Offshore photovoltaic pile foundation pile gripper based on real-time positioning and dynamic hydraulic adjustment and control method

Abstract

The invention discloses an offshore photovoltaic pile foundation pile gripper based on real-time positioning and dynamic hydraulic adjustment and a control method, and relates to the technical field of offshore photovoltaic equipment, the offshore photovoltaic pile foundation pile gripper comprises a base, a buffer damping mechanism is arranged on one side of the base, and a real-time positioning, adjusting and clamping mechanism is arranged on one side of the buffer damping mechanism. By arranging the real-time positioning and adjusting clamping mechanism, the positioning precision of the pile gripper is improved, and the problems that in the using process of an existing offshore photovoltaic pile foundation pile gripper, the positioning precision is low, the pile gripper and the pile foundation are difficult to align accurately in the complex offshore environment, and consequently the construction efficiency is low are solved.

Description

Technical Field

[0001] This invention relates to the field of offshore photovoltaic equipment technology, specifically to an offshore photovoltaic pile foundation gripper and control method based on real-time positioning and dynamic hydraulic adjustment. Background Technology

[0002] With the rapid development of the new energy industry, offshore photovoltaic power generation, as an important way to utilize clean energy, has received widespread attention and application. In the construction of offshore photovoltaic power plants, the installation of pile foundations is one of the key steps, and pile grippers are important equipment used to clamp and fix the pile foundations during the installation process.

[0003] However, the existing devices have the following shortcomings during use: Existing offshore photovoltaic pile grippers have low positioning accuracy during use. In the complex marine environment, it is difficult to accurately align the gripper with the pile foundation, resulting in low construction efficiency and poor performance.

[0004] Therefore, we propose a marine photovoltaic pile foundation gripper and control method based on real-time positioning and dynamic hydraulic adjustment to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide a marine photovoltaic pile gripper and control method based on real-time positioning and dynamic hydraulic adjustment. Through the synergistic effect of a GPS positioning module and an image recognition module, the pile foundation position information can be captured in real time, providing data support for precise alignment. When the first hydraulic cylinder drives the drive shaft to rotate, the meshing transmission of the first gear and the second gear drives the fixed box and the clamping arm to rotate and adjust the angle. With the monitoring of the extension and retraction of the first hydraulic rod by the first displacement sensor, the rotation amplitude can be precisely controlled to ensure that the clamping direction is accurately matched with the pile foundation axis. During the opening and closing process of the clamping arm driven by the second hydraulic cylinder, the second displacement sensor can provide real-time feedback on the displacement parameters related to the clamping force, so that the two arc-shaped clamping plates move synchronously and symmetrically, ensuring the stability of the clamping, thereby solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a marine photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment, comprising a base, a buffer and shock absorption mechanism on one side of the base, and a real-time positioning and adjustment clamping mechanism on one side of the buffer and shock absorption mechanism; The real-time positioning and adjustment clamping mechanism includes a first fixed plate, a drive shaft, and a driven shaft. A first hydraulic cylinder is mounted on one side of the first fixed plate, and a first hydraulic rod is fixedly connected to the output end of the first hydraulic cylinder. A first displacement sensor is installed on the first hydraulic rod. A connecting plate and a first gear are fixedly sleeved on the outer surface of the drive shaft. One end of the first hydraulic rod movably passes through the first fixed plate and is hinged to the connecting plate. A second gear is fixedly sleeved on the outer surface of the driven shaft, and the first gear and the second gear mesh with each other. A fixed box is fixedly connected to one end of the driven shaft. A second fixed plate is fixedly connected to the inner side of the fixed box. A second hydraulic cylinder is mounted on one side of the second fixed plate, and a second hydraulic rod is fixedly connected to the output end of the second hydraulic cylinder. A second displacement sensor is installed on the second hydraulic rod. Two clamping arms are installed inside the fixed box. A GPS positioning module and an image recognition module are mounted on one side of the fixed box. The second hydraulic cylinder is used to drive the two clamping arms to open and close, thereby achieving stable clamping of the pile foundation.

