Automatic pile erecting device and offshore photovoltaic piling robot

Abstract

The utility model discloses an automatic pile erecting device and an offshore photovoltaic pile work robot, and the automatic pile erecting device comprises a pile erecting frame which can be rotatably arranged on a work platform around a horizontal axis, and the horizontal axis is perpendicular to the longitudinal axis of the pile erecting frame; the at least one pile embracing structure is mounted on the vertical pile frame; the at least one roller structure is mounted on the vertical pile frame; the vertical pile driving mechanism is installed on the working platform and connected with the vertical pile frame, and the vertical pile driving mechanism can drive the vertical pile frame to rotate around the horizontal axis. According to the utility model, the vertical pile frame is firstly adjusted to be in a horizontal state, the roller structure can enable a pile body to move to the vertical pile frame from one end of the vertical pile frame more quickly, then the pile body is clasped by the pile clasping structure, and then the vertical pile frame is adjusted to be in a vertical state, so that the pile body is adjusted to be in a vertical state to be constructed, and the pile body can be constructed by using piling equipment. The automatic pile erecting device can achieve automatic pile erecting of medium-sized and large-sized pile bodies, is high in safety and improves construction efficiency.

Description

TECHNICAL FIELD

[0001] The utility model relates to piling equipment technical field, especially, be related to an automatic vertical pile device and offshore photovoltaic pile work robot. BACKGROUND

[0002] As a new type of resource development and utilization mode, offshore photovoltaic project has natural environmental advantages compared with land photovoltaic project, such as no obstruction, long sunshine time, using water surface reflected light, fast air circulation and relatively low environmental temperature, etc., which can improve power generation to meet the electricity demand of coastal areas and promote the development of renewable energy in coastal areas.

[0003] At present, pile foundation type is mainly used in offshore photovoltaic power station, and it is difficult to arrange large hoisting equipment on the offshore operation platform to transfer the medium and large pile bodies with long length and large mass from the transfer ship to the preset position of the offshore operation platform, and it is also difficult to adjust the pile body to the vertical state for construction, resulting in large construction difficulty and low construction efficiency. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing an automatic vertical pile device and offshore photovoltaic pile work robot to solve the technical problem of large construction difficulty and low construction efficiency caused by the difficulty in transferring and adjusting the pile body with long length and large mass.

[0005] The above-mentioned purpose of the utility model can be realized by the following technical scheme:

[0006] The utility model provides an automatic vertical pile device, which comprises a vertical pile frame, at least one pile holding structure and at least one roller structure.

[0007] In the embodiment of the utility model, the vertical pile frame is provided with a placing groove for placing the pile body along the longitudinal axis direction of the vertical pile frame, the roller structure is installed in the placing groove, the roller structure comprises a roller shaft, a roller and a roller driving structure, the roller is connected with the roller driving structure through the roller shaft, and the roller driving structure can drive the roller shaft to rotate so that the roller rolls and drives the pile body to move along the longitudinal axis direction of the vertical pile frame.

[0008] In the embodiment of the utility model, the vertical pile driving mechanism includes mobile driving structure, at least one mobile structure and at least one support rod, the mobile driving structure can drive the mobile structure to be movably arranged along the horizontal direction perpendicular to the horizontal axis, and the two ends of the support rod are respectively hinged to the vertical pile frame and the mobile structure.

[0009] In the embodiment of the utility model, the mobile driving structure includes a winch, the winch is connected with the mobile structure through a transmission structure, the transmission structure includes a first fixed pulley, a second fixed pulley, a first movable pulley, a second movable pulley, a first transmission rope and a second transmission rope, the first movable pulley and the second movable pulley are installed on the mobile structure, the first movable pulley is located between the winch and the first fixed pulley, the winch is located between the second movable pulley and the second fixed pulley, one end of the first transmission rope is connected with the winch, the other end of the first transmission rope passes through the first fixed pulley and the first movable pulley and is fixed on the first movable pulley, one end of the second transmission rope is connected with the winch, and the other end of the second transmission rope passes through the second fixed pulley and the second movable pulley and is fixed on the second movable pulley.

[0010] In the embodiment of the utility model, the vertical pile driving mechanism further includes at least one telescopic support, one end of the telescopic support is hinged to the operation platform, and the other end of the telescopic support abuts against the vertical pile frame.

