High-efficiency self-walking and self-positioning amphibious pile stabilizing system

Abstract

The utility model belongs to the technical field of pile stabilizing systems, and particularly relates to a high-efficiency self-walking and self-positioning amphibious pile stabilizing system which comprises a driving unit, height adjusting mechanisms installed on all walking mechanisms, and a holding arm mechanism installed on a sleeve of a main body structure frame and rotationally connected with the sleeve. The driving unit is in communication connection with the walking mechanism, the height adjusting mechanism and the holding arm mechanism, controls the walking mechanism to move to a target station based on information of the corresponding sensors, controls the height adjusting mechanism to adjust the height of the holding arm mechanism and the perpendicularity of the central axis of the pile foundation vertical limiting rings, and adjusts the distance between the pile foundation vertical limiting rings. Self-walking and self-positioning in the near sea area can be achieved, self-walking and self-positioning in the mud flat can also be achieved, the overall influence of wind waves and flow is small, the environmental adaptability is high, the perpendicularity of the pile foundation guide pipe can be automatically adjusted, and the piling perpendicularity requirement is met; and the positioning precision among four piles in one group can be accurately controlled.

Description

Technical Field

[0001] The utility model belongs to the technical field of pile stabilization systems, and specifically relates to a high-efficiency self-propelled and self-positioning amphibious pile stabilization system. Background Art

[0002] The construction environment of offshore photovoltaic pile foundation is very complex and the requirements are very high. The difficulty of piling construction is much higher than that of onshore photovoltaic. The water depth varies in different photovoltaic fields or different pile positions in the same photovoltaic field. At low tide, some are more than ten meters, some are one or two meters, or even on the beach. There is also a tidal difference at the same pile position. The water depth is different every morning and evening. At high tide, it is four or five meters, and at low tide, it is one or two meters or even exposed on the beach. The verticality of the pile foundation and the relative position accuracy between the four pile foundations are relatively high to meet the installation requirements of the photovoltaic bracket. What kind of ship engine can adapt to such a shallow sea or even beach environment and meet the construction accuracy requirements, and also ensure that the construction efficiency and cost are satisfactory, which has always troubled the industry.

[0003] Existing technologies usually adopt two structural forms. The first one adopts "small fishing boat + land-based equipment". By carrying a land-based pile driver on a small fishing boat, although this technical means has a low overall cost, it has poor environmental adaptability. If the ship swings due to wind and waves, it cannot be used for construction. The monthly effective operation time is short and the revenue cannot be balanced. The safety is also poor. Even in calm weather, there are still a lot of safety risks. The second one uses offshore wind power construction equipment for construction. Although it solves the safety problem, the applicable environment is limited and it cannot be applied to mudflats. The tide level changes need to be calculated during operation, and the operation time is severely limited. More importantly, the equipment's own operation positioning efficiency is too low, and the rental or operating costs of large ship machinery are too high, so the piling income cannot cover the cost.

[0004] Therefore, an efficient, low-cost and reliable pile stabilizing system for piling is needed to solve the above technical problems. Utility Model Content

[0005] In view of the defects of the existing technology, the utility model proposes a high-efficiency self-propelled and self-positioning amphibious pile stabilization system, which can realize self-propelled and self-positioning in the near sea and on the mudflats, is less affected by wind, waves and currents as a whole, has strong environmental adaptability, can automatically adjust the horizontality of the main structure frame, ensure the verticality of the pile foundation guide tube, and meet the verticality requirements of piling; and can accurately control the positioning spacing and accuracy between a group of four piles.

[0006] In order to achieve the technical purpose of the utility model, the utility model will adopt the following technical solutions:

[0007] A high-efficiency self-propelled and self-positioning amphibious pile stabilization system, comprising a walking mechanism, a height adjustment mechanism, an arm-holding mechanism, a driving unit and a main structure frame;

[0008] The height adjustment mechanism has at least two, the bottoms of the two height adjustment mechanisms are mounted on the walking mechanism and are matched with the circumferential clearance of the mounting surface of the walking mechanism, the two height adjustment mechanisms each have a first telescopic member, sleeves are provided on both sides of the main structure frame, the telescopic end of each of the first telescopic members is connected to the sleeve, the sleeve has at least one arm-holding mechanism along its height direction, the arm-holding mechanism has a second telescopic member, one end of the second telescopic member is rotatably connected to the sleeve, and the other end is a telescopic end, and a pile foundation vertical limit ring is installed at the telescopic end;

