Integrated positioning and drilling equipment and method for offshore large-span photovoltaic support purline

Abstract

The invention discloses integrated positioning and drilling equipment for an offshore large-span photovoltaic support purline. The integrated positioning and drilling equipment comprises a working platform, a platform walking mechanism, a platform fixing device, four drilling machines, a CCD camera and a control box. The middle portions of the two side faces of the working platform are each provided with a groove with the center line located on the transverse center line of the working platform. The platform walking mechanism comprises two walking shafts, two pairs of walking wheels and a walking wheel driving mechanism. The platform fixing device comprises two transverse moving mechanisms, two vertical clamping mechanisms and two purline buckles; the two transverse moving mechanisms are mounted in the two grooves in a back-to-back manner; the two vertical clamping mechanisms are mounted on the two transverse moving mechanisms; the two purline buckles are mounted on the two vertical clamping mechanisms; the four drilling machines are mounted at four corners of the working platform; the CCD camera and the control box are installed on the working platform, and the CCD module and the integrated controller are installed in the control box. According to the invention, an integrated mode of on-site accurate positioning and automatic drilling is adopted for operation.

Description

Technical Field

[0001] This invention relates to an integrated positioning and drilling device and method for purlins of large-span marine photovoltaic support structures. Background Technology

[0002] Most photovoltaic (PV) projects in my country are currently onshore, especially large-scale onshore PV bases in the Northwest region. Offshore PV, a new way of utilizing marine energy, has become a rising star in the field of solar energy utilization due to its abundant resources and high efficiency.

[0003] Compared to onshore photovoltaic projects, there are fewer offshore photovoltaic projects actually under construction, and construction experience is relatively lacking. In particular, there is a lack of research on the fabrication of large-span offshore photovoltaic platforms (platforms exceeding 60m×35m in size and 2100 square meters or even larger in area), as well as issues such as the accumulation of construction errors and the control of structural deformation. There is a lack of efficient and precise experience in the installation of photovoltaic panels, making it difficult to effectively adapt to the large-span structural characteristics of offshore photovoltaic platforms.

[0004] The current standard practice in the construction of large-span offshore photovoltaic (PV) platforms is to first install the steel structure support, then install purlins with pre-drilled holes (for the PV panels) on the top surface of the support. Installers then use temporary platforms to install the PV panels between every two purlins. However, due to a combination of factors, including deviations during pre-drilling, installation errors, and structural deformation of the purlins, the mounting holes on the PV panels and the purlins can easily become misaligned, causing installation deviations exceeding specifications. This necessitates extensive on-site drilling, resulting in low installation efficiency for the PV platform. Summary of the Invention

[0005] The purpose of this invention is to overcome the existing defects and provide an integrated positioning and drilling equipment and method for purlins of large-span marine photovoltaic support structures. It adopts an integrated approach of precise on-site positioning and automatic drilling, thereby significantly improving the installation efficiency of photovoltaic platforms.

[0006] One technical solution to achieve the above objectives is: an integrated positioning and drilling device for purlins of large-span marine photovoltaic support structures, including a working platform, a platform walking mechanism, a platform fixing device, four drilling rigs, a CCD camera, and a control box;

[0007] The working platform is rectangular, and its width is greater than the distance between the outer sides of two adjacent purlins. The length of the working platform is adapted to the distance between two adjacent sets of mounting holes on each purlin. A groove is opened in the middle of each of the two sides of the working platform, and the center line of the two grooves is located on the transverse center line of the working platform.

[0008] The platform's walking mechanism includes two walking axles, two pairs of walking wheels, and a walking wheel drive mechanism; wherein...

[0009] Two traveling shafts are each mounted on the bottom surface of the work platform via two bearing seats, one in front of the other.

[0010] Two pairs of wheels are installed at both ends of the two axles and roll on the two purlins in a corresponding manner.

[0011] The walking wheel drive mechanism includes two walking drive motors installed in the middle of the bottom surface of the working platform, two driving gears installed on the rotating shafts of the two walking drive motors in a one-to-one correspondence, and two driven gears installed in the middle of the two walking shafts in a one-to-one correspondence and meshing with the two driving gears in a one-to-one correspondence.