[0011] In the embodiment of the utility model, a plurality of mobile wheels are installed on the two sides of the mobile structure, two guide seats are arranged on the operation platform along the horizontal direction, the two guide seats are installed on the two sides of the mobile structure, and the inner side surfaces of the two guide seats arranged relative to each other are provided with tracks matched with the mobile wheels.

[0012] In the embodiment of the utility model, the pile holding structure includes two hoops and two pile holding telescopic pieces, the two hoops are hingedly arranged on the two sides of the vertical pile frame relative to each other, the two ends of the pile holding telescopic piece are respectively hinged to the hoop and the vertical pile frame, and the two pile holding telescopic pieces can drive the two hoops to rotate around the corresponding hinged axes to approach or move away from each other through telescoping.

[0013] In the embodiment of the utility model, the number of the pile holding structures is multiple, and the multiple pile holding structures are arranged at intervals along the axial direction of the vertical pile frame.

[0014] In the embodiment of the utility model, the automatic vertical pile device further includes a pile supporting table, the pile supporting table is installed on the operation platform, and the pile supporting table can support the pile body on the vertical pile frame in the vertical state of the vertical pile frame.

[0015] The utility model also provides a sea photovoltaic pile work robot, including above-mentioned automatic pile erecting device.

[0016] The utility model has the characteristics and advantages that:

[0017] The automatic pile erecting device and the sea photovoltaic pile work robot have the following advantages: the pile erecting drive mechanism first adjusts the pile erecting frame to the horizontal state, the roller structure arranged on the pile erecting frame rolls in contact with the horizontally placed pile body, so that the pile body can be moved from one end of the pile erecting frame to the pile erecting frame more quickly, then the pile body is held tightly by the pile holding structure arranged on the pile erecting frame, the pile erecting drive mechanism adjusts the pile erecting frame to the vertical state, so that the pile body is also adjusted to the vertical state for construction along with the pile erecting frame, and then the pile body can be constructed by using the pile driving equipment. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0019] Figure 1 It is the structure schematic drawing of the automatic pile erecting device in the utility model in the horizontal state of the pile erecting frame.

[0020] Figure 2 It is the structure schematic drawing of the automatic pile erecting device in the utility model in the inclined state of the pile erecting frame.

[0021] Figure 3 It is the structure schematic drawing of the automatic pile erecting device in the utility model in the vertical state of the pile erecting frame.

[0022] Figure 4 It is the overhead structure schematic drawing of the pile erecting frame in the utility model.

[0023] Figure 5 It is the front view structure schematic drawing of the pile erecting frame in the utility model.

[0024] Figure 6 It is the structure schematic drawing of the roller structure in the utility model.

[0025] Figure 7 It is the overhead view of the pile erecting drive mechanism in the utility model.

[0026] Figure 8 It is the cooperation schematic drawing of the moving structure and the guide seat in the utility model.

[0027] Figure 9 It is the position schematic view of the supporting pile platform and the second fixed pulley in the utility model.

[0028] Figure 10 It is the structure schematic view of the pile holding structure in the utility model.

[0029] Figure 11 It is the three-dimensional structure schematic view of the offshore photovoltaic pile working robot in the utility model.

[0030] In the drawing:

[0031] 100, pile body; 200, operation platform; 200', offshore operation platform; 21, control room; 22, anchor machine; 23, rest room;

[0032] 300, automatic pile erecting device;

[0033] 31, pile erecting frame; 311, placing groove; 312, bottom frame; 313, side frame; 314, mounting rod; 315, supporting plate; 316, mounting frame;

[0034] 32, pile holding structure; 321, hoop; 322, pile holding telescopic piece;

[0035] 33, roller structure; 331, roller; 3311, inner roller; 3312, outer roller; 332, roller shaft; 333, bearing; 334, roller seat; 335, roller driving structure; 336, pressure injection oil cup;

[0036] 34, pile erecting driving mechanism; 341, moving driving structure; 3411, first fixed pulley; 3412, second fixed pulley; 3413, first movable pulley; 3414, second movable pulley; 3415, transmission rope; 3416, winch; 342, moving structure; 3421, moving wheel; 343, supporting rod; 344, telescopic supporting piece;

[0037] 35, supporting pile platform; 351, containing groove; 36, hinged seat; 37, guide seat; 38, front roller; 39, side roller;

[0038] 400, pile sinking device; 41, rotary pile frame mechanism; 42, pile clamping mechanism; 43, stamping mechanism; 44, pile sinking driving mechanism; 500, offshore positioning walking device; 50, positioning pile; 51, fixed positioning mechanism; 52, moving positioning mechanism; 600, pile sinking mechanical arm; 700, hoisting mechanical arm. DETAILED DESCRIPTION

[0039] 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.

