A robot-driven double-clamp positioning structure for row steel pipe piles

Abstract

A robot-driven double-clamp positioning structure for row steel pipe piles, belonging to the field of steel pipe pile construction technology, includes an auxiliary platform, a robot lowering structure, and a clamping structure. By activating four first electromagnets, two fastening bolts are attracted, and then two clamping rings are placed on the outer surface of the steel pipe pile. When the clamping rings are moved to the appropriate position, the control source inside the two fixed frames drives the screw-tightening robotic arms on both sides to tighten the loose fastening bolts on both sides of the clamping rings. At this point, the clamping rings are fixed. Then, the four first electromagnets are de-energized, allowing the robot lowering structure to detach from the steel pipe pile and begin installing the next steel pipe pile. When installing the next steel pipe pile, a second electromagnet can be inserted into the adsorption clamp. Driven by the second electromagnet, it can be attracted to the adsorption clamp. This effectively solves the problem of limiting the position during the construction of row steel pipe piles in deep water and rapid current environments, achieving precise positioning and rapid construction of row steel pipe piles.

Description

Technical Field

[0001] This invention relates to the field of steel pipe pile construction technology, specifically to a robot-driven double-clamp positioning structure for row steel pipe piles. Background Technology

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

[0003] Existing steel pipe piles often encounter many problems during use. Affected by factors such as ocean waves, currents, and tides, the steel pipe piles obstruct water flow. On the upstream side, the water flows downwards with increased velocity, forming a horseshoe-shaped vortex. On the downstream side, due to the water flowing around the piles, a tail vortex is formed, making it difficult for the steel pipe piles to reach the designated position during the lowering process. Based on the shortcomings of existing technology, this invention designs a robot-driven double-clamp positioning structure for row steel pipe piles. Summary of the Invention

[0004] This invention provides a robot-driven double-clamp positioning structure for row steel pipe piles, which effectively solves the installation problems in the construction process of row steel pipe piles in deep water and rapid flow environments, and achieves the advantages of precise positioning and rapid construction of row steel pipe piles, thus solving the problems mentioned in the background art.

[0005] This invention provides the following technical solution: a robot-driven double-clamp positioning structure for row steel pipe piles, comprising an auxiliary platform, a robot lowering structure, and a clamping structure. The robot lowering structure includes two fixed frames, with screw-tightening robotic arms installed on both sides of the outer surfaces of the two fixed frames. A control source is fixedly installed on the inner walls of the two fixed frames. Side plates are fixedly installed on both sides of the outer surfaces of the two fixed frames, and first electromagnets are fixedly installed at the ends of the two side plates. The clamping structure includes two clamping rings, with multiple fastening bolts threaded onto both ends of the two clamping rings. A second electromagnet is fixedly installed on the outer surface of one clamping ring, and an adsorption clamp is fixedly installed on the outer surface of the other clamping ring.

[0006] As a preferred embodiment of the present invention, an extension block is fixedly installed on one side of the outer surface of the four side plates, a fixing member is fixedly installed on the top of the four extension blocks, and a steel cable is fixedly installed inside the four fixing members.

[0007] As a preferred embodiment of the present invention, the auxiliary platform has mounting slots on both sides inside, and a drive structure is fixedly installed on the top of the auxiliary platform.

[0008] As a preferred embodiment of the present invention, the driving structure includes two frame plates and two rotating rods, and two fixing rings are fixedly installed on the top of the two frame plates.

[0009] As a preferred embodiment of the present invention, a synchronous motor is fixedly installed inside the two fixed rings, and a first pulley is fixedly installed at one end of the output shaft of the two synchronous motors.

[0010] As a preferred embodiment of the present invention, the two rotating rods are rotatably connected to the mounting groove, and a second pulley is fixedly mounted on the outer surface of the two rotating rods.

[0011] As a preferred embodiment of the present invention, the outer surfaces of the two second pulleys are fitted with connecting belts, and the two connecting belts are internally connected to the first pulleys.

