Pile sinking device and offshore photovoltaic piling robot

Abstract

The utility model discloses a pile sinking device and an offshore photovoltaic piling robot, and the pile sinking device comprises a rotary pile frame mechanism which can be rotatably arranged on a working platform around a first vertical axis; the pile clamping mechanism is arranged on the rotary pile frame mechanism and can move up and down in the axial direction of the rotary pile frame mechanism; the punching mechanism is arranged at the top of the pile clamping mechanism in a mode of rotating around a second vertical axis, and the punching mechanism can rotate around the second vertical axis to the position over the clamping position of the pile clamping mechanism; and the pile sinking driving mechanism is installed on the rotary pile frame mechanism and connected with the pile clamping mechanism, and the pile sinking driving mechanism can drive the pile clamping mechanism to move up and down in the axial direction of the rotary pile frame mechanism. The pile sinking device can be matched with a pile erecting device to sink a pile body, the pile sinking of the pile body can be achieved through one pile sinking mode or the cooperation of multiple pile sinking modes, the pile sinking device is particularly suitable for pile sinking construction of medium-sized and large-sized pile bodies, the construction efficiency is high, the safety is high, and the construction quality is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to piling equipment technical field, especially, be related to a pile sinking 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. It is difficult to directly grasp the long and heavy medium and large pile bodies by pile sinking mechanical arm combined with exciter to the preset pile position for pile sinking construction. Moreover, due to the large weight of the pile body, it is easy to deflect during pile sinking, so that the perpendicularity of the pile body cannot be guaranteed, which affects the construction quality. Especially for offshore piling operation, the stability of offshore operation environment is poor, which further increases the difficulty of pile sinking construction of such large pile body. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a pile sinking device and offshore photovoltaic pile work robot to solve the technical problem that medium and large pile bodies are difficult to be directly grasped by pile sinking mechanical arm combined with exciter to the preset pile position for pile sinking construction.

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

[0006] The utility model provides a pile sinking device, which comprises: a rotary pile frame mechanism which is rotatably arranged on a working platform about a first vertical axis; a pile clamping mechanism which is movably arranged on the rotary pile frame mechanism along the axial direction of the rotary pile frame mechanism; a stamping mechanism which is rotatably arranged on the top of the pile clamping mechanism about a second vertical axis, and the stamping mechanism can rotate about the second vertical axis to the position directly above the clamping position of the pile clamping mechanism; and a pile sinking driving mechanism which is installed on the rotary pile frame mechanism and connected with the pile clamping mechanism, and the pile sinking driving mechanism can drive the pile clamping mechanism to move up and down along the axial direction of the rotary pile frame mechanism.

[0007] The utility model discloses an automatic pile sinking device, which comprises a work platform, a pile body, a pile sinking driving mechanism, a pile clamping mechanism and a rotary pile frame mechanism.

[0008] The utility model discloses an automatic pile sinking device, which comprises a work platform, a pile body, a pile sinking driving mechanism, a pile clamping mechanism and a rotary pile frame mechanism.

[0009] The utility model discloses an automatic pile sinking device, which comprises a work platform, a pile body, a pile sinking driving mechanism, a pile clamping mechanism and a rotary pile frame mechanism.

[0010] The utility model discloses an automatic pile sinking device, which comprises a work platform, a pile body, a pile sinking driving mechanism, a pile clamping mechanism and a rotary pile frame mechanism.

[0011] The utility model discloses an automatic pile sinking device, which comprises a work platform, a pile body, a pile sinking driving mechanism, a pile clamping mechanism and a rotary pile frame mechanism.

[0012] The utility model discloses an embodiment of the utility model discloses a rotary pile frame mechanism, a clamping pile mechanism and a stamping mechanism are arranged on the work platform, the clamping pile mechanism is installed on the rotary pile frame mechanism, and the stamping mechanism is installed on the clamping pile mechanism.

[0013] The utility model discloses an embodiment of the utility model discloses a rotary pile frame mechanism is installed on the work platform through the sliding mechanism, the sliding mechanism includes sliding platform and slide rail structure, and the slide rail structure is close to the construction edge of work platform and sets up, the sliding platform and slide rail structure along the extension direction of construction edge are set up and slide with the cooperation, and the rotary pile frame mechanism can rotate around the first vertical axis and set up on the sliding platform.

