Pile sinking device and offshore piling robot

Abstract

The utility model discloses a pile sinking device and an offshore piling robot, comprising: a pile sinking mechanical arm having a mounting end and a free end, the mounting end of the pile sinking mechanical arm being fixed on a work platform; the vibration exciter is hinged to the free end of the pile sinking mechanical arm through a first hinge shaft which is horizontally arranged; wherein the vibration exciter can grab a pipe pile to be constructed through a pile clamping structure of the vibration exciter, and the vibration exciter is vertically hung at the free end of the pile sinking mechanical arm under the gravity action of the vibration exciter and the pipe pile. The pile sinking mechanical arm is used for changing the posture of the pile sinking mechanical arm to drive the vibration exciter to move, so that the vibration exciter grabs a pipe pile and moves the pipe pile to the position over a preset pile position, and it is ensured that the vibration exciter can vibrate up and down to vertically drive the pipe pile into the preset pile position; and meanwhile, if the perpendicularity of the pipe pile deviates due to the unstable offshore operation environment in the piling process, the pile sinking mechanical arm can be used for adjusting the position of the vibration exciter to adjust the perpendicularity of the pipe pile, so that the perpendicularity of the pipe pile meets the construction requirement.

Description

Technical Field

[0001] The utility model relates to the technical field of offshore pile driving equipment, in particular to a pile sinking device and an offshore pile working robot. Background Art

[0002] As a new model of resource development and utilization, offshore photovoltaic projects have natural environmental advantages over land-based photovoltaic projects. They are basically unobstructed, have long sunshine hours, use light reflected from the water surface, have fast air circulation and relatively low ambient temperature. They are helpful in increasing power generation to meet the electricity demand in coastal areas and promote the development of renewable energy in coastal areas.

[0003] At present, offshore photovoltaics are mainly based on pile foundations. In order to adapt to the piling operations of photovoltaic panel installation foundations (concrete pipe piles) in coastal waters, most of them use simple piling construction ships modified from land, which can generally only operate on mudflats or shallow waters. For the future large-scale construction of offshore photovoltaics in deep waters, this type of equipment currently has poor stability in the offshore operating environment, low degree of automation, and low construction accuracy, and cannot meet the safety, quality, and work efficiency requirements of deep-water construction. Utility Model Content

[0004] The purpose of the utility model is to provide a pile sinking device and an offshore pile-driving robot to solve the technical problems that the current pile driving equipment has poor stability in the offshore working environment, low degree of automation, low construction accuracy, and cannot meet the safety, quality, and work efficiency requirements of deep-water construction.

[0005] The above-mentioned purpose of the utility model can be achieved by adopting the following technical solutions:

[0006] The utility model provides a pile driving device, comprising: a pile driving mechanical arm, having a mounting end and a free end, wherein the mounting end of the pile driving mechanical arm is fixed on a working platform; a vibrator, which is hinged to the free end of the pile driving mechanical arm through a horizontally arranged first hinge shaft; wherein the vibrator can grab the pipe pile to be constructed through its pile grabbing structure, and the vibrator is vertically suspended on the free end of the pile driving mechanical arm under the action of its own gravity and the weight of the pipe pile.

[0007] In an embodiment of the utility model, the pile driving robot arm includes a robot arm base, a first swing arm, a second swing arm and a third swing arm. The robot arm base is installed on the working platform. One end of the first swing arm is hinged to the robot arm base through a horizontally arranged second hinge shaft. The other end of the first swing arm is hinged to one end of the second swing arm through a horizontally arranged third hinge shaft. The other end of the second swing arm is hinged to one end of the third swing arm through a horizontally arranged fourth hinge shaft. The other end of the third swing arm is hinged to the vibrator.

[0008] In an embodiment of the utility model, the pile driving robot arm also includes at least one first swing telescopic member, at least one second swing telescopic member and at least one third swing telescopic member, the two ends of the first swing telescopic member are hinged to the robot arm base and the first swing arm, and the first swing arm can be driven to rotate around the second hinge axis by telescopic drive, the two ends of the second swing telescopic member are hinged to the first swing arm and the second swing arm, and the second swing arm can be driven to rotate around the third hinge axis by telescopic drive, and the two ends of the third swing telescopic member are hinged to the second swing arm and the third swing arm, and the third swing arm can be driven to rotate around the fourth hinge axis by telescopic drive.