[0012] As a preferred embodiment of the present invention, two take-up rollers are fixedly installed on both sides of the outer surface of the two rotating rods, and the two take-up rollers take up the steel cable.

[0013] As a preferred embodiment of the present invention, a stabilizing sleeve is fixedly installed at the bottom of the auxiliary platform, a stabilizing arm is fixedly installed on one side of the outer surface of the stabilizing sleeve, and a collar is fixedly installed at the end of the stabilizing arm.

[0014] As a preferred embodiment of the present invention, a hanger is fixedly installed on the top of the auxiliary platform, and a lifting ring is fixedly installed on the top of the hanger.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This robotic-driven double-clamp positioning structure for row steel pipe piles utilizes a robot lowering structure and a clamping structure. When the steel pipe pile is driven into the water, the two clamping rings are joined together by fastening bolts. Then, by activating four first electromagnets, the two clamping rings are attracted and held in place. Subsequently, the two clamping rings are placed on the outer surface of the steel pipe pile. When the clamping rings are moved to the appropriate position, the control source inside the two fixed frames drives the screw-tightening robots on both sides to tighten the fastening bolts on both sides of the clamping rings. At this time, the two clamping rings are fixed. Then, the four first electromagnets are de-energized, allowing the robot lowering structure to detach from the steel pipe pile and begin the installation of the next steel pipe pile. When installing the next steel pipe pile, a second electromagnet can be inserted into the adsorption clamp. Driven by the second electromagnet, it can be attracted to the adsorption clamp. This effectively solves the problem of limiting the position during the construction of row steel pipe piles in deep water and rapid current environments, and achieves precise positioning and rapid construction of row steel pipe piles. 2. This robotic-driven double-clamp positioning structure for row steel pipe piles, through the drive structure, when the robot lowering structure and clamping 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, two synchronous motors drive simultaneously, causing their output shafts to drive the first pulley to rotate. Due to the connection of the connecting belt, the connecting belt can drive the rotating rod to rotate, thereby enabling the winding roller to wind and unwind the steel cable. This allows the robot lowering structure and clamping structure to move to any position on the outer surface of the steel pipe pile, facilitating the subsequent row installation of steel pipe piles. It can solve the problem of large vibration of underwater steel pipe piles due to rapid currents in fast-flow environments. 3. This robotic-driven double-clamp positioning structure for row steel pipe piles uses a stabilizing sleeve. After the steel pipe pile is driven into the water, the pile cap is removed, and an auxiliary platform is moved to the top of the steel pipe pile by a crane. The stabilizing sleeve is then placed on top of the steel pipe pile, and the collar is fixed to the hull. After the clamp structure is fixed, it can be removed. This stabilizes the steel pipe pile and improves construction stability during subsequent work. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the external structure of the present invention; Figure 2 This is a schematic diagram of the clamp structure of the present invention; Figure 3 This is a schematic diagram of the lifting ring structure of the present invention; Figure 4 This is a schematic diagram of the stabilizing sleeve structure of the present invention; Figure 5 This is a schematic diagram of the driving structure of the present invention; Figure 6 This is a schematic diagram of the fixed frame structure of the present invention; Figure 7 This is a schematic diagram of the first electromagnet structure of the present invention.

[0017] In the diagram: 1. Auxiliary platform; 101. Stabilizing sleeve; 102. Stabilizing arm; 103. Collar; 2. Drive structure; 21. Frame plate; 22. Rotating rod; 23. Fixing ring; 24. Synchronous motor; 25. First pulley; 26. Second pulley; 27. Connecting belt; 28. Rewinding roller; 3. Robot lowering structure; 31. Fixing frame; 32. Screw tightening robot arm; 33. Control source; 34. Side plate; 35. First electromagnet; 36. Extension block; 37. Fixing component; 38. Steel cable; 4. Clamping structure; 41. Clamping ring; 42. Fastening bolt; 43. Second electromagnet; 44. Adsorption clamp; 5. Mounting slot; 6. Hanger; 7. Lifting ring. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1-7 A robot-driven double-clamp positioning structure for row steel pipe piles includes an auxiliary platform 1, a robot lowering structure 3, and a clamping structure 4. The robot lowering structure 3 includes two fixed frames 31, with screw-tightening robot arms 32 installed on both sides of the outer surface of the two fixed frames 31. A control source 33 is fixedly installed on the inner wall of the two fixed frames 31. Side plates 34 are fixedly installed on both sides of the outer surface of the two fixed frames 31, and a first electromagnet 35 is fixedly installed at the end of the two side plates 34. The clamping structure 4 includes two clamping rings 41, with multiple fastening bolts 42 threaded at both ends of the two clamping rings 41. A second electromagnet 43 is fixedly installed on the outer surface of one clamping ring 41, and an adsorption clamping plate 44 is fixedly installed on the outer surface of the other clamping ring 41.