[0014] The utility model discloses an embodiment of the utility model discloses the bottom clamping pile structure is installed on the sliding platform, and the rotary pile frame mechanism can drive the clamping pile mechanism and rotate around the first vertical axis to the just above the bottom clamping pile structure.

[0015] The utility model discloses still provide a kind of offshore photovoltaic pile worker robot, including above-mentioned pile sinking device.

[0016] The utility model discloses a pile sinking device and offshore photovoltaic pile worker robot, by setting rotary pile frame mechanism, and installing clamping pile mechanism on rotary pile frame mechanism, so as to first utilize pile erecting device or other auxiliary equipment and make pile body erect on work platform, then through clamping pile mechanism clamping pile body and with the rotation of rotary pile frame mechanism and drive pile body to move to preset pile position, and by setting pile sinking drive mechanism and drive clamping pile mechanism moves up and down, and installing stamping mechanism on clamping pile mechanism, so that the pile sinking device of the utility model has multiple pile sinking modes, i.e.

[0017] The utility model discloses a pile sinking device and offshore photovoltaic pile worker robot, by setting rotary pile frame mechanism, and installing clamping pile mechanism on rotary pile frame mechanism, so as to first utilize pile erecting device or other auxiliary equipment and make pile body erect on work platform, then through clamping pile mechanism clamping pile body and with the rotation of rotary pile frame mechanism and drive pile body to move to preset pile position, and by setting pile sinking drive mechanism and drive clamping pile mechanism moves up and down, and installing stamping mechanism on clamping pile mechanism, so that the pile sinking device of the utility model has multiple pile sinking modes, i.e. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed to be used in the following embodiment description will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the premise of not paying creative effort.

[0019] Figure 1 It is a structural schematic view of the pile sinking device in the present application in the state of receiving the pile body.

[0020] Figure 2 It is a structural schematic view of the pile sinking device in the present application in the automatic pile sinking mode and the pressure holding pile sinking mode.

[0021] Figure 3 It is a structural schematic view of the pile sinking device in the present application in the stamping pile sinking mode.

[0022] Figure 4 It is a structural schematic view of the pile sinking device in the present application in the automatic pile sinking mode and the pressure holding pile sinking mode.

[0023] Figure 5 It is a structural schematic view of the pile sinking device in the present application in the automatic pile sinking mode and the pressure holding pile sinking mode.

[0024] Figure 6 It is a structural schematic view of the pile sinking device in the present application in the automatic pile sinking mode and the pressure holding pile sinking mode.

[0025] Figure 7 It is a structural schematic view of the pile sinking device in the present application in the automatic pile sinking mode and the pressure holding pile sinking mode.

[0026] Figure 8 It is a structural schematic view of the pile sinking device in the present application in the automatic pile sinking mode and the pressure holding pile sinking mode.

[0027] Figure 9 It is a structural schematic view of the pile sinking device in the present application in the automatic pile sinking mode and the pressure holding pile sinking mode.

[0028] Figure 10 It is a structural schematic view of the pile sinking device in the present application in the automatic pile sinking mode and the pressure holding pile sinking mode.

[0029] In the drawings:

[0030] 100, pile body; 200, operation platform; 200', offshore operation platform; 21, control room; 22, anchor machine; 23, rest room; 300, automatic pile erecting device;

[0031] 400, pile sinking device;

[0032] 41, rotary pile frame mechanism; 411, rotary platform; 412, pile sinking frame; 4121, stand column; 4122, top cross beam; 4123, middle cross beam; 413, telescopic support; 414, pile frame rotary driving structure;

[0033] 42. Pile clamping mechanism; 421. Clamping groove; 422. Pile clamping box; 423. Pile clamping cylinder; 424. Clamping block;

[0034] 43. Stamping mechanism; 431. Rotary support seat; 432. Pile hammer; 433. Stamping telescopic structure;

[0035] 44. Pile driving drive mechanism; 441. Pile driving drive structure; 4411. Winch; 4412. Upper fixed pulley; 4413. Lower fixed pulley; 4414. Upper movable pulley; 4415. Lower movable pulley; 4416. Transmission rope;

[0036] 45. Sliding mechanism; 451. Sliding platform; 452. Slide rail structure; 453. Sliding drive structure;

[0037] 46. ​​Bottom-clamped pile structure; 461. Clamp; 462. Clamp hydraulic cylinder;

[0038] 500. Marine positioning and walking device; 50. Positioning pile; 51. Fixed positioning mechanism; 52. Mobile positioning mechanism; 600. Piling robot arm; 700. Lifting robot arm. Detailed Implementation

