Offshore positioning walking device and offshore photovoltaic piling robot

Abstract

The utility model discloses an offshore positioning walking device and an offshore photovoltaic piling robot, comprising a fixed positioning mechanism and a mobile positioning mechanism, both the fixed positioning mechanism and the mobile positioning mechanism comprise a positioning pile, a lifting structure and a rotation power structure; a lifting structure of the movable positioning mechanism can be movably arranged on the offshore operation platform along an operation direction through a movable structure; when the positioning pile of the movable positioning mechanism is in an anchoring releasing state, the positioning pile of the movable positioning mechanism can be driven by the movable structure to move in the operation direction relative to the offshore operation platform; and in the state that the positioning piles of the fixed positioning mechanism are unanchored and the positioning piles of the movable positioning mechanism are anchored, the offshore operation platform can be driven by the movable structure to move in the operation direction relative to the positioning piles of the movable positioning mechanism. According to the utility model, the stability of the offshore operation platform can be fully improved, so that the quality precision and the construction progress of offshore construction can be improved, and the self-walking of the offshore operation platform can be realized.

Description

Technical Field

[0001] This utility model relates to the field of marine construction equipment technology, and in particular, to a marine positioning and walking device and a marine photovoltaic piling robot. Background Technology

[0002] Offshore photovoltaic projects, as a new type of resource development and utilization model, have natural environmental advantages over onshore photovoltaic projects. They are virtually unobstructed, have long hours of sunshine, utilize water surface reflection for light, have fast air circulation, and relatively low ambient temperatures. These advantages help increase power generation to meet the electricity demand of coastal areas and promote the development of renewable energy in coastal regions.

[0003] Currently, offshore photovoltaic power stations are mainly based on pile foundations. To adapt to the piling work of photovoltaic panel installation foundation (concrete pipe pile) construction projects in coastal waters, most of the construction is carried out on offshore working platforms. However, due to swells and tides, the stability of offshore working platforms is poor, which makes it difficult to control the accuracy of construction quality. In particular, when the wind and waves exceed a certain value, construction at sea is impossible, which makes it difficult to control the construction progress. In addition, tugboats must be used to move the offshore working platform. Utility Model Content

[0004] The purpose of this invention is to provide a marine positioning and walking device and a marine photovoltaic piling robot to solve the technical problems of poor stability of the working platform during current marine construction and the need to configure tugboats to realize the movement of the marine working platform.

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

[0006] This utility model provides a marine positioning and walking device, including a fixed positioning mechanism and a mobile positioning mechanism. Both the fixed and mobile positioning mechanisms include a positioning stake, a lifting structure, and a rotary power structure. The positioning stake is mounted on the rotary power structure, which is mounted on the lifting structure. The lifting structure is configured to move the rotary power structure up and down, and the rotary power structure can drive the positioning stake to rotate. The rotary power structure, in conjunction with the lifting structure, enables the positioning stake to be anchored and de-anchored to the seabed. The lifting structure of the fixed positioning mechanism is fixedly installed... The mobile positioning mechanism is placed on an offshore work platform. Its lifting structure is movable along a working direction on the platform via a moving structure. When the positioning stake of the mobile positioning mechanism is unanchored, it can move relative to the offshore work platform along the working direction under the influence of the moving structure. When the positioning stake of the fixed positioning mechanism is unanchored and the positioning stake of the mobile positioning mechanism is anchored, the offshore work platform can move relative to the positioning stake of the mobile positioning mechanism along the working direction under the influence of the moving structure.

[0007] In this embodiment of the invention, the mobile structure includes a mobile trolley and a mobile drive structure. The mobile drive structure is installed on the offshore work platform and connected to the mobile trolley, and the lifting structure is installed on the mobile trolley.

[0008] In this embodiment of the invention, the mobile drive structure includes a mobile winch, a mobile traction rope, a fixed pulley, a front movable pulley, and a rear movable pulley. The mobile winch and the fixed pulley are both mounted on the offshore work platform. The front movable pulley and the rear movable pulley are both mounted on the mobile trolley and located between the mobile winch and the fixed pulley. The mobile traction rope is wound on the mobile winch. One end of the mobile traction rope passes over the fixed pulley and the rear movable pulley and is fixed to the rear movable pulley. The other end of the mobile traction rope passes over the front movable pulley and is fixed to the front movable pulley.