[0009] In an embodiment of the present invention, the first hinge axis, the second hinge axis, the third hinge axis and the fourth hinge axis are parallel to each other and are arranged perpendicular to the arrangement direction of multiple preset pile positions, and the robot arm base is fixed to the working platform.

[0010] In an implementation manner of the utility model, an inclination sensor is installed on the vibration exciter, and the inclination sensor is used to monitor the rotation angle of the vibration exciter around the first hinge axis.

[0011] In an embodiment of the utility model, the pile driving device further comprises a clamping and limiting structure, the working platform is provided with a construction limiting channel for the pipe piles to pass through, and the clamping and limiting structure is installed on the working platform and is located around the construction limiting channel.

[0012] In an embodiment of the utility model, a plurality of telescopic limiting parts are provided on the clamping and limiting structure, and the plurality of telescopic limiting parts are arranged at intervals along the circumference of the construction limiting channel, and the telescopic limiting parts can be arranged telescopically along the radial direction of the construction limiting channel.

[0013] In an embodiment of the utility model, the clamping and limiting structure includes two clamping jaws, and the two clamping jaws can be opened and closed and arranged on both sides of the construction limiting channel, and a plurality of limiting telescopic parts are passed through the two clamping jaws; the working platform is also provided with a movable limiting channel for the constructed pipe piles to pass through, and the movable limiting channel is connected to the construction limiting channel, and the opening between the two clamping jaws is arranged toward the movable limiting channel.

[0014] In an embodiment of the utility model, the clamping and limiting structure includes a clamping base, the clamping base is fixed on the working platform, and one end of the two clamping claws is hinged to the clamping base through a fifth hinge axis arranged along the vertical direction.

[0015] In an embodiment of the utility model, the clamping limiting structure includes two clamping telescopic parts, one end of the two clamping telescopic parts is hinged to the outer side surface of the two clamping claws, and the other end of the two clamping telescopic parts is hinged to the clamping base. The two clamping telescopic parts can open and close by telescopically driving the two clamping claws to rotate around the fifth hinge axis.

[0016] The utility model discloses an offshore pile-working robot, which comprises the above-mentioned pile-driving device.

[0017] The characteristics and advantages of this utility model are:

[0018] The pile driving device and offshore pile driving robot of the utility model are provided with a pile driving mechanical arm and a vibrator is hinged to the free end of the pile driving mechanical arm through a horizontally arranged first hinge shaft, and the pile driving mechanical arm is used to change its posture to drive the vibrator to move. First, the vibrator can grab the pipe pile to be constructed through its pile grabbing structure, and then the pipe pile can be moved to just above the preset pile position. The vibrator can be vertically suspended on the free end of the pile driving mechanical arm under the action of its own gravity and the pipe pile, thereby ensuring that the vibrator can vibrate up and down to vertically drive the pipe pile into the preset pile position. At the same time, during the pile driving process, if the verticality of the pipe pile deviates due to the unstable offshore working environment, the pile driving mechanical arm can be used to adjust the position of the vibrator to achieve the adjustment of the verticality of the pipe pile, so that the verticality of the pipe pile meets the construction requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a structural schematic diagram of the pile sinking device in the utility model.

[0021] Figure 2 The utility model is a structural schematic diagram of the mid-sinking pile device applied to an offshore pile-working robot.

[0022] Figure 3 It is a structural schematic diagram of the pile-sinking mechanical arm of the utility model.

[0023] Figure 4 It is a structural schematic diagram of the clamping and limiting structure in the utility model in a closed state.

[0024] Figure 5 It is a structural schematic diagram of the clamping and limiting structure in the utility model in the open state.

[0025] In the figure:

[0026] 1', working platform; 1, offshore working platform; 11, construction limit channel; 12, walking limit channel; 13, mobile limit channel;

[0027] 2. Movable anchoring device; 21. Anchoring arm; 22. Walking mechanism;

[0028] 3. Pile sinking device;

[0029] 31. pile driving mechanical arm; 311. first swing arm; 312. second swing arm; 313. third swing arm; 314. first hinge axis; 315. second hinge axis; 316. third hinge axis; 317. fourth hinge axis; 318. first swing telescopic member; 319. second swing telescopic member; 3110. third swing telescopic member; 3111. mechanical arm base;

[0030] 32. Clamping and limiting structure; 321. Clamping and limiting channel; 322. Limiting telescopic member; 323. Clamping claw; 324. Clamping base; 325. Clamping telescopic member; 326. Fifth hinge axis; 327. Roller; 328. Clamping space; 329. Opening;