[0012] The platform fixing device includes two lateral moving mechanisms, two vertical clamping mechanisms, and two purlin fasteners; wherein,

[0013] Two lateral movement mechanisms are mounted opposite each other on the lateral centerline of the work platform and are located in two corresponding grooves; each of the lateral movement mechanisms includes a lateral motor mounted on the top surface of the work platform and near the bottom of the groove, a lateral lead screw bearing seat mounted in the middle of the groove by a bracket, a lateral lead screw connecting the end of the lateral motor shaft and the lateral lead screw bearing seat, a lateral nut screwed onto the lateral lead screw, and a translation plate mounted on the top surface of the lateral nut with a through hole at its outer end;

[0014] Two vertical clamping mechanisms are installed on two lateral moving mechanisms in a one-to-one correspondence; each vertical clamping mechanism includes a vertical motor fixedly installed on the translation plate of the corresponding lateral moving mechanism with its shaft inserted into a through hole in the translation plate, a vertical lead screw connected to the end of the shaft of the vertical motor, and a vertical nut screwed onto the vertical lead screw.

[0015] Two purlin clips are installed one-to-one on two vertical clamping mechanisms; each purlin clip includes a lower clamping plate and an upper clamping plate; the lower clamping plate has a horizontal part and a vertical part in an L-shape, and the height of the vertical part is greater than the thickness of the purlin; a vertical screw bearing seat is installed on the top surface of the horizontal part of the lower clamping plate near the top surface of the vertical part, and the vertical screw bearing seat is connected to the lower end of the vertical screw, so that the top surface of the horizontal part of the lower clamping plate and the bottom surface of the purlin are on the same horizontal plane; the size of the upper clamping plate is the same as the size of the horizontal part of the lower clamping plate, and a mounting hole coaxial with the vertical screw bearing seat on the lower clamping plate is opened on the surface of the upper clamping plate; the upper clamping plate is fixed to the vertical nut of the vertical clamping mechanism through the mounting hole; when the upper clamping plate moves to the top surface of the vertical part of the lower clamping plate through the vertical nut, the upper clamping plate and the lower clamping plate form a horizontal U-shape with the opening facing the purlin;

[0016] Four drilling rigs are installed at the four corners of the working platform through lifting mechanisms, so that the drill bits of the four drilling rigs are aligned with the two purlins below the front end and the two purlins below the rear end of the working platform.

[0017] The CCD camera is mounted on the front middle or rear middle of the working platform via a support frame;

[0018] The control box is installed on the top surface of the work platform. Inside the control box are a CCD module and a centralized controller that are interconnected. The CCD module is connected to the CCD camera via signal lines. The centralized controller is connected to four drilling rigs, four lifting mechanisms, two travel drive motors in the platform's traveling mechanism, and two horizontal and two vertical motors in the platform's fixing device via signal lines. The centralized controller controls the two travel drive motors to operate synchronously; the centralized controller controls the two horizontal motors to operate synchronously; the centralized controller controls the two vertical motors to operate synchronously; a human-machine interface touchscreen is installed on the control box's panel.

[0019] The aforementioned integrated positioning and drilling equipment for the purlins of large-span marine photovoltaic support structures includes a traveling wheel that is a grooved wheel with a width adapted to the width of the purlin.

[0020] The aforementioned integrated positioning drilling equipment for the purlins of a large-span marine photovoltaic support includes a lateral movement mechanism that further comprises two grooves fixed one-to-one on the bottom surfaces of both sides of the translation plate and two slide rails installed one-to-one on the top surfaces of both sides of the groove and corresponding to the two grooves, so that the translation plate can be slidably mounted on the two slide rails through the two grooves.

[0021] The aforementioned integrated positioning drilling equipment for the purlins of a large-span marine photovoltaic support structure includes a dovetail-shaped slot vertically formed at the center of the inner end face of the vertical portion of the lower clamping plate of the purlin clip; and a dovetail-shaped tenon protruding at the center of the outer end face of the upper clamping plate, which is adapted to the dovetail-shaped slot, so that the upper clamping plate is installed on the inner end face of the vertical portion of the lower clamping plate after being slidably inserted into the slot through the tenon.

[0022] The aforementioned integrated positioning drilling equipment for the purlins of large-span marine photovoltaic supports includes two or three drill bits on each drilling rig that can drill simultaneously.

[0023] The aforementioned integrated positioning and drilling equipment for the purlins of large-span marine photovoltaic support structures includes a power supply box installed on the top surface of the working platform.

