Underwater steel casing guiding device and construction method

Abstract

The invention relates to the technical field of underwater structure construction, and discloses an underwater steel casing guiding device and a construction method. The device comprises a plurality of steel pipe piles surrounding the construction position of the steel casing, a guide frame capable of being vertically and movably connected to the steel pipe piles, a leveling and lowering structure arranged at the upper ends of the steel pipe piles, and a monitoring structure arranged on the guide frame and used for monitoring the spatial posture of the steel casing. And the position adjusting structure is used for adjusting the plane deviation and inclination of the steel casing based on the monitoring data. During construction, the steel pipe pile is inserted and driven, the guide frame is installed and leveled, the steel casing is lowered, and real-time monitoring and position adjusting are conducted, and finally the steel casing is vibrated and sunk to the designed elevation. Flexible fixing and accurate leveling of the guide frame are achieved, real-time monitoring and automatic position adjusting can be conducted on the sinking process of the steel casing, and the construction precision and the automation level are improved.

Description

Technical Field

[0001] This invention relates to the field of underwater structure construction technology, specifically to an underwater steel casing guide device and construction method. Background Technology

[0002] Monopile bridges are widely used in the construction of bridges spanning rivers and seas due to their short construction period, low cost, and good underpass clearance. Because there is no pier cap to adjust for pile inclination and planar position deviations, the construction accuracy of the pile foundation determines the construction accuracy of the bridge piers, thus requiring very high precision in pile foundation construction.

[0003] The accuracy of underwater pile foundation construction depends on the accuracy of steel casing construction. The accuracy requirement for steel casing construction of ordinary pile groups is generally 10cm, while the accuracy requirement for steel casing construction of single-pile, single-column bridges is generally 3-5cm. The accuracy of steel casing sinking by pile driving vessels is difficult to meet the requirements, and guide frames must be used to assist in sinking the steel casing.

[0004] Traditional guide frames need to be welded and installed on a fixed platform. When dismantling them, manual cutting is required to disconnect the connections. The on-site welding and cutting work is extensive and the construction risk is high. Moreover, during the sinking of the steel casing, the hammer needs to be stopped multiple times, the steel casing posture needs to be measured manually, and the guide frame needs to be manually operated to correct the deviation. This is not only inefficient, but also lacks real-time monitoring and automatic control methods, making it impossible to detect the deviation and tilt of the steel casing in time, and the sinking accuracy of the steel casing is uncontrollable.

[0005] The design top elevation of steel casings for underwater pile foundations is generally lower than the high tide water level. Traditional steel casing construction requires lengthening the casing to ensure its top elevation is above the water surface for easier pile driving. The extended steel casing is then removed after the pier construction of a single pile foundation or the cofferdam construction of a pile group foundation is completed, resulting in significant material waste and labor costs.

[0006] Although some projects used submersible pile hammers, which could sink the steel casing to below the water surface, the traditional guide frame, located above the water, interfered with the pile driving operation. Therefore, it was necessary to first release the guide frame from the steel casing before driving it below the water surface. During this process, the steel casing was in an unlimited sinking state, and its planar deviation and tilt might exceed the accuracy requirements.

[0007] To address this technical problem, a Chinese invention patent with patent number "CN108193680B" entitled "Construction Method for Large-Diameter Steel Casing and Three-Frame Guide Frame" provides a method for constructing steel casings based on a guide frame. This method includes the following steps: driving in four auxiliary piles to place the three-frame guide frame, with the auxiliary piles connected by I-beams; placing the three-frame guide frame on an auxiliary positioning steel pipe pile platform and adjusting its coordinates and verticality; allowing the steel casing to sink under its own weight; and continuing to drive the guide frame. The steel casings on both sides of the guide frame are positioned and driven in the same way as the first one; the locking connection between the guide frame and the auxiliary steel pipe pile and the upper horizontal connection between the steel pipe piles are cut off, the guide frame is lifted and rotated 90°, and then lowered. The longitudinal steel casings on both sides are driven in the same way; the guide frame is lifted open and the auxiliary steel pipe piles are removed; two I-beams 45b are welded to the top of the guide opening in the middle of the guide frame as load-bearing beams, and the middle guide opening is lowered to the next steel casing that has been driven. The steel casing that has been driven is used as the positioning reference pile to drive the other steel casings.

[0008] This method relies on auxiliary steel pipe piles as the bearing foundation for the guide frame, which is adjustable and can effectively improve the construction efficiency of the steel casing. However, the guide frame and auxiliary steel pipe piles are locked together, requiring the connection to be severed for adjustment. This results in the guide frame's elevation being unadjustable, making it difficult to adapt to changes in the top elevation of different steel casings and unsuitable for underwater steel casing sinking. Furthermore, this method still requires manual adjustment of the guide frame structure during steel casing construction and lacks an automatic adjustment function for the steel casing's attitude, necessitating significant manual intervention for precise sinking of the steel casing. Summary of the Invention

[0009] The purpose of this application is to address the shortcomings of the aforementioned background technology and to provide an underwater steel casing guide device and construction method.