[0031] 33. Vibrator;

[0032] 4. Movable auxiliary mechanical arm; 41. Mechanical arm body; 42. Sliding structure; 43. Pile clamping structure;

[0033] 5. Beidou positioning device;

[0034] 6. Control device;

[0035] 7. Pipe piles. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] Implementation Method 1

[0038] like Figure 1As shown, the utility model provides a pile driving device 3, comprising: a pile driving mechanical arm 31, having a mounting end and a free end, the mounting end of the pile driving mechanical arm 31 being fixed on a working platform 1'; a vibrator 33, which is hinged to the free end of the pile driving mechanical arm 31 through a horizontally arranged first hinge shaft 314; wherein the vibrator 33 can grab the pipe pile 7 to be constructed through its pile grabbing structure, and the vibrator 33 is vertically suspended at the free end of the pile driving mechanical arm 31 under the action of its own gravity and the pipe pile 7.

[0039] The pile driving device 3 of the utility model is provided with a pile driving mechanical arm 31 and a vibrator 33 is hinged to the free end of the pile driving mechanical arm 31 through a horizontally arranged first hinge shaft 314. The pile driving mechanical arm 31 is used to change its posture to drive the vibrator 33 to move. First, the vibrator 33 can grab the pipe pile 7 to be constructed through its pile grabbing structure, and then the pipe pile 7 can be moved to just above the preset pile position. The vibrator 33 can be vertically suspended on the free end of the pile driving mechanical arm 31 under the action of its own gravity and the pipe pile 7, thereby ensuring that the vibrator 33 can vibrate up and down to vertically drive the pipe pile 7 into the preset pile position. At the same time, during the pile driving process, if the verticality of the pipe pile 7 deviates due to the unstable offshore working environment, the pile driving mechanical arm 31 can be used to adjust the position of the vibrator 33 to achieve the adjustment of the verticality of the pipe pile 7, so that the verticality of the pipe pile 7 meets the construction requirements.

[0040] Therefore, combined with Figure 2 As shown, the pile sinking device 3 of the utility model is particularly suitable for use in offshore pile driving equipment, the work platform 1' is an offshore work platform 1 of the offshore pile driving equipment, and the offshore pile driving equipment includes but is not limited to the offshore pile driving robot of the utility model, and the offshore pile driving robot of the utility model is described in detail in Embodiment 2. In addition, the pile sinking device 3 of the utility model can also be applied to land pile driving equipment, and can also produce the above-mentioned beneficial effects.

[0041] Specifically, the vibrator 33 uses a hydraulic motor to drive the active shaft to rotate. Through eccentric rotation, the vibrator 33 generates a longitudinal exciting force and transmits the vibration to the pipe pile 7 through the pile-grabbing structure. The pile-soil vibration is used to reduce the pile-soil friction and pile end resistance, so that the pipe pile 7 can be easily sunk into the soil. The vibrator 33 generally includes a vibrator body and a pile-grabbing structure. The pile-grabbing structure is connected to the bottom of the vibrator body. When the vibrator body generates an exciting force, the exciting force is transmitted to the pile-grabbing structure, and then transmitted to the pipe pile 7 clamped by the pile-grabbing structure, so that the pipe pile 7 can slowly sink into the preset pile position. The specific structure of the vibrator 33 is the same as the prior art and will not be repeated here.

[0042] Combination Figure 1As shown, in the embodiment of the utility model, an inclination sensor is installed on the vibrator 33, and the inclination sensor is used to monitor the rotation angle of the vibrator 33 around the first hinge axis 314. If the verticality of the pipe pile 7 deviates due to the swing of the pipe pile 7 and / or the movement of the offshore working platform 1 caused by the unstable offshore working environment, the vibrator 33 will rotate around the first hinge axis 314 driven by the pipe pile 7. Specifically, the inclination sensor is preferably installed on the housing of the vibrator 33 so as to be electrically connected to the control device 6 of the offshore pile driving robot, so that the control device 6 can adjust the posture of the pile driving mechanical arm 31 according to the rotation angle of the vibrator 33 around the first hinge axis 314, thereby adjusting the verticality of the pipe pile 7. The first hinge axis 314 is a universal shaft, which can realize 360-degree rotation of the vibrator 33.

