CN109183714B - Construction method and system for vertical breakwater - Google Patents
Construction method and system for vertical breakwater Download PDFInfo
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- CN109183714B CN109183714B CN201811276092.0A CN201811276092A CN109183714B CN 109183714 B CN109183714 B CN 109183714B CN 201811276092 A CN201811276092 A CN 201811276092A CN 109183714 B CN109183714 B CN 109183714B
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- 238000010276 construction Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 claims abstract description 17
- 239000000725 suspension Substances 0.000 claims description 10
- 239000004576 sand Substances 0.000 claims description 9
- 238000010009 beating Methods 0.000 claims 2
- 230000000087 stabilizing effect Effects 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 229910000831 Steel Inorganic materials 0.000 description 6
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- 239000004566 building material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 230000003628 erosive effect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/04—Structures or apparatus for, or methods of, protecting banks, coasts, or harbours
- E02B3/06—Moles; Piers; Quays; Quay walls; Groynes; Breakwaters ; Wave dissipating walls; Quay equipment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A10/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE at coastal zones; at river basins
- Y02A10/11—Hard structures, e.g. dams, dykes or breakwaters
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Abstract
The invention discloses a construction method and a system for a vertical breakwater, which are characterized in that a construction platform is erected on the basis of a constructed pipe pile to carry out subsequent pipe pile construction, the relative positions of the constructed pipe pile and a pipe pile to be constructed are positioned by utilizing a mechanical arm, and meanwhile, a positioning frame is arranged. The advantages are that: the positions of the upper end and the lower end of the tubular pile are fixed through the positioning frame and the mechanical arm, so that the tubular pile is fixed in the sinking process, and the precision of driving the tubular pile is improved; land transportation is carried out by utilizing the filled breakwater instead of transportation by a transport ship, so that the stability and the safety of the construction process are improved; in the construction process, the temporary tubular pile and the permanent tubular pile are connected into a whole, so that the rigidity is improved, and the deformation of the permanent pile in the construction process is reduced; the constructed tubular piles are utilized, the cantilever controls the tubular piles to be driven, and the relative displacement between the adjacent tubular piles is reduced by utilizing the cooperativity of the deformation of the tubular piles, so that the construction precision is ensured; the positioning and guiding device can be adjusted on the water surface, and the operation is convenient.
Description
Technical Field
The invention relates to water conservancy construction, in particular to a construction method and a system for a vertical breakwater.
Background
The breakwater is an underwater building constructed to block the impact force of waves, to enclose a harbor basin, to maintain the water surface stable to protect ports from bad weather, and to facilitate safe berthing and operation of ships. The breakwater can also play a role in preventing harbor basin silting and waves from eroding the shore line. It is an important component of a manually sheltered coastal port. But the breakwater is also easily impacted by sea waves in the construction process of the breakwater, so that the safety and the construction progress of the breakwater construction process are influenced. Especially when the waves in the construction sea area are mainly long-period waves. The long-period wave is different from common stormy waves and short-period surge waves, and has the typical characteristics of larger wavelength and wave speed, extremely strong penetrability and energy, great influence on the stability of a ship, severe shaking of a construction ship and endangerment on the construction progress, quality and safety of a breakwater. The existing breakwater construction method mainly adopts a pile driving boat to drive piles underwater, and simultaneously adopts a transport boat to transport building materials such as steel pipes, gravels and the like. The construction method mainly has the following defects:
firstly, the overall stability is poor. The two rows of constructed combined steel sheet piles have large wave impact area and serious shaking.
And secondly, the construction tubular pile is difficult to position, and single pile positioning comprises plane deviation, verticality and angular displacement control. Because the process of putting the tubular pile is influenced by the wave impact force greatly, the method for positioning the tubular pile by adopting the large guide device on the water surface has the problem of large error caused by long edge control of the short edge, and the partial structure of the large guide frame is positioned below the water surface and can be influenced by the wave impact force and cannot be accurately positioned.
And thirdly, the possibility of impacting the constructed combined steel sheet pile exists in the driving process of the water ship equipment, the large time of waves in one day needs to be avoided during construction, all-weather operation cannot be achieved, and the construction progress is influenced.
Disclosure of Invention
In order to solve the problems of the prior art, the present invention provides a method and a system for constructing a vertical breakwater. The invention can improve the stability and safety of the breakwater in the construction process, accelerate the construction progress and improve the driving precision of the tubular pile.