[0009] The driving unit is communicatively connected with the walking mechanism, the height adjustment mechanism and the arm holding mechanism, and is used to control the walking mechanism to move to the target workstation based on information from corresponding sensors, control the height adjustment mechanism to adjust the height of the arm holding mechanism and the verticality of the central axis of the pile foundation vertical limit ring, and control the two arm holding mechanisms to adjust the distance between the corresponding pile foundation vertical limit rings.

[0010] Furthermore, the pile foundation vertical limiting ring includes a third telescopic member, an arm and a telescopic arm, and the arm holding mechanism also includes a fourth telescopic member and a large arm;

[0011] The second telescopic member is installed in the boom, one end of the boom is sleeved on the sleeve and rotatably connected to the sleeve, and the other end is provided with an opening for passing the push rod of the second telescopic member, the push rod of the second telescopic member is connected to one end of the telescopic arm, and one third telescopic member is installed on each side of the other end of the telescopic arm, the two holding arms and the third telescopic member are symmetrically arranged, the holding arm is an arc ring structure, each push rod of the third telescopic member is hinged to the outer edge of one of the holding arms, one end of the arc rings of the two holding arms is hinged to the telescopic arm, and the other ends are butt-jointed with each other; the shell of the fourth telescopic member is connected to the main structure frame, and the other end is connected to the outer wall of the boom through its push rod.

[0012] Furthermore, the pile stabilization system has a symmetrical structure, the walking mechanism has at least two, the height adjustment mechanism and the arm-holding mechanism each have four, the four height adjustment mechanisms are distributed in a rectangular shape on the top of the walking mechanism, the main structure frame is a rectangular structure, the four corners of the main structure frame have sleeves, and the telescopic ends of the first telescopic parts of the four height adjustment mechanisms are installed in the sleeves of the main structure frame.

[0013] Furthermore, the walking mechanism includes track wheels and a chassis; one track wheel is installed on each side of the chassis.

[0014] Furthermore, the chassis includes an arc seat, a pressure plate and a bottom plate; the arc seat is provided on the bottom plate, the pressure plate is a cavity structure, the arc seat and the pressure plate are both installed on the top surface of the bottom plate, and the pressure plate covers the periphery of the arc seat.

[0015] Furthermore, the height adjustment mechanism also includes a support leg; the bottom of the support leg is located in the inner surface formed by the arc seat and the pressure plate, and there is a gap between the bottom outer wall surface of the support leg and the inner surface.

[0016] Furthermore, the bottom of the leg is seated on the arc flange of the arc seat, the arc flange abuts against the top surface of the arc seat, the first telescopic part is installed inside the leg, the push rod of the first telescopic part is connected to the inside of the leg, the shell of the first telescopic part is connected to the inside of the sleeve, and the sleeve is sleeved on the outer wall of the leg.

[0017] Furthermore, the inner wall of the sleeve is clearance-matched with the outer wall of the leg.

[0018] Further, the first telescopic member, the second telescopic member, the third telescopic member and the fourth telescopic member are provided with a displacement sensor connected to the driving unit.

[0019] Furthermore, the corresponding sensors include a GPS positioning signal sensor and an inclination sensor installed on the main structure frame.

[0020] The beneficial effects of the utility model are:

[0021] First, the utility model can realize self-propelled self-positioning in the offshore and tidal flats, and is less affected by wind, waves and currents as a whole, has strong environmental adaptability, and can automatically adjust the verticality of the pile foundation guide tube to meet the verticality requirements of pile driving; the positioning accuracy between a group of four piles can be accurately controlled; the driving unit determines the coordinate difference between the current position and the target position according to the GPS positioning signal, and then solves and controls the walking mechanism to move to the pre-pile hole on the seabed or tidal flat, so as to realize the self-propelled self-positioning of the pile stabilization system, and the height adjustment mechanism can not only adjust the height position of the arm holding mechanism, but also because the bottom of the height adjustment mechanism and the walking mechanism adopt a gap fit, and the gap is used to adjust the horizontal posture of the arm holding mechanism. When the seabed or tidal flat is uneven, the horizontal state of each arm holding mechanism can be ensured by adjusting each height adjustment mechanism, thereby ensuring the verticality of each pile foundation vertical limit ring. When operating on the tidal flat, the telescopic height of the height adjustment mechanism can be adjusted to a low state. When operating in the offshore, the telescopic height of the height adjustment mechanism is adjusted upward to ensure that the arm holding mechanism is exposed to the water surface;