[0043] like Figure 3 As shown, the pile driving mechanical arm 31 is a mechanical arm structure formed by movably connecting multiple arm bodies. In some embodiments of the utility model, the number of arm bodies is three. The pile driving mechanical arm 31 includes a mechanical arm base 3111, a first swing arm 311, a second swing arm 312 and a third swing arm 313. The mechanical arm base 3111 is installed on the working platform 1', one end of the first swing arm 311 is hinged to the mechanical arm base 3111 through a horizontally arranged second hinge shaft 315, the other end of the first swing arm 311 is hinged to one end of the second swing arm 312 through a horizontally arranged third hinge shaft 316, the other end of the second swing arm 312 is hinged to one end of the third swing arm 313 through a horizontally arranged fourth hinge shaft 317, and the other end of the third swing arm 313 is hinged to the vibrator 33. The posture of the pile driving robot arm 31 is adjusted by rotating the first swing arm 311 around the second hinge shaft 315 , the second swing arm 312 around the third hinge shaft 316 , and / or the third swing arm 313 around the fourth hinge shaft 317 .

[0044] Specifically, the pile driving mechanical arm 31 further includes at least one first swing telescopic member 318, at least one second swing telescopic member 319 and at least one third swing telescopic member 3110. The two ends of the first swing telescopic member 318 are hinged to the fixed base and the first swing arm 311, and can drive the first swing arm 311 to rotate around the second hinge axis 315 by telescopic drive. The two ends of the second swing telescopic member 319 are hinged to the first swing arm 311 and the second swing arm 312, and can drive the second swing arm 312 to rotate around the third hinge axis 316 by telescopic drive. The two ends of the third swing telescopic member 3110 are hinged to the second swing arm 312 and the third swing arm 313, and can drive the third swing arm 313 to rotate around the fourth hinge axis 317 by telescopic drive. The first swing telescopic member 318, the second swing telescopic member 319 and the third swing telescopic member 3110 can all adopt telescopic hydraulic cylinders as in the present embodiment, and of course, telescopic drive members such as electric telescopic rods and telescopic cylinders can also be adopted.

[0045] Combination Figure 2 and Figure 3 As shown, in this embodiment, the first hinge axis 314, the second hinge axis 315, the third hinge axis 316 and the fourth hinge axis 317 are parallel to each other and are all arranged perpendicular to the arrangement direction X of the multiple preset pile positions. The robot arm base 3111 is fixed on the offshore working platform 1, so that the pile driving robot arm 31 can only adjust its posture within the vertical plane where the arrangement direction X of the multiple preset pile positions is located.

[0046] Since the offshore working platform 1 of the offshore pile driving robot in this embodiment is also provided with a movable auxiliary mechanical arm 4 and a movable anchoring device 2, and the offshore working platform 1 is also provided with a construction limit channel 11 for the pipe pile 7 to pass through. When the vibrator 33 is needed to grab the pipe pile 7 to be constructed, the movable auxiliary mechanical arm 4 can cooperate with the pile driving mechanical arm 31 to move the pipe column to be constructed placed on the offshore working platform 1, so that the pipe pile 7 can be grabbed by the vibrator 33; in addition, since the movable anchoring device 2 is anchored in the seabed, the stability of the offshore working platform 1 is improved, so that the pipe pile 7 will not be offset due to the movement of the offshore working platform 1 during the piling process; therefore, since the pile driving mechanical arm 31 only adjusts its posture in the vertical plane where the arrangement direction X of the multiple preset pile positions is located, When the pile driving robot arm 31 adjusts the position of the vibrator 33, there will only be a position difference between the arrangement direction X of the multiple preset pile positions and the construction limit channel 11, which will cause the verticality of the pipe pile 7 to deviate after it is extended into the construction limit channel 11. Then, the pile driving robot arm 31 further adjusts its posture in the vertical plane where the arrangement direction X of the multiple preset pile positions is located according to the angle of the vibrator 33, so that the center of the vibrator 33 and the center of the construction limit channel 11 are located on the same vertical line, and the pipe pile 7 can be vertically lowered into the construction limit channel 11.

[0047] In other embodiments of the utility model, the pile-driving mechanical arm 31 can be provided with fewer or more movable connection structures as required. Optionally, the number of arm bodies of the pile-driving mechanical arm 31 can be two, four, five or more. Optionally, the first swing arm 311, the second swing arm 312 and / or the third swing arm 313 can be telescopic arm structures in the prior art. Optionally, the mechanical arm base 3111 can be installed on the offshore working platform 1 through a rotary structure and / or a sliding structure in the prior art. Optionally, multiple arm bodies can be connected through a ball joint structure.