The invention relates to a construction method for a vertical breakwater, which comprises the following steps:
s0, constructing n tubular piles according to design requirements;
s1, paving a construction platform by taking the n constructed pipe piles as a foundation, and arranging an adjusting frame and a positioning frame at the construction platform;
s2, filling gravels at the n constructed pipe piles to form a breakwater;
s3, continuously constructing the (n + 1) th tubular pile according to design requirements through the construction platform, and fixing the relative positions of the (n + 1) th tubular pile and the nth tubular pile through the mechanical arm and the positioning frame;
s4, repeating the steps S1 to S3 by adding 1 to n until the construction of the breakwater is completed according to the design requirement.
Preferably, the method for constructing the (n + 1) th tubular pile in the step S3 includes the following steps:
s31, lowering the mechanical arm to a specified depth by the construction platform, enabling the mechanical arm to be in a horizontal state, and clamping the nth tubular pile by one end of the mechanical arm;
s32, moving the positioning frame to the position above one end, far away from the nth tubular pile, of the mechanical arm;
s33, moving the adjusting frame to the position above one end, far away from the nth tubular pile, of the mechanical arm, and adjusting the position of the adjusting frame;
s34, moving the (n + 1) th tubular pile to the position right above the positioning frame and the adjusting frame, and moving the tubular pile downwards to enable the tubular pile to penetrate through the adjusting frame and the positioning frame and move to the position above the mechanical arm;
s35, adjusting the adjusting frame to enable the (n + 1) th tubular pile to move downwards and enter a clamping range of one end, far away from the nth tubular pile, of the mechanical arm;
s36, tightening the mechanical arm to enable the mechanical arm to clamp the (n + 1) th tubular pile, adjusting the adjusting frame and adjusting the (n + 1) th tubular pile to be in a vertical state;
s37, sinking the (n + 1) th tubular pile into a sand layer by means of the self weight of the (n + 1) th tubular pile until the (n + 1) th tubular pile is stable in position;
s38, hoisting a vibration hammer to drive the top end of the (n + 1) th tubular pile downwards to enable the (n + 1) th tubular pile to move downwards;
s39, after the n +1 th tubular pile enters the sand layer for 2m-3m, loosening the adjusting frame to separate the adjusting frame from the n +1 th tubular pile, and withdrawing the adjusting frame from the n +1 th tubular pile;
s310, continuously driving the top end of the (n + 1) th tubular pile to enable the (n + 1) th tubular pile to move downwards, and when the (n + 1) th tubular pile enters a sand layer by 5m-6m, loosening one end of a mechanical arm to separate the mechanical arm from the (n + 1) th tubular pile;
s311, continuously driving the top end of the (n + 1) th tubular pile, and driving the (n + 1) th tubular pile to a depth meeting the design requirement;
s312, moving the positioning frame away, enabling the mechanical arm to be in a vertical state, and lifting and recovering the mechanical arm;
and S313, folding the mechanical arm, moving the mechanical arm to the position above the (n + 1) th tubular pile, and preparing to clamp the (n + 1) th tubular pile.
Preferably, in step S34, the (n + 1) th tubular pile is moved to a position 50-70 cm above the mechanical arm, and the posture of the tubular pile is finely adjusted by the adjusting bracket.
Preferably, the robot arm is in a horizontal or vertical state by two winches respectively connected to both ends of the robot arm in steps S31 and S312.
Preferably, step S1 includes driving a plurality of temporary tube piles for setting up a construction platform between n constructed tube piles, and installing cross braces between the tube piles.
A system applying the construction method for the vertical breakwater comprises a construction platform, a suspension device and a positioning guide device; the positioning guide device comprises an adjusting frame, a positioning frame and a mechanical arm; the suspension device is arranged at the construction platform and used for driving the mechanical arm or the vibration hammer or the tubular pile to move; the mechanical arm is used for clamping the nth tubular pile and the (n + 1) th tubular pile and positioning the horizontal position of the (n + 1) th tubular pile according to the nth tubular pile; the positioning frame and the adjusting frame are arranged at the construction platform and are matched with the tubular piles, and the positioning frame is used for positioning the lowering position of the (n + 1) th tubular pile; the adjusting bracket is used for adjusting the posture of the (n + 1) th tubular pile.
