Precise positioning system and method for precise butt joint of offshore steel pipe piles

Abstract

The invention discloses a precise positioning system for precise butt joint of offshore steel pipe piles, comprising: a mother pile magnetic clamp which is annular and is horizontally clamped on a mother pile; the fixed end of the six-degree-of-freedom hydraulic mechanical arm is fixed on a ship deck; the new pile magnetic attraction clamp is annular and horizontally connected to the six-degree-of-freedom hydraulic mechanical arm, and the new pile magnetic attraction clamp is arranged on a new pile in a clamping mode; corresponding electromagnetic coils are respectively arranged on the new pile magnetic fixture and the mother pile magnetic fixture, so that the new pile magnetic fixture and the mother pile magnetic fixture attract each other; and the electromagnetic coils are connected with a power supply, and the suction force between the two electromagnetic coils is adjusted by adjusting the current passing through the electromagnetic coils. Through cooperation of the six-degree-of-freedom hydraulic mechanical arm and the magnetic attraction clamp, deviation caused by the marine environment can be accurately compensated, and efficient and accurate coaxial butt joint of a mother pile and a new pile is achieved; different butt joint requirements can be flexibly met by adjusting the current of the electromagnetic coil.

Description

Technical Field

[0001] This invention relates to the field of precision positioning systems for precise docking of offshore steel pipe piles. More specifically, this invention relates to a precision positioning system and method for precise docking of offshore steel pipe piles. Background Technology

[0002] Offshore steel pipe piles are widely used in the fixed foundations of offshore wind power and oil platforms. Especially in the construction of offshore piers, pile docking is a crucial process. Traditional pile docking methods often employ manual control and full-circumference welding or sleeve splicing, which suffer from low positioning accuracy, poor work efficiency, and low safety. Particularly in harsh sea conditions, the swaying of the ship and the piles increases the difficulty of docking, requiring more manual intervention, resulting in low automation, and posing high safety risks in high winds and waves. Summary of the Invention

[0003] To achieve these objectives and other advantages according to the invention, a preferred embodiment of the invention provides a precision positioning system for precise docking of offshore steel pipe piles, comprising: The magnetic clamp for the mother pile is ring-shaped and horizontally clamped onto the mother pile; A six-degree-of-freedom hydraulic robotic arm, with its fixed end fixed to the ship's deck; The new pile magnetic clamp is ring-shaped and horizontally connected to the six-degree-of-freedom hydraulic robotic arm. The new pile magnetic clamp is clamped onto the new pile. The new pile magnetic clamp and the mother pile magnetic clamp are respectively equipped with corresponding electromagnetic coils so that they can attract each other. The electromagnetic coils are connected to a power source, and the attraction force between the two electromagnetic coils can be adjusted by adjusting the current passing through the electromagnetic coils.

[0004] Preferably, the six-degree-of-freedom hydraulic robotic arm is composed of a base, a shoulder, an elbow, and a wrist connected in sequence; the top of the base is connected to the bottom of the shoulder via a rotary joint, which is a spherical universal joint, allowing the shoulder to rotate with the base to achieve angular linkage; the end of the shoulder away from the base is connected to one end of the elbow via a hinge, and a hydraulic cylinder is equipped at the hinge, the extension and retraction of which can directly drive the elbow to rotate around the hinge; the end of the elbow away from the shoulder is connected to one end of the wrist via a bearing, and an electric motor is installed next to the bearing, the power output of which can drive the wrist to rotate precisely around the bearing, and the shoulder is a length-adjustable hydraulic telescopic mechanism.

[0005] Preferably, a time-delay relay is connected in series on the line connecting the electromagnetic coil and the power supply; when it is necessary to release the magnetic attraction, the PLC controller controls the time-delay relay to gradually reduce the current of the electromagnetic coil to 0A within 5-8 seconds.