[0048] like Figure 1 As shown, in order to further improve the verticality of the pipe pile 7 , in the embodiment of the utility model, the pile driving device 3 further includes a clamping and limiting structure 32 , which is installed on the working platform 1 ′ and is located around the construction limiting channel 11 .

[0049] When the vibrator 33 grabs the pipe pile 7 and is vertically suspended on the pile driving mechanical arm 31 and the pile driving mechanical arm 31 adjusts its posture so that the lower part of the pipe pile 7 extends into the clamping and limiting structure 32, if the center of the vibrator 33 and the center of the clamping and limiting structure 32 are not on the same vertical line due to positioning error, the lower part of the pipe pile 7 can be clamped by the clamping and limiting structure 32 to adjust the verticality of the lower part of the pipe pile 7, but the upper part of the pipe pile 7 will swing and drive the vibrator 33 to swing, and then by monitoring the inclination angle of the vibrator 33, the pile driving mechanical arm 31 can adjust the verticality of the lower part of the pipe pile 7. The arm 31 adjusts its posture according to the inclination angle of the vibrator 33 to adjust the verticality of the upper part of the pipe pile 7; but since the upper adjustment of the pipe pile 7 and the lower adjustment of the pipe pile 7 will affect each other, the upper adjustment of the pipe pile 7 and the lower adjustment of the pipe pile 7 can be repeated many times until the overall verticality of the pipe pile 7 meets the requirements; then the pipe pile 7 is guided to vertically descend into the construction limiting channel 11 through the clamping limiting structure 32, and the construction limiting channel 11 can be used to limit the deviation range of the pipe pile 7 during the lowering process to a certain extent.

[0050] Specifically, the inner diameter of the construction limiting passage 11 is larger than the outer diameter of the pipe pile 7. The clamping limiting structure 32 can be in rolling contact with the pipe pile 7 or in sliding contact with the pipe pile 7, thereby limiting the pipe pile 7. The clamping limiting structure 32 includes two clamping claws 323, which are arranged on both sides of the construction limiting passage 11 in an openable and closable manner. The clamping limiting structure 32 includes a clamping base 324, which is fixed on the working platform 1', and one end of the two clamping claws 323 is hinged to the clamping base 324 through a fifth hinge shaft 326 arranged in the vertical direction. The clamping and limiting structure 32 includes two clamping telescopic members 325, one end of the two clamping telescopic members 325 is hinged to the outer side surface of the two clamping claws 323, and the other end of the two clamping telescopic members 325 is hinged to the clamping base 324. The two clamping telescopic members 325 can be opened and closed by telescopically driving the two clamping claws 323 to rotate around the fifth hinge axis 326. The clamping telescopic members 325 can be a telescopic hydraulic cylinder as in the present embodiment, and of course, a telescopic driving member such as an electric telescopic rod or a telescopic cylinder can also be used.

[0051] like Figure 4 and Figure 5As shown, in the embodiment of the utility model, a plurality of limiting telescopic parts 322 are provided on the clamping and limiting structure 32, and the plurality of limiting telescopic parts 322 are arranged at intervals along the circumference of the construction limiting channel 11, and the limiting telescopic parts 322 can be arranged to be telescopically arranged along the radial direction of the construction limiting channel 11. The plurality of limiting telescopic parts 322 are telescopically extended along the radial direction of the construction limiting channel 11 so that the inner diameters of the plurality of limiting telescopic parts 322 match the outer diameters of the pipe pile 7, so that the plurality of limiting telescopic parts 322 can cooperate with the clamping pipe pile 7 to limit its displacement, and when the center of the lower part of the pipe pile 7 is not on the same vertical line as the center of the clamping and limiting structure 32, the lower part of the pipe pile 7 can be pushed to swing by the telescopic cooperation of the plurality of limiting telescopic parts 322, until each limiting telescopic part 322 is in contact with the lower part of the pipe pile 7 and the telescopic amount is consistent, thereby realizing the vertical adjustment of the lower part of the pipe pile 7.