[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 4 As shown, this utility model provides a pile driving device 400, including: a rotary pile frame mechanism 41, which is rotatably mounted on a working platform 200 about a first vertical axis Z1; a pile clamping mechanism 42, which is movable up and down along the axial direction Z of the rotary pile frame mechanism 41 and is mounted on the rotary pile frame mechanism 41, the pile clamping mechanism 42 having a clamping groove 421 for accommodating a pile body 100; a stamping mechanism 43, which is rotatably mounted on the top of the pile clamping mechanism 42 about a second vertical axis Z2, and the stamping mechanism 43 can rotate about the second vertical axis to be directly above the clamping position of the pile clamping mechanism 42; and a pile driving drive mechanism 44, which is mounted on the rotary pile frame mechanism 41 and connected to the pile clamping mechanism 42, the pile driving drive mechanism 44 driving the pile clamping mechanism 42 to move up and down along the axial direction Z of the rotary pile frame mechanism 41.

[0042] The rotary pile frame mechanism 41 can drive the pile clamping mechanism 42 to rotate around the first vertical axis Z1, so that the pile clamping mechanism 42 can be switched from a state of receiving a pile body arranged relative to the pile erecting device to a construction state located at a preset pile position, and the stamping mechanism 43 is arranged on the top of the pile clamping mechanism 42 in a rotatable manner around the second vertical axis Z2, so that the stamping mechanism 43 can be switched from a standby state located above the clamping position of the pile clamping mechanism 42 to a stamping state located directly above the clamping position of the pile clamping mechanism 42.

[0043] The pile sinking device 400 of the utility model, through setting rotary pile frame mechanism 41, and install pile clamping mechanism 42 on rotary pile frame mechanism 41, can first use pile erecting device or other auxiliary equipment to erect pile body 100 on operation platform 200, then through pile clamping mechanism 42 clamping pile body 100 and with the rotary of rotary pile frame mechanism 41 drive pile body 100 to move to preset pile position, and through setting pile sinking drive mechanism 44 drive pile clamping mechanism 42 moves up and down, and install stamping mechanism 43 on pile clamping mechanism 42, so that the pile sinking device 400 of the utility model has multiple pile sinking modes, that is, through pile clamping mechanism 42 to release pile body 100 and make pile body 100 automatically sink under the action of its gravity, also can through pile clamping mechanism 42 clamping pile body 100 and under the drive of pile sinking drive mechanism 44 to move downward and press pile body 100 to sink, also can through stamping mechanism 43 to stamp pile body 100 to sink, and can use one kind of pile sinking mode or multiple pile sinking modes to realize the pile sinking of pile body 100, so it is especially suitable for the pile sinking construction of small and large pile body 100, high construction efficiency, high safety, and the construction quality is guaranteed.

[0044] Specifically, the rotary pile frame mechanism 41 can be installed close to one side edge (defined as a construction edge for convenience of description) of the operation platform 200, by first adjusting the position of the operation platform 200, and then rotating the rotary pile frame mechanism 41 around the first vertical axis to one side of the operation platform 200 and located directly above the preset pile position. Figure 10As shown, in the embodiment, the work platform 200 is a sea work platform 200', and the construction edge is an edge of the sea work platform 200' extending along the width direction W of the sea work platform 200', and the sea work platform 200' is movable along the length direction (i.e. the work direction S). In another embodiment, the construction edge is an edge of the work platform 200 extending along the length direction of the work platform 200, and the work platform 200 is movable along the width direction. Of course, the construction limiting passage and the movement limiting passage can also be arranged on the work platform 200, the movement limiting passage is arranged at the rear end of the work platform 200 along the arrangement direction of the plurality of preset pile positions, the construction limiting passage is in communication with the front end of the movement limiting passage, and the rotary pile rack mechanism 41 is installed close to the construction limiting passage. By adjusting the position of the work platform 200 first, the construction limiting passage is located directly above the preset pile position, and then the rotary pile rack mechanism 41 is rotated around the first vertical axis to be directly above the construction limiting passage, the pile driving construction can be carried out, and after the pile driving is completed, the work platform 200 moves forward, and the constructed pile body 100 moves out along the movement limiting passage relative to the work platform 200.