[0022] Second, in the preferred implementation, the utility model improves the stability of movement through the symmetrical structure of the walking mechanism, adopts track drive to reduce the ground contact pressure, improves the traction and grip of the overall movement, further improves the stability, can adapt to complex environments, especially offshore operations are not affected by waves, and resist swaying and rollover;

[0023] Third, in the preferred implementation, there is a vertical adjustment gap of the height adjustment mechanism between the bottom of the leg and the inner cavity of the pressure plate of the utility model. By adjusting the height adjustment mechanism, the arm mechanism is leveled to effectively ensure the verticality of the pile foundation vertical limit ring of the arm mechanism;

[0024] Fourth, in the preferred implementation mode, the two arm mechanisms of the utility model located on the same side of the same chassis are synchronously rotated to open or retract under the telescopic movement of their respective fourth telescopic parts to adjust the distance between the two pile bodies, and the pile bodies in the arm closed into a circular ring are adjusted to be aligned with the pile holes on the seabed or tidal flats through the telescopic movement of their respective second telescopic parts. The second telescopic parts and the fourth telescopic parts can be used to install pile holes at four different positions, which can meet the requirements of different spacings of four pile positions and has high versatility; two arm mechanisms are installed on the sleeve of each height adjustment mechanism at intervals, which further improves the stability of the pile body penetrating the arm opening and closing parts, and effectively prevents tilting and deviation during the piling process;

[0025] Fifth, in the preferred implementation, the utility model realizes self-propelling, self-positioning and precise control of the pile stabilization system through the hydraulic control of the drive unit and the position coordinate and inclination analysis control of the built-in program. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional structural diagram of a high-efficiency self-propelled self-positioning amphibious pile stabilization system according to Embodiment 1 of the utility model;

[0027] Figure 2 It is a structural schematic diagram of an existing crawler wheel of Embodiment 2 of the utility model;

[0028] Figure 3 It is a schematic diagram of a height adjustment mechanism of a high-efficiency self-propelled self-positioning amphibious pile stabilization system according to Embodiment 3 of the utility model;

[0029] Figure 4 It is a top view of the walking mechanism and height adjustment mechanism of the high-efficiency self-propelled self-positioning amphibious pile stabilization system of Example 3 of the utility model;

[0030] Figure 5 yes Figure 4 A partial enlarged view of

[0031] Figure 6 It is a schematic diagram of the arm-holding mechanism of the high-efficiency self-propelled and self-positioning amphibious pile stabilization system of Example 4 of the utility model.

[0032] Among them, 1-walking mechanism; 10-track wheel; 11-chassis; 110-arc seat; 111-pressure plate; 2-height adjustment mechanism; 20-leg; 21-first telescopic part; 3-arm holding mechanism; 30-second telescopic part; 31-third telescopic part; 32-arm holding; 33-telescopic arm; 34-fourth telescopic part; 35-big arm; 4-drive unit; 5-main structure frame; 50-workbench; 51-connecting frame; 52-sleeve. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the technical solution of the present application, the present application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0034] The terms such as up, down, left, right, front and back in this application document are based on the positional relationships shown in the drawings. If the drawings are different, the corresponding positional relationships may also change accordingly, so they cannot be understood as limiting the scope of protection.