[0024] Another technical solution to achieve the above objective is: a method for positioning and drilling purlins of large-span marine photovoltaic support structures, employing the integrated positioning and drilling equipment for large-span marine photovoltaic support purlins of this invention, and including the following steps:

[0025] S1. After the steel structure support and purlins of the large-span photovoltaic platform at sea are installed, the integrated positioning drilling equipment is hoisted onto the two purlins on the top surface of the photovoltaic platform, so that the two pairs of traveling wheels ride on the two adjacent purlins, calibrate the various components of the equipment, and set the operating parameters of the equipment, including the distance parameters of the equipment movement.

[0026] S2. According to the drilling position specified in the design, manually operate the human-machine interface touch screen of the control box, and drive two walking drive motors through the central controller to move the integrated positioning drilling equipment to the initial drilling point specified in the design.

[0027] S3. The two horizontal motors of the platform fixing device are controlled by the central controller in the control box to rotate and drive the two translation plates to move relative to each other through the two horizontal screws until the horizontal parts of the lower clamps of the two purlin clips enter the bottom of the two purlins from the outside of the two purlins. Then, the two vertical motors of the platform fixing device are controlled by the central controller to rotate and drive the upper clamps of the two purlin clips to move downward relative to the lower clamps through the two vertical screws until the upper clamps of the two purlin clips press against the top surface of the two purlins and the two purlin clips lock the two purlins, so that the integrated positioning drilling equipment is fixed on the two purlins.

[0028] S4. The central controller controls the lifting mechanism of the four drilling rigs to lower the drill bit and drill two sets of mounting holes on each of the two purlins. After the four drilling rigs finish drilling at the initial drilling point, the central controller controls the lifting mechanism of the four drilling rigs to raise the drill bit of the four drilling rigs.

[0029] S5, the CCD camera takes pictures of the two sets of mounting holes that have been drilled at the front of the work platform. After receiving the image information from the CCD camera, the CCD module in the control box analyzes and processes the image information and provides the processed information to the central controller. The central controller calculates the next drilling point based on the distance parameters of the equipment movement set during the previous calibration.

[0030] S6. First, control the two vertical motors of the platform fixing device to rotate through the central controller and drive the upper clamping plates of the two purlin clips to move up relative to the lower clamping plates through the two vertical lead screws, releasing the two purlins. Then, control the two horizontal motors of the platform fixing device to rotate through the central controller and drive the two translation plates to move in opposite directions through the two horizontal lead screws until the horizontal parts of the lower clamping plates of the two purlin clips move outward from the bottom of the two purlins to the outside of the two purlins, so that the two purlin clips release the clamping of the two purlins.

[0031] S7. The two walking drive motors are controlled by the centralized controller to drive the two pairs of walking wheels in a one-to-one correspondence, so that the integrated positioning drilling equipment can move to the next drilling point.

[0032] S8. After the integrated positioning drilling equipment reaches the next drilling point, the central controller will then control the platform fixing device to fix the integrated positioning drilling equipment to the two purlins again.

[0033] S9. The centralized controller controls the lifting mechanisms of the two drilling rigs located at the rear of the working platform, so that the drill bits of the two drilling rigs descend and abut against the top surfaces of the two purlins in a one-to-one correspondence. The centralized controller controls the drill bits of the two drilling rigs located at the front of the working platform to drill a set of mounting holes on each of the two purlins. After drilling is completed, the centralized controller controls the lifting mechanisms of the four drilling rigs to lift the drill bits of the four drilling rigs.

[0034] S10. Repeat steps S5 to S9 until all mounting holes on the two purlins are drilled.

[0035] The integrated positioning and drilling equipment and method for purlins of large-span marine photovoltaic support structures of the present invention has the following beneficial effects: it uses a CCD camera to collect image information of each drilling operation and transmits it to a centralized controller through a CCD module. The centralized controller then calculates the walking distance of the equipment, which automatically moves through the platform walking mechanism, is automatically fixed by the platform fixing device, and automatically drills holes through four drilling rigs. This greatly improves the construction accuracy and efficiency of purlin drilling, thereby significantly improving the installation efficiency of the photovoltaic platform. Attached Figure Description

[0036] Figure 1 This is a side view of the integrated positioning and drilling equipment for the purlins of the large-span marine photovoltaic support system of the present invention;

[0037] Figure 2 This is a front view of the integrated positioning and drilling equipment for the purlins of the large-span marine photovoltaic support system of the present invention;

[0038] Figure 3 This is a top view of the integrated positioning and drilling equipment for the purlins of the large-span marine photovoltaic support system of the present invention;

[0039] Figure 4 yes Figure 3 AA view in the middle. Detailed Implementation

[0040] The technical solutions in the embodiments of the present invention will now be clearly and completely described in conjunction with the accompanying drawings.