[0010] The technical solution of this application is: an underwater steel casing guide device, comprising, Multiple steel pipe piles, with the lower end of the steel pipe piles vertically driven into the bottom of the water and the upper end protruding above the water surface, are arranged around the outside of the construction position of the steel casing. A guide frame, which is vertically movable and connected to multiple steel pipe piles; A leveling and lowering structure is installed at the upper end of the steel pipe pile for leveling and vertical adjustment of the guide frame. A monitoring structure is provided, which is mounted on a guide frame to monitor the spatial attitude of the steel casing in real time. The positioning structure is mounted on the guide frame and is used to adjust the planar offset and inclination of the steel casing based on the monitored spatial posture of the steel casing when it is lowered.

[0011] According to the present application, an underwater steel casing guide device is provided, wherein the guide frame includes multiple legs; the legs are hollow tubular structures that can be vertically moved and sleeved on the steel pipe pile, and multiple horizontal bracings are arranged vertically between adjacent legs; the horizontal bracings are arranged horizontally, and their two ends are respectively fixed to two adjacent legs, and diagonal bracings are provided between adjacent legs.

[0012] According to the underwater steel casing guiding device provided in this application, the outriggers are equipped with multiple sets of clamping jacks distributed vertically at intervals, each set including at least two clamping jacks that are on the same plane and arranged opposite to each other.

[0013] According to the underwater steel casing guiding device provided in this application, the leveling and lowering structure includes: A cover plate, which is fixed to the upper end of the steel pipe pile; A continuous jack, which is fixed vertically to the upper surface of the cover plate, and a steel strand is threaded through the continuous jack; The lower end of the steel strand is connected to the guide frame.

[0014] According to the underwater steel casing guiding device provided in this application, an inner steel pipe is provided on the lower end face of the cover plate; the inner steel pipe is inserted vertically from the upper end of the steel pipe pile into the steel pipe pile to restrict the relative displacement between the cover plate and the steel pipe pile in the horizontal direction.

[0015] According to the present application, an underwater steel casing guiding device is provided, wherein the adjusting structure includes multiple layers of adjusting jacks arranged vertically at intervals on a guide frame, each layer including at least two sets of adjusting jacks, each set including two adjusting jacks arranged opposite each other on the same horizontal plane; the shell of the adjusting jack is fixed on the guide frame, and the pushing end abuts against the outer circumference of the steel casing in the horizontal direction.

[0016] According to the present application, an underwater steel casing guide device is provided, wherein a reaction seat and a guide rail are installed on the guide frame; the housing of the adjusting jack is fixed on the reaction seat and can slide along the guide rail, and a guide wheel that can rotate around the horizontal axis is provided at the end of the pushing end facing the steel casing.

[0017] According to the present application, an underwater steel casing guiding device is provided, wherein the monitoring structure includes a multi-layer laser rangefinder installed on a guide frame and arranged vertically at intervals, each layer including at least two sets of laser rangefinders, each set including two laser rangefinders arranged opposite each other on the same horizontal plane; the laser rangefinders are installed on the guide frame to measure the distance between the outer circumference of the steel casing and the laser rangefinder.

[0018] According to the underwater steel casing guiding device provided in this application, the laser rangefinder and the adjustment jack are in one-to-one correspondence, and the corresponding laser rangefinder and the adjustment jack overlap in the radial direction of the steel casing.

[0019] This application also relates to a method for constructing a steel casing, the method utilizing an underwater steel casing guiding device, comprising: Multiple steel pipe piles were driven around the construction site of the steel casing. Based on the installation guide frame, leveling and lowering structure, monitoring structure and positioning structure of the steel pipe piles after driving; The guide frame is leveled and its height is adjusted using the leveling and lowering structure. After adjustment, the guide frame is fixed to the steel pipe pile. The lifting equipment lowers the steel casing into the guide frame, and the spatial attitude of the steel casing during lowering is obtained based on the monitoring structure; The adjustment structure adjusts the planar offset and inclination of the steel casing based on its spatial posture during lowering, until the steel casing enters the mud under its own weight. The steel casing is vibrated and driven using piling equipment. During this process, the positioning structure adjusts the steel casing in real time until it sinks to the design elevation. Remove the guide frame, level and lower the structure, monitor the structure, and adjust the positioning structure.