[0006] Preferably, it also includes a pressure sensor and a current compensation module, both of which are connected to the PLC controller, and the current compensation module is connected to the electromagnetic coil; The pressure sensor is installed on the mating surface of the magnetic clamp for the mother pile and the magnetic clamp for the new pile to collect the adsorption pressure between the two clamps in real time. When the adsorption pressure drops below 500N and the time delay relay has not yet completed the 5-8 second current reduction process, the pressure sensor sends a signal to the time delay relay. The time delay relay pauses the current reduction and maintains the current for 10 seconds. At the same time, the PLC controller controls the current compensation module of the electromagnetic coil. The current compensation module inputs an additional 5%-10% current to the electromagnetic coil to raise the adsorption pressure back to 800-1000N. After restoring a stable adsorption state, the current reduction process continues to complete, preventing the connection from becoming loose due to the adsorption pressure dropping too early.

[0007] Preferably, a cooling sleeve is provided on the outside of the electromagnetic coil, the cooling sleeve is in close contact with the outer wall of the electromagnetic coil, and a spiral flow channel is provided inside the sleeve; the water inlet of the cooling sleeve is connected to the cooling water pump of the ship through a water pipe, and the water outlet is connected to the return water pipeline. When the operating temperature of the electromagnetic coil exceeds 60°C, the cooling water pump is started, and the coolant carries away the heat of the coil through the spiral flow channel, so that the coil temperature is maintained at 40-60°C, ensuring stable coil attraction.

[0008] Preferably, the axial end face of the mother pile magnetic clamp facing the new pile magnetic clamp is machined with an annular conical guide groove, and the axial end face of the new pile magnetic clamp facing the mother pile magnetic clamp is provided with an annular conical strip; wherein, the small diameter ends of the annular conical strip of the new pile magnetic clamp all face the mother pile magnetic clamp, and the large diameter ends of the annular conical guide groove of the mother pile magnetic clamp all face the new pile magnetic clamp; the outer wall of the annular conical strip of the new pile magnetic clamp is uniformly embedded with rolling tungsten steel guide beads along the circumference, and the guide beads protrude from the groove wall and can rotate 360°.

[0009] Preferably, the inner wall of the annular conical guide groove of the mother pile magnetic clamp is provided with an elastic buffer layer. When the new pile magnetic clamp approaches the mother pile magnetic clamp, the tungsten steel guide beads on the outer wall of the annular conical strip of the new pile magnetic clamp roll on the surface of the elastic buffer layer. The elastic buffer layer absorbs the impact force during docking and avoids damage to the end face of the clamp due to rigid collision.

[0010] On the other hand, a preferred embodiment of the present invention provides a precise positioning method, comprising the following steps: S1. Assembly and Fixing The annular magnetic clamp for the mother pile is horizontally clamped and fixed onto the already positioned mother pile. The annular magnetic clamp for the new pile is horizontally connected to the six-degree-of-freedom hydraulic mechanical arm fixed on the ship's deck, and the magnetic clamp for the new pile is clamped and fixed onto the new pile to be docked. S2, Magnetic Guided Docking A six-degree-of-freedom hydraulic robotic arm drives the new pile closer to the mother pile. When energized, the magnetic clamps of the mother pile and the corresponding electromagnetic coils on the new pile generate an attraction force. This attraction force is combined with the guiding engagement of the annular conical guide groove on the axial end face of the mother pile magnetic clamp and the annular conical strip on the axial end face of the new pile magnetic clamp, as well as the rolling guidance of the 360° rotatable tungsten steel guide beads evenly embedded on the outer wall of the annular conical strip, to achieve precise docking between the new pile and the mother pile. S3, Adsorption force adjustment and stabilization The attraction force between the two clamps is controlled by adjusting the power supply current of the electromagnetic coil. At the same time, the electromagnetic coil, whose working temperature exceeds 60°C, is cooled by the cooling sleeve to keep the coil temperature between 40-60°C. 4) Magnetic release Once docking is complete, the PLC controller controls the time-delay relay connected in series in the electromagnetic coil power supply line to gradually reduce the current of the electromagnetic coil to 0A within 5-8 seconds. During this period, the pressure sensor collects the adsorption pressure between the two clamps in real time. If the adsorption pressure drops below 500N and the time-delay relay has not completed the current reduction process, the PLC controller controls the time-delay relay to pause the current reduction and maintain the current for 10 seconds. At the same time, the current compensation module is controlled to input an additional 5%-10% current to the electromagnetic coil to raise the adsorption pressure back to 800-1000N, restore the stable adsorption state, and then continue to complete the current reduction to release the magnetic attraction.