[0052] Specifically, a plurality of the limiting telescopic members 322 can also be arranged in an axially spaced arrangement along the construction limiting channel 11. A plurality of the limiting telescopic members 322 are arranged on the two clamping jaws 323. When the two clamping jaws 323 are closed, a clamping space 328 corresponding to the construction limiting channel 11 can be formed, and the inner extension end of the limiting telescopic member 322 extends into the clamping space 328, and the inner extension end of the limiting telescopic member 322 is installed with a roller 327 that can roll around a horizontally arranged roller. The limiting telescopic member 322 makes the roller 327 roll in contact with the pipe pile 7 through telescopic adjustment, so as to guide the pipe pile 7 to be vertically lowered. Among them, the limiting telescopic member 322 can adopt a telescopic hydraulic cylinder as in the present embodiment, and of course, a telescopic drive member such as an electric telescopic rod and a telescopic cylinder can also be adopted.

[0053] like Figure 2 , Figure 4 as well as Figure 5 As shown, in the embodiment of the utility model, the offshore work platform 1 is further provided with a movable limiting passage 13 for the constructed pipe piles 7 to pass through, the movable limiting passage 13 is extended along the arrangement direction X of the plurality of preset pile positions and is connected with the construction limiting passage 11, and the opening 329 between the two clamping jaws 323 is arranged toward the movable limiting passage 13. When the construction of the pipe piles 7 of the construction limiting passage 11 is completed, the two clamping jaws 323 are opened to form the opening 329, and the offshore work platform 1 moves forward along the arrangement direction X of the plurality of preset pile positions, so that the pipe piles 7 of the construction limiting passage 11 enter the movable limiting passage 13 from the opening 329 between the two clamping jaws 323 relative to the offshore work platform 1, so that the clamping limiting structure 32 does not affect the movement of the offshore work platform 1.

[0054] Specifically, the pile driving mechanical arm 31, the construction limiting channel 11 and the movable limiting channel 13 are arranged from front to back in the arrangement direction of the plurality of preset pile positions, the clamping base 324 is arranged forward, and the opening 329 between the two clamping jaws 323 is arranged backward.

[0055] Implementation Method 2

[0056] like Figure 2 As shown, the utility model further provides an offshore pile driving robot, including a pile sinking device 3. The pile sinking device 3 in this embodiment has the same specific structure, working principle and beneficial effects as the pile sinking device 3 in the first embodiment, and will not be described in detail here.

[0057] like Figure 2 As shown, the offshore pile-working robot of the utility model further includes: an offshore working platform 1; at least one movable auxiliary mechanical arm 4, which is movably arranged on the offshore working platform 1 along the arrangement direction of a plurality of preset pile positions, and the movable auxiliary mechanical arm 4 is used to transfer the pipe piles 7 to be constructed and clamp and fix the constructed pipe piles 7; at least one movable anchoring device 2, which is movably arranged on the offshore working platform 1 along the arrangement direction of a plurality of preset pile positions through a walking mechanism 22, and the movable anchoring device 2 includes an anchoring arm 21, and the anchoring arm 21 can be movably arranged up and down so that the anchoring arm 21 can at least be anchored on the seabed or separated from the seabed.

[0058] like Figure 2 As shown, the offshore pile-driving robot of the utility model, by providing a movable anchoring device 2, anchors the anchoring arm 21 in the seabed, thereby improving the stability of the entire equipment, which is beneficial to the pile sinking device 3 controlling the construction quality accuracy and construction progress during the piling process; and the movable anchoring device 2 is installed on the offshore work platform 1 through the walking mechanism 22, so that the walking mechanism 22 can use the fixed point formed by the anchoring arm 21 to pull the offshore work platform 1 to move, thereby realizing the self-walking of the offshore pile-driving robot without the need to configure a tugboat to drag the entire equipment; in addition, by providing a movable auxiliary mechanical arm 4, the constructed pipe pile 7 can be clamped and fixed and the constructed pipe pile 7 can be used as a new fixed point to further improve the stability of the offshore work platform 1, and the movable auxiliary mechanical arm 4 can also be used to assist the pile sinking device 3 in grabbing the pipe pile 7, and the pipe pile 7 transported to the sea is transferred to the offshore work platform 1, which is beneficial to improve the automation and construction efficiency of the entire equipment construction.