[0020] 1. The underwater steel casing guiding device of this application forms a stable support foundation around the steel casing using multiple steel pipe piles, ensuring the reliability of the guiding device in complex aquatic environments. The upper end of the steel pipe piles extends above the water surface, providing a vertical moving track for the guiding frame, adapting to different water depths and improving the adaptability of the device. The guiding frame can be vertically moved and connected to the steel pipe piles, making the fixing method of the guiding frame flexible, eliminating the need for traditional welding, significantly shortening the time for moving, temporarily fixing, and fixing and unfixing the guiding frame, thereby greatly improving construction efficiency. The leveling and lowering structure is set at the upper end of the steel pipe piles for leveling and vertically adjusting the guiding frame. Precise elevation adjustment is achieved through components such as continuous jacks, supporting the guiding... The underwater steel casing guide device of this application offers excellent adaptability and flexibility. The monitoring structure provides real-time monitoring of the spatial attitude of the steel casing, offering a data foundation for the positioning structure and enabling real-time monitoring of the construction process. This ensures data traceability and facilitates quality management. Based on the monitoring data, the positioning structure adjusts the planar deviation and inclination of the steel casing. Utilizing intelligent positioning technology and automatic adjustment via hydraulic jacks, it ensures that the planar position and inclination deviation of the steel casing meet requirements, improving construction accuracy and automation. The underwater steel casing guide device of this application offers advantages such as flexible fixing, precise leveling, intelligent monitoring, and automatic positioning, achieving efficient, high-precision, and safe underwater steel casing construction. 2. The guide frame of this application can move vertically along the steel pipe pile, which facilitates height adjustment according to construction needs. This makes the guide frame fixing method flexible, requires no welding, and can be quickly installed and dismantled, reducing construction preparation time. The horizontal bracing and diagonal bracing are arranged vertically at intervals to form a multi-layered reinforced structure, which improves the overall rigidity and deformation resistance of the guide frame, ensuring the stability of the guide frame during the lowering and adjustment of the steel casing, reducing the risk of displacement caused by vibration or external force, thereby improving construction safety. The horizontal arrangement of the horizontal bracing and the cross support of the diagonal bracing optimize the force distribution, making the guide frame bear the weight of the steel casing and the adjustment force more evenly, and extending the service life of the device. 3. This application enhances the fixing capacity of the guide frame by using clamping jacks; multiple sets of clamping jacks are distributed vertically at intervals to provide uniform clamping force, forming a firm connection between the outriggers and the steel pipe piles, preventing the guide frame from sliding or tilting during construction, and ensuring the stability of the steel casing during lowering; each set of clamping jacks includes at least two jacks arranged opposite each other, achieving symmetrical clamping and avoiding misalignment caused by uneven force at a single point. This design allows for quick locking and releasing, facilitating the height adjustment and relocation of the guide frame, further shortening construction time; the use of clamping jacks replaces traditional welding, reducing high-temperature operations and material damage, and improving construction safety and environmental protection; 4. The continuous jack of this application is vertically fixed to the cover plate and connected to the guide frame via steel strands, enabling the smooth lowering and lifting of the guide frame. The elevation of the guide frame can be flexibly adjusted according to construction requirements, supporting water entry operations and adapting to different water depths and terrain conditions. The use of steel strands provides continuous tension control, allowing for fine-tuning of the guide frame's level and height, ensuring the verticality of the steel casing during lowering, and reducing the need for manual intervention. The cover plate is fixed to the upper end of the steel pipe pile, providing a stable foundation for the continuous jack and enhancing the overall structural reliability. This application improves the accuracy and efficiency of leveling and lowering through mechanization and continuous adjustment. 5. This application enhances the stability of the leveling and lowering structure by inserting an internal steel pipe. The internal steel pipe is inserted into the steel pipe pile from the upper end, effectively limiting the relative displacement of the cover plate and the steel pipe pile in the horizontal direction, preventing the cover plate from shifting due to external forces or vibrations, and ensuring the precise alignment of the leveling and lowering structure. This design is simple and efficient, improves the connection stiffness between the cover plate and the steel pipe pile, reduces the accumulation of errors during construction, and provides reliable support for the operation of continuous jacks. The internal steel pipe also facilitates installation and removal, reducing maintenance costs. 6. The multi-layered positioning jacks of this application are arranged vertically at intervals, allowing independent adjustment of different heights during the lowering of the steel casing, ensuring comprehensive control of the plane deviation and inclination of the steel casing, and achieving high-precision positioning; each set of positioning jacks includes two jacks arranged opposite each other, providing symmetrical jacking force, which can accurately correct the deviation of the steel casing, avoid over-adjustment, support automated positioning, reduce manual operation, and improve construction safety; the shell of the positioning jack is fixed on the guide frame, and the jacking end directly abuts against the outer wall of the steel casing, realizing rapid response and real-time adjustment, ensuring the accuracy of the steel casing during its own weight slurry entry and vibration sinking process; 7. The reaction seat and guide rail of this application provide stable support and sliding track for the adjusting jack, allowing the jack to move radially along the steel casing, adapting to position changes during the lowering of the steel casing, and reducing friction and jamming; the guide wheel can rotate around the horizontal axis, making the contact between the jacking end and the outer wall of the steel casing smoother, avoiding damage to the steel casing caused by direct friction, extending the service life of the device, and ensuring a smooth adjusting process; it enhances the adaptability of the adjusting structure, is suitable for steel casings of different diameters, and improves the reliability and efficiency of the automatic adjusting system; 8. The multi-layer laser rangefinder of this application is arranged vertically at intervals, which can measure the distance between the outer wall of the steel casing and the rangefinder in real time at different heights, comprehensively monitor the spatial attitude of the steel casing (such as tilt and deviation), and realize real-time data acquisition during the construction process; each group of laser rangefinders includes two rangefinders arranged opposite each other, providing symmetrical measurement data, eliminating single-point measurement errors, ensuring the accuracy and reliability of monitoring results, and providing precise input for the positioning structure; the laser rangefinder has high resolution and fast response characteristics, supports automated control systems, reduces the need for manual monitoring, and improves construction efficiency and safety; 9. The laser rangefinder of this application corresponds one-to-one with the adjustment jack, ensuring that the monitoring data is directly used to control the corresponding adjustment jack, realizing rapid closed-loop adjustment, reducing data processing delay, and improving adjustment response speed; the overlapping in the radial direction makes the measurement and adjustment take place on the same plane, avoiding coordinate transformation errors, further improving adjustment accuracy, and enhancing the intelligence level of the automatic adjustment system; this design simplifies the control system structure, reduces software complexity, and makes the construction process more efficient and controllable; 10. This application also relates to a steel casing construction method. The construction method of this application realizes flexible fixing of the guide frame, flexible adjustment of leveling and lowering, intelligent monitoring and automatic positioning, which improves the overall construction efficiency; it realizes high-precision positioning and automated control, reduces manual intervention, and improves construction safety and quality; the dismantling of components is convenient and efficient, reducing the time for later maintenance; and it realizes full-process automation, high precision and high efficiency of steel casing construction. 11. The guide frame of this application can drive steel casings or steel pipe piles below the water surface, and the steel casings are always in a limited position during the sinking process, which ensures high-precision sinking of the steel casings while avoiding material loss and labor costs caused by lengthening and cutting the steel casings.