[0009] In this embodiment of the invention, a movable channel is provided on the offshore operating platform along the operating direction. The movable channel is used to pass through the positioning pile, and two guide rails are provided on both sides of the movable channel along the operating direction. The movable trolley is slidably configured with the two guide rails along the operating direction.

[0010] In this embodiment of the utility model, the lifting structure is provided with a lifting bracket and a lifting drive structure. The lifting bracket is installed on the mobile trolley, and the rotary power structure is movably arranged on the lifting bracket in the vertical direction through the lifting drive structure.

[0011] In this embodiment of the utility model, the lifting drive structure is installed on the rotary power structure. The lifting drive structure includes a lifting motor and a lifting gear. The lifting bracket is provided with a lifting guide rail that meshes with the lifting gear in the vertical direction. The lifting gear is installed on the lifting motor. The lifting motor can drive the lifting gear to rotate and roll along the lifting guide rail.

[0012] In this embodiment of the present invention, the lifting structure of the fixed positioning mechanism is installed on the offshore operation platform via an installation platform, and the mobile trolley is provided with another installation platform for installing the lifting structure of the mobile positioning mechanism; the installation platform is provided with a lower limit sleeve for inserting the positioning stake along the vertical direction.

[0013] In this embodiment of the utility model, the mounting platform is provided with a positioning clamping structure, which is located above the lower limit sleeve. Each positioning clamping structure includes a clamping cylinder and two clamping arms. The two clamping arms are arranged opposite to each other, and the mounting ends of the two clamping arms are hinged to the mounting platform. The opening and closing ends of the two clamping arms are connected through the clamping cylinder. The clamping cylinder drives the two clamping arms to open and close by extending and retracting.

[0014] In this embodiment of the invention, there are two fixed positioning mechanisms and two mobile positioning mechanisms, and both fixed positioning mechanisms and mobile positioning mechanisms are symmetrically arranged with respect to the axis of the offshore operating platform.

[0015] This utility model also provides a marine photovoltaic piling robot, including the above-mentioned marine positioning and walking device.

[0016] The features and advantages of this utility model are:

[0017] This utility model discloses a marine positioning and walking device and a marine photovoltaic piling robot. During marine construction, the fixed positioning mechanism and the mobile positioning mechanism use a rotary power structure and a lifting structure to drive the positioning pile downwards and anchor it in the seabed. This significantly improves the stability of the marine work platform, thereby enhancing the quality, accuracy, and progress of marine construction. When it is necessary to move along the working direction to the next construction position, the fixed positioning mechanism can use its rotary power structure and lifting structure to drive the positioning pile upwards to release the anchorage. Then, the mobile positioning mechanism can use its moving structure to drive the marine work platform along the working direction to the next construction position, achieving fixed-distance and directional movement of the marine work platform. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the marine positioning and walking device of this utility model.

[0020] Figure 2 This is a front view of the mobile positioning mechanism in this utility model.

[0021] Figure 3 This is a side view of the mobile positioning mechanism in this utility model.

[0022] Figure 4 This is a front view of the fixed positioning mechanism in this utility model.

[0023] Figure 5 This is a side view of the fixed positioning mechanism in this utility model.

[0024] Figure 6 This is a schematic diagram of a positioning and clamping structure on an installation platform in this utility model.

[0025] Figure 7 This is a schematic diagram of another positioning and clamping structure in this utility model on another mounting platform.

[0026] Figure 8 This is a three-dimensional structural diagram of the offshore photovoltaic piling robot of this utility model.

[0027] In the picture:

[0028] 100. Pile body; 200. Offshore operation platform; 21. Control room; 22. Anchor winch; 23. Rest room; 300. Automatic pile erecting device; 400. Pile driving device; 41. Rotary pile frame mechanism; 42. Pile clamping mechanism; 43. Stamping mechanism; 44. Pile driving drive mechanism;

[0029] 500. Marine positioning and walking device; 50. Positioning stake; 501. Fixed positioning stake; 502. Mobile positioning stake; 51. Fixed positioning mechanism; 511. Positioning channel; 512. Fixed installation platform; 52. Mobile positioning mechanism;

[0030] 53. Lifting structure; 531. Lifting support; 5311. Column; 5312. Top beam; 5313. Upper limit sleeve; 5314. Upper support rod; 532. Lifting drive structure;