[0035] In this application, the terms "install", "connected", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, or mutual communication, a direct connection, or an indirect connection through an intermediate medium, the internal connection of two components, or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0036] The purpose of the utility model is to provide a high-efficiency self-propelled and self-positioning amphibious pile stabilization system, which can not only realize self-propelled and self-positioning in nearshore areas, but also realize self-propelled and self-positioning on mudflats. By cooperating with a floating crane or a ship excavator for construction, the offshore piling efficiency is greatly improved, and the system can move on the seabed and position itself once, accurately and quickly. There is no positioning accuracy requirement for the floating crane, and the overall system is less affected by wind, waves and currents, has strong environmental adaptability, and has a longer operating time window. The verticality of the pile foundation guide tube can be automatically adjusted to meet the verticality requirement of piling. The positioning accuracy between a group of four piles can be accurately controlled, especially in the application scenario of offshore photovoltaic pile foundation construction, and the overall installation accuracy requirement of the photovoltaic panel rack can be easily met.

[0037] Example 1

[0038] Refer to the instruction manual Figure 1 A high-efficiency self-propelled and self-positioning amphibious pile stabilization system includes a walking mechanism 1, a height adjustment mechanism 2, an arm holding mechanism 3, a driving unit 4 and a main structure frame 5.

[0039] There are at least two height adjustment mechanisms 2, the bottoms of the two height adjustment mechanisms 2 are installed on the walking mechanism 1 and are matched with the circumferential clearance of the mounting surface of the walking mechanism 1, the two height adjustment mechanisms 2 both have a first telescopic part, and sleeves are provided on both sides of the main structure frame 5. The telescopic end of each first telescopic part is connected to the sleeves on both sides of the main structure frame 5, which is used to drive the main structure frame 5 to move up and down. The sleeves on both sides of the main structure frame 5 have at least one arm mechanism 3 along its height direction, and the arm mechanism 3 has a second telescopic part, one end of the second telescopic part is rotatably connected to the sleeve of the main structure frame 5, and the other end is a telescopic end, which is connected to the vertical limit ring of the pile foundation.

[0040] In a preferred implementation, the high-efficiency self-propelled self-positioning amphibious pile stabilization system has a symmetrical structure and high stability. There are two walking mechanisms 1, the bottoms of the two walking mechanisms 1 move on the seabed or mudflats, there are four height adjustment mechanisms 2 and arm-holding mechanisms 3, the main structure frame 5 is a rectangular structure, and the four corners of the main structure frame 5 have sleeves. The four height adjustment mechanisms 2 are distributed in a rectangular shape on the top of the two walking mechanisms 1, and the telescopic ends of the first telescopic parts of the four height adjustment mechanisms 2 are installed in the sleeves of the main structure frame 5, and at least one arm-holding mechanism 3 is installed on each sleeve.

[0041] The bottom of the height adjustment mechanism 2 and the mounting surface of the walking mechanism 1 are matched with a circumferential gap. The circumferential gap is used for each height adjustment mechanism 2 to adjust a different telescopic height when the walking mechanism 1 is tilted on the seabed or mudflat, and the displacement when the height adjustment mechanism 2 and the walking mechanism 1 produce an inclined angle.

[0042] The driving unit 4 is communicatively connected with the walking mechanism 1, the height adjustment mechanism 2 and the arm holding mechanism 3, and is used to control the walking mechanism 1 to move to the target workstation based on the information of the corresponding sensors, control the height adjustment mechanism 2 to adjust the height of the arm holding mechanism 3 and the verticality of the center axis of the pile foundation vertical limit ring, and adjust the distance between the two pile foundation vertical limit rings.

[0043] The corresponding sensors include a GPS positioning signal sensor and an inclination sensor, which are installed on the main structure frame 5. The GPS positioning signal sensor is used to collect the current position of the walking mechanism 1, and send the collected coordinate information to the drive unit 4, so that the drive unit 4 controls the walking mechanism 1 based on the coordinate difference between the collected current position and the target position. The inclination sensor is used to collect the inclination angle of the main structure frame. The drive unit 4 controls the telescopic amount of the first telescopic member of each height adjustment mechanism 2 through built-in program analysis based on the data of the inclination sensor, thereby controlling the horizontal posture of the main structure frame. Since the arm-holding mechanism 3 is perpendicular to the height adjustment mechanism 2, the verticality control of the arm-holding mechanism 3 is realized.