[0041] Please see Figures 1 to 4 The integrated positioning and drilling equipment for purlins of large-span marine photovoltaic support structures of the present invention includes a working platform 1, a platform walking mechanism, a platform fixing device, four drilling rigs 6, a CCD camera, a power supply box 8, and a control box 9.

[0042] The working platform 1 is rectangular. The width of the working platform 1 is greater than the distance between the outer sides of two adjacent purlins 100. The length of the working platform 1 is adapted to the distance between two adjacent sets of mounting holes on each purlin 100. A groove 10 is opened in the middle of each side of the working platform 1, and the center line of the two grooves 10 is located on the transverse center line of the working platform 1.

[0043] The platform's walking mechanism includes two walking axles 21, two pairs of walking wheels 20, and a walking drive mechanism; among which,

[0044] Two traveling shafts 21 are each mounted on the bottom surface of the work platform 1 through two bearing seats 22, one in front of the other.

[0045] Two pairs of traveling wheels 20 are installed at both ends of the two traveling shafts 21 in a one-to-one correspondence. The traveling wheels 20 are grooved wheels with a width that matches the width of the purlin 100, so that each pair of traveling wheels 20 can roll on the two adjacent purlins 100, and can stably place the positioning drilling equipment on the top surface of the two purlins 100.

[0046] The walking wheel drive mechanism includes two walking drive motors 23 mounted on the center of the bottom surface of the working platform 1, two drive gears 24 mounted on the shafts of the two walking drive motors 23 in a one-to-one correspondence, and two driven gears 25 mounted on the center of the two walking shafts 21 in a one-to-one correspondence and meshing with the two drive gears 24 in a one-to-one correspondence.

[0047] The platform fixing device includes two lateral moving mechanisms, two vertical clamping mechanisms, and two purlin clamps 5; among which,

[0048] Two lateral moving mechanisms are installed opposite each other on the lateral centerline of the work platform 1 and are located in two corresponding grooves 10. Each lateral moving mechanism includes a lateral motor 31 installed on the top surface of the work platform 1 and close to the bottom of the groove 10, a lateral lead screw bearing seat 32 fixed in the middle of the groove 10 by a bracket, a lateral lead screw 33 connected between the shaft end of the lateral motor 31 and the lateral lead screw bearing seat 32 (so that the lateral lead screw 33 can only rotate and cannot move laterally), a lateral nut 34 screwed onto the lateral lead screw 33, a translation plate 30 installed on the top surface of the lateral nut 34 and having a through hole at the outer end, two sliding grooves (not shown in the figure) fixed one-to-one on the bottom surfaces of both sides of the translation plate 30, and two slide rails (not shown in the figure) installed one-to-one on the top surfaces of both sides of the groove 10 and corresponding to the two sliding grooves. This allows the translation plate 30 to be slidably installed on the two slide rails through the two sliding grooves, which enhances the stability of the translation plate 30 during movement.

[0049] Two vertical clamping mechanisms are installed on two horizontal moving mechanisms in a one-to-one correspondence; each vertical clamping mechanism includes a vertical motor 41 fixedly installed on the translation plate 30 of the corresponding horizontal moving mechanism and the rotating shaft inserted in the through hole of the translation plate 30, a vertical lead screw 42 connected to the end of the rotating shaft of the vertical motor 41, and a vertical nut 43 screwed onto the vertical lead screw 42.