[0007] Preferably, the buffer and shock absorption mechanism includes multiple grooves formed on one side of the base, a support plate is provided on one side of the base, multiple limiting rods are fixedly connected to the inner side of the multiple grooves, multiple moving blocks and multiple shock absorption springs are sleeved on the outer surface of the multiple limiting rods, and a flange is fixedly connected to the outer side of the base.

[0008] Preferably, multiple connecting rods are rotatably connected between the multiple moving blocks and the support plate, a hydraulic damping rod is fixedly connected between the base and the support plate, the first fixed plate is fixedly connected to one side of the support plate, the driving shaft and the driven shaft are rotatably connected to one side of the support plate, the diameter of the first gear is larger than the diameter of the second gear, a first mounting seat is fixedly sleeved on the outer surface of the first hydraulic rod, the first displacement sensor is installed on one side of the first mounting seat, and a second mounting seat is fixedly sleeved on the outer surface of the second hydraulic rod.

[0009] Preferably, the second displacement sensor is mounted on one side of the second mounting base, a rotating shaft is rotatably connected inside the fixed box, and two guide rails are installed inside the fixed box.

[0010] Preferably, two sliders are slidably connected to the two guide rails, two racks are fixedly connected to one side of the two sliders, and two clamping arms are fixedly connected to one side of the two sliders.

[0011] Preferably, a third gear is fixedly sleeved on the outer surface of the rotating shaft, and the third gear meshes with two racks.

[0012] Preferably, two arc-shaped clamping plates are fixedly connected to one side of the two clamping arms, and an arc-shaped block is fixedly connected to one side of the support plate.

[0013] Preferably, the inner surfaces of both arc-shaped clamps are provided with anti-slip textures, and an arc-shaped groove is provided on one side of the arc-shaped block.

[0014] Preferably, a fixed rod is slidably connected within the arc-shaped groove, and one end of the fixed rod is fixedly connected to the fixed box.

[0015] A control method for a marine photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment includes the following methods: Step 1: During the equipment installation and commissioning phase, the entire pile gripper is securely connected to the construction equipment via the flange on the outside of the base. Ensure that the electrical connections of the first hydraulic cylinder, the second hydraulic cylinder, the first displacement sensor, the second displacement sensor, the GPS positioning module, the image recognition module, and the external control system are normal, and perform initial parameter calibration. Step 2: Positioning and Alignment Stage. The external control system is activated, and the GPS positioning module acquires the pile foundation location information in real time. Then, the construction equipment is guided to move the pile gripper to the vicinity of the pile foundation. The image recognition module captures the pile foundation image and transmits it to the external control system. The external system analyzes and calculates the relative positional deviation between the pile gripper and the pile foundation. If there is an angular deviation, the external control system drives the first hydraulic cylinder to work. The extension and retraction of the first hydraulic rod drives the connecting plate to rotate, which in turn causes the drive shaft and the first gear to rotate. Through the meshing transmission of the first gear and the second gear, the driven shaft and the fixed box are driven to rotate. At the same time, the first displacement sensor monitors the extension and retraction of the first hydraulic rod and feeds it back to the external control system until the angle of the fixed box and the clamping arm is adjusted to match the axis of the pile foundation. Step 3: Clamping and fixing stage. After positioning and alignment, the external control system drives the second hydraulic cylinder to work. The second hydraulic rod extends and retracts to push the rack to move. Under the meshing action of the third gear and the two racks, the two sliders slide synchronously in opposite directions along the guide rail, driving the two clamping arms and the arc-shaped clamping plate to close. The second displacement sensor monitors the extension and retraction of the second hydraulic rod in real time. The external control system judges the clamping force according to the displacement parameters. When the preset stable clamping state is reached, the second hydraulic cylinder stops working. Step 4: Operation and Adjustment Stage. During the pile foundation installation process, if vibration or positional displacement occurs due to the marine environment, the shock-absorbing springs and hydraulic damping rods in the buffer and shock-absorbing mechanism absorb the impact. The moving block slides along the limit rod and disperses the force through the connecting rod to maintain overall stability. If fine adjustment of the clamping angle is required, repeat the operation of the positioning and alignment stage. The fixing rod slides along the arc groove of the arc block to assist the fixing box in rotating smoothly. Step 5: Disassembly completion stage. After the pile foundation is installed in place, the external control system drives the second hydraulic cylinder to work in reverse, causing the arc-shaped clamp to open and detach from the pile foundation. Then, the first hydraulic cylinder resets the fixing box, completing the operation.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention, through the setting of a real-time positioning and adjustment clamping mechanism, and the synergistic effect of the GPS positioning module and image recognition module, can capture the pile foundation position information in real time, providing data support for precise alignment. When the first hydraulic cylinder drives the drive shaft to rotate, the meshing transmission of the first gear and the second gear drives the fixed box and clamping arm to rotate and adjust the angle as a whole. With the monitoring of the extension and retraction of the first hydraulic rod by the first displacement sensor, the rotation amplitude can be precisely controlled to ensure that the clamping direction is accurately matched with the pile foundation axis. During the opening and closing process of the clamping arm driven by the second hydraulic cylinder, the second displacement sensor can provide real-time feedback on the displacement parameters related to the clamping force, so that the two arc-shaped clamps move synchronously and symmetrically, ensuring the stability of the clamping and improving the positioning accuracy of the pile gripper. This solves the problem that existing offshore photovoltaic pile grippers have low positioning accuracy during use, and it is difficult to accurately align the pile gripper with the pile foundation in the complex marine environment, resulting in low construction efficiency.