[0031] 54. Rotary power structure;

[0032] 55. Moving structure; 551. Moving trolley; 5511. Moving installation platform; 552. Moving drive structure; 5521. Moving winch; 5522. Moving traction rope; 553. Moving channel; 554. Guide rail;

[0033] 56. Positioning and clamping structure; 561. Clamping cylinder; 562. Clamping arm;

[0034] 57. Lower limit sleeve; 571. Lower support rod;

[0035] 600, pile driving robotic arm; 700, hoisting robotic arm. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0037] Implementation Method 1

[0038] like Figure 1As shown, this utility model provides a marine positioning and walking device 500, including a fixed positioning mechanism 51 and a mobile positioning mechanism 52. Both the fixed positioning mechanism 51 and the mobile positioning mechanism 52 include a positioning stake 50, a lifting structure 53, and a rotary power structure 54. The positioning stake 50 is installed on the rotary power structure 54, and the rotary power structure 54 is installed on the lifting structure 53. The lifting structure 53 can drive the rotary power structure 54 to move up and down. The rotary power structure 54 can drive the positioning stake 50 to rotate. The rotary power structure 54 and the lifting structure 53 cooperate to realize the anchoring and unanchoring of the positioning stake 50 to the seabed. The lifting structure 53 of the fixed positioning mechanism 51 is fixedly installed on a marine work platform 200. The lifting structure 53 of the mobile positioning mechanism 52 is movable on the offshore work platform 200 along a working direction S via the moving structure 55. When the positioning stake 50 (defined as the mobile positioning stake 502) of the mobile positioning mechanism 52 is released from anchoring, the mobile positioning stake 502 of the mobile positioning mechanism 52 can move relative to the offshore work platform 200 along the working direction S under the drive of the moving structure 55. When the positioning stake 50 (defined as the fixed positioning stake 501) of the fixed positioning mechanism 51 is released from anchoring and the mobile positioning stake 502 of the mobile positioning mechanism 52 is anchored, the offshore work platform 200 can move relative to the mobile positioning stake 502 of the mobile positioning mechanism 52 along the working direction S under the drive of the moving structure 55.

[0039] The marine positioning and walking device 500 of this utility model, during marine construction, uses the rotary power structure 54 and lifting structure 53 of the fixed positioning mechanism 51 and the mobile positioning mechanism 52 to drive the fixed positioning pile 501 and the mobile positioning pile 502 to rotate downwards and anchor them in the seabed. This significantly improves the stability of the marine work platform 200, thereby enhancing the quality, accuracy, and progress of marine construction. When it is necessary to move along the working direction S to the next construction position, the fixed positioning pile 501 can be released from anchorage by driving the rotary power structure 54 and lifting structure 53 of the fixed positioning mechanism 51 to rotate upwards. Then, the mobile structure 55 of the mobile positioning mechanism 52 drives the marine work platform 200 to move along the working direction S to the next construction position, achieving fixed-distance and directional movement of the marine work platform 200.

[0040] like Figure 1 As shown, for ease of description, the working direction S is defined as the forward and backward direction. The direction S1 in which the marine positioning and walking device 500 drives the marine working platform 200 forward, that is, the direction in which the mobile positioning mechanism 52 moves towards the end closer to the fixed positioning mechanism 51, is forward, and the direction in which the mobile positioning mechanism 52 moves towards the end farther away from the fixed positioning mechanism 51, is backward.

[0041] Specifically, during movement, the mobile positioning pile 502 is anchored in the seabed. The fixing force between the mobile positioning pile 502 and the seabed is much greater than the resistance between the offshore working platform 200 and the sea surface. Therefore, the mobile positioning pile 502 forms a fixed point. When the moving structure 55 applies a backward pulling force S2 to the lifting structure 53 of the mobile positioning mechanism 52, the lifting structure 53 of the mobile positioning mechanism 52 cannot move backward but will pull the offshore working platform 200 forward S1 relative to the anchored mobile positioning pile 502. When the mobile positioning pile 502 is released from anchoring, the resistance between the offshore working platform 200 and the sea surface is much greater than the resistance experienced by the mobile positioning mechanism 52 in the working direction S. Therefore, the offshore working platform 200 forms a fixed point relative to the mobile positioning mechanism 52. Then, the moving structure 55 applies a forward pulling force S1 to the lifting structure 53 of the mobile positioning mechanism 52. The mobile positioning pile 502 can move forward S1 relative to the offshore working platform 200 under the drive of the moving structure 55. By repeating this process, multiple fixed-distance and directional movements can be achieved. Preferably, before the movable positioning pile 502 is released from anchor and needs to be moved relative to the offshore work platform 200 along the work direction S, the fixed positioning pile 501 is anchored to the seabed, thereby improving the stability of the offshore work platform 200 when the movable positioning pile 502 moves.