[0021] The underwater steel casing guiding device of this application has made significant progress in terms of guide frame fixing, leveling and lowering, and monitoring and positioning, thereby improving construction efficiency, accuracy and safety. Attached Figure Description

[0022] Figure 1 : A schematic diagram of the underwater steel casing guide device of this application; Figure 2 : A schematic diagram of the guide frame structure of this application; Figure 3 : A schematic diagram of the adjustment structure installation in this application; Figure 4 : A schematic diagram of steel pipe pile driving in this application; Figure 5 : A schematic diagram of the guide frame being lowered in this application; Figure 6 This application includes a schematic diagram of the guide frame leveling and vertical position adjustment. Figure 7 : A schematic diagram of the steel casing being lowered in this application; Figure 8 : A schematic diagram of the vibratory sinking of the steel casing in this application; Figure 9 : A schematic diagram of the steel casing sinking into place in this application; Figure 10 This application includes a schematic diagram of the guide frame removal. Figure 11 : A schematic diagram of the calculation of the center of the steel casing in this application; Wherein: 1—steel pipe pile; 2—guide frame; 21—outrigger; 22—horizontal brace; 23—diagonal brace; 24—clamping jack; 3—cover plate; 4—continuous jack; 5—steel strand; 6—internal steel pipe; 7—positioning jack; 8—reaction seat; 9—guide rail; 10—guide wheel; 11—laser rangefinder; 12—steel casing. Detailed Implementation

[0023] The embodiments of this application are described in detail below, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0024] In the description of this application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0027] This application relates to an underwater steel casing guide device. This guide device is used for the sinking construction of single-column bridge steel casings. The guide frame 2 involved in this application has a flexible fixing method and is easy to adjust, effectively shortening the time for guide frame 2 displacement, temporary fixing, and fixing release, thereby significantly improving construction efficiency. This application's guide device utilizes a leveling and lowering structure to adjust the guide frame 2, allowing for flexible adjustment of the guide frame 2's elevation according to construction requirements and supporting the guide frame 2's entry into the water, demonstrating good adaptability. The steel casing positioning method of this application adopts intelligent, high-precision positioning technology. By comparing the actual monitored position of the steel casing with the design position, if the deviation exceeds the allowable range, the planar position of the steel casing is automatically adjusted to ensure that its planar position and inclination deviation meet the requirements. Construction accuracy is controllable, data is traceable, and quality management and control are convenient. This application integrates real-time monitoring and automatic adjustment, possessing a high level of automation. The lowering and positioning of the steel casing can be automatically completed through control software, reducing the need for manual operation, improving construction safety, and ensuring a more efficient and safer entire construction process.

[0028] Specifically, such as Figures 1 to 11As shown, the underwater steel casing guiding device of this application includes multiple steel pipe piles 1, a guide frame 2, a leveling and lowering structure, a monitoring structure, and a positioning structure. The lower ends of the multiple steel pipe piles 1 are vertically driven into the seabed, while the upper ends protrude above the water surface and surround the outside of the construction position of the steel casing 12. The guide frame 2 is connected to these steel pipe piles 1 in a vertically movable manner. The leveling and lowering structure is installed on the upper end of the steel pipe piles 1 and is used to level and vertically adjust the guide frame 2. The monitoring structure is installed on the guide frame 2 and is used to monitor the spatial attitude of the steel casing 12 in real time. The positioning structure is also installed on the guide frame 2 and is used to adjust the planar deviation and inclination of the steel casing 12 based on the data obtained by the monitoring structure during the lowering of the steel casing 12.

[0029] The underwater steel casing guiding device of this application integrates support, guidance, leveling, monitoring, and feedback adjustment into one unit. The steel pipe pile 1 serves as the foundation of the entire device, providing a stable spatial reference system. The guide frame 2, as the operating platform, can have its height and levelness precisely adjusted via the leveling and lowering structure, providing an initial and accurate vertical path for the steel casing 12. The monitoring structure captures the attitude data of the steel casing 12 in real time. Based on the acquired data, the adjustment structure actively corrects the deviation and tilt of the steel casing 12 in real time, forming a closed-loop control system.