[0017] 2. This invention enhances the stability and service life of the pile gripper in harsh marine environments through its buffer and shock absorption mechanism. Multiple shock-absorbing springs and hydraulic damping rods between the base and support plate effectively absorb the impact of equipment vibration, reducing the impact on the overall structure and positioning accuracy. The cooperation between the limit rod and the moving block, through the connecting rod, disperses and transmits the force on the support plate, further improving the buffering effect and preventing component damage caused by rigid impacts. Simultaneously, the sliding connection between the arc-shaped block and the fixed rod provides auxiliary support and guidance during the rotation and adjustment of the fixed box, ensuring the smoothness of the angle adjustment process. This allows the pile gripper to maintain a reliable working state even in dynamic environments, improving the safety and efficiency of offshore photovoltaic pile foundation installation. Attached Figure Description

[0018] Figure 1 This is a three-dimensional view of the main structure of a marine photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment according to the present invention. Figure 2 This is a three-dimensional view of the right side structure of a marine photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment according to the present invention. Figure 3 This is a three-dimensional view of the bottom structure of a marine photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment according to the present invention. Figure 4 This is a three-dimensional structural view of the support plate in a marine photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment according to the present invention. Figure 5 This is a three-dimensional cross-sectional view of the fixing box in a marine photovoltaic pile foundation clamp based on real-time positioning and dynamic hydraulic adjustment according to the present invention. Figure 6 This is a three-dimensional view of the hydraulic damping rod in a marine photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment according to the present invention. Figure 7 This invention relates to a marine photovoltaic pile gripper based on real-time positioning and dynamic hydraulic adjustment. Figure 3 Enlarged 3D view of the structure at point A in the middle; Figure 8 This invention relates to a marine photovoltaic pile gripper based on real-time positioning and dynamic hydraulic adjustment. Figure 4 Enlarged 3D view of the structure at point B.

[0019] In the diagram: 1. Base; 2. Buffer and shock absorption mechanism; 201. Groove; 202. Support plate; 203. Limiting rod; 204. Moving block; 205. Connecting rod; 206. Shock-absorbing spring; 207. Hydraulic damping rod; 3. Real-time positioning and adjustment clamping mechanism; 301. First fixed plate; 302. Drive shaft; 303. Driven shaft; 304. First hydraulic cylinder; 305. First hydraulic rod; 306. First displacement sensor; 307. Connecting plate; 308. First gear; 309. Second gear; 310. Fixed box 311. Second fixing plate; 312. Second hydraulic cylinder; 313. Second hydraulic rod; 314. Second displacement sensor; 315. Clamping arm; 316. GPS positioning module; 317. Image recognition module; 318. First mounting base; 319. Second mounting base; 320. Rotating shaft; 321. Guide rail; 322. Slider; 323. Rack; 324. Third gear; 325. Arc-shaped clamping plate; 326. Anti-slip texture; 327. Arc-shaped block; 328. Arc-shaped groove; 329. Fixing rod; 4. Flange. Detailed Implementation

[0020] 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.