[0020] Please see Figure 1-5 An extension block 36 is fixedly installed on one side of the outer surface of each of the four side plates 34. A fixing element 37 is fixedly installed on the top of each of the four extension blocks 36, and a steel cable 38 is fixedly installed inside each of the four fixing elements 37. Mounting slots 5 are opened on both sides of the interior of the auxiliary platform 1, and a drive structure 2 is fixedly installed on the top of the auxiliary platform 1. The drive structure 2 includes two frame plates 21 and two rotating rods 22. Two fixing rings 23 are fixedly installed on the top of the two frame plates 21. Synchronous motors 24 are fixedly installed inside the two fixing rings 23, and a first pulley 25 is fixedly installed at one end of the output shaft of each of the two synchronous motors 24. The two rotating rods 22 are rotatably connected to the mounting slots 5, and a second pulley 26 is fixedly installed on the outer surface of each of the two rotating rods 22. Connecting belts 27 are sleeved on the outer surface of each of the two second pulleys 26, and the two connecting belts 27 are sleeved and connected to the first pulleys 25 inside. Rewinding rollers 28 are fixedly installed on both sides of the outer surface of each of the two rotating rods 22, and the two rewinding rollers 28 wind up the steel cable 38.

[0021] When the robot lowering structure 3 and clamping structure 4 move on the outer surface of the steel pipe pile, the steel cable 38 is wound on the outer surface of the take-up roller 28. At this time, the two synchronous motors 24 drive the output shaft to drive the first pulley 25 to rotate. Due to the connection of the connecting belt 27, the connecting belt 27 can drive the rotating rod 22 to rotate, thereby enabling the take-up roller 28 to take in and release the steel cable 38. This allows the robot lowering structure 3 and clamping structure 4 to move to any position on the outer surface of the steel pipe pile.

[0022] Please see Figure 1-4A stabilizing sleeve 101 is fixedly installed at the bottom of the auxiliary platform 1. A stabilizing arm 102 is fixedly installed on one side of the outer surface of the stabilizing sleeve 101. A collar 103 is fixedly installed at the end of the stabilizing arm 102. A hanger 6 is fixedly installed at the top of the auxiliary platform 1. A lifting ring 7 is fixedly installed at the top of the hanger 6.

[0023] After the steel pipe pile is driven into the water, the pile cap is removed, and the auxiliary platform 1 is moved to the top of the steel pipe pile by a crane. The stabilizing sleeve 101 is then placed on the top of the steel pipe pile, and the collar 103 is fixed to the hull. After the clamping structure 4 is fixed, it can be removed. This can stabilize the steel pipe pile and improve the construction stability during subsequent work.