Preferably, the robot arm comprises a connecting portion; two ends of the connecting part are provided with annular clamping parts; the clamping part can be opened or closed; the clamping part is used for clamping the tubular pile; the connecting part is provided with a top block at the connecting position with the clamping part; the top block can reciprocate along the axis connecting line direction of the two clamping parts; a directional pulley is arranged along the clamping part; the rotation direction of the directional pulley is vertical to the plane of the clamping part; the directional pulley rotates along with the up-and-down movement of the pipe pile.
Preferably, the clamping part comprises two power arms; one end of each power arm is hinged with the connecting part; the other ends can be jointed with each other for clamping the pipe pile.
Preferably, the suspension device is a crane; the mechanical arm is provided with a hanging buckle; the crane is provided with a hook matched with the hanging buckle.
Preferably, the positioning frame is provided with a first through hole which is matched with the tubular pile and through which the tubular pile passes; the inner surface of the first through opening is provided with a universal wheel and a positioning chute for positioning the tubular pile; the adjusting frame is provided with a second opening which is matched with the tubular pile and through which the tubular pile passes, and the inner surface of the second opening is provided with a guide wheel; the adjusting frame is provided with a plurality of jacks for applying force to the second through hole.
The construction method and the system for the vertical breakwater have the advantages that the constructed pipe piles are fully utilized to build a construction platform to replace the traditional piling ship, gravels are backfilled in the constructed pipe pile sections in time to form land transportation sections, land transportation is adopted to replace ship transportation, the influence of waves and tides on construction is effectively reduced, the working time is prolonged (24-hour construction can be realized by enhancing illumination and personnel investment), and the engineering progress can be ensured; the collision of a transport ship, a pile driving ship, a working ship and the like to the constructed steel piles is avoided, and the overall safety of the breakwater is ensured.
In the construction process, the temporary tubular pile and the permanent tubular pile are connected into a whole, so that the rigidity is improved, the impact of waves can be effectively resisted, the deformation of the permanent pile in construction is reduced, and the safety is improved.
The tubular pile to be driven is controlled by the cantilever and the constructed tubular pile, and the relative displacement between the adjacent tubular piles is reduced by utilizing the cooperativity and consistency of the deformation of the tubular piles, so that the precision is ensured. The positioning and guiding device can be adjusted on the water surface, and the operation is convenient.
Utilize the arm, replaced traditional large-scale leading truck, avoided controlling long limit through the minor face, the drawback of error expansion has reduced rivers to the impact of leading truck, has avoided the impact deformation to set up the influence of position precision to the tubular pile, and the root of arm one end centre gripping becomes holistic tubular pile has even, supports reliably, warp for a short time, can treat the bottom position of construction tubular pile to adjust, has realized visual and can have inclined to one side in advance wait the function. The positions of the upper end and the lower end of the tubular pile are fixed by combining the positioning frame, so that the precision is ensured; simultaneously, because locating rack and arm have higher degree of freedom, can be according to the design requirement nimble interval of setting between the adjacent tubular pile of adjusting.
Drawings
Fig. 1 is a flow chart illustrating a construction method for a vertical breakwater according to the present invention;
fig. 2 is a view illustrating a construction system for an upright breakwater according to the present invention;
fig. 3 is a second structural view of a construction system for an upright breakwater according to the present invention;
fig. 4 is a sectional view of a spacer for a construction system for an upright breakwater according to the present invention;
fig. 5 is a sectional view of an adjusting bracket of a construction system for an upright breakwater according to the present invention;
fig. 6 is a schematic structural view illustrating a robot arm of a construction system for an upright breakwater according to the present invention;
FIG. 7 is a schematic diagram of the structure at position A in FIG. 6;
fig. 8 is an installation view of a temporary pipe pile for a construction system of a vertical breakwater according to the present invention.
Description of reference numerals: 1-construction platform, 2-suspension device, 3-tubular pile, 4-adjusting frame, 41-second through opening, 42-guide wheel, 5-positioning frame, 51-first through opening, 52-directional chute, 53-universal wheel, 6-mechanical arm, 61-connecting part, 62-clamping part, 63-top block, 64-directional pulley, 7-vibration hammer, 8-jack, 9-temporary tubular pile.