[0050] Two purlin clips 5 are installed one-to-one on two vertical clamping mechanisms; each purlin clip 5 includes a lower clamping plate 51 and an upper clamping plate 52; wherein, the lower clamping plate 51 has a horizontal part and a vertical part in an L shape, and the height of the vertical part is greater than the thickness of the purlin 100. A vertical screw bearing seat 44 is installed on the top surface of the horizontal part of the lower clamping plate 51 near the vertical part. The vertical screw bearing seat 44 is connected to the lower end of the vertical screw 42, so that the vertical screw 42 can only rotate and cannot move vertically, and the top surface of the horizontal part of the lower clamping plate 51 is on the same horizontal plane as the bottom surface of the purlin 10; a dovetail-shaped slot is vertically opened in the middle of the inner end face of the vertical part of the lower clamping plate 51. The upper clamping plate 52 has the same dimensions as the horizontal portion of the lower clamping plate 51. A dovetail tenon adapted to the dovetail slot is protruding from the middle of the outer side of the upper clamping plate 52, so that the upper clamping plate 52 can be slidably inserted into the slot and installed on the inner end face of the vertical portion of the lower clamping plate 51. A mounting hole coaxial with the vertical lead screw bearing seat 44 on the lower clamping plate 51 is opened on the surface of the upper clamping plate 52. The upper clamping plate 52 is fixed to the vertical nut 43 of the vertical clamping mechanism through the mounting hole. When the upper clamping plate 52 moves to the top surface of the vertical portion of the lower clamping plate 51 through the vertical nut 43, the upper clamping plate 52 and the lower clamping plate 51 form a reclining U-shape with the opening facing the purlin 100.

[0051] Two pairs of drilling rigs 6 are installed at the four corners of the working platform 1 through a lifting mechanism, so that the drill bits 60 of the four drilling rigs 6 are aligned with the two purlins 100 below the front end and the two purlins 100 below the rear end of the working platform 1. The lifting mechanism can make fine adjustments to the position of the drill bits. Each drilling rig 6 is equipped with two or three drill bits 60 that can drill holes simultaneously.

[0052] The CCD camera 7 is mounted on the front center of the work platform 1 via a support bracket 70.

[0053] The power supply box 8 and the control box 9 are installed one behind the other in the middle of the work platform 1; the power supply box 8 uses a rechargeable power supply to provide power to the entire equipment.

[0054] The control box 9 houses a CCD module and a centralized controller that are interconnected by signal lines. The CCD module is connected to the CCD camera 7 via signal lines. The centralized controller is connected to the four drilling rigs 6, the four lifting mechanisms, two travel drive motors 23 in the platform traveling mechanism, two horizontal motors 31 and two vertical motors 42 in the platform fixing device via signal lines. The centralized controller controls the two travel drive motors 23 to operate synchronously; the centralized controller controls the two horizontal motors 31 to operate synchronously; the centralized controller controls the two vertical motors 41 to operate synchronously. A human-machine interface touch screen 90 is installed on the panel of the control box 9.

[0055] The positioning drilling method for purlins of large-span marine photovoltaic support structures of the present invention employs the integrated positioning drilling equipment for purlins of large-span marine photovoltaic support structures of the present invention, and includes the following steps:

[0056] S1. After the steel structure support and purlins 100 of the large-span photovoltaic platform at sea are installed, the integrated positioning drilling equipment is hoisted onto the two purlins 100 on the top surface of the photovoltaic platform, so that the two pairs of traveling wheels 20 ride on the two adjacent purlins 100. The integrated positioning drilling equipment is placed stably on the top surface of the two purlins 100. The various components of the equipment are calibrated and the operating parameters of the equipment are set, including the inward and clamping action parameters of the two purlin buckles 5, the action parameters of the drill bits 60 of the four drilling rigs 6 descending and pressing against the purlins 100, and the distance parameters of the equipment movement.

[0057] S2. According to the drilling position specified in the design, manually operate the human-machine interface touch screen 90 of the control box 9 to drive two walking drive motors 23 through the centralized controller to move the integrated positioning drilling equipment to the initial drilling point specified in the design.

[0058] S3. The two horizontal motors 31 of the platform fixing device are controlled by the central controller in the control box 9 to rotate and drive the two translation plates 30 to move relative to each other through the two horizontal screws 33, until the horizontal parts of the lower clamping plates 51 of the two purlin clips 5 enter the bottom of the two purlins 100 from the outside of the two purlins 100. Then, the two vertical motors 41 of the platform fixing device are controlled by the central controller to rotate and drive the upper clamping plates 52 of the two purlin clips 5 to move downward relative to the lower clamping plates 51 through the two vertical screws 42, until the upper clamping plates 52 of the two purlin clips 5 press against the top surface of the two purlins 100, and the two purlin clips 5 lock the two purlins 100, so that the integrated positioning drilling equipment is fixed on the two purlins 100.