[0021] like Figure 1 - Figure 8 As shown, the present invention provides a technical solution: a marine photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment, including a base 1, a buffer and shock absorption mechanism 2 on one side of the base 1, and a real-time positioning and adjustment clamping mechanism 3 on one side of the buffer and shock absorption mechanism 2. The real-time positioning and adjustment clamping mechanism 3 includes a first fixed plate 301, a drive shaft 302, and a driven shaft 303. A first hydraulic cylinder 304 is mounted on one side of the first fixed plate 301. A first hydraulic rod 305 is fixedly connected to the output end of the first hydraulic cylinder 304. A first displacement sensor 306 is provided on the first hydraulic rod 305. A connecting plate 307 and a first gear 308 are fixedly sleeved on the outer surface of the drive shaft 302. One end of the first hydraulic rod 305 movably passes through the first fixed plate 301 and is hinged to the connecting plate 307. A second gear 309 is fixedly sleeved on the outer surface of the driven shaft 303. The first gear 308 and the second gear 309... The driven shaft 303 is connected to a fixed box 310 at one end. A second fixed plate 311 is fixedly connected to the inside of the fixed box 310. A second hydraulic cylinder 312 is installed on one side of the second fixed plate 311. A second hydraulic rod 313 is fixedly connected to the output end of the second hydraulic cylinder 312. A second displacement sensor 314 is installed on the second hydraulic rod 313. Two clamping arms 315 are installed inside the fixed box 310. A GPS positioning module 316 and an image recognition module 317 are installed on one side of the fixed box 310. The second hydraulic cylinder 312 is used to drive the two clamping arms 315 to open and close, thereby achieving stable clamping of the pile foundation.

[0022] like Figure 1 and Figure 7 As shown, the buffer and shock absorption mechanism 2 includes multiple grooves 201 formed on one side of the base 1. A support plate 202 is provided on one side of the base 1. Multiple limiting rods 203 are fixedly connected to the inner side of the multiple grooves 201. Multiple moving blocks 204 and multiple shock-absorbing springs 206 are sleeved on the outer surface of the multiple limiting rods 203. A flange 4 is fixedly connected to the outer side of the base 1. The multiple grooves 201 provide a stable installation space for the limiting rods 203, ensuring that they can effectively constrain the movement trajectory of the moving blocks 204. The cooperation between the limiting rods 203 and the moving blocks 204, combined with the connecting rod 205, distributes the force on the support plate 202 to the multiple shock-absorbing springs 206, enhancing the uniformity of buffering. The shock-absorbing springs 206 can quickly absorb external impact energy, while the flange 4 facilitates the secure connection of the base 1 with other equipment, improving the convenience and reliability of the overall installation, and further ensuring the foundation stability of the pile driver during offshore operations.

[0023] like Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, multiple moving blocks 204 are rotatably connected to the support plate 202 by multiple connecting rods 205. A hydraulic damping rod 207 is fixedly connected between the base 1 and the support plate 202. A first fixed plate 301 is fixedly connected to one side of the support plate 202. The drive shaft 302 and the driven shaft 303 are rotatably connected to one side of the support plate 202. The diameter of the first gear 308 is larger than the diameter of the second gear 309. A first mounting base 318 is fixedly sleeved on the outer surface of the first hydraulic rod 305. A first displacement sensor 306 is mounted on one side of the first mounting base 318. The outer surface of the second hydraulic rod 313... The second mounting base 319 is fixedly connected to the surface. The force on the support plate 202 can be more flexibly transmitted to the moving block 204 through the rotational connection of the connecting rod 205. In conjunction with the hydraulic damping rod 207, the continuous transmission of vibration can be effectively suppressed, and the shock absorption effect can be improved. The diameter difference between the first gear 308 and the second gear 309 makes the angle adjustment of the fixed box 310 and the clamping arm 315 more precise. The first mounting base 318 and the second mounting base 319 provide a stable installation position for the displacement sensor, ensuring that it can accurately monitor the extension and retraction of the hydraulic rod and provide reliable data for the precise control of the external control system.