[0044] With the structure of this embodiment, the driving unit 4 analyzes the coordinate difference between the current position and the target position of the pile stabilizing system through the corresponding sensor, and controls the walking mechanism 1 to move to the target workstation based on the built-in program to achieve self-propelled self-positioning; the height adjustment mechanism 2 can not only adjust the height position of the arm holding mechanism 3, but also because the bottom of the height adjustment mechanism 2 and the walking mechanism 1 are matched with a gap, the gap can adjust the horizontal posture of the arm holding mechanism 3. When the seabed or the tidal flat is uneven, the horizontal state of the four arm holding mechanisms 3 can also be adjusted by adjusting the four height adjustment mechanisms 2, thereby ensuring the verticality of the four pile foundation vertical limit rings. When working on the tidal flat, the telescopic height of the height adjustment mechanism 2 can be adjusted to a low state. When working in the offshore, the telescopic height of the height adjustment mechanism 2 is adjusted to a high state to ensure that the arm holding mechanism 3 is exposed to the water surface. The utility model can not only achieve self-propelled self-positioning in the offshore area, but also achieve self-propelled self-positioning on the tidal flat. The overall effect of wind, waves and currents is small, and the environmental adaptability is strong. The verticality of the pile foundation guide pipe can be automatically adjusted to meet the verticality requirements of piling, and the positioning accuracy between a group of four piles can be accurately controlled.

[0045] Example 2

[0046] This embodiment adopts the pile stabilizing system structure in the preferred implementation of embodiment 1, and the walking mechanism 1 includes track wheels 10 and a chassis 11. The sleeve of the main structure frame 5 in embodiment 1 is Figure 1 As shown in the sleeve 52 , the main structure frame 5 also includes a workbench 50 and a connecting frame 51 .

[0047] A crawler wheel 10 is installed on each side of the chassis 11 to improve the stability of the movement of the walking mechanism 1. A height adjustment mechanism 2 is installed on the top of each of the other two sides of the chassis 11. The sleeves 52 have four and are arranged in four directions in a rectangular shape. The connecting frame 51 and the workbench 50 are both rectangular structures. The connecting frame 51 is welded with the adjacent sleeves 52. The workbench 50 is installed on the top of the sleeves 52 of the connecting frame 51. The workbench 50 is used for workers to walk and work on it. The drive unit 4, the GPS positioning signal sensor and the inclination sensor are installed on the top of the connecting frame 51.

[0048] Refer to the instruction manual Figure 2The track wheel 10 can adopt a track drive structure dedicated to the seabed environment. The advantages of using a dedicated seabed track are good passability, large traction, strong grip, and high stability. It can adapt to the complex environment of the seabed. During operation, it is not affected by waves and is not prone to swinging and rolling. The track wheel 10 of this embodiment includes an annular track, a tensioning device, a guide wheel, a supporting wheel driving wheel, and a driving motor. The two sides of the chassis 11 are connected to the box plate of the track wheel 10. The motor can be a hydraulic motor. The hydraulic motor has the advantages of stable operation, high torque and strong environmental adaptability. The motor is connected to the drive unit 4, and the drive unit 4 provides hydraulic power to the motor to control the drive wheel to drive the track to rotate, thereby driving the height adjustment mechanism 2, the arm holding mechanism 3, the drive unit 4 and the main structure frame 5 above the chassis 11 to move.

[0049] The mechanism of this embodiment adopts a symmetrical structure of the walking mechanism 1 to improve the stability of movement, and adopts track drive to improve the traction and grip of the overall movement, further improving the stability, and being able to adapt to complex environments, especially offshore operations without being affected by waves, and resisting swaying and rollover.

[0050] Example 3

[0051] Refer to the instruction manual Figure 3-5 On the basis of Example 2, the chassis 11 includes an arc seat 110, a pressure plate 111 and a bottom plate, and the first telescopic member of the height adjustment mechanism 2 is as shown in the appendix of the specification. Figure 3 The height adjustment mechanism 2 further includes a first telescopic member 21 shown, and a leg 20. The leg 20 has a curved flange at the bottom, the first telescopic member 21 is installed inside the leg 20, the push rod of the first telescopic member 21 is connected to a sleeve 52, the sleeve 52 is sleeved on the outer wall of the leg 20, and the sleeve 52 moves axially along the outer wall of the leg 20 driven by the first telescopic member 21.