[0011] The present invention has at least the following beneficial effects: the present invention can accurately compensate for deviations caused by the marine environment through the coordinated cooperation of a six-degree-of-freedom hydraulic robotic arm and a magnetic clamp, and achieve efficient and accurate coaxial docking of the mother pile and the new pile; by adjusting the current of the electromagnetic coil, it can flexibly adapt to different docking requirements.

[0012] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0013] Figure 1 This is a structural schematic diagram of the precision positioning system for precise docking of offshore steel pipe piles in this invention.

[0014] Figure 2 This is a cross-sectional schematic diagram of the magnetic clamp for the mother pile and the magnetic clamp for the new pile in this invention. Detailed Implementation

[0015] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0016] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious modifications will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0017] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "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 invention 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, the above terms should not be construed as limiting this invention.

[0018] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0019] like Figure 1-2 As shown, a preferred embodiment of the present invention provides a precision positioning system for precise docking of offshore steel pipe piles, comprising: The magnetic clamp 1 for the mother pile is ring-shaped and horizontally clamped onto the mother pile 2. The six-degree-of-freedom hydraulic robotic arm 3 has its fixed end fixed to the ship's deck; The new pile magnetic clamp 4 is ring-shaped and horizontally connected to the six-degree-of-freedom hydraulic robotic arm 3. The new pile magnetic clamp 4 is clamped on the new pile 5. The new pile magnetic clamp 4 and the mother pile magnetic clamp 1 are respectively provided with corresponding electromagnetic coils 6 so as to attract each other. The electromagnetic coils 6 are connected to a power source. By adjusting the current passing through the electromagnetic coils 6, the attraction force between the two electromagnetic coils 6 can be adjusted.

[0020] During actual construction, firstly, the operator horizontally clamps the mother pile magnetic clamp 1 onto the mating end of the mother pile 2; then, the new pile magnetic clamp 4 is horizontally clamped onto the mating end of the new pile 5, and the new pile magnetic clamp 4 is fixedly connected to the execution end of the six-degree-of-freedom hydraulic robotic arm 3; the six-degree-of-freedom hydraulic robotic arm 3 is started and controlled to achieve movement in six directions to adjust the spatial position of the new pile 5, so that the new pile 5 gradually approaches the mother pile 2 until the opposite end faces of the two magnetic clamps are within the preset alignment range; the power is turned on, and an initial current is supplied to the two electromagnetic coils 6, and the electromagnetic coils 6 are energized. The power supply generates an electromagnetic field, which makes the magnetic clamp 1 for the mother pile and the magnetic clamp 4 for the new pile magnetically attract each other, initially fixing the relative position of the new pile 5 and the mother pile 2. The operator adjusts the output current of the power supply to change the magnetic field strength of the electromagnetic coil 6, thereby adjusting the attraction force between the two clamps. At the same time, the operator fine-tunes the six-degree-of-freedom hydraulic robotic arm 3 to make the mating end faces of the new pile 5 and the mother pile 2 completely fit and align, completing the precise positioning. After positioning, the electromagnetic coil 6 is kept energized until the welding operation of the new pile 5 and the mother pile 2 is completed, and then the power is turned off to release the attraction.

[0021] In another technical solution, the six-degree-of-freedom hydraulic robotic arm 3 is composed of a base 3-1, a shoulder 3-2, an elbow 3-3, and a wrist 3-4 connected in sequence. The top of the base 3-1 is connected to the bottom of the shoulder 3-2 via a rotary joint, which is a spherical universal joint, allowing the shoulder 3-2 to rotate with the base 3-1 to achieve angular linkage. The end of the shoulder 3-2 away from the base 3-1 is connected to one end of the elbow 3-3 via a hinge, and a hydraulic cylinder is equipped at the hinge. The extension and retraction of the hydraulic cylinder can directly drive the elbow 3-3 to rotate around the hinge. The end of the elbow 3-3 away from the shoulder 3-2 is connected to one end of the wrist 3-4 via a bearing. An electric motor is installed next to the bearing, and the power output of the electric motor can drive the wrist 3-4 to achieve precise rotation around the bearing. The shoulder 3-2 is a hydraulic telescopic mechanism with adjustable length.