[0059] Specifically, Figure 2As shown, the offshore pile driving robot also includes a Beidou positioning device 5 and a control device 6. The Beidou positioning device 5 is used to obtain the position information of the offshore working platform 1, and the control device 6 is used to control the movement of the offshore working platform 1 according to the position information of the offshore working platform 1 and the position information of the preset pile position. The position information of the offshore working platform 1 is obtained through the Beidou positioning device 5, so that the control device 6 can control the walking mechanism 22 of the movable anchoring device 2 according to the position information of the offshore working platform 1 and the position information of the preset pile position to realize the movement of the offshore working platform 1 and control the anchoring position of the anchoring arm 21, so as to ensure the preliminary positioning of the offshore working platform 1, so that the working position of the pile sinking device 3 generally corresponds to the next preset pile position, that is, the position deviation between the working position of the pile sinking device 3 and the next preset pile position is within the preset range; further, the control device 6 can control the movable auxiliary mechanical arm 4 to further adjust the position of the offshore working platform 1 with the constructed pipe pile 7 as the fixed point according to the position deviation between the working position of the pile sinking device 3 and the next preset pile position, so as to ensure the accurate positioning of the offshore working platform 1, which is conducive to improving the construction accuracy.

[0060] In addition, at least one travel limiting passage 12 is provided on the offshore work platform 1, and the travel limiting passage 12 is extended along the working direction X. The travel limiting passage 12 is used for the anchor arm 21 to pass relative to the offshore work platform 1 along the working direction X. By providing the travel limiting passage 12, when the traveling mechanism 22 pulls the offshore work platform 1 to move relative to the anchor arm 21 along the working direction X, the anchor arm 21 is limited in the travel limiting passage 12, thereby playing a certain limiting role and preventing the moving direction of the offshore work platform 1 from deviating.

[0061] like Figure 2 As shown, in the embodiment of the utility model, at least one construction limit channel 11 and at least one mobile limit channel 13 are provided on the offshore work platform 1. The mobile limit channel 13 is provided at the rear end of the offshore work platform 1 along the arrangement direction of the plurality of preset pile positions. The construction limit channel 11 is connected to the front end of the mobile limit channel 13. The construction limit channel 11 is used to lower the pipe piles 7 to be constructed, and the mobile limit channel 13 is used for the constructed pipe piles 7 to pass along the arrangement direction of the plurality of preset pile positions. Among them, the position of the construction limit channel 11 is the working position of the pile sinking device 3, which needs to correspond to the preset pile position.

[0062] In addition, if Figure 2 As shown, in order to further improve the verticality of the pipe pile 7, in the embodiment of the utility model, the pile driving device 3 also includes a clamping and limiting structure 32, which is installed on the offshore working platform 1 and is located around the construction limiting channel 11.

[0063] like Figure 2As shown, in the embodiment of the utility model, the movable auxiliary robotic arm 4 includes a sliding structure 42, at least one robotic arm body 41 and at least one pile clamping structure 43; the sliding structure 42 includes a slide rail and at least one sliding seat, the slide rail extends along the arrangement direction of a plurality of preset pile positions and is arranged on the offshore working platform 1, and the sliding seat slides with the slide rail; the robotic arm body 41 has a mounting end and a free end, and the mounting end of the robotic arm body 41 is connected to the sliding seat; the pile clamping structure 43 is arranged at the free end of the robotic arm body 41. By arranging a sliding structure 42 on the offshore working platform 1 and connecting the mounting end of the mechanical arm body 41 to the sliding seat, the mechanical arm body 41 can slide along the arrangement direction X of the plurality of preset pile positions. On the one hand, it can slide along the arrangement direction X of the plurality of preset pile positions according to the positions of the constructed pipe piles 7 (i.e., the pipe piles 7 driven into the preset pile positions), and then the pipe piles 7 can be clamped and fixed by the pile clamping structure 43, so that the constructed pipe piles 7 are used to form new fixing points to further improve the stability of the offshore working platform 1; on the other hand, it can also clamp the pipe piles 7 on the pipe pile transportation equipment and transfer them to the offshore working platform 1; on the other hand, it can also "feed piles", that is, the auxiliary pile sinking device 3 can grab the pipe piles 7 to be constructed on the offshore working platform 1.

[0064] like Figure 2 As shown, in the embodiment of the utility model, two movable auxiliary mechanical arms 4 are installed on the offshore working platform 1, and two movable limiting channels 13 for the constructed pipe piles 7 to pass through are provided on the offshore working platform 1. The two movable limiting channels 13 extend along the arrangement direction X of the plurality of preset pile positions and are arranged in parallel between the slide rails of the two movable auxiliary mechanical arms 4. The area between the two movable limiting channels 13 on the offshore working platform 1 forms a temporary storage area for the pipe piles 7 to be constructed. By arranging the two movable auxiliary mechanical arms 4 outside the two movable limiting channels 13 and using the area between the two movable limiting channels 13 to form a temporary storage area for the pipe piles 7 to be constructed, the pipe pile 7 transport ship can be docked on either side of the offshore working platform 1, and the pipe piles 7 on the pipe pile 7 transport ship can be transported to the temporary storage area through the movable auxiliary mechanical arms 4 on the corresponding side, and it is convenient for the two movable auxiliary mechanical arms 4 to assist the two pile sinking devices 3 to grab the pipe piles 7 to be constructed in the temporary storage area.