[0059] S4. The lifting mechanism 6A of the four drilling rigs 6 is controlled by the central controller to lower the drill bit 60 and drill two sets of mounting holes on each of the two purlins 100. Each drilling rig 6 drills one set of holes, i.e., three mounting holes, simultaneously through three drill bits 60. After the four drilling rigs 6 finish drilling at the initial drilling point, the central controller controls the lifting mechanism 6A of the four drilling rigs 6 to raise the drill bits 60 of the four drilling rigs 6.

[0060] S5 and CCD camera 7 take pictures of the two sets of mounting holes that have been drilled at the front of the work platform 1. After receiving the image information from CCD camera 7, the CCD module in control box 9 analyzes and processes the image information and provides the processed information to the central controller. The central controller calculates the next drilling point based on the distance parameters of equipment movement set during the previous calibration.

[0061] S6. First, control the two vertical motors 41 of the platform fixing device to rotate through the central controller and drive the upper clamping plates 52 of the two purlin clips 5 to move upward relative to the lower clamping plates 51 through the two vertical screws 42, releasing the two purlins 100. Then, control the two horizontal motors 31 of the platform fixing device to rotate through the central controller and drive the two translation plates 30 to move in opposite directions through the two horizontal screws 33 until the horizontal parts of the lower clamping plates 51 of the two purlin clips 5 move outward from the bottom of the two purlins 100 to the outside of the two purlins 100, so that the two purlin clips 5 release the clamping of the two purlins 100 one by one, avoiding interference with the purlins 100 when the integrated positioning drilling equipment moves.

[0062] S7. The two walking drive motors 23 are controlled by the centralized controller to drive the two pairs of walking wheels 20 in a one-to-one correspondence, so that the integrated positioning drilling equipment can move to the next drilling point.

[0063] S8. After the integrated positioning drilling equipment reaches the next drilling point, the central controller immediately controls the platform fixing device to fix the integrated positioning drilling equipment on the two purlins 100 again.

[0064] S9. The centralized controller controls the lifting mechanism of the two drilling rigs 6 located at the rear end of the working platform 1, so that the drill bits 60 of the two drilling rigs 6 descend and abut against the top surface of the two purlins 100 respectively. The centralized controller controls the drill bits 60 of the two drilling rigs 6 located at the front end of the working platform 1 to drill a set of mounting holes on each of the two purlins 100. After drilling is completed, the centralized controller controls the lifting mechanism of the four drilling rigs 6 to lift the drill bits 60 of the four drilling rigs 6.

[0065] S10. Repeat steps S5 to S9 until all mounting holes on the two purlins 100 are drilled.

[0066] The integrated positioning and drilling equipment for purlins of large-span marine photovoltaic support in this invention is equipped with three drill bits on each drilling machine. One drilling operation can form three mounting holes, which correspond to the three connection holes on a fixing seat for photovoltaic panels. One fixing seat can fix one corner of two adjacent photovoltaic panels. Therefore, except for the initial drilling position which requires the operation of four drill bits, subsequent drilling points only require the operation of the drill bits of the two drill bits located at the front of the working platform.

[0067] The present invention relates to a method for positioning and drilling purlins for large-span marine photovoltaic supports. This method utilizes a CCD camera to acquire image information for each drilling operation. The CCD module receives and analyzes the image information from the CCD camera before transmitting it to a centralized controller. The centralized controller calculates the travel distance of the integrated positioning drilling equipment, which then moves automatically via a platform walking mechanism and is automatically fixed by a platform fixing device. Four drilling rigs automatically drill holes, significantly improving the construction accuracy and efficiency of purlin drilling, thereby greatly enhancing the installation efficiency of the photovoltaic platform.