[0052] An arc seat 110 is provided on the bottom plate of the chassis 11, and the pressure plate 111 is a cavity structure. The arc seat 110 and the pressure plate 111 are both installed on the top surface of the bottom plate, and the pressure plate 111 covers the periphery of the arc seat 110. The connection between the pressure plate 111 and the bottom plate is a detachable connection.

[0053] The shape formed by the upper arc surface of the arc seat 110 / the cavity of the pressure plate 111 matches the bottom flange surface of the support leg 20. There is a gap α between the bottom outer wall surface of the support leg 20 and the inner surface formed by the arc seat 110 and the pressure plate 111. The gap α is both the vertical adjustment amount of the four height adjustment mechanisms 2 and the horizontal adjustment amount of the arm mechanism 3 and the main structure frame 5. The gap α is used when the pile stabilization system is on an uneven surface of the seabed. Any support leg 20 has an adjustable displacement, and the four height adjustment mechanisms 2 are adjusted to compensate for the uneven surface of the seabed so that the four height adjustment mechanisms 2 are in a vertical position.

[0054] When installing the chassis 11 and the height adjustment mechanism 2, the arc seat 110 needs to be welded to the specified position of the bottom plate of the chassis 11, the bottom of the leg 20 of the height adjustment mechanism 2 needs to be abutted against the arc surface of the arc seat 110, and the pressure plate 111 needs to be passed through the top of the height adjustment mechanism 2 and dropped to the bottom plate of the chassis 11 and then connected, wrapping the bottom of the leg 20 and the arc seat 110.

[0055] With the structure of this embodiment, there is a vertical adjustment gap of the height adjustment mechanism 2 between the bottom of the support leg 20 and the inner cavity of the pressure plate 111. By adjusting the height adjustment mechanism 2, the arm mechanism 3 is leveled, effectively ensuring the verticality of the pile foundation vertical limit ring of the arm mechanism 3.

[0056] Example 4

[0057] Refer to the instruction manual Figure 6 Based on the third embodiment, the second telescopic member of the arm-holding mechanism 3 is as shown in the attached manual. Figure 6 The second telescopic member 30 shown, the pile foundation vertical limiting ring of the arm-holding mechanism 3 includes a third telescopic member 31 , an arm-holding arm 32 and a telescopic arm 33 , and the arm-holding mechanism 3 also includes a fourth telescopic member 34 and a large arm 35 .

[0058] The second telescopic member 30 is installed in the boom 35, one end of the boom 35 is sleeved on the sleeve 52 and rotatably connected to the sleeve 52, and the other end is provided with an opening, which is used to pass the push rod of the second telescopic member 30, and is connected to one end of the telescopic arm 33 through the push rod of the second telescopic member 30, and a third telescopic member 31 is installed on both sides of the other end of the telescopic arm 33, and the two arms 32 and the third telescopic member 31 are symmetrically arranged. The arms 32 are arc ring structures, and the push rod of each third telescopic member 31 is hinged to the outer edge of an arm 32, one end of the arc rings of the two arms 32 is hinged to the telescopic arm 33, and the other ends are butted against each other. The two arms 32 are opened or closed into a ring by the telescopic movement of the third telescopic member 31; the shell of the fourth telescopic member 34 is connected to the connecting frame 51, and the other end is connected to the outer wall of the boom 35 through its push rod. The telescopic movement of the second telescopic member 30 drives the telescopic arm 33 to extend or retract, thereby controlling the position of the vertical limit ring of the pile foundation. The telescopic movement of the fourth telescopic member 34 drives the second telescopic member 30, the third telescopic member 31, the arm 32, the telescopic arm 33 and the upper arm 35 to rotate around the sleeve 52 as a whole.

[0059] Preferably, the diameter of the circular ring formed by the two arm opening and closing members 31 is 3-5 mm larger than the diameter of the pile body.

[0060] In a preferred implementation, two horizontally arranged arm-holding mechanisms 3 are installed on the sleeve 52 at intervals.