[0030] During actual construction, follow these steps: Step S1: Foundation Construction Around the designated construction location of the steel casing 12, multiple steel pipe piles 1 are driven into the water using a piling vessel or lifting equipment, ensuring they are firmly embedded in the seabed. Figure 4 As shown; Step S2: System Installation On the driven steel pipe pile 1, the guide frame 2, the leveling and lowering structure, the monitoring structure, and the positioning structure are installed in sequence, as follows: Figure 5 As shown; Step S3: Positioning and fixing of guide frame 2 The leveling and lowering structure is activated to precisely level the guide frame 2 and adjust it to the design elevation. After leveling, the guide frame 2 is securely fixed to the steel pipe pile 1 using the clamping mechanism (such as clamping jack 24) on the guide frame 2. Figure 6 As shown; Step S4: Initial lowering and monitoring of steel casing 12 The steel casing 12 is hoisted using lifting equipment and lowered into the guide frame 2; during this process, the monitoring structure begins to operate, acquiring and outputting the spatial attitude data of the steel casing 12 in real time, such as... Figure 7 As shown; Step S5: Active positioning and mud insertion The positioning structure receives monitoring data. If it detects that the planar deviation or inclination of the steel casing 12 exceeds the allowable range, it automatically applies a horizontal thrust to the steel casing 12 for correction. This process continues until the steel casing 12 smoothly enters the mud under its own weight. Figure 7 As shown; Step S6: Vibration and Synchronous Positioning Start the piling equipment (such as a vibratory hammer) to vibrate and drive the steel casing 12. Figure 8 As shown; during the vibratory sinking process, the monitoring and positioning system works continuously to counteract any new deviations that may occur during the process, ensuring that the position and verticality of the steel casing 12 meet the requirements when it finally sinks to the design elevation, such as... Figure 9 As shown; Step S7: System Dismantling After the steel casing 12 has been lowered, the guide frame 2 is released from its fixing, and the leveling and lowering structure is used to lift it. All temporary structures are then removed. Figure 10 As shown, move to the next workstation.

[0031] This application achieves full automation and intelligence in the construction of the steel casing 12. The guide frame 2 can be quickly installed, adjusted, and dismantled, significantly shortening the process connection time and improving the overall construction efficiency. Through monitoring, feedback, and adjustment control strategies, the planar position and verticality deviation of the steel casing 12 are controlled within the millimeter range, significantly improving the construction quality. It reduces the need for manual intervention and high-altitude operations by construction personnel in harsh water environments, thus lowering safety risks. The entire system can be flexibly configured according to different water depths, geological conditions, and steel casing 12 specifications, making it highly versatile.

[0032] In some embodiments of this application, the structure of the guide frame 2 described above has been optimized, specifically, as follows: Figure 2 As shown, the guide frame 2 in this embodiment includes multiple legs 21 ( Figure 2 There are four support legs 21 in total. Each support leg 21 is a hollow tubular structure that can be vertically moved and fitted onto the outside of the corresponding steel pipe pile 1. Between adjacent support legs 21, multiple layers of horizontal bracing 22 are arranged vertically at intervals. The horizontal bracing 22 is arranged in the horizontal direction, and its two ends are fixed to the adjacent support legs 21 respectively. To further enhance the structural stability, diagonal bracing 23 is also provided in the support leg 21 area between adjacent horizontal bracing 22. In addition, multiple sets of clamping jacks 24 are installed on the support legs 21 at vertical intervals. Each set of clamping jacks 24 includes at least two jacks that are on the same plane and arranged opposite each other.

[0033] In this embodiment, the guide frame 2 is a sleeve-type, liftable, rigid spatial truss. The outriggers 21 are fitted onto the steel pipe piles 1, ensuring the guide frame 2 can move vertically along a predetermined track and providing strong anti-tilting capability through the steel pipe piles 1. The horizontal bracing 22 and diagonal bracing 23 connect multiple independent outriggers 21 into an integral spatial frame, greatly improving the torsional and bending stiffness of the guide frame 2. The clamping jack 24 acts as a dynamic clamp; when the guide frame 2 is adjusted to the target position, it extends via a hydraulic cylinder, clamping the internal steel pipe piles 1 to generate strong friction, thereby achieving a rigid connection between the guide frame 2 and the foundation steel pipe piles 1.

[0034] In actual operation, during the lifting or lowering phase, all clamping jacks 24 retract synchronously, releasing the constraint on the steel pipe pile 1, at which point the guide frame 2 can move freely. During the positioning and fixing phase, after the guide frame 2 is adjusted to the design position, the control system instructs all groups of clamping jacks 24 to push out synchronously, evenly clamping the steel pipe pile 1 and locking the guide frame 2.

[0035] The guide frame 2 structure in this embodiment has good stability. The spatial truss structure combined with multi-point clamping fixation ensures that the guide frame 2 remains stationary when bearing the weight of the steel casing 12 and the vibration load, providing a solid foundation for high-precision construction. Compared with traditional welding, the hydraulic control of the clamping jack 24 can achieve fixation and release in seconds, which greatly improves the displacement efficiency of the guide frame 2. It avoids welding and cutting on the steel pipe pile 1, protects the pile body of the steel pipe pile 1, and improves its reusability.