[0042] like Figure 8 As shown, the marine positioning and walking device 500 of this utility model is particularly suitable for use in marine construction equipment with a marine operation platform 200, and the marine construction equipment includes, but is not limited to, the marine photovoltaic piling robot of this utility model. The marine photovoltaic piling robot of this utility model is described in detail in Embodiment 2.

[0043] like Figure 1As shown, in this embodiment of the present invention, the working direction S is the arrangement direction of multiple preset pile positions. The distance that the moving structure 55 moves each time is the distance between two adjacent preset pile positions. First, a tugboat can be used to move the offshore work platform 200 to the first construction position, so that the pile to be constructed on the offshore work platform 200 corresponds to the first preset pile position. Then, the rotary power structure 54 and lifting structure 53 of the fixed positioning mechanism 51 and the moving positioning mechanism 52 drive the fixed positioning pile 501 and the moving positioning pile 502 to rotate downwards and anchor them in the seabed. Then, the first pile is driven into the first preset pile position. After the first pile is driven into the first preset pile position, the rotary power structure 54 and lifting structure 53 of the fixed positioning mechanism 51 and the moving positioning mechanism 52 drive the fixed positioning pile 501 and the moving positioning pile 502 to rotate downwards and anchor them in the seabed. Both 01 and the movable positioning pile 502 rotate upward to release the anchorage. Then, the moving structure 55 first moves the movable positioning pile 502 forward by one pile spacing (i.e., the spacing between two adjacent preset pile positions) relative to the offshore working platform 200. Then, through the rotary power structure 54 and the lifting structure 53 of the movable positioning mechanism 52, the movable positioning pile 502 is anchored in the seabed. Then, the moving structure 55 pulls the offshore working platform 200 forward by one pile spacing, so that the pile to be constructed on the offshore working platform 200 corresponds to the second preset pile position. By repeating this process, multiple piles can be driven into multiple preset pile positions in sequence.

[0044] Specifically, such as Figure 1 As shown, the rotary power structure 54 of both the fixed positioning mechanism 51 and the mobile positioning mechanism 52 is a conventional full-rotation power head, capable of driving the positioning pile 50 to rotate. A mobile channel 553 is provided on the offshore work platform 200 along the working direction S, for the installation of the mobile positioning pile 502. A positioning channel 511 is provided on the offshore work platform 200 along the vertical direction, for the installation of the fixed positioning pile 501. Furthermore, there are two of each of the fixed positioning mechanism 51 and the mobile positioning mechanism 52, and both are symmetrically arranged with respect to the axis of the offshore work platform 200.

[0045] Combination Figure 2 and Figure 3As shown in the embodiment of this utility model, the mobile structure 55 includes a mobile trolley 551 and a mobile drive structure 552. The mobile drive structure 552 is installed on the offshore work platform 200 and connected to the mobile trolley 551. The lifting structure 53 of the mobile positioning mechanism 52 is installed on the mobile trolley 551. The mobile drive structure 552 drives the mobile trolley 551 to move, so that the lifting structure 53 of the mobile positioning mechanism 52 can move synchronously along the working direction S under the drive of the mobile trolley 551. This allows the rotary power structure 54 of the mobile positioning mechanism 52 and the mobile positioning pile 502 to move synchronously along the working direction S.