[0068] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated positioning and drilling device for purlins of a large-span offshore photovoltaic support structure, comprising a working platform, a platform traveling mechanism, a platform fixing device, four drilling rigs, a CCD camera, and a control box; characterized in that, The working platform is rectangular, and its width is greater than the distance between the outer sides of two adjacent purlins. The length of the working platform is adapted to the distance between two adjacent sets of mounting holes on each purlin. A groove is opened in the middle of each of the two sides of the working platform, and the center line of the two grooves is located on the transverse center line of the working platform. The platform walking mechanism includes two walking shafts, two pairs of walking wheels, and a walking wheel drive mechanism; Two traveling shafts are each mounted on the bottom surface of the work platform via two bearing seats, one in front of the other. Two pairs of wheels are installed at both ends of the two axles and roll on the two purlins in a corresponding manner; The walking wheel drive mechanism includes two walking drive motors installed in the middle of the bottom surface of the working platform, two driving gears installed on the rotating shafts of the two walking drive motors in a one-to-one correspondence, and two driven gears installed in the middle of the two walking shafts in a one-to-one correspondence and meshing with the two driving gears in a one-to-one correspondence. The platform fixing device includes two lateral moving mechanisms, two vertical clamping mechanisms, and two purlin clips; Two lateral movement mechanisms are mounted opposite each other on the lateral centerline of the work platform and are located in two corresponding grooves; each of the lateral movement mechanisms includes a lateral motor mounted on the top surface of the work platform and near the bottom of the groove, a lateral lead screw bearing seat mounted in the middle of the groove by a bracket, a lateral lead screw connecting the end of the lateral motor shaft and the lateral lead screw bearing seat, a lateral nut screwed onto the lateral lead screw, and a translation plate mounted on the top surface of the lateral nut with a through hole at its outer end; Two vertical clamping mechanisms are installed on two lateral moving mechanisms in a one-to-one correspondence; each vertical clamping mechanism includes a vertical motor fixedly installed on the translation plate of the corresponding lateral moving mechanism with its shaft inserted into a through hole in the translation plate, a vertical lead screw connected to the end of the shaft of the vertical motor, and a vertical nut screwed onto the vertical lead screw. Two purlin clips are installed one-to-one on two vertical clamping mechanisms; each purlin clip includes a lower clamping plate and an upper clamping plate; the lower clamping plate has a horizontal part and a vertical part in an L-shape, and the height of the vertical part is greater than the thickness of the purlin; a vertical screw bearing seat is installed on the top surface of the horizontal part of the lower clamping plate near the top surface of the vertical part, and the vertical screw bearing seat is connected to the lower end of the vertical screw, so that the top surface of the horizontal part of the lower clamping plate and the bottom surface of the purlin are on the same horizontal plane; the size of the upper clamping plate is the same as the size of the horizontal part of the lower clamping plate, and a mounting hole coaxial with the vertical screw bearing seat on the lower clamping plate is opened on the surface of the upper clamping plate; the upper clamping plate is fixed to the vertical nut of the vertical clamping mechanism through the mounting hole; when the upper clamping plate moves to the top surface of the vertical part of the lower clamping plate through the vertical nut, the upper clamping plate and the lower clamping plate form a horizontal U-shape with the opening facing the purlin; Four drilling rigs are installed at the four corners of the working platform through lifting mechanisms, so that the drill bits of the four drilling rigs are aligned with the two purlins below the front end and the two purlins below the rear end of the working platform. The CCD camera is mounted on the front middle or rear middle of the working platform via a support frame; The control box is installed on the top surface of the work platform. Inside the control box are a CCD module and a central controller that are interconnected. The CCD module is connected to the CCD camera via signal lines. The central controller is connected via signal lines to four drilling rigs, four lifting mechanisms, two travel drive motors in the platform's traveling mechanism, and two horizontal and two vertical motors in the platform's fixing device. The central controller controls the two travel drive motors to operate synchronously. The central controller controls the two horizontal motors to operate synchronously. The central controller controls the two vertical motors to operate synchronously. A human-machine interface touchscreen is installed on the control box's panel.

2. The integrated positioning and drilling equipment for purlins of large-span marine photovoltaic support structures according to claim 1, characterized in that, The traveling wheels are grooved wheels with a width that matches the width of the purlin.

3. The integrated positioning and drilling equipment for purlins of large-span marine photovoltaic supports according to claim 1, characterized in that, The lateral movement mechanism also includes two grooves fixed one-to-one on the bottom surfaces of both sides of the translation plate and two slide rails installed one-to-one on the top surfaces of both sides of the groove and corresponding to the two grooves, so that the translation plate can be slidably mounted on the two slide rails through the two grooves.