[0024] like Figure 1 and Figure 5 As shown, the second displacement sensor 314 is installed on one side of the second mounting base 319. A rotating shaft 320 is rotatably connected inside the fixed box 310. Two guide rails 321 are installed inside the fixed box 310. The second displacement sensor 314 is installed on the second mounting base 319, which can monitor the displacement change of the second hydraulic rod 313 at close range and with high precision, and provide timely feedback on clamping force information. The rotating shaft 320 provides stable rotational support for the third gear 324, and the guide rails 321 provide guidance for the sliding of the slider 322, ensuring the stability of the movement trajectory of the clamping arm 315 and avoiding the impact of movement deviation on clamping accuracy.

[0025] like Figure 1 and Figure 5 As shown, two sliders 322 are slidably connected to two guide rails 321. Two racks 323 are fixedly connected to one side of the two sliders 322. Two clamping arms 315 are fixedly connected to one side of the two sliders 322. Through the sliding engagement between the sliders 322 and the guide rails 321, the movement of the racks 323 and the clamping arms 315 is smoother, reducing frictional resistance. The meshing transmission between the racks 323 and the third gear 324 can convert the linear motion of the second hydraulic cylinder 312 into the opening and closing motion of the clamping arms 315. The two sliders 322 move synchronously, ensuring the consistency of the actions of the two clamping arms 315 and ensuring symmetrical and stable clamping of the pile foundation.

[0026] like Figure 1 and Figure 5As shown, a third gear 324 is fixedly sleeved on the outer surface of the rotating shaft 320. The third gear 324 meshes with two racks 323. Through the meshing connection between the third gear 324 and the two racks 323, a symmetrical transmission structure is formed. When the second hydraulic cylinder 312 drives one of the racks 323 to move, the other rack 323 can move synchronously in the opposite direction under the drive of the third gear 324, realizing the synchronous opening and closing of the two clamping arms 315. This avoids clamping offset caused by a single drive and improves the symmetry and reliability of clamping.

[0027] like Figure 5 and Figure 7 As shown, two arc-shaped clamping plates 325 are fixedly connected to one side of the two clamping arms 315, and an arc-shaped block 327 is fixedly connected to one side of the support plate 202. The arc-shaped clamping plates 325 have a larger contact area with the pile foundation, which can better fit the surface of the pile foundation and improve the clamping stability. The arc-shaped block 327 provides support and guidance for the sliding of the fixing rod 329. When the fixing box 310 rotates to adjust the angle, the fixing rod 329 slides along the arc-shaped groove 328, which can help maintain the balance of the fixing box 310 and ensure the smoothness of the angle adjustment process.

[0028] like Figure 5 and Figure 7 As shown, the inner surfaces of the two arc-shaped clamping plates 325 are provided with anti-slip textures 326, and an arc-shaped groove 328 is provided on one side of the arc-shaped block 327. The anti-slip textures 326 can increase the friction between the arc-shaped clamping plates 325 and the pile foundation, effectively preventing the pile foundation from slipping during clamping and improving the clamping firmness. The sliding cooperation between the arc-shaped groove 328 and the fixing rod 329 provides a precise trajectory constraint for the rotation of the fixing box 310, avoiding shaking during rotation and further ensuring the accuracy of angle adjustment.

[0029] like Figure 2 , Figure 3 , Figure 5 , Figure 7 and Figure 8As shown, a fixed rod 329 is slidably connected within the arc-shaped groove 328. One end of the fixed rod 329 is fixedly connected to the fixed box 310. The sliding connection between the fixed rod 329 and the arc-shaped groove 328 enhances the structural stability of the fixed box 310 during rotation, preventing structural deformation caused by swaying at sea. Simultaneously, the first hydraulic cylinder 304, the first displacement sensor 306, the second hydraulic cylinder 312, the second displacement sensor 314, the GPS positioning module 316, and the image recognition module 317 are all electrically connected to the external control system. Through the electrical connection of each component to the external control system, automated control of the pile gripper is achieved. The external control system can adjust the action of the hydraulic cylinder in real time based on the feedback data from the GPS positioning module 316, the image recognition module 317, and the displacement sensor, achieving precise positioning and dynamic clamping, significantly improving the automation and efficiency of construction.