[0061] By adopting the structure of this embodiment, the two arm mechanisms 3 located on the same side of the same chassis 11 are synchronously rotated to open or retract under the telescopic movement of their respective fourth telescopic parts 34 to adjust the distance between the two pile bodies. The pile body in the arm 32 closed into a circular ring is adjusted to be aligned with the pile hole on the seabed or mudflat by telescoping their respective second telescopic parts 30. The second telescopic part 30 and the fourth telescopic part 34 can be used to install pile holes in four different positions, which can meet the requirements of different spacings between four pile positions and has high versatility. Two arm mechanisms 3 are installed on each sleeve 52 at intervals to further improve the stability of the pile body penetrating into the arm opening and closing part 31, and effectively prevent tilting and deviation during the piling process.

[0062] Example 5

[0063] On the basis of Embodiment 4, the driving unit 4 includes a hydraulic oil tank, a hydraulic pump, a controller with a built-in control program, and related pipelines and valve bodies. The hydraulic motor of the track wheel 10, the first telescopic member 21, the second telescopic member 30, the third telescopic member 31 and the fourth telescopic member 34 are all hydraulically driven and connected to the hydraulic pump through their own pipelines and valve bodies.

[0064] The first telescopic member 21, the second telescopic member 30, the third telescopic member 31 and the fourth telescopic member 34 are all provided with displacement sensors for detecting the current position, and the detection signal is fed back to the drive unit 4 so that the drive unit 4 can determine whether the target state is reached and decide whether to take further action.

[0065] By adopting the structure of this embodiment, the self-propelling, self-positioning and precise control of the pile stabilizing system can be achieved through the hydraulic control of the driving unit 4 and the position coordinate and inclination analysis control of the built-in program.

[0066] The working process of the high-efficiency self-propelled self-positioning amphibious pile stabilization system of the utility model is as follows: first, the positioning signal of the GPS positioning signal sensor is received by the driving unit 4, and the driving unit 4 sends a moving instruction to the walking mechanism 1, and the walking mechanism 1 moves to the designated position of the pile hole; during the walking process, the driving unit 4 controls the four height adjustment mechanisms 2 to adjust to a suitable height to ensure that the driving unit is above the water surface; at the same time, the height of the four height adjustment mechanisms 2 is adjusted based on the horizontal inclination sensor, so that the main structure frame 5 is in a horizontal posture; the driving unit 4 controls the two arms 32 of the arm holding mechanism 3 to close into a ring, and then controls the second telescopic member 30 and the fourth telescopic member 34 of the arm holding mechanism 3 to adjust the telescopic length based on the corresponding sensor, so that the ring formed by the two arms 32 is aligned with the pile hole; then, the pile body is inserted into the ring of the two arms 32 by a crane, and the pile body is located on the pile hole at this time, and the pile body is driven into the pile hole by a pile driver. Finally, all four pile bodies are driven into the pile hole. After the pile driving is completed, the driving unit 4 controls the two arms 32 to open and detach from the pile foundation that has been piled.

[0067] The above is only an embodiment of the utility model, and the common sense such as the known specific structure and characteristics in the scheme is not described too much here. For those skilled in the art, it is obvious that the utility model is not limited to the details of the above exemplary embodiments, and the utility model can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is limited by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the utility model. Any figure mark in the claims should not be regarded as limiting the claims involved.

Claims

1. A high-performance self-propelled, self-positioning amphibious pile stabilization system, characterized in that: It comprises a walking mechanism (1), a height adjustment mechanism (2), an arm-holding mechanism (3), a driving unit (4) and a main structure frame (5); The height adjustment mechanisms (2) have at least two, the bottoms of the two height adjustment mechanisms (2) are mounted on the walking mechanism (1) and are matched with the circumferential clearance of the mounting surface of the walking mechanism (1), the two height adjustment mechanisms (2) each have a first telescopic member, both sides of the main structure frame (5) have sleeves, the telescopic end of each of the first telescopic members is connected to the sleeve, the sleeve has at least one arm-holding mechanism (3) along its height direction, the arm-holding mechanism (3) has a second telescopic member, one end of the second telescopic member is rotatably connected to the sleeve, and the other end is a telescopic end, and a pile foundation vertical limit ring is installed at the telescopic end; The driving unit (4) is in communication connection with the walking mechanism (1), the height adjustment mechanism (2) and the arm-holding mechanism (3), and is used for controlling the walking mechanism (1) to move to a target workstation based on information from corresponding sensors, controlling the height adjustment mechanism (2) to adjust the height of the arm-holding mechanism (3) and the verticality of the central axis of the pile foundation vertical limit ring, and controlling the two arm-holding mechanisms (3) to adjust the distance between the corresponding pile foundation vertical limit rings.