[0040] Implementation Method 1

[0041] like Figures 1 to 5 As shown, this utility model provides an automatic pile erecting device 300, including: a pile erecting frame 31, which is rotatably mounted on a working platform 200 around a horizontal axis Z, and the horizontal axis Z is perpendicular to the longitudinal axis of the pile erecting frame 31; at least one pile holding structure 32, which is mounted on the pile erecting frame 31; at least one roller structure 33, which is mounted on the pile erecting frame 31, and the roller shaft 332 of the roller structure 33 is perpendicular to the longitudinal axis of the pile erecting frame 31; and a pile erecting drive mechanism 34, which is mounted on the working platform 200 and connected to the pile erecting frame 31, and the pile erecting drive mechanism 34 can drive the pile erecting frame 31 to rotate around the horizontal axis Z.

[0042] For ease of description, this utility model defines one end of the vertical pile frame 31 hinged to the working platform 200 as its rear end, and the other end of the vertical pile frame 31 as its front end. Figure 1 As shown, the pile body 100 is moved from front to back onto the vertical pile frame 31 in a horizontal state.

[0043] The automatic pile erecting device 300 of this invention first adjusts the pile erecting frame 31 to a horizontal state through the pile erecting drive mechanism 34. Then, the roller structure 33 on the pile erecting frame 31 rolls into contact with the horizontally placed pile 100, allowing the pile 100 to move more quickly from one end of the pile erecting frame 31 onto it. The pile 100 is then held tightly by the pile clamping structure 32 on the pile erecting frame 31. Finally, the pile erecting drive mechanism 34 adjusts the pile erecting frame 31 to a vertical state, thus adjusting the pile 100 to a vertical position ready for construction. This allows for the use of pile driving equipment to construct the pile 100. Therefore, this invention can automatically erect medium and large piles 100, offering high safety and improved construction efficiency.

[0044] like Figure 10 As shown, since the operating space on the offshore operation platform 200' is limited, and the pile 100 needs to be transferred from the transfer vessel of the pile 100 to the offshore operation platform 200' before being adjusted to a vertical state ready for construction, the automatic pile erecting device 300 of this utility model is particularly suitable for installation on the offshore operation platform 200' to assist the pile driving equipment in offshore pile driving operations.

[0045] Specifically, in combination Figures 1 to 3 As shown, the transfer vessel for the pile body 100 can dock in front of the working platform 200. The vertical pile drive mechanism 34 adjusts the vertical pile frame 31 to a horizontal state. The working platform 200 is also equipped with a front roller 38, which is arranged in front of the horizontal vertical pile frame 31. The hoisting equipment on the pile transfer vessel can move one end of a pile body 100 onto the front roller 38, and then push it into the vertical pile frame 31 along the longitudinal axis X direction. After the pile body 100 is placed in place on the vertical pile frame 31, the vertical pile drive mechanism 34 adjusts the vertical pile frame 31 to a vertical state, and then the pile driving equipment moves the vertical pile body 100 from the rear of the vertical pile frame 31 to the preset pile position behind the working platform 200 for pile driving operation.

[0046] like Figure 4 , Figure 5 as well as Figure 6 As shown in the embodiment of this utility model, the vertical pile frame 31 is provided with a placement groove 311 for placing the pile body 100 along its longitudinal axis direction X, so that the pile body 100 can be placed more stably on the vertical pile frame 31 and is not easy to shake. The roller structure 33 is installed in the placement groove 311. The roller structure 33 includes a roller 332, a roller 331 and a roller drive structure 335. The roller 331 is connected to the roller drive structure 335 through the roller 332. The roller drive structure 335 can drive the roller 332 to rotate, so that the roller 331 rolls and drives the pile body 100 to move along the longitudinal axis direction X of the vertical pile frame 31.