[0022] In the above technical solution, when it is necessary to adjust the spatial position of the new pile 5, the rotating joint is rotated by hydraulic drive, which drives the shoulder 3-2 to achieve horizontal and vertical angle adjustment around the base 3-1; the hydraulic telescopic mechanism of the shoulder 3-2 is controlled by hydraulic control, which causes the inner piston rod to extend and retract along the outer cylinder, changing the length of the shoulder 3-2, thereby adjusting the working radius of the robotic arm; the hydraulic cylinder at the hinge is extended and retracted by hydraulic control, and the piston rod of the hydraulic cylinder pushes or pulls the elbow 3-3, causing the elbow 3-3 to rotate around the hinge pin, thereby achieving angle adjustment of the robotic arm in the vertical plane; the electric motor next to the bearing is started, and the power output shaft of the electric motor drives the connecting shaft of the wrist 3-4 to rotate through the coupling. Under the support of the bearing, the wrist 3-4 achieves fine rotation around its own axis, thereby adjusting the angle of the new pile magnetic clamp 4, so that the new pile 5 is precisely aligned with the mother pile 2.

[0023] In another technical solution, a time-delay relay is connected in series on the line connecting the electromagnetic coil 6 and the power supply; when it is necessary to release the magnetic attraction, the PLC controller controls the time-delay relay to gradually reduce the current of the electromagnetic coil 6 to 0A within 5-8 seconds.

[0024] In the above technical solution, after the new pile 5 and the mother pile 2 are connected and welded, when it is necessary to release the attraction between the two magnetic clamps, the operator presses the control switch, which sends a trigger signal to the time-delay relay. Upon receiving the trigger signal, the time-delay relay gradually reduces the current in the circuit over a preset time of 5-8 seconds. During the current decrease, the magnetic field strength of the electromagnetic coil 6 gradually weakens as the current decreases, and the attraction force between the two magnetic clamps also gradually decreases. When the current steadily drops to 0A within 5-8 seconds, the magnetic field of the electromagnetic coil 6 disappears, and the attraction force between the two magnetic clamps is completely released. The 5-8 second current decrease time is reasonably set, sufficient to achieve a smooth transition of the attraction force without affecting construction efficiency. This invention achieves a smooth release of the attraction force by connecting a time-delay relay in series with the electromagnetic coil 6 and the power supply circuit, avoiding a sudden drop in attraction force caused by a sudden power outage. This prevents stress concentration or structural damage at the weld joint between the new pile 5 and the mother pile 2 due to instantaneous force changes, ensuring the construction quality of the joint.

[0025] Another technical solution also includes a pressure sensor and a current compensation module, both of which are connected to the PLC controller. The current compensation module is connected to the electromagnetic coil 6. The pressure sensor is installed on the mating surface of the mother pile magnetic clamp 1 and the new pile magnetic clamp 4 to collect the adsorption pressure between the two clamps in real time. When the adsorption pressure drops below 500N and the time delay relay has not yet completed the 5-8 second current reduction process, the pressure sensor sends a signal to the time delay relay. The time delay relay pauses the current reduction and maintains the current for 10 seconds. At the same time, the PLC controller controls the current compensation module of the electromagnetic coil 6. The current compensation module inputs an additional 5%-10% current to the electromagnetic coil 6 to raise the adsorption pressure back to 800-1000N. After restoring a stable adsorption state, the current reduction process continues to be completed, preventing the connection from becoming loose due to the adsorption pressure dropping too early.