[0036] In other embodiments of this application, the above-described leveling and lowering structure has been optimized, specifically, as follows: Figure 1 and 2 As shown, the leveling and lowering structure of this embodiment includes a cover plate 3 fixed to the upper end of the steel pipe pile 1, and continuous jacks 4 (or "through-hole jacks") fixed vertically to the upper surface of the cover plate 3. Each cover plate 3 has two continuous jacks 4, which are symmetrically arranged around the center line of the cover plate 3. The cover plate 3 extends beyond the upper end of the steel pipe pile 1, and the continuous jacks 4 are positioned at the point where the cover plate 3 extends beyond the steel pipe pile 1. A steel strand 5 is threaded through the continuous jack 4, and the lower end of the steel strand 5 extends downward and connects to the top of the guide frame 2. To further enhance stability, an internally inserted steel pipe 6 is welded to the lower surface of the cover plate 3. This internally inserted steel pipe 6 is inserted vertically from the upper end of the steel pipe pile 1 into the interior of the steel pipe pile 1.

[0037] In this embodiment, the leveling and lowering structure utilizes continuous jacks 4 to synchronously tension or relax the steel strands 5, achieving smooth lifting and precise leveling of the guide frame 2. Each continuous jack 4 at the top of each steel pipe pile 1 can be independently controlled. By measuring the levelness of the guide frame 2, the control system can direct the continuous jacks 4 at different points to lift or lower to varying degrees, thereby achieving precise leveling of the guide frame 2. The internal steel pipe 6 is inserted into the inner cavity of the steel pipe pile 1, acting as a tenon and mortise structure, effectively resisting the horizontal force and bending moment between the cover plate 3 and the steel pipe pile 1, ensuring the absolute stability of the foundation when the continuous jacks 4 apply force.

[0038] During actual construction, leveling is required. With the guide frame 2 in a free-suspension state, its levelness is measured using a level. The control system calculates the compensation stroke of each continuous jack 4 based on the deviation and drives the corresponding continuous jack 4 to adjust until the guide frame 2 is in a horizontal state. When it is necessary to lower and lift, all continuous jacks 4 move synchronously under the command of the control system, winding and unwinding the steel strands 5 to achieve the overall vertical movement of the guide frame 2.

[0039] The combination of continuous jack 4 and steel strand 5 in this embodiment can achieve millimeter-level lifting control, and the leveling accuracy is much higher than that of traditional jack lifting schemes. As a load-bearing component, the steel strand 5 has high strength, which enables the structure to lower the heavy guide frame 2 and adapt to large water level changes or construction height requirements. The design of the internal steel pipe 6 completely solves the problem of horizontal displacement of the cover plate 3, eliminates a potential source of systematic error, and makes the leveling and lowering process more stable and reliable.

[0040] In a further embodiment of this application, the above-described shifting structure has been optimized, specifically, as follows: Figures 1 to 3 As shown, the adjustment structure of this embodiment includes multiple layers of adjustment jacks 7 arranged vertically at intervals along the guide frame 2. Each layer includes at least two sets, and each set includes two adjustment jacks 7 arranged opposite each other on the same horizontal plane. The housing of the adjustment jack 7 is fixed to the guide frame 2 by a reaction seat 8 and can slide along the guide rail 9 provided on the guide frame 2. The pushing end of the adjustment jack 7 faces the steel casing 12, and a guide wheel 10 that can rotate around a horizontal axis is installed at its end.

[0041] This embodiment uses paired hydraulic jacks to perform push-pull planar position correction on the steel casing 12. Two opposing jacks on each layer form an adjustment unit; as one jack extends, the other retracts, applying a directional force to the steel casing 12 on the horizontal plane to correct its misalignment and tilt. The design of the guide rail 9 and sliding reaction seat 8 allows the entire adjustment unit to be radially fine-tuned as the steel casing 12 is lowered, always maintaining the optimal pushing position. The guide wheel 10 transforms the sliding friction between the jacks and the steel casing 12 into rolling friction, protecting the coating of the steel casing 12 and making the adjustment action smoother and more precise.

[0042] In actual operation, the control system receives data from the monitoring unit at the corresponding height level and calculates the correction force and direction to be applied. Then, it sends commands to the adjustment jacks 7 at the designated level and group to control their extension or retraction stroke and pressure, thereby adjusting the attitude of the steel casing 12.

[0043] The adjustment structure in this embodiment forms a powerful adjustment capability through multi-layer and multi-group arrangement, which can work together from different heights to efficiently correct the complex tilt state of the steel casing 12. The design of the sliding reaction seat 8 and guide wheel 10 enables the adjustment structure to dynamically adapt to the lowering of the steel casing 12 and avoids the problem of jamming or scratching the steel casing 12, thus improving the applicability and durability of the equipment. The adjustment structure is easy to integrate with the control system and is a key execution component for realizing fully automatic adjustment.

[0044] In a preferred embodiment of this application, the arrangement relationship between the positioning structure and the monitoring structure is optimized, specifically, as follows: Figure 1 , 2 As shown in Figures 3 and 11, the monitoring structure of this embodiment includes multiple layers of laser rangefinders 11 arranged vertically at intervals along the guide frame 2, with the number of layers and their positions corresponding to the adjusting jacks 7. Each layer also includes at least two sets, and each set includes two laser rangefinders 11 arranged opposite each other. Crucially, each laser rangefinder 11 corresponds one-to-one with and overlaps the adjusting jacks 7 at the same angle in the same layer in the radial direction of the steel casing 12. In this embodiment, the laser rangefinders 11 are mounted on the reaction seat 8.

[0045] In addition, the monitoring structure in this embodiment also includes strain gauges, which are installed on the adjusting jack 7 to monitor the cylinder pressure of the adjusting jack 7 in real time; it also includes a tension sensor installed on the steel strand 5 to monitor the tension value of the steel strand 5 in real time. The strain gauges and tension sensor are included for safety reasons.