[0047] Specifically, the vertical pile frame 31 comprises a base frame 312, a mounting frame 316 and two side frames 313, the two side frames 313 are oppositely arranged on two sides of the base frame 312 and cooperatively form a placing groove 311, the rear end of the base frame 312 and the rear end of the side frame 313 are connected with the mounting frame 316, and the two sides of the mounting frame 316 are connected with the two side frames 313 through two inclined rods; the working platform 200 is provided with two hinged seats 36, the mounting frame 316 is hinged to the two hinged seats 36 through two hinged shafts, and the axis of the hinged shafts is the horizontal axis Z. The roller structure 33 is installed on the vertical pile frame 31 through a roller seat 334, the roller shaft 332 is rotatably installed on the roller seat 334 through a bearing 333, and the roller driving structure 335 is installed on one side of the roller seat 334 and connected with the roller shaft 332. In addition, the roller structure 33 is also provided with a pressure injection oil cup 336, which can inject lubricating oil into the bearing 333. The roller driving structure 335 can be a motor, and the rotating shaft thereof is connected with the roller shaft 332. The roller 331 is preferably a rubber-coated roller, which is convenient for rolling frictional contact with the pile body 100, so as to drive the pile body 100 to move along the longitudinal axis direction X of the vertical pile frame 31 through rolling, and the outer surface of the pile body 100 will not be damaged. The number of the roller structures 33 is preferably multiple, and the multiple roller structures 33 are arranged and disposed at intervals along the longitudinal axis direction X of the vertical pile frame 31. The roller 331 comprises an inner roller 3311 and an outer roller 3312, the inner roller 3311 is installed on the roller shaft 332, and the outer roller 3312 can be selectively installed on the inner roller 3311 according to the diameter of the pile body 100, that is, when the diameter of the pile body 100 is larger, the outer roller 3312 is not needed to be installed, and the pile body 100 is driven to move by the inner roller 3311; when the diameter of the pile body 100 is smaller, the outer roller 3312 is installed on the inner roller 3311, and the pile body 100 is driven to move by the inner roller 3311. Of course, a larger roller can also be installed on the outer roller 3312 in the same way to match with a smaller pile body 100.

[0048] In combination Figure 1 and Figure 3As shown, in the embodiment of the utility model, the vertical pile driving mechanism 34 includes a moving driving structure 341, at least one moving structure 342 and at least one support rod 343, the moving driving structure 341 can drive the moving structure 342 to move along the horizontal direction X1 perpendicular to the horizontal axis Z (that is, the longitudinal axis direction X of the vertical pile frame 31 in the horizontal state), and the two ends of the support rod 343 are respectively hinged to the vertical pile frame 31 and the moving structure 342. By driving the moving structure 342 to move towards the direction close to the horizontal axis Z through the moving driving structure 341, the support rod 343 can drive the vertical pile frame 31 to rotate upwards around the horizontal axis Z, and then the vertical pile frame 31 can be adjusted to the vertical state; by driving the moving structure 342 to move towards the direction close to the horizontal axis Z through the moving driving structure 341, the support rod 343 can drive the vertical pile frame 31 to rotate downwards around the horizontal axis Z, and then the vertical pile frame 31 can be adjusted to the horizontal state.

[0049] Specifically, in combination with Figure 7 and Figure 8 As shown, the moving structure 342 is generally a moving trolley, and a plurality of moving wheels 3421 are arranged on the two sides thereof. The operation platform 200 is provided with two guide seats 37 along the horizontal direction X1, the two guide seats 37 are installed on the two sides of the moving structure 342, and the inner sides of the two guide seats 37 relative to each other are provided with tracks matched with the moving wheels 3421, so as to ensure that the moving structure 342 moves along the horizontal direction X1 under the driving of the moving driving structure 341. The number of support rods 343 is preferably two, and the two support rods 343 are symmetrically arranged below the vertical pile frame 31 relative to the axial direction of the vertical pile frame 31. One end of the support rod 343 is hinged to the top of the trolley frame, and the other end of the support rod 343 is hinged to the bottom of the vertical pile frame 31.