[0026] In the above technical solution, after the time-delay relay starts its current reduction process, the pressure sensor collects the adsorption pressure between the mating surfaces of the mother pile magnetic clamp 1 and the new pile magnetic clamp 4 in real time, and converts the pressure data into an electrical signal and transmits it to the PLC controller. The PLC controller analyzes the received pressure data in real time to determine whether the adsorption pressure has dropped below 500N, and at the same time, whether the time-delay relay has completed the 5-8 second current reduction process. When it is detected that the adsorption pressure has dropped below 500N and the time-delay relay has not yet completed the current reduction process, the PLC controller immediately sends a pause command to the time-delay relay. After receiving the command, the time-delay relay stops the current reduction and maintains the current state for 10 seconds. At the same time, the PLC controller sends a compensation command to the current compensation module. After receiving the command, the current compensation module inputs an additional current to the electromagnetic coil 6 according to a preset ratio of 5%-10%. With the injection of additional current, the magnetic field strength of the electromagnetic coil 6 increases, and the adsorption pressure between the two magnetic clamps gradually rises. When the PLC... When the controller detects that the adsorption pressure has risen back to 800-1000N, it determines that a stable adsorption state has been restored. At this time, the PLC controller sends a continue command to the time-delay relay, which resumes the current reduction process until the current drops to 0A, completing the adsorption release. The current compensation module enhances the magnetic field strength of the electromagnetic coil 6 by adding an extra 5%-10% current, thereby increasing the adsorption pressure and compensating for pressure loss caused by excessively rapid current reduction or poor contact. This closed-loop control process ensures that the adsorption pressure remains within a safe range during the current reduction process, preventing loosening of the connection.

[0027] In another technical solution, a cooling sleeve is provided on the outside of the electromagnetic coil 6. The cooling sleeve is attached to the outer wall of the electromagnetic coil 6, and a spiral flow channel is provided inside the sleeve. The water inlet of the cooling sleeve is connected to the cooling water pump of the ship through a water pipe, and the water outlet is connected to the return water pipeline. When the working temperature of the electromagnetic coil 6 exceeds 60°C, the cooling water pump is started, and the coolant carries away the heat of the coil through the spiral flow channel, so that the coil temperature is maintained at 40-60°C, ensuring that the coil attraction is stable.

[0028] In the above technical solution, the heat generated by the electromagnetic coil 6 during operation is transferred to the tightly fitted cooling sleeve through heat conduction; the cooling water pump drives the coolant to flow in the spiral flow channel, forming forced convection. During the flow, the coolant absorbs the heat from the cooling sleeve, realizing heat transfer; the spiral flow channel extends the flow path of the coolant and the contact time with the cooling sleeve, improving heat dissipation efficiency; the temperature sensor and PLC controller form a temperature closed-loop control system to realize the automatic start and stop of the cooling system, ensuring that the temperature of the electromagnetic coil 6 is always maintained within a reasonable range of 40-60℃; since the attraction force of the electromagnetic coil 6 is related to temperature, excessively high temperature will cause the coil resistance to increase and the magnetic field strength to weaken, thereby reducing the attraction force. By controlling the temperature to be stable, the attraction force of the electromagnetic coil 6 can be kept stable.

[0029] In another technical solution, the axial end face of the mother pile magnetic clamp 1 facing the new pile magnetic clamp 4 is machined with an annular conical guide groove 1-1, and the axial end face of the new pile magnetic clamp 4 facing the mother pile magnetic clamp 1 is provided with an annular conical strip 4-1; wherein, the small diameter ends of the annular conical strip 4-1 of the new pile magnetic clamp 4 all face the mother pile magnetic clamp 1, and the large diameter ends of the annular conical guide groove 1-1 of the mother pile magnetic clamp 1 all face the new pile magnetic clamp 4; the outer wall of the annular conical strip 4-1 of the new pile magnetic clamp 4 is uniformly embedded with rolling tungsten steel guide beads 4-2 along the circumference, and the guide beads protrude from the groove wall and can rotate 360°.

