pile gripper clamping and centering device of the pile driving vessel according to claim 1, characterized in that, The pile-holding opening and closing mechanism (1) comprises a first arm-holding oil cylinder (101) and a second arm-holding oil cylinder (104); the first arm-holding oil cylinder (101) and the second arm-holding oil cylinder (104) are movably connected to the first arm-holding oil cylinder (103) and the second arm-holding oil cylinder (105) respectively through the oil cylinder hinge shaft (102).

7. The pile gripper clamping and centering device of the pile driving vessel according to claim 6, characterized in that, The ends of the first arm (103) and the second arm (105) away from the arm oil cylinder are locked by a latch oil cylinder (106).

8. The pile gripper clamping and centering device of the pile driving barge according to claim 4, wherein The clamping actuator (1), the driving device (4) and the adaptive adjustment control unit (6) are electrically connected and are used to dynamically adjust the clamping range or the guiding path according to the change in the diameter or shape of the pipe pile (3).

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