[0065] The above are only several embodiments of the present invention. Those skilled in the art can make various changes or modifications to the embodiments of the present invention based on the contents disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. A pile driving device, characterized in that: include: A pile driving mechanical arm having a mounting end and a free end, wherein the mounting end of the pile driving mechanical arm is fixed on a working platform; A vibrator, which is hinged to the free end of the pile driving mechanical arm through a horizontally arranged first hinge shaft; The vibrator can grab the pipe pile to be constructed through its pile grabbing structure, and the vibrator is vertically suspended at the free end of the pile driving mechanical arm under the action of its own gravity and the pipe pile.

2. The pile driving device according to claim 1, characterized in that: The pile driving robot arm includes a robot arm base, a first swing arm, a second swing arm and a third swing arm. The robot arm base is installed on the working platform. One end of the first swing arm is hinged to the robot arm base through a horizontally arranged second hinge shaft. The other end of the first swing arm is hinged to one end of the second swing arm through a horizontally arranged third hinge shaft. The other end of the second swing arm is hinged to one end of the third swing arm through a horizontally arranged fourth hinge shaft. The other end of the third swing arm is hinged to the vibrator.

3. The pile driving device according to claim 2, characterized in that: The pile driving robot arm also includes at least one first swing telescopic member, at least one second swing telescopic member and at least one third swing telescopic member, the two ends of the first swing telescopic member are hinged to the robot arm base and the first swing arm, and the first swing arm can be driven to rotate around the second hinge axis by telescoping, the two ends of the second swing telescopic member are hinged to the first swing arm and the second swing arm, and the second swing arm can be driven to rotate around the third hinge axis by telescoping, and the two ends of the third swing telescopic member are hinged to the second swing arm and the third swing arm, and the third swing arm can be driven to rotate around the fourth hinge axis by telescoping.

4. The pile driving device according to claim 3, characterized in that: The first hinge axis, the second hinge axis, the third hinge axis and the fourth hinge axis are parallel to each other and are arranged perpendicular to the arrangement direction of the plurality of preset pile positions, and the robot arm base is fixed to the working platform.

5. The pile driving device according to claim 1, characterized in that: The vibration exciter is provided with an inclination sensor, and the inclination sensor is used to monitor the rotation angle of the vibration exciter around the first hinge axis.

6. The pile driving device according to claim 1, characterized in that: The pile driving device also includes a clamping and limiting structure. The working platform is provided with a construction limiting passage for the pipe pile to pass through. The clamping and limiting structure is installed on the working platform and is located around the construction limiting passage.

7. The pile driving device according to claim 6, characterized in that: The clamping and limiting structure is provided with a plurality of telescopic limiting parts, which are arranged at intervals along the circumference of the construction limiting channel, and the telescopic limiting parts can be telescopically arranged along the radial direction of the construction limiting channel.

8. The pile driving device according to claim 7, characterized in that: The clamping and limiting structure includes two clamping jaws, which are openably arranged on both sides of the construction limiting channel, and a plurality of limiting telescopic parts are passed through the two clamping jaws; the working platform is also provided with a movable limiting channel for the constructed pipe piles to pass through, the movable limiting channel is connected to the construction limiting channel, and the opening between the two clamping jaws is arranged toward the movable limiting channel.

9. The pile driving device according to claim 8, characterized in that: The clamping and limiting structure comprises a clamping base, which is fixed on the working platform, and one end of the two clamping claws is hinged to the clamping base through a fifth hinge shaft arranged along the vertical direction.

10. The pile driving device according to claim 9, characterized in that: The clamping limiting structure includes two clamping telescopic parts, one end of the two clamping telescopic parts is hinged to the outer side surface of the two clamping claws, and the other end of the two clamping telescopic parts is hinged to the clamping base. The two clamping telescopic parts can open and close by telescopically driving the two clamping claws to rotate around the fifth hinge axis.

11. An offshore pile-working robot, characterized in that: The invention comprises the pile driving device according to any one of claims 1 to 10.

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