[0030] In the above technical solution, during the process of the six-degree-of-freedom hydraulic manipulator 3 driving the new pile 5 to approach the mother pile 2, the annular conical strip 4-1 on the new pile magnetic clamp 4 gradually approaches the annular conical guide groove 1-1 on the mother pile magnetic clamp 1. Since the large-diameter end of the annular conical guide groove 1-1 faces the new pile 5 and has a good guiding entrance, even if there is a slight coaxiality deviation between the new pile 5 and the mother pile 2, the small-diameter end of the annular conical strip 4-1 can smoothly enter the large-diameter end of the guide groove. As the new pile 5 continues to approach, the tungsten steel guide beads 4-2 on the outer wall of the annular conical strip 4-1 and the annular conical guide groove 1-1... The inner wall of groove 1-1 contacts the new pile 5. Under the propulsion force of the new pile 5, the tungsten steel guide bead 4-2 rolls on the inner wall of the guide groove. At the same time, through the fine adjustment of the six-degree-of-freedom hydraulic mechanical arm 3, the annular conical strip 4-1 gradually slides along the conical inner wall of the guide groove towards the small diameter end of the guide groove, thereby driving the new pile magnetic clamp 4 and the new pile 5 to gradually align with the mother pile magnetic clamp 1 and the mother pile 2 coaxially. When the annular conical strip 4-1 is fully embedded in the annular conical guide groove 1-1, the new pile 5 and the mother pile 2 achieve precise coaxial docking. At this time, the electromagnetic coil 6 is energized to generate an attraction force, fixing the two clamps and completing the positioning. Among them, the 10° taper design of the annular conical guide groove 1-1 and the annular conical strip 4-1 utilizes the guiding effect of the conical surface to convert the axial thrust of the new pile 5 into a radial centering force, realizing the automatic centering of the new pile 5 and the mother pile 2; the 360° rotation function of the tungsten steel guide ball 4-2 converts the sliding friction between the annular conical strip 4-1 and the inner wall of the guide groove into rolling friction, significantly reducing the frictional resistance during the docking process, making the centering process smoother, and reducing the driving force requirement of the robotic arm; the guide balls are evenly distributed along the circumference to ensure that the guiding force on the new pile 5 is uniform in all directions, avoiding skewness and improving the centering accuracy.

[0031] In another technical solution, the inner wall of the annular conical guide groove 1-1 of the mother pile magnetic clamp 1 is provided with an elastic buffer layer 1-2. When the new pile magnetic clamp 4 approaches the mother pile magnetic clamp 1, the tungsten steel guide beads 4-2 on the outer wall of the annular conical strip 4-1 of the new pile magnetic clamp 4 roll on the surface of the elastic buffer layer 1-2. The elastic buffer layer 1-2 absorbs the impact force during docking and avoids damage to the end face of the clamp due to rigid collision.

[0032] In the above technical solution, during the docking process of the new pile 5 approaching the mother pile 2, the annular conical strip 4-1 on the new pile magnetic clamp 4 gradually enters the annular conical guide groove 1-1 of the mother pile magnetic clamp 1. The tungsten carbide guide beads 4-2 on the outer wall of the annular conical strip 4-1 first contact the surface of the elastic buffer layer 1-2. When the ship sways or the propulsion force of the robotic arm is too large, the new pile 5 will generate a momentary impact on the mother pile 2. At this time, the elastic buffer layer 1-2 is squeezed by the tungsten carbide guide beads 4-2 and undergoes elastic deformation, converting the momentary impact force into elastic potential energy, thereby absorbing the impact energy and avoiding... The inner wall of the guide groove does not directly and rigidly collide with the outer wall of the annular conical strip 4-1; under the elastic restoring force of the elastic buffer layer 1-2, the impact motion of the new pile 5 is buffered and decelerated, while the tungsten steel guide bead 4-2 continues to roll on the surface of the elastic buffer layer 1-2, driving the new pile 5 to achieve centering along the guide groove; after docking, the elastic buffer layer 1-2 returns to its original state, without affecting the fitting accuracy and adsorption effect between the two magnetic clamps; in the subsequent adsorption release and clamp separation process, the elastic buffer layer 1-2 can also prevent the clamp end face from being damaged by slight collisions during separation.

