Row steel pipe pile robot driving double-hoop positioning structure

Abstract

A robot-driven double-hoop positioning structure for row steel pipe piles belongs to the technical field of steel pipe pile construction and comprises an auxiliary platform, a robot lowering structure and a hoop structure. Two fastening bolts are attracted by starting four first electromagnets, then the outer surface of a steel pipe pile is sleeved with two embracing rings, when the embracing rings are moved to proper positions, screw turning robot arms on the two sides are driven by control sources in fixing frames on the two sides to tighten the untightened fastening bolts on the two sides of the embracing rings, and at the moment, the embracing rings on the two sides are fixed; then the four first electromagnets are powered off, the robot lowering structure is made to be separated from the steel pipe piles and start to install the next steel pipe pile, and when the next steel pipe pile is installed, second electromagnets can be inserted into adsorption clamping plates and can be attracted to the adsorption clamping plates through driving of the second electromagnets; therefore, the limiting problem in the construction process of the row steel pipe piles in the deepwater and torrent environment can be effectively solved, and accurate positioning and rapid construction of the row steel pipe piles are achieved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of steel pipe pile construction, in particular to a double-hoop positioning structure of a row of steel pipe piles driven by a robot. BACKGROUND

[0002] Steel pipe piles are widely used in water and near-water projects such as bridges, offshore oil platforms and offshore wind power due to their high bearing capacity, good flexibility, fast construction speed and other characteristics, and have developed into an important foundation form of offshore structures.

[0003] Many problems often occur in the use of existing steel pipe piles. Influenced by factors such as water waves, water flow and tidal flow, the steel pipe pile hinders the water flow, the water flow on the upstream surface flows downward, the flow rate increases, and a horseshoe-shaped vortex is formed; due to the water flow around the downstream surface, a tail vortex is formed, which makes it difficult to reach the specified position during the lowering process of the steel pipe pile. Based on the existing technical deficiencies, the application designs a double-hoop positioning structure of a row of steel pipe piles driven by a robot. SUMMARY

[0004] The application provides a double-hoop positioning structure of a row of steel pipe piles driven by a robot, which effectively solves the installation problems in the construction process of a row of steel pipe piles in a deep-water rapid flow environment, realizes accurate positioning and rapid construction of a row of steel pipe piles, and solves the problems mentioned in the background.

[0005] The application provides the following technical scheme: a double-hoop positioning structure of a row of steel pipe piles driven by a robot, which comprises an auxiliary platform, a robot lowering structure and a hoop structure. The robot lowering structure comprises two fixed frames, screwing machine hands are arranged on the outer surfaces of the two fixed frames, control sources are fixedly installed on the inner walls of the two fixed frames, side plates are fixedly installed on the outer surfaces of the two fixed frames, first electromagnets are fixedly installed on the ends of the two side plates, the hoop structure comprises two hoop rings, a plurality of fastening bolts are threadedly installed at the two ends of the two hoop rings, a second electromagnet is fixedly installed on the outer surface of one of the two hoop rings, and an adsorbing clamping plate is fixedly installed on the outer surface of the other hoop ring.

[0006] As a preferred technical scheme of the application, extension blocks are fixedly installed on one side of the outer surfaces of the four side plates, fixed parts are fixedly installed on the top of the four extension blocks, and steel cables are fixedly installed in the four fixed parts.

[0007] As a preferred technical scheme of the application, installation grooves are formed in the inner sides of the auxiliary platform, and a driving structure is fixedly installed on the top of the auxiliary platform.

[0008] As a preferred technical scheme of the application, the driving structure comprises two frame plates and two rotating rods, and two fixed rings are fixedly installed on the top of the two frame plates.

[0009] As a preferred technical scheme of the present application, two synchronous motors are fixedly installed inside the fixing rings, and a first pulley is fixedly installed at one end of an output shaft of each of the two synchronous motors.

[0010] As a preferred technical scheme of the present application, the two rotating rods are rotatably connected with the installation grooves, and a second pulley is fixedly installed on the outer surface of each of the two rotating rods.

[0011] As a preferred technical scheme of the present application, a connecting belt is sleeved on the outer surface of each of the two second pulleys, and the connecting belt is sleevedly connected with the first pulley.

[0012] As a preferred technical scheme of the present application, a winding roller is fixedly installed on each of the two rotating rods, and the two winding rollers wind the steel cable.