[0046] Specifically, the positioning and moving drive structure 552 includes a mobile winch 5521, a mobile traction rope 5522, a rear fixed pulley, a front movable pulley, and a rear movable pulley. The mobile winch 5521 and the rear fixed pulley are both installed on the offshore work platform 200. The front movable pulley and the rear movable pulley are both installed on the lifting structure 53 of the mobile trolley 551 or the mobile positioning mechanism 52 and are located between the mobile winch 5521 and the rear fixed pulley. The mobile traction rope 5522 is wound on the mobile winch 5521. One end of the mobile traction rope 5522 passes around the rear fixed pulley and the rear movable pulley and is fixed to the rear movable pulley. The other end of the mobile traction rope 5522 passes around the front movable pulley and is fixed to the front movable pulley. The mobile winch 5521 controls the winding and unwinding of both ends of the mobile traction rope 5522, thereby driving the front and rear movable pulleys to move along the working direction S, so that the mobile trolley 551 and the lifting structure 53 move along the working direction S with the front and rear movable pulleys.

[0047] In addition, such as Figure 1 As shown, two guide rails 554 are provided on both sides of the moving channel 553 along the working direction S, and the moving trolley 551 is slidably configured with the two guide rails 554 along the working direction S.

[0048] The mobile winch 5521, front movable pulley, mobile trolley 551, rear movable pulley, and rear fixed pulley are arranged sequentially from front to back, with the mobile winch 5521 located in front of the moving channel 553 and the rear fixed pulley located behind the moving channel 553. Figure 1 As shown, when the mobile winch 5521 rotates clockwise, one end of the mobile traction rope 5522 connected to the rear movable pulley extends, and the other end of the mobile traction rope 5522 connected to the front movable pulley retracts and shortens, thus applying a forward (i.e., closer to the mobile winch 5521) pulling force to the lifting structure 53 or the mobile trolley 551 through the front movable pulley; when the mobile winch 5521 rotates counterclockwise, one end of the mobile traction rope 5522 connected to the front movable pulley extends, and the other end of the mobile traction rope 5522 connected to the rear movable pulley retracts and shortens, thus applying a backward (i.e., closer to the rear fixed pulley) pulling force to the lifting structure 53 or the mobile trolley 551 through the rear movable pulley.

[0049] like Figure 2 , Figure 3 , Figure 4 as well as Figure 5 As shown in the embodiment of this utility model, the lifting structure 53 is provided with a lifting bracket 531 and a lifting drive structure 532. The lifting bracket 531 is mounted on a mobile trolley 551, and the rotary power structure 54 is movably mounted on the lifting bracket 531 in the vertical direction via the lifting drive structure 532. The lifting drive structure 532 drives the rotary power structure 54 to rise and fall on the lifting bracket 531.

[0050] Specifically, the lifting drive structure 532 is mounted on the rotary power structure 54. The lifting drive structure 532 includes a lifting motor and a lifting gear. The lifting bracket 531 is provided with a lifting guide rail that meshes with the lifting gear in the vertical direction. The lifting gear is mounted on the lifting motor, so that the lifting motor drives the lifting gear to rotate and roll along the lifting guide rail. Preferably, two lifting drive structures 532 and two lifting guide rails are provided, one for each, and are symmetrically arranged with respect to the longitudinal axis of the rotary power structure 54.

[0051] The lifting support 531 includes a top beam 5312 and two uprights 5311. The bottom ends of the two uprights 5311 are mounted on a moving trolley 551, and the top ends of the two uprights 5311 are connected by the top beam 5312. The top beam 5312 is provided with an upper limit sleeve 5313 through which a positioning stake 50 passes to limit the vertical movement of the upper part of the positioning stake 50. In addition, to improve the stability of the lifting support 531, the two sides of the uprights 5311 are connected to the moving trolley 551 by two upper support rods 5314. Two lifting guide rails are located on the inner side of the two uprights 5311.

[0052] In the embodiments of this utility model, such as Figure 4 and Figure 5 As shown, the lifting structure 53 of the fixed positioning mechanism 51 is mounted on the offshore operation platform 200 via an installation platform (defined as fixed installation platform 512). Figure 2 and Figure 3 As shown, the lifting structure 53 of the mobile positioning mechanism 52 is mounted on the mobile trolley 551 via another mounting platform (defined as the mobile mounting platform 5511); the fixed mounting platform 512 and the mobile mounting platform 5511 are provided with lower limit sleeves 57 along the vertical direction for passing through the positioning stake 50, so as to limit the lower part of the positioning stake 50 from moving up and down in the vertical direction. Specifically, as... Figure 2 and Figure 3 As shown, the lower limit sleeve 57 of the mobile positioning mechanism 52 is also connected to the mobile trolley 551 on both sides by two lower support rods 571 to improve the stability of the lower limit sleeve 57.