[0033] On the other hand, a preferred embodiment of the present invention provides a precise positioning method, comprising the following steps: S1. Assembly and Fixing The annular magnetic clamp for the mother pile is horizontally clamped and fixed onto the already positioned mother pile. The annular magnetic clamp for the new pile is horizontally connected to the six-degree-of-freedom hydraulic mechanical arm fixed on the ship's deck, and the magnetic clamp for the new pile is clamped and fixed onto the new pile to be docked. S2, Magnetic Guided Docking A six-degree-of-freedom hydraulic robotic arm drives the new pile closer to the mother pile. When energized, the magnetic clamps of the mother pile and the corresponding electromagnetic coils on the new pile generate an attraction force. This attraction force is combined with the guiding engagement of the annular conical guide groove on the axial end face of the mother pile magnetic clamp and the annular conical strip on the axial end face of the new pile magnetic clamp, as well as the rolling guidance of the 360° rotatable tungsten steel guide beads evenly embedded on the outer wall of the annular conical strip, to achieve precise docking between the new pile and the mother pile. S3, Adsorption force adjustment and stabilization The attraction force between the two clamps is controlled by adjusting the power supply current of the electromagnetic coil. At the same time, the electromagnetic coil, whose working temperature exceeds 60°C, is cooled by the cooling sleeve to keep the coil temperature between 40-60°C. 4) Magnetic release Once docking is complete, the PLC controller controls the time-delay relay connected in series in the electromagnetic coil power supply line to gradually reduce the current of the electromagnetic coil to 0A within 5-8 seconds. During this period, the pressure sensor collects the adsorption pressure between the two clamps in real time. If the adsorption pressure drops below 500N and the time-delay relay has not completed the current reduction process, the PLC controller controls the time-delay relay to pause the current reduction and maintain the current for 10 seconds. At the same time, the current compensation module is controlled to input an additional 5%-10% current to the electromagnetic coil to raise the adsorption pressure back to 800-1000N, restore the stable adsorption state, and then continue to complete the current reduction to release the magnetic attraction.

[0034] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A precision positioning system for precise docking of offshore steel pipe piles, characterized in that, include: The magnetic clamp for the mother pile is ring-shaped and horizontally clamped onto the mother pile; A six-degree-of-freedom hydraulic robotic arm, with its fixed end fixed to the ship's deck; The new pile magnetic clamp is ring-shaped and horizontally connected to the six-degree-of-freedom hydraulic robotic arm. The new pile magnetic clamp is clamped onto the new pile. The new pile magnetic clamp and the mother pile magnetic clamp are respectively equipped with corresponding electromagnetic coils so that they can attract each other. The electromagnetic coils are connected to a power source, and the attraction force between the two electromagnetic coils can be adjusted by adjusting the current passing through the electromagnetic coils.

2. The precision positioning system for precise docking of offshore steel pipe piles according to claim 1, characterized in that, The six-degree-of-freedom hydraulic robotic arm consists of a base, a shoulder, an elbow, and a wrist connected in sequence. The top of the base is connected to the bottom of the shoulder via a rotary joint, which is a spherical universal joint, allowing the shoulder to rotate with the base to achieve angular linkage. The end of the shoulder away from the base is connected to one end of the elbow via a hinge, and a hydraulic cylinder is equipped at the hinge. The extension and retraction of the hydraulic cylinder can directly drive the elbow to rotate around the hinge. The end of the elbow away from the shoulder is connected to one end of the wrist via a bearing. An electric motor is installed next to the bearing, and the power output of the electric motor can drive the wrist to rotate precisely around the bearing. The shoulder is a hydraulic telescopic mechanism with adjustable length.

3. The precision positioning system for precise docking of offshore steel pipe piles according to claim 1, characterized in that, A time-delay relay is also connected in series on the line connecting the electromagnetic coil and the power supply; when it is necessary to release the magnetic attraction, the PLC controller controls the time-delay relay to gradually reduce the current of the electromagnetic coil to 0A within 5-8 seconds.

4. The precision positioning system for precise docking of offshore steel pipe piles according to claim 3, characterized in that, It also includes a pressure sensor and a current compensation module, both of which are connected to the PLC controller, and the current compensation module is connected to the electromagnetic coil; The pressure sensor is installed on the mating surface of the magnetic clamp for the mother pile and the magnetic clamp for the new pile to collect the adsorption pressure between the two clamps in real time. When the adsorption pressure drops below 500N and the time delay relay has not yet completed the 5-8 second current reduction process, the pressure sensor sends a signal to the time delay relay. The time delay relay pauses the current reduction and maintains the current for 10 seconds. At the same time, the PLC controller controls the current compensation module of the electromagnetic coil. The current compensation module inputs an additional 5%-10% current to the electromagnetic coil to raise the adsorption pressure back to 800-1000N. After restoring a stable adsorption state, the current reduction process continues to complete, preventing the connection from becoming loose due to the adsorption pressure dropping too early.