2. The high-performance self-propelled, self-positioning amphibious pile stabilization system according to claim 1 is characterized in that: The pile foundation vertical limiting ring comprises a third telescopic member (31), an arm (32) and a telescopic arm (33), and the arm-holding mechanism (3) further comprises a fourth telescopic member (34) and a large arm (35); The second telescopic member (30) is installed in the large arm (35), one end of the large arm (35) is sleeved on the sleeve and rotatably connected to the sleeve, and the other end is provided with an opening for passing the push rod of the second telescopic member (30), the push rod of the second telescopic member (30) is connected to one end of the telescopic arm (33), and one of the third telescopic members (31) is installed on both sides of the other end of the telescopic arm (33), the two holding arms (32) and the third telescopic member (31) are symmetrically arranged, the holding arms (32) are circular arc ring structures, the push rod of each of the third telescopic members (31) is hinged to the outer edge of one of the holding arms (32), one end of the circular arc rings of the two holding arms (32) is hinged to the telescopic arm (33), and the other ends are butt-jointed with each other; the shell of the fourth telescopic member (34) is connected to the main structure frame (5), and the other end is connected to the outer wall of the large arm (35) through its push rod.

3. The high-performance self-propelled, self-positioning amphibious pile stabilization system according to claim 1 is characterized in that: The pile stabilization system has a symmetrical structure, the walking mechanism (1) has at least two, the height adjustment mechanism (2) and the arm-holding mechanism (3) each have four, the four height adjustment mechanisms (2) are distributed in a rectangular shape on the top of the walking mechanism (1), the main structure frame (5) is a rectangular structure, the four corners of the main structure frame (5) each have a sleeve, and the telescopic ends of the first telescopic parts of the four height adjustment mechanisms (2) are installed in the sleeves of the main structure frame (5).

4. The high-performance self-propelled, self-positioning amphibious pile stabilization system according to claim 3 is characterized in that: The walking mechanism (1) comprises a track wheel (10) and a chassis (11); one track wheel (10) is mounted on each side of the chassis (11).

5. The high-performance self-propelled, self-positioning amphibious pile stabilization system according to claim 4 is characterized in that: The chassis (11) comprises an arc-shaped seat (110), a pressure plate (111) and a bottom plate; the arc-shaped seat (110) is arranged on the bottom plate, the pressure plate (111) is a cavity structure, the arc-shaped seat (110) and the pressure plate (111) are both installed on the top surface of the bottom plate, and the pressure plate (111) covers the periphery of the arc-shaped seat (110).

6. The high-performance self-propelled, self-positioning amphibious pile stabilization system according to claim 5 is characterized in that: The height adjustment mechanism (2) further comprises a support leg (20); the bottom of the support leg (20) is located in an inner surface formed by the arc-shaped seat (110) and the pressure plate (111), and there is a gap between the outer wall surface of the bottom of the support leg (20) and the inner surface.

7. The high-performance self-propelled, self-positioning amphibious pile stabilization system according to claim 6 is characterized in that: The bottom of the support leg (20) is seated on the arc flange of the arc seat (110), and the arc flange abuts against the top surface of the arc seat (110). The first telescopic member (21) is installed inside the support leg (20), and the push rod of the first telescopic member (21) is connected to the inside of the support leg. The shell of the first telescopic member is connected to the inside of the sleeve, and the sleeve is sleeved on the outer wall of the support leg (20).

8. The high-performance self-propelled, self-positioning amphibious pile stabilization system according to claim 6 is characterized in that: The inner wall of the sleeve is clearance-matched with the outer wall of the supporting leg (20).

9. The high-performance self-propelled, self-positioning amphibious pile stabilization system according to claim 2 is characterized in that: The first telescopic member (21), the second telescopic member (30), the third telescopic member (31) and the fourth telescopic member (34) are provided with displacement sensors connected to the drive unit (4).

10. The high-performance self-propelled, self-positioning amphibious pile stabilization system according to claim 1 is characterized in that: The corresponding sensors include a GPS positioning signal sensor and an inclination sensor installed on the main structure frame (5).

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