[0050] In combination with Figure 1 , Figure 3 and Figure 7As shown, in the embodiment, the moving driving structure 341 comprises a hoist 3416, the hoist 3416 is connected with the moving structure 342 through a transmission structure, the transmission structure comprises a first fixed pulley 3411, a second fixed pulley 3412, a first movable pulley 3413, a second movable pulley 3414 and a transmission rope 3415; the first movable pulley 3413 and the second movable pulley 3414 are installed on the moving structure 342, the first movable pulley 3413 is located between the hoist 3416 and the first fixed pulley 3411, the hoist 3416 is located between the second movable pulley 3414 and the second fixed pulley 3412, one end of the transmission rope 3415 is connected with the hoist 3416, the transmission rope 3415 is wound on the hoist 3416, one end of the transmission rope 3415 (defined as the front end of the transmission rope 3415) passes through the first fixed pulley 3411 and the first movable pulley 3413 and is fixed on the first movable pulley 3413, the other end of the transmission rope 3415 (defined as the rear end of the transmission rope 3415) passes through the second fixed pulley 3412 and the second movable pulley 3414 and is fixed on the second movable pulley 3414. The two ends of the transmission rope 3415 are controlled to be released or wound by the hoist 3416, so as to drive the first movable pulley 3413 and the second movable pulley 3414 to move along the horizontal direction X1, so that the moving structure 342 moves along the horizontal direction X1 with the first movable pulley 3413 and the second movable pulley 3414.

[0051] Specifically, the first fixed pulley 3411, the first movable pulley 3413, the moving structure 342, the second movable pulley 3414, the hoist 3416 and the second fixed pulley 3412 are arranged on the axis of the vertical frame from front to back. Figure 1 As shown, when the hoist 3416 rotates clockwise, the rear end of the transmission rope 3415 is released to elongate, the front end of the transmission rope 3415 is wound to shorten and pull the first movable pulley 3413 to move along the horizontal direction X1 towards the first fixed pulley 3411, so that the moving structure 342 and the second movable pulley 3414 move along the horizontal direction X1 towards the first fixed pulley 3411 with the first movable pulley 3413, and the support rod 343 drives the vertical pile frame 31 to rotate downwards around the horizontal axis Z; when the hoist 3416 rotates counterclockwise, the front end of the transmission rope 3415 is released to elongate, the rear end of the transmission rope 3415 is wound to shorten and pull the second movable pulley 3414 to move along the horizontal direction X1 towards the second fixed pulley 3412, so that the moving structure 342 and the first movable pulley 3413 move along the horizontal direction X1 towards the second fixed pulley 3412 with the second movable pulley 3414, and the support rod 343 drives the vertical pile frame 31 to rotate upwards around the horizontal axis Z.

[0052] Of course, other driving structures capable of moving linearly in the prior art can also be used to drive the moving structure 342 to move along the horizontal direction X1.

[0053] As shown, Figures 1 to 3As shown, in order to further improve the stability of the vertical pile frame 31, the vertical pile driving mechanism 34 further comprises at least one telescopic supporting piece 344, one end of the telescopic supporting piece 344 is hinged to the operation platform 200, and the other end of the telescopic supporting piece 344 is in abutment with the vertical pile frame 31. The telescopic supporting piece 344 can support the vertical pile frame 31 during the rotation of the vertical pile frame 31 around the horizontal axis Z through telescoping, and when the vertical pile frame 31 forms a vertical state, the telescopic supporting piece 344 can be separated from the vertical pile frame 31; further, when the vertical pile frame 31 returns to the horizontal state, the telescopic supporting piece 344 will also return to the horizontal state, waiting for the next time to pile. Specifically, the telescopic supporting piece 344 is preferably an oil cylinder, which has large and stable supporting force. The number of telescopic supporting pieces 344 is preferably two, and the two telescopic supporting pieces 344 are symmetrically arranged on both sides of the vertical pile frame 31 with respect to the axial direction of the vertical pile frame 31. Two mounting rods 314 are arranged on both sides of the vertical pile frame 31, one end of the two telescopic supporting pieces 344 is hinged to the mounting rod 314, and the other end of the two telescopic supporting pieces 344 can abut on the two guide seats 37. The mounting rod 314 is generally a bent rod.