[0053] like Figure 2 and Figure 4 As shown, in the embodiment of this utility model, both the fixed installation platform 512 and the mobile installation platform 5511 are provided with positioning and clamping structures 56, which are located above the lower limit sleeve 57; Figure 6 and Figure 7 As shown, each positioning and clamping structure 56 includes a clamping cylinder 561 and two clamping arms 562. The two clamping arms 562 are arranged opposite each other, and their mounting ends are hinged to the mounting platform. The opening and closing ends of the two clamping arms 562 are connected through the clamping cylinder 561, which drives the two clamping arms 562 to open and close by extending and retracting. After the movable positioning pile 502 and the fixed positioning pile 501 are anchored to the seabed, the positioning and clamping structure 56 clamps the movable positioning pile 502 and the fixed positioning pile 501, further improving their stability. Correspondingly, the stability of the offshore operation platform 200 is also further improved.

[0054] Implementation Method 2

[0055] like Figure 8 As shown, this utility model also provides a marine photovoltaic piling robot, including a marine positioning and walking device 500. The marine positioning and walking device 500 in this embodiment has the same specific structure, working principle and beneficial effects as the marine positioning and walking device 500 in embodiment one, and will not be described again here.

[0056] This utility model provides a marine photovoltaic piling robot, comprising: a marine work platform 200; a marine positioning and walking device 500, including a fixed positioning mechanism 51 and a mobile positioning mechanism 52, both the fixed positioning mechanism 51 and the mobile positioning mechanism 52 being equipped with positioning piles 50 and capable of anchoring and releasing the positioning piles 50 from the seabed; the fixed positioning mechanism 51 being fixedly mounted on the marine work platform 200, and the mobile positioning mechanism 52 being movably mounted on the marine work platform 200 along a working direction S; and an automatic pile erecting device 300, including a pile erecting frame, a pile erecting drive mechanism, and at least one pile clamping structure mounted on the marine work platform 200. The pile erecting frame is used to place the pile body 100 to be constructed, the pile clamping structure is mounted on the pile erecting frame and can clamp and fix the pile body 100 to the pile erecting frame, and the pile erecting drive mechanism is connected to the pile erecting frame and can... The pile driving device 400 includes a rotary pile frame mechanism 41, a pile clamping mechanism 42, a pressing mechanism 43, and a pile driving drive mechanism 44. The pile clamping mechanism 42 is configured to move up and down along the axial direction of the rotary pile frame mechanism 41 under the drive of the pile driving drive mechanism 44. The rotary pile frame mechanism 41 can drive the pile clamping mechanism 42 to rotate around the first vertical axis, so that the pile clamping mechanism 42 can switch from the state of receiving the pile body relative to the vertical pile frame to the construction state located at the preset pile position. The pressing mechanism 43 is rotatably arranged on top of the pile clamping mechanism 42 around the second vertical axis, so that the pressing mechanism 43 can switch from the standby state located to the side above the clamping position of the pile clamping mechanism 42 to the pressing state located directly above the clamping position of the pile clamping mechanism 42.

[0057] This utility model discloses a marine photovoltaic piling robot. By installing a marine positioning and walking device 500 on the marine work platform 200, it can achieve fixed-distance and directional movement of the marine work platform during operation, and can also use multiple positioning piles 50 to anchor it to the seabed to ensure the stability of the marine work platform 200 during subsequent construction. By installing an automatic pile erecting device 300 and a pile driving device 400 on the marine work platform 200, the pile body 100 can be quickly and horizontally placed on the pile erecting frame of the automatic pile erecting device 300, and then the pile can be driven into place. The pile body 100 is erected, and the vertically positioned pile body 100 can be clamped by the pile clamping mechanism 42 of the pile driving device 400, and then transferred to the preset pile position for pile driving construction. In addition, the pile driving device 400 can form a variety of pile driving modes through the cooperation of the pile clamping mechanism 42, the pile driving drive mechanism 44 and the stamping mechanism 43 to achieve rapid pile driving of the pile body 100, which has a wide range of applications. Therefore, this utility model is particularly suitable for pile foundation operations in marine engineering, with a high degree of automation, high construction efficiency, high safety and high construction quality assurance rate.