4. The integrated positioning and drilling equipment for purlins of large-span marine photovoltaic support structures according to claim 1, characterized in that, A dovetail-shaped slot is vertically formed in the middle of the inner end face of the lower clamping plate of the purlin buckle; a dovetail-shaped tenon that matches the dovetail-shaped slot is protruding in the middle of the outer end face of the upper clamping plate, so that the upper clamping plate is installed on the inner end face of the vertical part of the lower clamping plate after being slidably inserted into the slot through the tenon.

5. The integrated positioning and drilling equipment for purlins of large-span marine photovoltaic support structures according to claim 1, characterized in that, Each drilling rig is equipped with two or three drill bits that can drill holes simultaneously.

6. The integrated positioning and drilling equipment for purlins of large-span marine photovoltaic support structures according to claim 1, characterized in that, A power supply box is also installed on the top surface of the work platform.

7. A method for positioning and drilling purlins of a large-span marine photovoltaic support system, employing the integrated positioning and drilling equipment for large-span marine photovoltaic support purlins as described in claim 1, and comprising the following steps: S1. After the steel structure support and purlins of the large-span photovoltaic platform at sea are installed, the integrated positioning drilling equipment is hoisted onto the two purlins on the top surface of the photovoltaic platform, so that the two pairs of traveling wheels ride on the two adjacent purlins, calibrate the various components of the equipment, and set the operating parameters of the equipment, including the distance parameters of the equipment movement. S2. According to the drilling position specified in the design, manually operate the human-machine interface touch screen of the control box, and drive two walking drive motors through the central controller to move the integrated positioning drilling equipment to the initial drilling point specified in the design. S3. The two horizontal motors of the platform fixing device are controlled by the central controller in the control box to rotate and drive the two translation plates to move relative to each other through the two horizontal screws until the horizontal parts of the lower clamps of the two purlin clips enter the bottom of the two purlins from the outside of the two purlins. Then, the two vertical motors of the platform fixing device are controlled by the central controller to rotate and drive the upper clamps of the two purlin clips to move downward relative to the lower clamps through the two vertical screws until the upper clamps of the two purlin clips press against the top surface of the two purlins and the two purlin clips lock the two purlins, so that the integrated positioning drilling equipment is fixed on the two purlins. S4. The central controller controls the lifting mechanism of the four drilling rigs to lower the drill bit and drill two sets of mounting holes on each of the two purlins. After the four drilling rigs finish drilling at the initial drilling point, the central controller controls the lifting mechanism of the four drilling rigs to raise the drill bit of the four drilling rigs. S5, the CCD camera takes pictures of the two sets of mounting holes that have been drilled at the front of the work platform. After receiving the image information from the CCD camera, the CCD module in the control box analyzes and processes the image information and provides the processed information to the central controller. The central controller calculates the next drilling point based on the distance parameters of the equipment movement set during the previous calibration. S6. First, control the two vertical motors of the platform fixing device to rotate through the central controller and drive the upper clamping plates of the two purlin clips to move up relative to the lower clamping plates through the two vertical lead screws, releasing the two purlins. Then, control the two horizontal motors of the platform fixing device to rotate through the central controller and drive the two translation plates to move in opposite directions through the two horizontal lead screws until the horizontal parts of the lower clamping plates of the two purlin clips move outward from the bottom of the two purlins to the outside of the two purlins, so that the two purlin clips release the clamping of the two purlins. S7. The two walking drive motors are controlled by the centralized controller to drive the two pairs of walking wheels in a one-to-one correspondence, so that the integrated positioning drilling equipment can move to the next drilling point. S8. After the integrated positioning drilling equipment reaches the next drilling point, the central controller will then control the platform fixing device to fix the integrated positioning drilling equipment to the two purlins again. S9. The centralized controller controls the lifting mechanisms of the two drilling rigs located at the rear of the working platform, so that the drill bits of the two drilling rigs descend and abut against the top surfaces of the two purlins in a one-to-one correspondence. The centralized controller controls the drill bits of the two drilling rigs located at the front of the working platform to drill a set of mounting holes on each of the two purlins. After drilling is completed, the centralized controller controls the lifting mechanisms of the four drilling rigs to lift the drill bits of the four drilling rigs. S10. Repeat steps S5 to S9 until all mounting holes on the two purlins are drilled.

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