Detailed Description
As shown in fig. 1 to 7, the method for constructing a vertical breakwater according to the present invention includes the steps of:
s0, constructing n tubular piles 3 according to design requirements; the value of n is 1 or more, and in the present embodiment, n = 3. This step represents that 3 tubular piles are constructed as foundation piles, and the subsequent tubular piles 3 are constructed on the basis of these three tubular piles 3. The construction quantity of the foundation piles is small, the construction position of the foundation piles can be selected on the bank side, and the construction is relatively convenient.
S1, paving a construction platform 1 on the basis of n constructed tubular piles 3, and arranging an adjusting frame 4 and a positioning frame 5 at the construction platform 1;
s2, filling gravels at the n constructed tubular piles 3 to form a breakwater;
s3, continuing to construct the (n + 1) th tubular pile 3 according to design requirements through the construction platform 1, namely constructing the 4 th tubular pile 3, and fixing the relative position of the (n + 1) th tubular pile 3 and the n-th tubular pile 3 through the mechanical arm 6 and the positioning frame 5;
s4, adding 1 to n, and repeating the steps S1 to S3 until the construction of the breakwater is completed according to the design requirement. At this time, the construction of the 4 th tubular pile 3 is completed, and the 5 th tubular pile 3 is prepared to be constructed. And n is added by 1 to indicate that the construction of the tubular pile 3 is continued.
The method for extending the tubular pile in the step S3 comprises the following steps:
s31, lowering the mechanical arm 6 to a specified depth by the construction platform 1, enabling the mechanical arm 6 to be in a horizontal state, and clamping the nth tubular pile 3 by one end of the mechanical arm 6;
s32, moving the positioning frame 5 to the position above one end, far away from the nth tubular pile 3, of the mechanical arm 6;
s33, moving the adjusting frame 4 to the position above one end, far away from the nth tubular pile 3, of the mechanical arm 6, and adjusting the position of the adjusting frame 4;
s34, moving the (n + 1) th tubular pile 3 to a position right above the positioning frame 5 and the adjusting frame 4, moving the tubular pile 3 downwards, enabling the tubular pile 3 to penetrate through the adjusting frame 4 and the positioning frame 5, and moving the tubular pile 3 to a position above the mechanical arm 6;
s35, adjusting the adjusting frame 4 to enable the (n + 1) th tubular pile 3 to enter a clamping range of one end, far away from the n-th tubular pile 3, of the mechanical arm 6;
s36, tightening the mechanical arm 6 to enable the mechanical arm 6 to clamp the (n + 1) th tubular pile 3, keeping the horizontal position of the positioning frame 5 accurate and fixed, finely adjusting the posture and deflection angle of the (n + 1) th tubular pile 3 through the jack 8 of the adjusting frame 4 and the jacking block 63 of the mechanical arm to enable the distance between the (n + 1) th tubular pile 3 and the (n + 1) th tubular pile 3 to meet the design requirements, and meanwhile enabling the (n + 1) th tubular pile 3 to be kept in a vertical state. The spacing between adjacent tubular piles 3 can be changed by adjusting the positions of the positioning frames 5 and the positions of the top blocks 63 of the mechanical arms 6, and the spacing can be adjusted according to design requirements.
The tubular pile to be driven is controlled by the cantilever and the constructed tubular pile, and the relative displacement between the adjacent tubular piles is reduced by utilizing the cooperativity and consistency of the deformation of the tubular piles, so that the precision is ensured. The adjusting frame 4 and the positioning frame 5 are both positioned above the water surface, and the operation is convenient. The mechanical arm 6 is used for replacing a traditional large guide frame, the defect that the error is expanded due to the control of the long edge through the short edge is overcome, the influence of impact deformation on the position accuracy of the tubular pile 3 is avoided, one end of the mechanical arm 6 clamps the root of the tubular pile 3 which is connected into a whole, the support is very reliable, the deformation is small, the bottom position of the tubular pile to be constructed can be adjusted, and the functions of visualization, pre-deflection and the like can be realized. The positions of the upper end and the lower end of the tubular pile 3 are directly controlled by combining the positioning frame 5, so that the precision is ensured.