[0058] Specifically, this utility model enables pile driving construction of medium and large piles with a diameter greater than 400mm and a length greater than 15m, achieving high construction efficiency, high safety, and guaranteed construction quality. Figures 1 to 3 As shown, the offshore operation platform 200 is equipped with a control room 21, which contains a Beidou positioning device and a control device. The control device is electrically connected to the Beidou positioning device, the automatic pile erecting device 300, the pile driving device 400, and the offshore positioning and walking device 500. The Beidou positioning device is used to acquire location information, including but not limited to the location information of the offshore operation platform 200 and the location information of the preset pile positions. The control device can control the movement, positioning, and automated pile driving operation of the offshore operation platform 200 based on the location information. By acquiring location information through the Beidou positioning device, the control device can control the offshore positioning and walking device 500 to move the offshore operation platform 200 and control the anchoring position of the positioning pile 50, thereby ensuring the positioning of the offshore operation platform 200. This allows the pile clamping mechanism 42 of the pile driving device 400 to transfer the pile 100 it clamps to the top of the next preset pile position, thus ensuring the positional accuracy of the pile 100. Then, the pile driving device 400 is controlled to perform automated pile driving operation. In addition, the offshore work platform 200 is equipped with two anchor winches 22 at its rear end to maintain the stability of the offshore work platform 200 when it is moored. The offshore work platform 200 is also equipped with a rest room 23 for the workers to rest and live.

[0059] In addition, such as Figures 1 to 3 As shown, in order to further improve construction efficiency and applicability, the marine photovoltaic piling robot can carry out pile driving of small piles 100 while simultaneously driving medium and large piles 100. The robot also includes two pile driving robotic arms 600 and two hoisting robotic arms 700. The automatic pile erecting device 300 is located on the centerline of the marine work platform 200, and the pile driving device 400 is located behind the automatic pile erecting device 300 in the forward direction S1 of the marine work platform 200. The marine work platform 200 has a front end and a rear end in its forward direction S1. The two hoisting robotic arms 700 are symmetrically installed on the marine work platform 200 relative to the automatic pile erecting device 300 and are set close to the front end of the marine work platform 200. The two pile driving robotic arms 600 are symmetrically installed on the marine work platform 200 relative to the automatic pile erecting device 300 and are set close to the rear end of the marine work platform 200. Both the pile-driving robotic arm 600 and the hoisting robotic arm 700 are electrically connected to a control device, which can control the actions of the pile-driving robotic arm 600 and the hoisting robotic arm 700. The specific structure and working principle of the pile-driving robotic arm 600 and the hoisting robotic arm 700 are the same as those in the prior art, and will not be described in detail here.

[0060] The construction process of this utility model's marine photovoltaic piling robot is as follows:

[0061] The offshore work platform 200 is moved to the next work position, and the fixed positioning mechanism 51 and the mobile positioning mechanism 52 anchor their respective positioning piles 50 to the seabed, thereby realizing the movement and positioning of the offshore work platform 200 to ensure the stability of the offshore work platform 200 during subsequent construction.

[0062] The pile body 100 to be constructed is placed on the vertical pile frame in a horizontal state and the pile body 100 is clamped and fixed by the pile clamping structure. Then, the vertical pile driving mechanism switches the vertical pile frame from a horizontal state to a vertical state. Before the vertical pile frame switches to a vertical state, the pile frame mechanism 41 rotates to switch the pile clamping mechanism 42 to the pile receiving state, and the stamping mechanism 43 remains in a standby state. That is, the stamping mechanism 43 will not interfere with the pile clamping mechanism 42 to receive and clamp the pile body 100, so that after the vertical pile frame switches to a vertical state, the pile body 100 on the vertical pile frame is placed in the pile clamping mechanism 42.

[0063] The pile clamping mechanism 42 clamps the pile body 100, and then the pile holding structure releases the pile body 100 and restores the vertical pile frame from the vertical state to the horizontal state. Then the rotating pile frame mechanism 41 rotates the pile clamping mechanism 42 to switch to the construction state, that is, the pile clamping mechanism 42 moves the pile body 100 it clamps to the top of the preset pile position.

[0064] The pile driving device 400 drives the pile body 100 into the preset pile position.

[0065] The above descriptions are merely a few embodiments of this utility model. Those skilled in the art can make various modifications or variations to the embodiments of this utility model based on the content disclosed in the application documents without departing from the spirit and scope of this utility model.