5. The precision positioning system for precise docking of offshore steel pipe piles according to claim 1, characterized in that, The electromagnetic coil is provided with a cooling sleeve on its outer side, which is attached to the outer wall of the electromagnetic coil. The sleeve has a spiral flow channel inside. The inlet of the cooling sleeve is connected to the ship's cooling water pump through a water pipe, and the outlet is connected to the return water pipeline. When the operating temperature of the electromagnetic coil exceeds 60°C, the cooling water pump starts, and the coolant carries away the heat of the coil through the spiral flow channel, so that the coil temperature is maintained at 40-60°C, ensuring stable coil attraction.

6. The precision positioning system for precise docking of offshore steel pipe piles according to claim 1, characterized in that, The axial end face of the mother pile magnetic clamp facing the new pile magnetic clamp is machined with an annular conical guide groove, and the axial end face of the new pile magnetic clamp facing the mother pile magnetic clamp is provided with an annular conical strip; wherein, the small diameter ends of the annular conical strip of the new pile magnetic clamp all face the mother pile magnetic clamp, and the large diameter ends of the annular conical guide groove of the mother pile magnetic clamp all face the new pile magnetic clamp; the outer wall of the annular conical strip of the new pile magnetic clamp is uniformly embedded with rolling tungsten steel guide beads along the circumference, and the guide beads protrude from the groove wall and can rotate 360°.

7. The precision positioning system for precise docking of offshore steel pipe piles according to claim 6, characterized in that, The inner wall of the annular conical guide groove of the mother pile magnetic clamp is provided with an elastic buffer layer. When the new pile magnetic clamp approaches the mother pile magnetic clamp, the tungsten steel guide beads on the outer wall of the annular conical strip of the new pile magnetic clamp roll on the surface of the elastic buffer layer. The elastic buffer layer absorbs the impact force during docking and avoids damage to the end face of the clamp due to rigid collision.

8. A precise positioning method based on any one of the precise positioning systems described in claims 1-7, characterized in that, Includes the following steps: S1. Assembly and Fixing The annular magnetic clamp for the mother pile is horizontally clamped and fixed onto the already positioned mother pile. The annular magnetic clamp for the new pile is horizontally connected to the six-degree-of-freedom hydraulic mechanical arm fixed on the ship's deck, and the magnetic clamp for the new pile is clamped and fixed onto the new pile to be docked. S2, Magnetic Guided Docking A six-degree-of-freedom hydraulic robotic arm drives the new pile closer to the mother pile. When energized, the magnetic clamps of the mother pile and the corresponding electromagnetic coils on the new pile generate an attraction force. This attraction force is combined with the guiding engagement of the annular conical guide groove on the axial end face of the mother pile magnetic clamp and the annular conical strip on the axial end face of the new pile magnetic clamp, as well as the rolling guidance of the 360° rotatable tungsten steel guide beads evenly embedded on the outer wall of the annular conical strip, to achieve precise docking between the new pile and the mother pile. S3, Adsorption force adjustment and stabilization The attraction force between the two clamps is controlled by adjusting the power supply current of the electromagnetic coil. At the same time, the electromagnetic coil, whose working temperature exceeds 60°C, is cooled by the cooling sleeve to keep the coil temperature between 40-60°C. S4, Magnetic release Once docking is complete, the PLC controller controls the time-delay relay connected in series in the electromagnetic coil power supply line to gradually reduce the current of the electromagnetic coil to 0A within 5-8 seconds. During this period, the pressure sensor collects the adsorption pressure between the two clamps in real time. If the adsorption pressure drops below 500N and the time-delay relay has not completed the current reduction process, the PLC controller controls the time-delay relay to pause the current reduction and maintain the current for 10 seconds. At the same time, the current compensation module is controlled to input an additional 5%-10% current to the electromagnetic coil to raise the adsorption pressure back to 800-1000N, restore the stable adsorption state, and then continue to complete the current reduction to release the magnetic attraction.

Images