[0030] The usage and working principle of this device: During the equipment installation and commissioning stage, the entire pile gripper is securely connected to the construction equipment (such as the mechanical arm of a pile driving vessel) through the flange 4 on the outside of the base 1. Check whether the connections of each component of the buffer shock absorption mechanism 2 and the real-time positioning adjustment clamping mechanism 3 are secure. Ensure that the electrical connections of the first hydraulic cylinder 304, the second hydraulic cylinder 312, the first displacement sensor 306, the second displacement sensor 314, the GPS positioning module 316, the image recognition module 317 and the external control system are normal, and perform initial parameter calibration.

[0031] During the positioning and alignment phase, after the external control system is activated, the GPS positioning module 316 receives satellite signals several times per second to acquire the three-dimensional coordinate information of the pile foundation in real time and transmits the data to the external control system. First, the GPS positioning module 316 determines the orientation of the pile foundation, guiding the construction equipment to move the pile gripper to the vicinity of the pile foundation. Then, the image recognition module 317 continuously photographs the pile foundation using a high-definition camera, capturing image information such as the pile foundation's shape and location, and synchronously sends this feature data to the control system. The control system then fuses the coordinate data transmitted from the GPS positioning module 316 with the feature data extracted by the image recognition module 317. Through comprehensive analysis, parameters such as the angular deviation and horizontal distance deviation between the current position of the pile gripper and the pile foundation are accurately calculated. When the analysis results show that there is an angular deviation, the external control system drives the first hydraulic cylinder 304 to work, and the first hydraulic rod 305 extends and retracts, driving the connecting plate 307 to rotate, which in turn causes the drive shaft 302 and the first gear 308 to rotate. Through the meshing transmission of the first gear 308 and the second gear 309, the driven shaft 303 and the fixed box 310 are driven to rotate. At the same time, the first displacement sensor 306 monitors the extension and retraction of the first hydraulic rod 305 and feeds it back to the external control system until the angle of the fixed box 310 and the clamping arm 315 is adjusted to match the axis of the pile foundation.

[0032] During the clamping and fixing stage, after positioning and alignment, the external control system drives the second hydraulic cylinder 312 to work, and the second hydraulic rod 313 extends and retracts to push the rack 323 connected to it to move. Under the meshing action of the third gear 324 and the two racks 323, the two sliders 322 slide synchronously in opposite directions along the guide rail 321, driving the two clamping arms 315 and the arc-shaped clamping plate 325 to close. The second displacement sensor 314 monitors the extension and retraction of the second hydraulic rod 313 in real time. The external control system judges the clamping force according to the displacement parameters. When the preset stable clamping state is reached, the second hydraulic cylinder 312 stops working.

[0033] During the operation and adjustment phase, if vibration or positional displacement occurs due to the marine environment during pile foundation installation, the shock-absorbing spring 206 and hydraulic damping rod 207 in the buffer and shock-absorbing mechanism 2 absorb the impact, the moving block 204 slides along the limiting rod 203 and disperses the force through the connecting rod 205 to maintain overall stability. If fine adjustment of the clamping angle is required, the operation of the positioning and alignment phase is repeated, and the fixing rod 329 slides along the arc groove 328 of the arc block 327 to assist the fixing box 310 in rotating smoothly.

[0034] During the dismantling phase, after the pile foundation is installed in place, the external control system drives the second hydraulic cylinder 312 to work in reverse, causing the arc-shaped clamp 325 to open and detach from the pile foundation. Then, the first hydraulic cylinder 304 resets the fixing box 310, completing the operation.