Sinking the (n + 1) th tubular pile 3 into a sand layer by means of the self weight of the (n + 1) th tubular pile 3 until the (n + 1) th tubular pile 3 is stable in position;
s38, hoisting the vibration hammer 7 to drive the top end of the (n + 1) th tubular pile 3 downwards, and enabling the (n + 1) th tubular pile 3 to move downwards;
s39, after the n +1 th tubular pile 3 enters the sand layer for 2m-3m, loosening the adjusting frame 4 to separate the adjusting frame 4 from the n +1 th tubular pile 3, and withdrawing the adjusting frame 4 from the n +1 th tubular pile 3;
s310, continuously driving the top end of the (n + 1) th tubular pile 3 to enable the (n + 1) th tubular pile 3 to move downwards, and when the (n + 1) th tubular pile 3 enters a sand layer by 5m-6m, loosening one end of the mechanical arm 6 to enable the mechanical arm 6 to be separated from the (n + 1) th tubular pile 3;
s311, continuously drilling the top end of the (n + 1) th tubular pile 3 to enable the (n + 1) th tubular pile 3 to sink to the depth meeting the design requirement;
s312, moving the positioning frame 5 away, enabling the mechanical arm 6 to be in a vertical state, and lifting and recovering the mechanical arm 6;
s313, folding the mechanical arm 6, moving the mechanical arm 6 to the position above the (n + 1) th tubular pile 3, and preparing to clamp the (n + 1) th tubular pile 3.
In the step S34, the tubular pile 3 is moved to a position 50cm-70cm above the mechanical arm 6, and the posture of the tubular pile 3 is finely adjusted by the adjusting frame 4 at the position, so that the tubular pile 3 can enter the clamping range of the mechanical arm 6 more easily.
In steps S31 and S312, the robot arm 6 is in a horizontal or vertical state by two winches connected to both ends of the robot arm 6, respectively. The two winches are respectively connected with two ends of the mechanical arm 6 through steel wire ropes, and the horizontal or vertical state of the mechanical arm 6 is changed by lifting one end of the mechanical arm 6. If the mechanical arm 6 is placed in the lower position, after the mechanical arm 6 is placed in water to reach the designated position, the mechanical arm 6 is in a vertical state, the lower end of the mechanical arm 6 can be lifted through one winch, the other end of the mechanical arm is kept unchanged in position, the heights of the two ends of the mechanical arm 6 are lifted to be consistent, and the mechanical arm 6 is in a horizontal state and can be connected with the tubular pile 3. The above method can be also employed when the robot arm 6 is recovered.
As shown in fig. 8, in this embodiment, two rows of tube piles 3 are punched. And driving steel sheet piles. Step S1 includes driving a plurality of temporary tubular piles 9 between two rows of constructed tubular piles 3 and installing cross braces between the tubular piles. The cross brace connects the tubular piles into a whole, so that the rigidity of the tubular piles is increased, the impact of waves can be effectively resisted, the deformation of the permanent piles in construction is reduced, and the safety is improved. The temporary tubular pile can be dismantled after the construction is finished, so that the temporary tubular pile can be recycled, and the material cost is reduced.
As shown in fig. 2 to 3, the system for the construction method of the upright breakwater includes a construction platform 1, a suspension device 2, and a positioning guide device; the positioning guide device comprises an adjusting frame 4, a positioning frame 5 and a mechanical arm 6; the suspension device 2 is arranged at the construction platform 1 and used for driving the mechanical arm 6 or the vibration hammer 7 or the tubular pile 3 to move; the mechanical arm 6 is used for clamping the nth tubular pile 3 and the (n + 1) th tubular pile 3 and positioning the horizontal position of the (n + 1) th tubular pile 3 according to the nth tubular pile 3; the positioning frame 5 and the adjusting frame 4 are arranged at the construction platform 1 and are matched with the tubular piles 3, and the positioning frame 5 is used for positioning the position where the (n + 1) th tubular pile 3 is placed down; the adjusting frame 4 is used for adjusting the posture of the (n + 1) th tubular pile 3, such as a deflection angle.
As shown in fig. 6, the robot arm 6 includes a connecting portion 61; two ends of the connecting part 61 are provided with annular clamping parts 62; the clamping part 62 can be opened or closed; the clamping part 62 is used for clamping the tubular pile 3; the connecting part 61 is provided with a top block 63 at the connecting position with the clamping part 62; the top block 63 is reciprocally movable along the extending direction of the connecting portion 61. The top block 63 is provided with a directional pulley 64 on one side close to the tubular pile 3. The top block 63 can be used for fine adjustment of the spacing between the tube piles 3.