[0046] This embodiment establishes a one-to-one spatial mapping relationship between measurement and execution. Each positioning jack 7 has a dedicated laser rangefinder 11 that provides the most direct and relevant distance data. Because the laser rangefinder 11 overlaps with the positioning jack 7 in the radial direction, the distance change measured by the laser rangefinder 11 can be directly and linearly converted into the stroke command that the corresponding positioning jack 7 needs to push or retract, without the need for complex coordinate transformation and data processing.

[0047] In actual control, the control system establishes an independent control loop for each pair of laser rangefinders 11 and adjusting jacks 7. The laser rangefinder 11 measures its distance from the outer wall of the steel casing 12 in real time and compares it with a preset theoretical distance value. When the deviation exceeds a threshold, the system directly sends an action command to the corresponding adjusting jack 7, driving it to move and eliminate the deviation. The coordinated operation of multiple loops enables precise control of the overall attitude of the steel casing 12.

[0048] The arrangement of the monitoring and positioning structures in this embodiment provides a fast response speed. The one-to-one control logic greatly simplifies the algorithm, reduces the computational load on the central processing unit, and makes the system respond faster, achieving true real-time control. It eliminates the errors that may be caused by coordinate transformation and data fusion, and the control commands are direct and precise, further improving the final positioning effect. Even if a certain loop fails, it is easy to diagnose and isolate, and will not cause the entire system to fail. Other loops can still continue to work, improving the reliability of the system.

[0049] This application allows for the development of dedicated software for corresponding control, such as... Figure 11 As shown, the specific control method is as follows: 1. Establish a coordinate system like Figure 11 As shown, the origin is denoted as the center of the lowered position of the steel casing 12. P 0 (x 0 ,y 0 ,z 0 ) and establish x , y coordinate axes z Axis perpendicular to xoy Plane upward; along x , y The laser rangefinder 11 is mounted on the guide frame 2 along the coordinate axis, and its coordinates are marked as follows: JP 1 (Jx 1 ,Jy 1 ,Jz 1 ) , JP 2 (Jx 2 ,Jy 2 ,Jz 2 ) , JP 3 (Jx 3 ,Jy 3 ,Jz 3 ) , JP 4 (Jx 4 ,Jy 4 ,Jz 4 ) .

[0050] 2. Measure and calculate the plane position and inclination of the steel casing 12. During the lowering of the steel casing 12, the laser rangefinder 11 begins measuring the distance from the edge of the steel casing 12 to the laser rangefinder 11, which can be denoted as follows: Jd 1 , Jd 2 , Jd 3 , Jd 4 From this, the coordinates of four points on the edge of the steel casing 12 can be obtained, which are respectively P1(x 1 ,y 1 , z 1 ), P2(x 2 ,y 2 ,z 2 ), P3(x 3 ,y 3 ,z 3 ), P4(x 4 ,y 4 ,z 4 ) ,in x 1 =Jx 1 -Jd 1 ，y 1 =Jy 1 ，z 1 =Jz 1 ，x 2 =Jx 2 -Jd 2 ， y 2 =Jy 2 ，z 2 =Jz 2 ，x 3 =Jx 3 -Jd 3 ，y 3 =Jy 3 ，z 3 =Jz 3 ，x 4 =Jx 4 -Jd 4 ，y 4 =Jy 4 ，z 4 =Jz 4 ; Given the coordinates of three points in space: x 1 ,y 1 ,z 1 ), ( x 2 ,y 2 ,z 2 ), ( x 3 ,y 3 ,z 3By using these three points, we can obtain the coordinates of the center of the spatial circle determined by these three points, which is the center of the steel casing 12. The calculation method is as follows: Let the coordinates of the center of the circle be ( x,y,z ), radius is R The equation of a plane determined by three points in space is: It can be written as: ,in: Based on the constraint that the distances from the three points to the coordinates of the center of the circle in space are equal: Elimination yields: Recorded as: Recorded as: Written in matrix form: The coordinates of the center of the circle are: Select three different points P1, P2, P3, and P4 for calculation, and use the average value of the calculation results as the center coordinates of the circle.

[0051] The coordinates of the center of the steel casing 12, obtained by the measurement and calculation of the two-layer laser rangefinder 11, are denoted as follows: Pt(x t ,y t ,z t ) , Pb (x b ,y b ,x b ) The maximum offset of the steel casing in plane 12 can then be obtained. , Inclination , .

[0052] 3. Adjust the plane position and inclination of the steel casing 12. The automatic control software automatically adjusts the extension and retraction speed of each adjusting jack 7 based on feedback information from the laser rangefinder 11 to maintain the horizontal state of the steel casing 12. Based on the adjusting jacks 7, an intelligent control valve and servo system are added, enabling precise adjustment of the extension and retraction speed and pressure of the adjusting jacks 7 according to the instructions of the control system. A closed-loop control system is introduced, inputting data from the laser rangefinder 11 and strain gauges into the control system in real time. After calculation, the control system immediately adjusts the action of the adjusting jacks 7 to achieve automatic leveling. When the load on a single adjusting jack 7 exceeds 110% of its rated value, a safety lock is automatically triggered. A PID control-based algorithm is designed to dynamically adjust all adjusting jacks 7 based on real-time tilt and displacement data to adjust the planar position of the steel casing 12 until... , , , Once the accuracy requirements are met, continue lowering the steel casing 12 and repeat the above operations until the steel casing 12 is sunk to the design elevation.