[0013] As a preferred technical scheme of the present application, a stabilizing pile sleeve is fixedly installed at the bottom of the auxiliary platform, a stabilizing pile arm is fixedly installed on one side of the outer surface of the stabilizing pile sleeve, and a sleeve ring is fixedly installed at the end of the stabilizing pile arm.

[0014] As a preferred technical scheme of the present application, a hanging bracket is fixedly installed at the top of the auxiliary platform, and a hanging ring is fixedly installed at the top of the hanging bracket.

[0015] Compared with the prior art, the present application has the following beneficial effects:

[0016] 1. The double-hoop positioning structure of the row steel pipe pile robot is characterized in that the robot lowering structure and the hoop structure are used to combine the two side hoops through fastening bolts when the steel pipe pile is driven into water, then the four first electromagnets are started to attract the two fastening bolts, the two hoops are sleeved on the outer surface of the steel pipe pile, the control source inside the two side fixed frames drives the two side screwing machine hands to tighten the fastening bolts on the two sides of the hoops when the hoops are moved to the appropriate positions, the two side hoops are fixed, the four first electromagnets are then powered off to make the robot lowering structure separate from the steel pipe pile and start the installation of the next steel pipe pile, the second electromagnet is inserted into the adsorbing clamp plate during the installation of the next steel pipe pile, and the second electromagnet is driven to be adsorbed with the adsorbing clamp plate, thereby effectively solving the positioning problem in the row steel pipe pile construction process in a deep-water rapid flow environment and realizing accurate positioning and rapid construction of the row steel pipe pile.

[0017] 2. The double clamp positioning structure of the row steel pipe pile robot driving device, through the driving structure, when the robot lowering structure and the clamp structure move on the outer surface of the steel pipe pile, the steel cable is wound on the outer surface of the winding roller, at this time, the two synchronous motors are driven at the same time, the output shaft drives the first pulley to rotate, the connecting belt drives the rotating rod to rotate due to the connection of the connecting belt, the winding roller can wind and unwind the steel cable, and the robot lowering structure and the clamp structure can be moved to any position on the outer surface of the steel pipe pile, so that the subsequent row steel pipe pile arrangement can be realized, and the problem of large vibration of the underwater steel pipe pile due to the rapid flow can be solved;

[0018] 3. The double clamp positioning structure of the row steel pipe pile robot driving device, through the pile stabilizing sleeve, after the steel pipe pile is driven into the water, the pile cap is taken out, the auxiliary platform is moved to the top of the steel pipe pile by the crane, the pile stabilizing sleeve is sleeved on the top of the steel pipe pile, then the sleeve ring is fixed on the ship body, and the clamp structure can be taken off after being fixed, so that the steel pipe pile can be stabilized during subsequent work, and the construction stability is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is an appearance structure schematic view of the application;

[0020] Figure 2 It is a clamp structure schematic view of the application;

[0021] Figure 3 It is a lifting ring structure schematic view of the application;

[0022] Figure 4 It is a pile stabilizing sleeve structure schematic view of the application;

[0023] Figure 5 It is a driving structure schematic view of the application;

[0024] Figure 6 It is a fixed frame structure schematic view of the application;

[0025] Figure 7 It is a first electromagnet structure schematic view of the application.

[0026] In the figure: 1, auxiliary platform; 101, pile stabilizing sleeve; 102, pile stabilizing arm; 103, sleeve ring; 2, driving structure; 21, frame plate; 22, rotating rod; 23, fixed ring; 24, synchronous motor; 25, first pulley; 26, second pulley; 27, connecting belt; 28, winding roller; 3, robot lowering structure; 31, fixed frame; 32, screwing machine hand; 33, control source; 34, side plate; 35, first electromagnet; 36, extension block; 37, fixed part; 38, steel cable; 4, clamp structure; 41, clamping ring; 42, fastening bolt; 43, second electromagnet; 44, adsorption clamp plate; 5, mounting groove; 6, lifting frame; 7, lifting ring. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0028] Please refer to Figures 1-7 A double-hoop positioning structure of a row-arranged steel pipe pile robot driving includes an auxiliary platform 1, a robot lowering structure 3, and a hoop structure 4. The robot lowering structure 3 includes two fixed frames 31, the outer surfaces of the two fixed frames 31 are provided with screwing machine hands 32 on both sides, the inner walls of the two fixed frames 31 are fixedly installed with control sources 33, the outer surfaces of the two fixed frames 31 are fixedly installed with side plates 34 on both sides, and the end portions of the two side plates 34 are fixedly installed with first electromagnets 35. The hoop structure 4 includes two hoop rings 41, a plurality of fastening bolts 42 are threadedly installed at the two ends of the two hoop rings 41, the outer surface of one hoop ring 41 is fixedly installed with a second electromagnet 43, and the outer surface of the other hoop ring 41 is fixedly installed with an adsorbing clamping plate 44.