A directional pulley 64 is arranged along the clamping part 62; the rotation direction of the directional pulley 64 is vertical to the plane of the clamping part 62; the directional pulley 64 rotates along with the up-and-down movement of the tubular pile 3. The clamping part 62 clamps the tubular pile 3, and the tubular pile 3 drives the directional pulley 64 to rotate when moving downwards.
The clamping part 62 comprises two power arms; one end of each power arm is hinged with the connecting part 61; the other ends can be jointed with each other for clamping the tubular pile 3. The power arm may be hydraulically driven to engage or disengage.
The suspension device 2 is a crane; the mechanical arm 6 is provided with a hanging buckle; the crane is provided with a hook matched with the hanging buckle. The crane suspends the robot arm 6 for moving the robot arm 6.
The positioning frame 5 is provided with a first through hole 51 which is matched with the tubular pile 3 and through which the tubular pile 3 passes; the inner surface of the first through hole 51 is provided with a universal wheel 53 and a positioning chute 52 for positioning the tubular pile 3; the adjusting frame 4 is provided with a second through hole 41 which is matched with the tubular pile 3 and is used for the tubular pile 3 to pass through, and the inner surface of the second through hole 41 is provided with a guide wheel 42; the adjusting frame 4 is provided with a plurality of jacks 8 for applying force to the second through holes 41. First opening 51 is mainly used for carrying out spacing on the horizontal plane to tubular pile 3, and universal wheel 53 makes tubular pile 3 can slightly move in the horizontal plane direction when in first opening 51. The second through hole 41 is used for the tubular pile 3 to pass through, and jack 8 is used for applying force to the second through hole 41, and when the tubular pile gesture needs to be adjusted, through jack 8 to the second through hole 41 application of force, the second through hole 41 drives the tubular pile motion, and the steel-pipe pile gesture satisfies the construction requirement.
It will be apparent to those skilled in the art that various other changes and modifications may be made in the above-described embodiments and concepts and all such changes and modifications are intended to be within the scope of the appended claims.
Claims (9)
1. A construction method for a vertical breakwater is characterized by comprising the following steps:
s0, constructing n tubular piles (3) according to design requirements;
s1, paving a construction platform (1) by taking n constructed tubular piles (3) as a foundation, and arranging an adjusting frame (4) and a positioning frame (5) at the construction platform (1);
s2, filling gravels at the n constructed tubular piles (3) to form a breakwater;
s3, continuously constructing the (n + 1) th tubular pile (3) through the construction platform (1) according to design requirements, and fixing the relative position of the (n + 1) th tubular pile (3) and the n-th tubular pile (3) through the mechanical arm (6) and the positioning frame (5);
s4, repeating the steps S1 to S3 when n is added to 1, until the construction of the breakwater is completed according to the design requirement;
the method for constructing the (n + 1) th tubular pile (3) in the step S3 comprises the following steps:
s31, lowering the mechanical arm (6) to a specified depth by the construction platform (1), enabling the mechanical arm (6) to be in a horizontal state, and clamping the nth tubular pile (3) by one end of the mechanical arm (6);
s32, moving the positioning frame (5) to the position above one end, far away from the nth tubular pile (3), of the mechanical arm (6);
s33, moving the adjusting frame (4) to a position above one end, far away from the nth tubular pile (3), of the mechanical arm (6), and adjusting the position of the adjusting frame (4);
s34, moving the (n + 1) th tubular pile (3) to the position right above the positioning frame (5) and the adjusting frame (4), moving the tubular pile (3) downwards, enabling the tubular pile (3) to penetrate through the adjusting frame (4) and the positioning frame (5), and moving the tubular pile to the position above the mechanical arm (6);
s35, adjusting the adjusting frame (4) to enable the (n + 1) th tubular pile (3) to move downwards and enter a clamping range of one end, far away from the n-th tubular pile (3), of the mechanical arm (6);
s36, tightening the mechanical arm (6), enabling the mechanical arm (6) to clamp the (n + 1) th tubular pile (3), adjusting the adjusting frame (4), and adjusting the (n + 1) th tubular pile (3) to be in a vertical state;
s37, sinking the (n + 1) th tubular pile (3) into a sand layer by means of the self weight of the (n + 1) th tubular pile (3), and stabilizing the position of the (n + 1) th tubular pile (3);
s38, hoisting a vibration hammer (7) to beat the top end of the (n + 1) th tubular pile (3) downwards to enable the (n + 1) th tubular pile (3) to move downwards;
s39, after the n +1 th tubular pile (3) enters a sand layer for 2m-3m, loosening the adjusting frame (4), separating the adjusting frame (4) from the n +1 th tubular pile (3), and withdrawing the adjusting frame (4) from the n +1 th tubular pile (3);
s310, continuously driving the top end of the (n + 1) th tubular pile (3) to enable the (n + 1) th tubular pile (3) to move downwards, and when the (n + 1) th tubular pile (3) enters a sand layer by 5m-6m, loosening one end of the mechanical arm (6) to enable the mechanical arm (6) to be separated from the (n + 1) th tubular pile (3);
s311, continuously beating the top end of the (n + 1) th tubular pile (3), and beating the (n + 1) th tubular pile (3) to a depth meeting design requirements;
s312, moving the positioning frame (5) away, enabling the mechanical arm (6) to be in a vertical state, and lifting and recovering the mechanical arm (6);
s313, folding the mechanical arm (6), moving the mechanical arm (6) to the position above the (n + 1) th tubular pile (3), and preparing to clamp the (n + 1) th tubular pile (3).