[0045] As shown in Figure 4 , the clamping position of the pile clamping mechanism 42 has a clamping groove 421 for accommodating the pile body 100. The clamping groove 421 is a circular arc groove with an upper and lower through hole and one side with an opening, and the diameter is slightly larger than the diameter of the pile body 100, so as to have a certain limiting effect on the pile body 100. As shown in Figure 1 , the pile driving device 400 is in a receiving pile state, the rotary pile rack mechanism 41 drives the pile clamping mechanism 42 to rotate around the first vertical axis Z1 to the side facing the pile erecting device, and the stamping mechanism 43 rotates around the second vertical axis Z2 to the side above the clamping groove 421 of the pile clamping mechanism 42, so as to avoid the space directly above the clamping groove 421, so that the pile body 100 erected by the pile erecting device can be received by the clamping groove 421 and clamped by the pile clamping mechanism 42, and then the rotary pile rack mechanism 41 can be moved to the preset pile position to form Figure 2 and Figure 3 the construction state shown in

[0046] In the embodiment of the utility model, under the construction state, the pile driving device 400 has an automatic pile driving mode, a pressure holding pile driving mode and a stamping pile driving mode; as shown in Figure 2 and Figure 4 , in the automatic pile driving mode, the pile clamping mechanism 42 releases the pile body 100 so that the pile body 100 automatically sinks along the longitudinal axis direction of the pile clamping mechanism 42 under the action of its own gravity; as shown in Figure 2 and Figure 4 , in the pressure holding pile driving mode, the pile clamping mechanism 42 clamps the pile body 100, and the pile driving driving mechanism 44 drives the pile clamping mechanism 42 to press and move downward along the axial direction of the rotary pile rack mechanism 41 so that the pile clamping mechanism holds and sinks the pile body 100; as shown in Figure 3 andFigure 4 As shown, in the punch pile sinking mode, the pile clamping mechanism 42 releases the pile body 100, and the pile driving mechanism 44 drives the pile clamping mechanism 42 to move upward along the axial direction of the rotary pile rack mechanism 41 until the pile clamping mechanism 42 drives the punch mechanism 43 to move upward to the side above the pile body 100, and the punch mechanism 43 rotates around the second vertical axis Z2 to the directly above the pile body 100 to punch the pile body 100 to sink.

[0047] Specifically, the gravity of the pile body 100 is used to realize automatic pile sinking, and after the pile body 100 is stable, the pile driving mechanism 44 drives the pile clamping mechanism 42 to move downward along the axial direction Z of the rotary pile rack mechanism 41 to the bottom end of the rotary pile rack mechanism 41 and to clamp and press the pile body 100 to sink, and then the pile driving mechanism 44 drives the pile clamping mechanism 42 to move upward along the axial direction Z of the rotary pile rack mechanism 41 to a suitable position of the rotary pile rack mechanism 41, and then the pile body 100 is clamped and pressed to sink again, and the process is repeated until the pile sinking of the pile body 100 meets the design requirements. If the pile body 100 does not meet the construction requirements after multiple clamping and pressing pile sinking, the punch pile sinking mode is switched to.

[0048] In combination Figures 3 to 4 As shown, in the embodiment of the utility model, the pile clamping mechanism 42 includes at least one pile clamping box 422, the clamping groove 421 is arranged on the pile clamping box 422, and a plurality of pile clamping oil cylinders 423 are installed in the pile clamping box 422. The pile clamping oil cylinder 423 is provided with a clamping block 424, and the clamping block 424 of the plurality of pile clamping oil cylinders 423 can extend into the clamping groove 421 and cooperate to clamp the pile body 100. Specifically, the number of pile clamping boxes 422 can be set to multiple, and the plurality of pile clamping boxes 422 are arranged up and down along the axial direction Z of the rotary pile rack mechanism 41, so as to increase the clamping area between the pile clamping mechanism 42 and the pile body 100, and the pile body 100 is clamped more stably.