[0054] As shown in Figure 3 and Figure 9 shown, the automatic vertical pile device 300 further comprises a pile supporting table 35, the pile supporting table 35 is installed on the operation platform 200, and the pile supporting table 35 can support the pile body 100 on the vertical pile frame 31 in the vertical state of the vertical pile frame 31. By setting the pile supporting table 35 to hold the pile body 100 in the vertical state, the pile body 100 is prevented from sliding downward along the vertical direction. Specifically, the bottom of the pile supporting table 35 has a receiving groove 351, and the second fixed pulley 3412 is located in the receiving groove 351.

[0055] As shown in Figure 10 shown, the automatic vertical pile device 300 further comprises a pile supporting table 35, the pile supporting table 35 is installed on the operation platform 200, and the pile supporting table 35 can support the pile body 100 on the vertical pile frame 31 in the vertical state of the vertical pile frame 31. By setting the pile supporting table 35 to hold the pile body 100 in the vertical state, the pile body 100 is prevented from sliding downward along the vertical direction. Specifically, the bottom of the pile supporting table 35 has a receiving groove 351, and the second fixed pulley 3412 is located in the receiving groove 351. Figure 8 and Figure 10As shown, the top of the support plate 315 has a horizontal surface in contact with the pile body 100 and two inclined surfaces connected to the two sides of the horizontal surface and inclined upward. Figure 8 As shown, the two inclined surfaces of at least part of the support plate 315 are provided with side rollers 39, so as to be in rolling contact with the pile body 100 and reduce the frictional resistance between the pile body 100 and the support plate 315.

[0056] Embodiment Two

[0057] In combination Figure 11 As shown, the utility model further provides a sea photovoltaic pile construction robot, including automatic vertical pile device 300. The automatic vertical pile device 300 in this embodiment and the specific structure, working principle and beneficial effect of automatic vertical pile device 300 in embodiment one are same, and here will not repeat.

[0058] In combination Figure 10 As shown, the sea photovoltaic pile construction robot of the utility model further includes: sea operation platform 200'; sea positioning walking device 500, including fixed positioning mechanism 51 and mobile positioning mechanism 52, fixed positioning mechanism 51 and mobile positioning mechanism 52 are all provided with positioning pile 50 and can realize the anchoring and unanchoring of positioning pile 50 with seabed, fixed positioning mechanism 51 is fixedly arranged on sea operation platform 200', and mobile positioning mechanism 52 is movably arranged on sea operation platform 200' along a operation direction S; pile sinking device 400, including rotary pile rack mechanism 41, clamping pile mechanism 42, stamping mechanism 43 and pile sinking driving mechanism 44, clamping pile mechanism 42 is movably arranged along the axial direction of rotary pile rack mechanism 41 under the driving of pile sinking driving mechanism 44, rotary pile rack mechanism 41 can drive clamping pile mechanism 42 to rotate around the first vertical axis to make clamping pile mechanism 42 can be switched from the receiving pile body state of vertical pile rack 31 setting to the construction state in the preset pile position, and stamping mechanism 43 is rotatably arranged on the top of clamping pile mechanism 42 around the second vertical axis to make stamping mechanism 43 can be switched from the standby state of the side above the clamping position of clamping pile mechanism 42 to the stamping state of the directly above the clamping position of clamping pile mechanism 42.

[0059] The offshore photovoltaic pile construction robot of the utility model, through setting offshore positioning walking device 500 on offshore operation platform 200', can realize fixed-distance and directional walking of offshore operation platform 200' in the operation process, and can also anchor multiple positioning piles 50 to seabed to ensure the stability of offshore operation platform 200' in the subsequent construction process; through setting automatic pile erecting device 300 and pile sinking device 400 on offshore operation platform 200', the pile body 100 can be quickly placed horizontally on the pile erecting frame 31 of the automatic pile erecting device 300, then the pile body 100 is erected, and the pile body 100 in the vertical state can be clamped by the pile clamping mechanism 42 of the pile sinking device 400, and then is transferred to the preset pile position for pile sinking construction; in addition, the pile sinking device 400 can form multiple pile sinking modes through the cooperation of the pile clamping mechanism 42, the pile sinking driving mechanism 44 and the stamping mechanism 43, so that the pile body 100 can be quickly sunk, and the application range is wide; therefore, the utility model is especially suitable for pile foundation operation of marine engineering, has high automation degree, high construction efficiency, high safety and high construction quality guarantee rate.