Claims

1. A marine positioning and walking device, characterized in that, The system includes a fixed positioning mechanism and a mobile positioning mechanism. Both the fixed positioning mechanism and the mobile positioning mechanism include a positioning stake, a lifting structure, and a rotary power structure. The positioning stake is installed on the rotary power structure, and the rotary power structure is installed on the lifting structure. The lifting structure can drive the rotary power structure to move up and down. The rotary power structure can drive the positioning stake to rotate. The rotary power structure and the lifting structure work together to achieve the anchoring and unanchoring of the positioning stake to the seabed. The lifting structure of the fixed positioning mechanism is fixedly installed on an offshore working platform, and the lifting structure of the mobile positioning mechanism is movable on the offshore working platform along a working direction via a mobile structure. When the positioning stake of the mobile positioning mechanism is released from anchorage, the positioning stake of the mobile positioning mechanism can move relative to the offshore operating platform along the operating direction under the drive of the mobile structure; when the positioning stake of the fixed positioning mechanism is released from anchorage and the positioning stake of the mobile positioning mechanism is anchored, the offshore operating platform can move relative to the positioning stake of the mobile positioning mechanism along the operating direction under the drive of the mobile structure.

2. The marine positioning and walking device as described in claim 1, characterized in that, The mobile structure includes a mobile trolley and a mobile drive structure. The mobile drive structure is installed on the offshore work platform and connected to the mobile trolley. The lifting structure is installed on the mobile trolley.

3. The marine positioning and walking device as described in claim 2, characterized in that, The mobile drive structure includes a mobile winch, a mobile traction rope, a fixed pulley, a front movable pulley, and a rear movable pulley. The mobile winch and the fixed pulley are both installed on the offshore work platform. The front movable pulley and the rear movable pulley are both installed on the mobile trolley and located between the mobile winch and the fixed pulley. The mobile traction rope is wound on the mobile winch. One end of the mobile traction rope passes over the fixed pulley and the rear movable pulley and is fixed to the rear movable pulley. The other end of the mobile traction rope passes over the front movable pulley and is fixed to the front movable pulley.

4. The marine positioning and walking device as described in claim 2, characterized in that, The offshore operating platform has a moving channel along the operating direction. The moving channel is used to install the positioning piles. Two guide rails are provided on both sides of the moving channel along the operating direction. The moving trolley is slidably configured with the two guide rails along the operating direction.

5. The marine positioning and walking device as described in claim 2, characterized in that, The lifting structure includes a lifting bracket and a lifting drive structure. The lifting bracket is mounted on the mobile trolley, and the rotary power structure is movably mounted on the lifting bracket in the vertical direction via the lifting drive structure.

6. The marine positioning and walking device as described in claim 5, characterized in that, The lifting drive structure is mounted on the rotary power structure. The lifting drive structure includes a lifting motor and a lifting gear. The lifting bracket is provided with a lifting guide rail that meshes with the lifting gear in the vertical direction. The lifting gear is mounted on the lifting motor, and the lifting motor can drive the lifting gear to rotate and roll along the lifting guide rail.

7. The marine positioning and walking device as described in claim 2, characterized in that, The lifting structure of the fixed positioning mechanism is installed on the offshore operation platform via an installation platform, and the lifting structure of the mobile positioning mechanism is installed on the mobile trolley via another installation platform; the installation platform is provided with a lower limit sleeve for inserting the positioning stake along the vertical direction.

8. The marine positioning and walking device as described in claim 7, characterized in that, The installation platform is provided with a positioning clamping structure, which is located above the lower limit sleeve. The positioning clamping structure includes a clamping cylinder and two clamping arms. The two clamping arms are arranged opposite to each other. The mounting ends of the two clamping arms are hinged to the installation platform. The opening and closing ends of the two clamping arms are connected through the clamping cylinder. The clamping cylinder drives the two clamping arms to open and close by extending and retracting.

9. The marine positioning and walking device as described in claim 1, characterized in that, The fixed positioning mechanism and the mobile positioning mechanism are each provided in pairs, and both the two fixed positioning mechanisms and the two mobile positioning mechanisms are symmetrically arranged with respect to the axis of the offshore operation platform.

10. A marine photovoltaic piling robot, characterized in that, The marine positioning and walking device includes any one of claims 1-9.

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