[0024] Working principle: When a robot-driven double-clamp positioning structure for a row of steel pipe piles is used, the steel pipe pile is first lowered into the water. After placing a pile cap at the top opening, it is driven into the mud by a pile hammer. Then, the two clamping rings 41 are joined together by fastening bolts 42. Next, four first electromagnets 35 are activated to attract the two clamping rings 41. Then, the crane lifts the auxiliary platform 1 to the top of the steel pipe pile through the lifting ring 7. The stabilizing sleeve 101 is then placed on the top of the steel pipe pile, and the collar 103 is fixed to the hull. Subsequently, two synchronous motors 24 are driven simultaneously, causing their output shafts to drive the first pulley 25 to rotate. Due to the connection of the connecting belt 27, the connecting belt 27 can drive the rotating rod 22 to rotate. This allows the take-up roller 28 to take in and release the steel cable 38, thereby moving the robot lowering structure 3 and the clamping structure 4 to any position on the outer surface of the steel pipe pile. When the clamping ring 41 is moved to the appropriate position, the control source 33 inside the two fixed frames 31 drives the screw-tightening robot arms 32 on both sides to tighten the loose fasteners 42 on both sides of the clamping ring 41. At this time, the clamping rings 41 on both sides are fixed. Then, the four first electromagnets 35 are de-energized, so that the robot lowering structure 3 is detached from the steel pipe pile and the installation of the next steel pipe pile begins. When installing the next steel pipe pile, the second electromagnet 43 can be inserted into the adsorption clamp 44. The second electromagnet 43 can be driven to adsorb onto the adsorption clamp 44.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot-driven double-clamp positioning structure for row steel pipe piles, comprising an auxiliary platform (1), a robot lowering structure (3), and a clamp structure (4), characterized in that: The robot lowering structure (3) includes two fixed frames (31), with screw-tightening robot arms (32) provided on both sides of the outer surface of the two fixed frames (31), a control source (33) fixedly installed on the inner wall of the two fixed frames (31), and side plates (34) fixedly installed on both sides of the outer surface of the two fixed frames (31). A first electromagnet (35) is fixedly installed at the end of the side plate (34). The clamp structure (4) includes two clamping rings (41), and multiple fastening bolts (42) are threaded on both ends of the two clamping rings (41). A second electromagnet (43) is fixedly installed on the outer surface of one clamping ring (41), and an adsorption clamp (44) is fixedly installed on the outer surface of the other clamping ring (41).

2. The robot-driven double-clamp positioning structure for row steel pipe piles according to claim 1, characterized in that: An extension block (36) is fixedly installed on one side of the outer surface of the four side plates (34), a fastener (37) is fixedly installed on the top of the four extension blocks (36), and a steel cable (38) is fixedly installed inside the four fasteners (37).

3. The robot-driven double-clamp positioning structure for row steel pipe piles according to claim 1, characterized in that: The auxiliary platform (1) has mounting slots (5) on both sides inside, and a drive structure (2) is fixedly installed on the top of the auxiliary platform (1).

4. The robot-driven double-clamp positioning structure for row steel pipe piles according to claim 3, characterized in that: The drive structure (2) includes two frame plates (21) and two rotating rods (22), and two fixing rings (23) are fixedly installed on the top of the two frame plates (21).

5. The robot-driven double-clamp positioning structure for row steel pipe piles according to claim 4, characterized in that: Synchronous motors (24) are fixedly installed inside the two fixed rings (23), and a first pulley (25) is fixedly installed at one end of the output shaft of the two synchronous motors (24).

6. The robot-driven double-clamp positioning structure for row steel pipe piles according to claim 4, characterized in that: The two rotating rods (22) are rotatably connected to the mounting groove (5), and the outer surfaces of the two rotating rods (22) are fixedly mounted with second pulleys (26).

7. The robot-driven double-clamp positioning structure for row steel pipe piles according to claim 6, characterized in that: The outer surfaces of the two second pulleys (26) are fitted with connecting belts (27), and the two connecting belts (27) are connected to the first pulley (25) inside.

8. The robot-driven double-clamp positioning structure for row steel pipe piles according to claim 4, characterized in that: Two take-up rollers (28) are fixedly installed on both sides of the outer surface of the two rotating rods (22), and the two take-up rollers (28) take up the steel cable (38).

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

10. The robot-driven double-clamp positioning structure for row steel pipe piles according to claim 1, characterized in that: The top of the auxiliary platform (1) is fixedly installed with a hanger (6), and the top of the hanger (6) is fixedly installed with a lifting ring (7).

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