[0029] Please refer to Figures 1-5 The outer surfaces of the four side plates 34 are fixedly installed with extension blocks 36 on one side, the top portions of the four extension blocks 36 are fixedly installed with fixing pieces 37, and the interiors of the four fixing pieces 37 are fixedly installed with steel cables 38. The interiors of the auxiliary platform 1 are provided with installation grooves 5 on both sides, and the top portion of the auxiliary platform 1 is fixedly installed with a driving structure 2. The driving structure 2 includes two rack plates 21 and two rotating rods 22, and the top portions of the two rack plates 21 are fixedly installed with two fixed rings 23. The interiors of the two fixed rings 23 are fixedly installed with synchronous motors 24, and the output shafts of the two synchronous motors 24 are fixedly installed with first pulleys 25 on one end. The two rotating rods 22 are rotationally connected with the installation grooves 5, and the outer surfaces of the two rotating rods 22 are fixedly installed with second pulleys 26. The outer surfaces of the two second pulleys 26 are sleeved with connecting belts 27, and the interiors of the two connecting belts 27 are sleeved and connected with the first pulley 25. The outer surfaces of the two rotating rods 22 are fixedly installed with winding rollers 28 on both sides, and the two winding rollers 28 wind the steel cables 38.

[0030] When the robot lowering structure 3 and the hoop structure 4 move on the outer surface of the steel pipe pile, since the steel cables 38 are wound on the outer surfaces of the winding rollers 28, at this time, the two synchronous motors 24 are simultaneously driven, so that the output shafts drive the first pulleys 25 to rotate, since the connecting belts 27 are connected, the connecting belts 27 drive the rotating rods 22 to rotate, thereby the winding rollers 28 wind and unwind the steel cables 38, thereby the robot lowering structure 3 and the hoop structure 4 are driven to move to any position on the outer surface of the steel pipe pile.

[0031] Please refer toFigures 1-4 The bottom of the auxiliary platform 1 is fixedly provided with a pile stabilizing sleeve 101, the outer surface of the pile stabilizing sleeve 101 is fixedly provided with a pile stabilizing arm 102, and the end of the pile stabilizing arm 102 is fixedly provided with a sleeve ring 103. The top of the auxiliary platform 1 is fixedly provided with a hanger 6, and the top of the hanger 6 is fixedly provided with a lifting ring 7.

[0032] After the steel pipe pile is driven into the water, the pile cap is removed, the auxiliary platform 1 is moved to the top of the steel pipe pile by the crane, the pile stabilizing sleeve 101 is sleeved on the top of the steel pipe pile, and then the sleeve ring 103 is fixed on the ship body, and the clamp structure 4 can be removed after being fixed, so that the steel pipe pile can be stabilized during subsequent work, and the construction stability is improved.

[0033] When the double clamp positioning structure driven by the row steel pipe pile robot is used, the steel pipe pile is first lifted into the water, the pile cap is placed at the top opening, and then the pile is hammered into the mud by the pile hammer, then the two side clamps 41 are combined by the fastening bolts 42, then the two fastening bolts 42 are adsorbed by starting the four first electromagnets 35, then the crane lifts the auxiliary platform 1 to the top of the steel pipe pile by the lifting ring 7, the pile stabilizing sleeve 101 is sleeved on the top of the steel pipe pile, then the sleeve ring 103 is fixed on the ship body, then the two synchronous motors 24 are driven at the same time to drive the output shaft to rotate the first pulley 25, due to the connection of the connecting belt 27, the connecting belt 27 drives the rotating rod 22 to rotate, so that the winding roller 28 can wind and unwind the steel cable 38, so that the robot lowering structure 3 and the clamp structure 4 can be moved to any position on the outer surface of the steel pipe pile, when the clamps 41 are moved to the appropriate position, the two side clamps 41 are tightened by the control source 33 inside the two side fixed frames 31 to drive the two side screwing robot hands 32 to tighten the fastening bolts 42 on the two sides of the clamps 41, at this time, the two side clamps 41 are fixed, then the four first electromagnets 35 are powered off, so that the robot lowering structure 3 is separated from the steel pipe pile and the installation of the next steel pipe pile is started, when the next steel pipe pile is installed, the second electromagnet 43 can be inserted into the adsorption clamp plate 44, and the second electromagnet 43 can be adsorbed with the adsorption clamp plate 44 by driving.