[0049] In combination Figure 3 And Figure 5As shown, in the embodiment of this utility model, the rotary pile frame mechanism 41 includes a rotary platform 411, a pile driving frame 412, and a telescopic support member 413. The rotary platform 411 is rotatably mounted on the working platform 200 around a first vertical axis Z1. The pile clamping mechanism 42 is mounted on the pile driving frame 412. The pile driving frame 412 is rotatably mounted on the rotary platform 411 around a horizontal axis X1. The two ends of the telescopic support member 413 are hinged to the pile driving frame 412 and the rotary platform 411. The telescopic support member 413 can drive the pile driving frame 412 to rotate around the horizontal axis by telescoping. By hinged to the pile driving frame 412 on the rotating platform 411 and supported by the telescopic support member 413, if the verticality of the pile body 100 does not meet the construction requirements during construction, that is, it sways relative to the vertical direction, the telescopic support member 413 drives the pile driving frame 412 to rotate around the horizontal axis X1, which in turn causes the pile clamping mechanism 42 to drive the upper part of the pile body 100 to rotate around the horizontal axis, thereby adjusting the verticality of the pile body 100 and ensuring that the verticality of the pile body 100 meets the construction requirements.

[0050] Specifically, in combination Figure 3 and Figure 6 As shown, the pile driving frame 412 includes two opposing columns 4121, a central crossbeam 4123 connecting the middle portions of the two columns 4121, and a top crossbeam 4122 connecting the tops of the two columns 4121. The top end of the telescopic support 413 is hinged to the central crossbeam 4123. The pile clamping mechanism 42 is located between the two columns 4121, and the two sides of the pile clamping mechanism 42 are slidably fitted with the two columns 4121 along the axial direction Z of the rotary pile driving frame mechanism 41.

[0051] like Figure 2 and Figure 3 As shown in the embodiment of this utility model, the pile driving mechanism 44 includes at least one pile driving structure 441. The pile driving structure 441 includes a winch 4411, an upper fixed pulley 4412, an upper movable pulley 4414, a lower fixed pulley 4413, a lower movable pulley 4415, and a transmission rope 4416. The upper movable pulley 4414 and the lower movable pulley 4415 are both mounted on the pile clamping mechanism 42. The upper fixed pulley 4412 and the lower fixed pulley 4415 are mounted on the pile clamping mechanism 42. All 413 components are mounted on the rotary pile clamping mechanism 41, with the upper fixed pulley 4412 positioned above the pile clamping mechanism 42 and the lower fixed pulley 4413 positioned below the pile clamping mechanism 42. The transmission rope 4416 is wound on the winch 4411, with one end of the rope passing over the upper fixed pulley 4412 and connecting to the upper movable pulley 4414, and the other end passing over the lower fixed pulley 4413 and connecting to the lower movable pulley 4415. By controlling the winding and unwinding of both ends of the transmission rope 4416 through the winch 4411, the upper movable pulley 4414 and the lower movable pulley 4415 can be moved up and down via the transmission rope 4416, thereby causing the pile clamping mechanism 42 to move up and down.

[0052] Specifically, in combination with Figure 5 and Figure 6 As shown in the drawings, the number of pile sinking driving structures 441 is two, and the two pile sinking driving structures 441 are symmetrically arranged relative to the central axis of the pile clamping mechanism 42. Each pile sinking driving structure 441 is provided with two upper fixed pulleys 4412, both of which are mounted on the top cross beam 4122. The winch 4411 and the lower fixed pulley 4413 are both mounted on the rotary platform 411 and located on both sides of the pile sinking pile frame 412. One upper fixed pulley 4412 is located directly above the winch 4411, and the other upper fixed pulley 4412, the upper movable pulley 4414, the lower movable pulley 4415 and the lower fixed pulley 4413 are arranged from top to bottom along the axial direction Z of the rotary pile frame mechanism 41.

[0053] In combination with Figure 3 and Figure 7 As shown in the drawings, in the embodiment of the utility model, the stamping mechanism 43 includes a rotary support seat 431, a pile hammer 432 and a stamping telescopic structure 433. The rotary support seat 431 is rotatably arranged on the top of the pile clamping mechanism 42 about the second vertical axis Z2. The pile hammer 432 is slidably arranged on the rotary support seat 431 along the axial direction of the rotary pile frame mechanism 41 and is connected with the rotary support seat 431 through the stamping telescopic structure 433. The pile hammer 432 can rotate with the rotary support seat 431 about the second vertical axis Z2 to the directly above the clamping groove 421. The stamping telescopic structure 433 drives the pile hammer 432 to repeatedly stamp and hit the pile body 100 to sink. Specifically, the stamping telescopic structure 433 includes a plurality of stamping telescopic oil cylinders, which are symmetrically arranged relative to the axis of the pile hammer 432. The pile clamping mechanism 42 is provided with a stamping rotary driving structure for driving the rotary support seat 431 to rotate about the second vertical axis Z2. The stamping rotary driving structure has the same specific structure as the rotary driving device in the prior art, and will not be described in detail here.