[0035] The wiring diagrams of the first hydraulic cylinder 304, the first displacement sensor 306, the second hydraulic cylinder 312, the second displacement sensor 314, the GPS positioning module 316, the image recognition module 317, and the control system in this invention are common knowledge in the field. Their working principles are known technologies, and the appropriate models are selected according to actual use. Therefore, the control methods and wiring layouts of the first hydraulic cylinder 304, the first displacement sensor 306, the second hydraulic cylinder 312, the second displacement sensor 314, the GPS positioning module 316, the image recognition module 317, and the control system will not be explained in detail.

[0036] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A marine photovoltaic pile gripper based on real-time positioning and dynamic hydraulic adjustment, characterized in that, Includes a base (1), a buffer and shock absorption mechanism (2) is provided on one side of the base (1), and a real-time positioning and adjustment clamping mechanism (3) is provided on one side of the buffer and shock absorption mechanism (2). The real-time positioning and adjustment clamping mechanism (3) includes a first fixed plate (301), a drive shaft (302), and a driven shaft (303). A first hydraulic cylinder (304) is installed on one side of the first fixed plate (301). A first hydraulic rod (305) is fixedly connected to the output end of the first hydraulic cylinder (304). A first displacement sensor (306) is provided on the first hydraulic rod (305). A connecting plate (307) and a first gear (308) are fixedly sleeved on the outer surface of the drive shaft (302). One end of the first hydraulic rod (305) movably passes through the first fixed plate (301) and is hinged to the connecting plate (307). A second gear (309) is fixedly sleeved on the outer surface of the driven shaft (303). The first gear (308) and the second gear (309) are connected to each other. 09) Engaging connection, one end of the driven shaft (303) is fixedly connected to a fixed box (310), the inner side of the fixed box (310) is fixedly connected to a second fixed plate (311), a second hydraulic cylinder (312) is installed on one side of the second fixed plate (311), the output end of the second hydraulic cylinder (312) is fixedly connected to a second hydraulic rod (313), a second displacement sensor (314) is provided on the second hydraulic rod (313), two clamping arms (315) are provided inside the fixed box (310), a GPS positioning module (316) and an image recognition module (317) are installed on one side of the fixed box (310), and the second hydraulic cylinder (312) is used to drive the two clamping arms (315) to open and close, thereby realizing the stable clamping of the pile foundation.

2. The offshore photovoltaic pile gripper based on real-time positioning and dynamic hydraulic adjustment according to claim 1, characterized in that: The buffer and shock absorption mechanism (2) includes multiple grooves (201) opened on one side of the base (1), a support plate (202) is provided on one side of the base (1), multiple limiting rods (203) are fixedly connected to the inner side of the multiple grooves (201), multiple moving blocks (204) and multiple shock absorption springs (206) are sleeved on the outer surface of the multiple limiting rods (203), and a flange (4) is fixedly connected to the outer side of the base (1).

3. The offshore photovoltaic pile gripper based on real-time positioning and dynamic hydraulic adjustment according to claim 2, characterized in that: Multiple moving blocks (204) are rotatably connected to a support plate (202) by multiple connecting rods (205). A hydraulic damping rod (207) is fixedly connected between the base (1) and the support plate (202). The first fixed plate (301) is fixedly connected to one side of the support plate (202). The drive shaft (302) and the driven shaft (303) are rotatably connected to one side of the support plate (202). The diameter of the first gear (308) is larger than the diameter of the second gear (309). A first mounting seat (318) is fixedly sleeved on the outer surface of the first hydraulic rod (305). The first displacement sensor (306) is installed on one side of the first mounting seat (318). A second mounting seat (319) is fixedly sleeved on the outer surface of the second hydraulic rod (313).

4. The offshore photovoltaic pile gripper based on real-time positioning and dynamic hydraulic adjustment according to claim 3, characterized in that: The second displacement sensor (314) is installed on one side of the second mounting base (319). A rotating shaft (320) is rotatably connected inside the fixed box (310). Two guide rails (321) are installed inside the fixed box (310).

5. The offshore photovoltaic pile gripper based on real-time positioning and dynamic hydraulic adjustment according to claim 4, characterized in that: Two sliders (322) are slidably connected to the two guide rails (321), two racks (323) are fixedly connected to one side of the two sliders (322), and two clamping arms (315) are fixedly connected to one side of the two sliders (322).