2. The construction method for the upright breakwater according to claim 1, wherein the (n + 1) th pipe pile (3) is moved to a position 50cm to 70cm above the mechanical arm (6) in step S34, and the posture of the pipe pile (3) is finely adjusted by the adjusting bracket (4).
3. The construction method for the upright breakwater according to claim 1, wherein the robot arm (6) is in a horizontal or vertical state by means of two winches connected to both ends of the robot arm (6) respectively in the steps S31 and S312.
4. The construction method for the upright breakwater according to claim 1, wherein the step S1 comprises driving a plurality of temporary pipe piles (9) for building the construction platform (1) between n constructed pipe piles (3), and installing wales between the pipe piles.
5. A system for applying the construction method for the upright breakwater according to any one of claims 1 to 4, comprising a construction platform (1), a suspension device (2) and a positioning guide device; the positioning guide device comprises an adjusting frame (4), a positioning frame (5) and a mechanical arm (6); the suspension device (2) is arranged at the construction platform (1) and used for driving the mechanical arm (6), the vibration hammer (7) or the tubular pile (3) to move; the mechanical arm (6) is used for clamping an nth tubular pile (3) and an (n + 1) th tubular pile (3), and positioning the plane position of the (n + 1) th tubular pile (3) according to the nth tubular pile (3); the positioning frame (5) and the adjusting frame (4) are arranged at the construction platform (1) and are matched with the tubular piles (3), and the positioning frame (5) is used for positioning the position where the (n + 1) th tubular pile (3) is placed down; the adjusting frame (4) is used for adjusting the posture of the (n + 1) th tubular pile (3).
6. The system for the construction method of the upright breakwater according to claim 5, wherein the robot arm (6) comprises a connecting part (61); two ends of the connecting part (61) are provided with annular clamping parts (62); the clamping part (62) can be opened or closed; the clamping part (62) is used for clamping the tubular pile (3); the connecting part (61) is provided with a top block (63) at the connecting position with the clamping part (62); the top block (63) can reciprocate along the axis connecting line direction of the two clamping parts (62); a directional pulley (64) is arranged along the clamping part (62); the rotating direction of the directional pulley (64) is vertical to the plane of the clamping part (62); the directional pulley (64) rotates along with the up-and-down movement of the tubular pile (3).
7. The system for the construction method of the upright breakwater according to claim 6, wherein the clamping part (62) comprises two power arms; one end of each power arm is hinged with the connecting part (61); the other ends can be jointed with each other for clamping the tubular pile (3).
8. The system for the construction method of the upright breakwater according to claim 5, wherein the suspension means (2) is a crane; the mechanical arm (6) is provided with a hanging buckle; the crane is provided with a hook matched with the hanging buckle.
9. The system for the construction method of the upright breakwater according to claim 5, wherein the positioning frame (5) is provided with a first through hole (51) adapted to the pipe pile (3) for the pipe pile (3) to pass through; the inner surface of the first through hole (51) is provided with a universal wheel (53) and a positioning chute (52) for positioning the tubular pile (3); the adjusting frame (4) is provided with a second through hole (41) which is matched with the tubular pile (3) and through which the tubular pile (3) passes, and the inner surface of the second through hole (41) is provided with a guide wheel (42); the adjusting frame (4) is provided with a plurality of jacks (8) used for applying force to the second through opening (41).
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