[0054] In combination with Figure 8 and Figure 9 As shown in the drawings, in the embodiment of the utility model, the rotary pile frame mechanism 41 is installed on the operation platform 200 through the sliding mechanism 45. The sliding mechanism 45 includes a sliding platform 451 and a sliding rail structure 452. The sliding rail structure 452 is arranged close to a construction edge of the operation platform 200. The sliding platform 451 is slidingly arranged with the sliding rail structure 452 along the extension direction X2 of the construction edge. The rotary pile frame mechanism 41 is rotatably arranged on the sliding platform 451 about the first vertical axis Z1. The rotary pile frame mechanism 41 is driven by the sliding mechanism 45 to move along the extension direction X2 of the construction edge, so that the position of the pile body 100 clamped by the pile clamping mechanism 42 can be adjusted to correspond to the preset pile position along the extension direction X2 of the construction edge. Moreover, the pile sinking operation of a plurality of pile bodies 100 can be sequentially performed along the extension direction X2 of the construction edge.

[0055] Specifically, in the embodiment, the extension direction X2 of the construction edge is the same as the width direction W of the offshore work platform 200' shown in the schematic view. Figure 10 The work platform 200 is provided with a sliding driving structure 453 connected with the sliding platform 451 and capable of driving the sliding platform 451 to slide along the extension direction X2 of the construction edge. The sliding driving structure 453 has the same specific structure as the sliding driving device in the prior art, and thus is not described herein. The sliding platform 451 is provided with a pile rack rotary driving structure 414 connected with the rotary platform 411 and capable of driving the rotary platform 411 to rotate around the first vertical axis Z1. The pile rack rotary driving structure 414 has the same specific structure as the rotary driving device in the prior art, and thus is not described herein.

[0056] In combination with Figure 8 and Figure 9 In the embodiment of the utility model, the pile sinking device 400 further comprises a bottom pile clamping structure 46, which is installed on the sliding platform 451, and the rotary pile rack mechanism 41 can drive the pile clamping mechanism 42 to rotate around the first vertical axis Z1 to the position directly above the bottom pile clamping structure 46. The bottom pile clamping structure 46 can move along the extension direction X2 of the construction edge to the position directly above the preset pile position under the driving of the sliding platform 451 and the rotary pile rack mechanism 41. In the pile sinking mode, the pile body 100 is clamped by the bottom pile clamping structure 46 before the pile clamping mechanism 42 releases the pile body 100 and moves upward under the driving of the pile sinking driving mechanism 44, so as to ensure the stability of the pile body 100; then, when the pile clamping mechanism 42 clamps the pile body 100, the bottom pile clamping structure 46 releases the pile body 100, and then the pile clamping mechanism 42 moves downward under the driving of the pile sinking driving mechanism 44 and sinks the pile body 100. Specifically, the bottom pile clamping structure 46 comprises two hoops 461 and two hoop oil cylinders 462, one end of each of the two hoops 461 is hinged to one side of the sliding platform 451, and two ends of each of the two hoop oil cylinders 462 are hinged to the hoop 461 and the sliding platform 451, the two hoop oil cylinders 462 are capable of realizing the clamping and releasing of the two hoops 461 through the extension and retraction.

[0057] Embodiment two

[0058] As shown in Figure 10 The utility model further provides an offshore photovoltaic pile construction robot, which comprises the pile sinking device 400. The specific structure, working principle and beneficial effects of the pile sinking device 400 in the embodiment are the same as those of the pile sinking device 400 in the first embodiment, and thus are not described herein.

[0059] As shown in Figure 10The offshore photovoltaic pile construction robot shown further comprises: an offshore operation platform 200'; an offshore positioning walking device 500 comprising a fixed positioning mechanism 51 and a movable positioning mechanism 52, the fixed positioning mechanism 51 and the movable positioning mechanism 52 are both provided with a positioning pile 50 and can realize anchoring and unanchoring of the positioning pile 50 with the seabed, the fixed positioning mechanism 51 is fixedly arranged on the offshore operation platform 200', and the movable positioning mechanism 52 is movably arranged on the offshore operation platform 200' along an operation direction S; an automatic pile erecting device 300 comprising a pile erecting frame, a pile erecting driving mechanism and at least one pile holding structure, the pile erecting frame is used for placing a pile body 100 to be constructed, the pile holding structure is arranged on the pile erecting frame and can tightly hold and fix the pile body 100 on the pile erecting frame, and the pile erecting driving mechanism is connected with the pile erecting frame and can drive the pile erecting frame to rotate around a first horizontal axis to switch the pile erecting frame from a horizontal state to a vertical state.