[0053] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope thereof, and all such changes and modifications fall within the scope of this application as claimed. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. An underwater steel casing guide device, characterized in that, include, Multiple steel pipe piles (1), the lower end of the steel pipe piles (1) is driven vertically into the bottom of the water and the upper end is above the water surface. Multiple steel pipe piles (1) surround the outside of the construction position of the steel casing (12); Guide frame (2), which is vertically movable and connected to multiple steel pipe piles (1); The leveling and lowering structure is set at the upper end of the steel pipe pile (1) for leveling and vertical adjustment of the guide frame (2); A monitoring structure is installed on the guide frame (2) for real-time monitoring of the spatial attitude of the steel casing (12); The adjustment structure is set on the guide frame (2) and is used to adjust the planar deviation and inclination of the steel casing (12) based on the monitored spatial posture of the steel casing (12) when the steel casing (12) is lowered.

2. The underwater steel casing guide device as described in claim 1, characterized in that, The guide frame (2) includes multiple legs (21); the legs (21) are hollow tubular structures that can be vertically moved and fitted onto the steel pipe pile (1), and multiple horizontal bracing (22) are arranged vertically between adjacent legs (21); the horizontal bracing (22) is arranged horizontally, and its two ends are fixed to two adjacent legs (21) respectively, and the adjacent horizontal bracing (22) is provided with diagonal bracing (23) between adjacent legs (21).

3. The underwater steel casing guide device as described in claim 2, characterized in that, The outrigger (21) is equipped with multiple sets of clamping jacks (24) distributed vertically at intervals, each set including at least two clamping jacks (24) arranged on the same plane and opposite to each other.

4. The underwater steel casing guide device as described in claim 1, characterized in that, The leveling and lowering structure includes: Cover plate (3), the cover plate (3) is fixed to the upper end of the steel pipe pile (1); A continuous jack (4) is fixed vertically to the upper end face of the cover plate (3), and a steel strand (5) is threaded through the continuous jack (4). The lower end of the steel strand (5) is connected to the guide frame (2).

5. The underwater steel casing guide device as described in claim 4, characterized in that, The lower end face of the cover plate (3) is provided with an internal steel pipe (6); the internal steel pipe (6) is inserted vertically from the upper end of the steel pipe pile (1) into the steel pipe pile (1) to restrict the relative displacement of the cover plate (3) and the steel pipe pile (1) in the horizontal direction.

6. The underwater steel casing guide device as described in claim 1, characterized in that, The adjustment structure includes multiple layers of adjustment jacks (7) arranged vertically at intervals on the guide frame (2). Each layer includes at least two sets of adjustment jacks (7), and each set includes two adjustment jacks (7) arranged opposite each other on the same horizontal plane. The shell of the adjustment jack (7) is fixed on the guide frame (2), and the pushing end abuts against the outer circumference of the steel casing (12) in the horizontal direction.

7. The underwater steel casing guide device as described in claim 6, characterized in that, The guide frame (2) is equipped with a reaction seat (8) and a guide rail (9); the housing of the adjusting jack (7) is fixed on the reaction seat (8) and can slide along the guide rail (9); the end of the jack facing the steel casing (12) is provided with a guide wheel (10) that can rotate around the horizontal axis.

8. The underwater steel casing guide device as described in claim 7, characterized in that, The monitoring structure includes a multi-layer laser rangefinder (11) arranged vertically at intervals on the guide frame (2). Each layer includes at least two sets of laser rangefinders (11), and each set includes two laser rangefinders (11) arranged opposite each other on the same horizontal plane. The laser rangefinders (11) are installed on the guide frame (2) to measure the distance between the outer circumference of the steel casing (12) and the laser rangefinder (11).

9. The underwater steel casing guide device as described in claim 8, characterized in that, The laser rangefinder (11) corresponds one-to-one with the adjustment jack (7), and the corresponding laser rangefinder (11) and adjustment jack (7) overlap in the radial direction of the steel casing (12).

10. A method for constructing a steel casing, characterized in that: The construction method utilizes an underwater steel casing guide device as described in any one of claims 1 to 9, comprising: Multiple steel pipe piles (1) were driven around the construction site of the steel casing (12); Based on the completed steel pipe piles (1), install the guide frame (2), leveling and lowering structure, monitoring structure and positioning structure; The guide frame (2) is leveled and its height is adjusted using the leveling and lowering structure. After the adjustment is completed, the guide frame (2) is fixed to the steel pipe pile (1). The lifting equipment lowers the steel casing (12) into the guide frame (2), and the spatial attitude of the steel casing (12) during lowering is obtained based on the monitoring structure; The adjustment structure adjusts the planar offset and inclination of the steel casing (12) based on the spatial posture of the lowering of the steel casing (12) until the steel casing (12) enters the mud under its own weight; The steel casing (12) is vibrated and driven using a piling equipment. During this process, the positioning structure adjusts the steel casing (12) in real time until the steel casing (12) sinks to the design elevation. Remove the guide frame (2), level and lower the structure, monitor the structure and adjust the position structure.

Images