[0060] Specifically, the utility model can realize pile sinking construction of medium and large pile bodies with a pile diameter greater than 400mm and a pile length greater than 15m, has high construction efficiency, high safety and guaranteed construction quality. Figures 1 to 3 As shown in the figure, the offshore operation platform 200' is provided with a control room 21, the control room 21 is provided with a Beidou positioning device and a control device, the control device is electrically connected with the Beidou positioning device, the automatic pile erecting device 300, the pile sinking device 400 and the offshore positioning walking device 500 respectively; wherein the Beidou positioning device is used for acquiring position information, the position information includes but is not limited to the position information of the offshore operation platform 200' and the position information of the preset pile position; the control device can control the movement, positioning and automatic pile sinking operation action of the offshore operation platform 200' according to the position information. The position information is acquired through the Beidou positioning device, and then the control device can control the offshore positioning walking device 500 to realize the movement of the offshore operation platform 200' and control the anchoring position of the positioning pile 50, so as to ensure the positioning of the offshore operation platform 200', so that the pile clamping mechanism 42 of the pile sinking device 400 can transfer the pile body 100 clamped thereby to the upper side of the next preset pile position, so as to ensure the position accuracy of the pile body 100, and then control the pile sinking device 400 to perform automatic pile sinking operation action. In addition, the rear end of the offshore operation platform 200' is also provided with two anchor windlasses 22 to keep the stability of the offshore operation platform 200' when the offshore operation platform 200' is at anchor. The offshore operation platform 200' is also provided with a rest room 23 for the rest and life of the operation personnel.

[0061] In addition, in combination with Figure 10As shown, in order to further improve the construction efficiency and applicability, while the pile sinking construction of the medium and large pile bodies is carried out, the pile sinking construction of the small pile body can also be carried out, the offshore photovoltaic pile construction robot further comprises two pile sinking mechanical arms 600 and two hoisting mechanical arms 700, the automatic pile erecting device 300 is located on the center line of the offshore work platform 200', and the pile sinking device 400 is located behind the automatic pile erecting device 300 in the advancing direction S1 of the offshore work platform 200'; the offshore work platform 200' has a front end and a rear end in the advancing direction S1 thereof, the two hoisting mechanical arms 700 are symmetrically installed on the offshore work platform 200' relative to the automatic pile erecting device 300 and are arranged close to the front end of the offshore work platform 200', and the two pile sinking mechanical arms 600 are symmetrically installed on the offshore work platform 200' relative to the automatic pile erecting device 300 and are arranged close to the rear end of the offshore work platform 200'. The pile sinking mechanical arms 600 and the hoisting mechanical arms 700 are electrically connected with the control device, and the control device can control the pile sinking mechanical arms 600 and the hoisting mechanical arms 700 to act. The specific structure and working principle of the pile sinking mechanical arms 600 and the hoisting mechanical arms 700 are the same as those of the prior art, and are not described here.

[0062] The construction process of the offshore photovoltaic pile construction robot of the utility model is as follows:

[0063] The offshore work platform 200' is moved to the next operation position, and the fixed positioning mechanism 51 and the movable positioning mechanism 52 anchor the respective positioning piles 50 in the seabed, so as to realize the movement and positioning of the offshore work platform 200' and ensure the stability of the offshore work platform 200' in the subsequent construction process;

[0064] The pile body 100 to be constructed is placed on the pile erecting frame 31 in the horizontal state and is tightly fixed by the pile holding structure 32, then the pile erecting drive mechanism 34 switches the pile erecting frame 31 from the horizontal state to the vertical state, the pile frame mechanism 41 rotates the pile erecting frame 31 to switch the pile clamping mechanism 42 to the receiving pile body state before the pile erecting frame 31 is switched to the vertical state, and the stamping mechanism 43 remains in the standby state, that is, the stamping mechanism 43 does not interfere with the pile clamping mechanism 42 receiving and clamping the pile body 100, so that after the pile erecting frame 31 is switched to the vertical state, the pile body 100 on the pile erecting frame 31 is placed in the pile clamping mechanism 42;

[0065] The pile clamping mechanism 42 clamps the pile body 100, then the pile holding structure 32 releases the pile body 100, and the pile erecting frame 31 is restored to the horizontal state, and then the 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 clamped thereby to above the preset pile position;

[0066] The pile sinking device 400 sinks the pile body 100 into the preset pile position.