[0060] The offshore photovoltaic pile construction robot of the utility model can realize distance fixing and directional walking of the offshore operation platform during operation, can anchor multiple positioning piles 50 to the seabed to ensure stability of the offshore operation platform 200' during subsequent construction, can quickly place the pile body 100 horizontally on the pile erecting frame of the automatic pile erecting device 300, can then erect the pile body 100, 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 transferred to a preset pile position for pile sinking construction, the pile sinking device 400 can form multiple pile sinking modes through cooperation of the pile clamping mechanism 42, the pile sinking driving mechanism 44 and the stamping mechanism 43 to realize quick pile sinking of the pile body 100, and has wide application range, and therefore the utility model is particularly suitable for pile foundation operation of marine engineering, has high automation degree, high construction efficiency, high safety and high construction quality guarantee rate.

[0061] Specifically, the utility model can realize pile sinking construction of medium and large pile bodies with a pile diameter greater than 400 mm and a pile length greater than 15 m, has high construction efficiency, high safety and guaranteed construction quality. Figures 1 to 3As shown, the offshore operation platform 200' is provided with a control room 21, and the control room 21 is provided with a Beidou positioning device and a control device, and 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; wherein the Beidou positioning device is used for obtaining position information, and 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 of the offshore operation platform 200' according to the position information. The position information is obtained 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 body 100 gripped by the pile clamping mechanism 42 of the pile sinking device 400 can be transferred to above the next preset pile position, thereby ensuring the position accuracy of the pile body 100, and then controlling the pile sinking device 400 to perform automatic pile sinking operation. In addition, the rear end of the offshore operation platform 200' is also provided with two anchor winches 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.

[0062] In addition, as Figures 1 to 3 As shown, in order to further improve the construction efficiency and applicability, the offshore photovoltaic pile construction robot can also perform pile sinking construction of small pile bodies while performing pile sinking construction of medium and large pile bodies, and 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 operation platform 200', and the pile sinking device 400 is located behind the automatic pile erecting device 300 in the forward direction S1 of the offshore operation platform 200'. The offshore operation platform 200' has a front end and a rear end in the forward direction S1 thereof, and the two hoisting mechanical arms 700 are symmetrically installed on the offshore operation platform 200' relative to the automatic pile erecting device 300 and arranged close to the front end of the offshore operation platform 200', and the two pile sinking mechanical arms 600 are symmetrically installed on the offshore operation platform 200' relative to the automatic pile erecting device 300 and arranged close to the rear end of the offshore operation 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.

[0063] The construction process of the offshore photovoltaic pile construction robot of the utility model is as follows:

[0064] The offshore operation platform 200' is moved to the next operation position, and the fixed positioning mechanism 51 and the mobile positioning mechanism 52 anchor the respective positioning piles 50 to the seabed, so as to realize the movement and positioning of the offshore operation platform 200' to ensure the stability of the offshore operation platform 200' in the subsequent construction process;

[0065] The pile body 100 to be constructed is placed on the vertical pile frame in a horizontal state and is tightly fixed by the pile holding structure, and then the vertical pile driving mechanism switches the vertical pile frame from the horizontal state to the vertical state, and before the vertical pile frame is switched to the vertical state, the pile frame mechanism 41 rotates the pile frame to switch the pile clamping mechanism 42 to the receiving pile body 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 vertical pile frame is switched to the vertical state, the pile body 100 on the vertical pile frame is placed in the pile clamping mechanism 42;

[0066] The pile clamping mechanism 42 clamps the pile body 100, and then the pile holding structure releases the pile body 100, and the vertical pile frame 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;

[0067] The pile sinking device 400 sinks the pile body 100 into the preset pile position.

[0068] The above only describes several embodiments of the present application, and those skilled in the art can make various modifications or changes to the embodiments of the present application according to the disclosed content of the application file without departing from the spirit and scope of the present application.