[0034] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0035] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A double clamp positioning structure of a row of steel pipe pile robot driving, comprising an auxiliary platform (1), a robot lowering structure (3), a clamp structure (4), characterized in that: The robot lowering structure (3) comprises two fixed frames (31), the outer surfaces of the two fixed frames (31) are provided with screwing machine hands (32) on both sides, the inner walls of the two fixed frames (31) are fixedly installed with control sources (33), the outer surfaces of the two fixed frames (31) are fixedly installed with side plates (34) on both sides, and the ends of the two side plates (34) are fixedly installed with first electromagnets (35). The hoop structure (4) comprises two hoops (41), a plurality of fastening bolts (42) are threadedly installed at the two ends of the two hoops (41), the outer surface of one of the two hoops (41) is fixedly installed with a second electromagnet (43), and the outer surface of the other hoop (41) is fixedly installed with an adsorption clamping plate (44).

2. The double-hoop positioning structure of a robot-driven double-hoop steel pipe pile machine according to claim 1, characterized in that: The outer surfaces of the four side plates (34) are fixedly installed with extension blocks (36) on one side, the tops of the four extension blocks (36) are fixedly installed with fixing pieces (37), and the interiors of the four fixing pieces (37) are fixedly installed with steel cables (38).

3. The double-hoop positioning structure of a robot-driven double-hoop steel pipe pile machine according to claim 1, characterized in that: The inside of the auxiliary platform (1) is provided with installation grooves (5) on both sides, and the top of the auxiliary platform (1) is fixedly installed with a driving structure (2).

4. The double-hoop positioning structure of a robot-driven double-hoop steel pipe pile machine according to claim 3, characterized in that: The driving structure (2) comprises two rack plates (21) and two rotating rods (22), and the tops of the two rack plates (21) are fixedly installed with two fixed rings (23).

5. The double-hoop positioning structure of a robot-driven double-hoop steel pipe pile machine according to claim 4, characterized in that: The interiors of the two fixed rings (23) are fixedly installed with synchronous motors (24), and the output shafts of the two synchronous motors (24) are fixedly installed with first pulleys (25) at one end.

6. The double-hoop positioning structure of a robot-driven double-hoop steel pipe pile machine according to claim 4, characterized in that: The two rotating rods (22) are rotationally connected with the installation grooves (5), and the outer surfaces of the two rotating rods (22) are fixedly installed with second pulleys (26).

7. The double-hoop positioning structure of a robot-driven double-hoop steel pipe pile machine according to claim 6, characterized in that: The outer surfaces of the two second pulleys (26) are sleeved with connecting belts (27), and the interiors of the two connecting belts (27) are sleeved with the first pulleys (25).

8. The robot-driven double-hoop positioning structure for a side-by-side steel pipe pile machine according to claim 4, characterized in that: The outer surfaces of the two rotating rods (22) are fixedly installed with winding rollers (28), and the steel cables (38) are wound by the two winding rollers (28).

9. The robot-driven double-hoop positioning structure for a side-by-side steel pipe pile machine according to claim 1, characterized in that: The bottom of the auxiliary platform (1) is fixedly installed with a pile stabilizing sleeve (101), one side of the outer surface of the pile stabilizing sleeve (101) is fixedly installed with a pile stabilizing arm (102), and the end of the pile stabilizing arm (102) is fixedly installed with a sleeve ring (103).

10. The robot-driven double-hoop positioning structure for a side-by-side steel pipe pile machine according to claim 1, characterized in that: The top of the auxiliary platform (1) is fixedly installed with a hanging bracket (6), and the top of the hanging bracket (6) is fixedly installed with a hanging ring (7).

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