[0067] The above merely describes several embodiments of the present utility model, and those skilled in the art can make various modifications or variations to the embodiments of the present utility model according to the disclosed content of the application file without departing from the spirit and scope of the present utility model.

Claims

1. An automatic pile erecting device, characterized in that, include: A vertical pile frame is rotatably mounted on a working platform about a horizontal axis, and the horizontal axis is perpendicular to the longitudinal axis of the vertical pile frame. At least one pile-holding structure is installed on the vertical pile frame; At least one roller structure is installed on the vertical pile frame, and the rollers of the roller structure are arranged perpendicular to the longitudinal axis of the vertical pile frame; A vertical pile drive mechanism is installed on the working platform and connected to the vertical pile frame. The vertical pile drive mechanism can drive the vertical pile frame to rotate around the horizontal axis.

2. The automatic pile erecting device as described in claim 1, characterized in that, The vertical pile frame is provided with a placement groove for placing piles along its longitudinal axis. The roller structure is installed in the placement groove. The roller structure includes a roller shaft, a roller, and a roller drive structure. The roller is connected to the roller drive structure through the roller shaft. The roller drive structure can drive the roller shaft to rotate, causing the roller to roll and drive the pile to move along the longitudinal axis of the vertical pile frame.

3. The automatic pile erecting device as described in claim 1, characterized in that, The vertical pile driving mechanism includes a movable driving structure, at least one movable structure, and at least one support rod. The movable driving structure is configured to drive the movable structure to move along a horizontal direction perpendicular to the horizontal axis. The two ends of the support rod are respectively hinged to the vertical pile frame and the movable structure.

4. The automatic pile erecting device as described in claim 3, characterized in that, The mobile drive structure includes a winch, which is connected to the mobile structure via a transmission structure. The transmission structure includes a first fixed pulley, a second fixed pulley, a first movable pulley, a second movable pulley, and a transmission rope. The first movable pulley and the second movable pulley are mounted on the movable structure. The first movable pulley is located between the winch and the first fixed pulley. The winch is located between the second movable pulley and the second fixed pulley. The transmission rope is wound on the winch. One end of the transmission rope passes over the first fixed pulley and the first movable pulley and is fixed to the first movable pulley. The other end of the transmission rope passes over the second fixed pulley and the second movable pulley and is fixed to the second movable pulley.

5. The automatic pile erecting device as described in claim 3, characterized in that, The vertical pile driving mechanism also includes at least one telescopic support member, one end of which is hinged to the working platform, and the other end of which abuts against the vertical pile frame.

6. The automatic pile erecting device as described in claim 3, characterized in that, Multiple moving wheels are installed on both sides of the movable structure. Two guide seats are provided on the working platform along the horizontal direction. The two guide seats are installed on both sides of the movable structure, and the inner surfaces of the two guide seats relative to each other are provided with tracks that cooperate with the moving wheels.

7. The automatic pile erecting device as described in claim 1, characterized in that, The pile-holding structure includes two clamps and two pile-holding telescopic members. The two clamps are hinged to each other on both sides of the vertical pile frame. The two ends of the pile-holding telescopic members are respectively hinged to the clamps and the vertical pile frame. The two pile-holding telescopic members can drive the two clamps to rotate around the corresponding hinge axis and move closer or further away from each other by extending and retracting.

8. The automatic pile erecting device as described in claim 1, characterized in that, The number of pile-holding structures is multiple, and the multiple pile-holding structures are arranged at intervals along the longitudinal axis of the vertical pile frame.

9. The automatic pile erecting device as described in claim 1, characterized in that, The automatic pile erecting device also includes a pile support platform, which is installed on the working platform and supports the piles on the pile erecting frame in the vertical state of the pile erecting frame.

10. A marine photovoltaic piling robot, characterized in that, The automatic pile erecting device includes any one of claims 1-9.

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