Claims

1. A pile driving device, characterized in that, include: A rotary pile driver mechanism, which is rotatably mounted on a working platform about a first vertical axis; A pile clamping mechanism is mounted on the rotary pile frame mechanism, which is movable up and down along the axial direction of the rotary pile frame mechanism. A stamping mechanism is rotatably mounted on top of the pile clamping mechanism about a second vertical axis, and the stamping mechanism can rotate about the second vertical axis to be directly above the clamping position of the pile clamping mechanism; A pile driving mechanism is installed on the rotary pile frame mechanism and connected to the pile clamping mechanism. The pile driving mechanism can drive the pile clamping mechanism to move up and down along the axial direction of the rotary pile frame mechanism.

2. The pile driving device as described in claim 1, characterized in that, The pile driving device has an automatic pile driving mode, a clamping pile driving mode, and a punching pile driving mode. In the automatic pile driving mode, the pile clamping mechanism releases the pile body, causing the pile body to automatically sink along the longitudinal axis of the pile clamping mechanism under its own gravity. In the aforementioned pile-driving mode, the pile clamping mechanism holds the pile body and, driven by the pile driving mechanism, moves downward along the axial direction of the rotary pile frame mechanism to press the pile body down. In the described impact-driven pile driving mode, the pile clamping mechanism releases the pile body and, driven by the pile driving mechanism, moves the impact mechanism upward along the axial direction of the rotary pile frame mechanism to the top of the pile body. The impact mechanism then rotates around the second vertical axis to directly above the pile body and impacts the pile body to sink.

3. The pile driving device as described in claim 1, characterized in that, The rotary pile frame mechanism includes a rotary platform, a pile driving frame, and a telescopic support. The rotary platform is rotatably mounted on the working platform around the first vertical axis. The pile clamping mechanism is installed on the pile driving frame. The pile driving frame is rotatably mounted on the rotary platform around a horizontal axis. The two ends of the telescopic support are hinged to the pile driving frame and the rotary platform. The telescopic support can drive the pile driving frame to rotate around the horizontal axis by extending and retracting.

4. The pile driving device as described in claim 1, characterized in that, The pile driving mechanism includes at least one pile driving structure, which includes a winch, an upper fixed pulley, an upper movable pulley, a lower fixed pulley, a lower movable pulley, and a transmission rope. The upper movable pulley and the lower movable pulley are both mounted on the pile clamping mechanism, and the upper fixed pulley and the lower fixed pulley are both mounted on the rotary pile frame mechanism. The upper fixed pulley is located above the pile clamping mechanism, and the lower fixed pulley is located below the pile clamping mechanism. The transmission rope is wound on the winch, with one end of the transmission rope passing over the upper fixed pulley and connecting to the upper movable pulley, and the other end of the transmission rope passing over the lower fixed pulley and connecting to the lower movable pulley.

5. The pile driving device as described in claim 4, characterized in that, The number of pile driving structures is two, and the two pile driving structures are symmetrically arranged with respect to the central axis of the pile clamping mechanism.

6. The pile driving device as described in claim 1, characterized in that, The clamping position of the pile clamping mechanism has a clamping groove for accommodating the pile body. The pile clamping mechanism includes at least one pile clamping box. The clamping groove is provided on the pile clamping box. Multiple pile clamping cylinders are installed in the pile clamping box. Each pile clamping cylinder is provided with a clamping block. The clamping blocks of the multiple pile clamping cylinders can extend into the clamping groove and cooperate to clamp the pile body.

7. The pile driving device as described in claim 6, characterized in that, The stamping mechanism includes a rotary support base, a pile hammer, and a stamping telescopic structure. The rotary support base is rotatably mounted on the top of the pile clamping mechanism around the second vertical axis. The pile hammer is slidably mounted on the rotary support base along the axial direction of the rotary pile frame mechanism and connected to the rotary support base through the stamping telescopic structure. The pile hammer can rotate with the rotary support base around the second vertical axis to the top of the clamping groove.

8. The pile driving device as described in claim 1, characterized in that, The rotary pile driver mechanism is mounted on the working platform via a sliding mechanism. The sliding mechanism includes a sliding platform and a slide rail structure. The slide rail structure is located near a construction edge of the working platform. The sliding platform and the slide rail structure are slidably fitted together along the extension direction of the construction edge. The rotary pile driver mechanism is rotatably mounted on the sliding platform around the first vertical axis.

9. The pile driving device as described in claim 8, characterized in that, The sliding platform is equipped with a bottom clamping pile structure, and the rotary pile frame mechanism can drive the clamping pile mechanism to rotate around the first vertical axis to directly above the bottom clamping pile structure.

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

Images