6. The offshore photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment according to claim 5, characterized in that: A third gear (324) is fixedly sleeved on the outer surface of the rotating shaft (320), and the third gear (324) meshes with two racks (323).

7. A marine photovoltaic pile gripper based on real-time positioning and dynamic hydraulic adjustment according to claim 6, characterized in that: Two arc-shaped clamping plates (325) are fixedly connected to one side of the two clamping arms (315), and an arc-shaped block (327) is fixedly connected to one side of the support plate (202).

8. A marine photovoltaic pile gripper based on real-time positioning and dynamic hydraulic adjustment according to claim 7, characterized in that: The inner surfaces of the two arc-shaped clamps (325) are provided with anti-slip textures (326), and an arc-shaped groove (328) is provided on one side of the arc-shaped block (327).

9. A marine photovoltaic pile gripper based on real-time positioning and dynamic hydraulic adjustment according to claim 8, characterized in that: A fixed rod (329) is slidably connected inside the arc-shaped groove (328), and one end of the fixed rod (329) is fixedly connected to the fixed box (310).

10. A control method for a marine photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment, characterized in that: The method of using the offshore photovoltaic pile foundation gripper based on real-time positioning and dynamic hydraulic adjustment as described in claim 9 includes the following steps: S1: During the equipment installation and commissioning phase, the entire pile gripper is securely connected to the construction equipment via the flange (4) on the outside of the base (1), ensuring that the electrical connection between the first hydraulic cylinder (304), the second hydraulic cylinder (312), the first displacement sensor (306), the second displacement sensor (314), the GPS positioning module (316), the image recognition module (317) and the external control system is normal, and initial parameter calibration is performed. S2: Positioning and alignment stage, start the external control system, the GPS positioning module (316) obtains the pile foundation position information in real time, and then guides the construction equipment to move the pile gripper to the area near the pile foundation. Then the image recognition module (317) captures the pile foundation image and transmits it to the external control system. The external system analyzes and calculates the relative position deviation between the pile gripper and the pile foundation. If there is an angle deviation, the external control system drives the first hydraulic cylinder (304) to work. The first hydraulic rod (305) extends and retracts, driving the connecting plate (307) to rotate, thereby causing the drive shaft (302) and the first gear (308) to rotate. Through the meshing transmission of the first gear (308) and the second gear (309), the driven shaft (303) and the fixed box (310) are driven to rotate. At the same time, the first displacement sensor (306) monitors the extension and retraction of the first hydraulic rod (305) and feeds it back to the external control system until the angle of the fixed box (310) and the clamping arm (315) is adjusted to match the pile foundation axis. S3: During the clamping and fixing stage, after the positioning is aligned, the external control system drives the second hydraulic cylinder (312) to work, and the second hydraulic rod (313) extends and retracts to push the rack (323) to move. Under the meshing action of the third gear (324) and the two racks (323), the two sliders (322) slide synchronously in opposite directions along the guide rail (321), driving the two clamping arms (315) and the arc-shaped clamping plate (325) to close. The second displacement sensor (314) monitors the extension and retraction of the second hydraulic rod (313) in real time. The external control system judges the clamping force according to the displacement parameters. When the preset stable clamping state is reached, the second hydraulic cylinder (312) stops working. S4: During the operation and adjustment phase, if vibration or positional shift occurs due to the marine environment during the pile foundation installation process, the shock-absorbing spring (206) and hydraulic damping rod (207) in the buffer damping mechanism (2) absorb the impact, the moving block (204) slides along the limiting rod (203) and disperses the force through the connecting rod (205) to maintain overall stability. If the clamping angle needs to be finely adjusted, repeat the operation of the positioning and alignment phase. The fixing rod (329) slides along the arc groove (328) of the arc block (327) to assist the fixing box (310) to rotate smoothly. S5: After the pile foundation is installed in place, the external control system drives the second hydraulic cylinder (312) to work in reverse, so that the arc-shaped clamp (325) opens and separates from the pile foundation. Then, the first hydraulic cylinder (304) resets the fixed box (310) to complete the operation.

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