CN109914408B

CN109914408B - Pile driving ship and attitude adjusting, positioning control and pile driving method thereof

Info

Publication number: CN109914408B
Application number: CN201910188578.7A
Authority: CN
Inventors: 唐文献; 郭胜; 张建; 苏世杰; 王鑫; 尚勇志; 张铁; 陈赟; 常委锋; 刘琴; 王为民; 王月阳; 齐继阳
Original assignee: Shanghai Xiongcheng Marine Engineering Co ltd; Jiangsu University of Science and Technology
Current assignee: Shanghai Xiongcheng Marine Engineering Co ltd; Jiangsu University of Science and Technology
Priority date: 2019-03-13
Filing date: 2019-03-13
Publication date: 2020-06-02
Anticipated expiration: 2039-03-13
Also published as: WO2020182231A3; JP7369472B2; WO2020182231A2; CN109914408A; JP2022519559A

Abstract

The invention discloses a piling ship, which comprises a ship body, wherein four corners of the ship body are respectively provided with a buoyancy adjusting device, the ship body is provided with an upper scanner and a lower scanner for scanning vertical piles, and the ship body is provided with GPS signal receivers at two different positions; the ship body is provided with at least four anchor machines for anchoring at different positions; the ship body is rotatably provided with a pile frame, the ship body is provided with an automatic pile frame horizontal device, the pile frame is provided with a pile driving guide rail, a pile hammer is movably arranged on the pile driving guide rail, the pile hammer is provided with a first brake device for limiting the position of the pile hammer on the pile driving guide rail, the upper part of the pile frame is provided with a transition roller, the upper part of the pile hammer is connected with a winch arranged on the ship body through a steel wire rope, and the ship body is provided with a second brake device for controlling the steel wire rope to pull the pile hammer to realize braking by braking a winch roller; the invention also discloses a posture adjusting method, a positioning control method and a piling method of the piling ship.

Description

Pile driving ship and attitude adjusting, positioning control and pile driving method thereof

Technical Field

The invention relates to a piling ship and a control method thereof, in particular to a piling ship and an attitude adjusting method, a positioning control method and a piling method thereof.

Background

The pile driving boat is offshore pile driving equipment, a vertical pile is installed in an undersea soil layer through the pile driving boat, and after the vertical pile is installed, a wind power generation and other operation platforms can be installed on the vertical pile. With the demand of expanding the openness and the deep development of coastal areas and the push of the strategic layout of the national economic circle around the sea, the water engineering projects in coastal areas are increasing day by day, and in order to adapt to the construction of engineering projects such as deep water harbor wharfs, cross-sea bridges, offshore wind power foundations and the like, the pile driving ships gradually develop towards large-scale and automatic directions. Meanwhile, the requirements of offshore pile foundation engineering on the operation precision and efficiency of the pile driving barge are continuously improved, but the pile foundation engineering construction is influenced by conditions such as wind power, ocean current, water depth, geology and the like and is limited by environmental conditions, and the traditional pile driving construction process and equipment cannot meet the requirements on safety and construction period.

Particularly, because the submarine geological condition is complex, the pile position needs to be determined according to the geological exploration result before piling, the bearing capacity provided by different geological conditions is different, the impact resistance in the depth direction of the rock-soil layer is different, if the pile position is different in penetration depth, the bearing capacity of the pile foundation is insufficient, even the pile is broken sometimes, and if the situation is serious, the upper-layer building is inclined and damaged, so that great property loss is caused; in addition, after the pile driving boat is separated from the foundation pile, the inclined pile can shift due to dead weight, the deviation is reduced by reserving a shift value when the pile position is designed, the pile driving position is accurate, the reserved shift value can be ensured, and the foundation pile is prevented from being in a low bearing position; therefore, in order to avoid submarine rocks or low bearing areas, the range of the pile which can be erected is sometimes small, and high piling precision is required to ensure that the piling operation can be smoothly carried out.

However, a large amount of work in the existing piling operation process is completed by manual operation, and the stability of the ship body in the piling process cannot be ensured under the influence of wind, wave and current, so that the high-precision requirements of the position and the inclination angle of a vertical pile cannot be met. None of the existing methods for improving the stability of the piling ship can solve the problems well, such as the automatic balancing method and system for large cargo ships with ballast function described in patent ZL201410557626.2, which pumps water in the balance tank located at the lower part into the balance tank located at the higher part to maintain the balance of the ship, but the compensation lag of the method is particularly large; while an anti-rippling piling ship as described in patent ZL201420532754.7 improves the longitudinal stability of the piling ship, there is no control over the heave motion of the main deck; as another example, the anti-wave piling ship disclosed in patent zl201420532727.x has the advantages of low compensation accuracy, large lag and unstable compensation performance, although the influence of wind and wave on the piling ship is reduced. Therefore, the problem of inclined piles of different degrees often appears in the current piling process, and the problem is difficult to solve well.

In the pile group operation process, the pile driving ship needs to move back and forth between the pile driving area and the pile hanging area, the pile frame on the ship body cannot be accurately moved to the position needing to be driven by controlling the ship body to move through dragging or other methods, the requirement on the positioning precision of the ship body cannot be met, and the pile driving precision is greatly influenced.

For both reasons, some areas where precise piling is required to build an offshore platform are often abandoned.

In addition, the prior pile driving barge has various problems as follows: the pile driving ship needs to take off and land the pile frame fast when meeting sudden sea conditions, and the pile driving ship sails away from the operation site fast, reduces equipment and personnel damage that sudden sea conditions brought, and at present the pile frame mainly takes hydraulic pressure as main power, and the assembly pulley is auxiliary power, realizes the operation of taking off and land of pile frame, and this kind of mode complex operation, and the process still needs manual assistance, and is inefficient, and has the safety problem. The cutting founds the stake lug and is accomplished by the manual work, and the workman takes and can follow the platform that the pile frame goes up and down, rises to near the lug height, utilizes cutting device to downcut the lug, and inefficiency just has the safety problem. In the pile driving operation, the swift current stake accident can cause huge loss, and has the safety problem, when the swift current stake takes place, pile cap and hydraulic pile hammer can fast uncontrolled decline, receive huge pulling force on the wire rope, easily stretch out, lead to pile cap and hydraulic pile hammer to fall into the sea, cause huge loss.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the piling ship is accurate in positioning, and the stability of the ship body in working is good so as to achieve accurate piling.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a pile driving ship comprises a ship body, wherein a pile frame is hinged to a ship bow, a pile hanging device is arranged on the ship bow, a pile driving device and a pile embracing device are arranged on the pile frame, the pile driving device comprises a pile driving guide rail arranged on the pile frame, a pile hammer is movably arranged on the pile driving guide rail, and the bottom of the pile hammer is connected with a pile cap; the ship body is provided with a pile sliding braking device, a positioning control system and a ship body posture adjusting system, wherein the ship body posture adjusting system comprises at least four buoyancy adjusting devices which are symmetrically distributed below a deck and used for adjusting the buoyancy state of the ship body and a radar wave meter arranged on the ship body; the buoyancy adjusting device comprises a water ballast tank arranged on the ship body and a connecting plate arranged on the lower surface of the deck, a propelling device vertically and downwards arranged is hinged on the connecting plate, a through hole communicated with the outside is formed in the bottom of the water ballast tank, a water pressing plate is arranged on the liquid level in the water ballast tank, and the end part of the propelling device penetrates through a top plate of the water ballast tank and is hinged with the water pressing plate; the radar wave meter is connected with the computer control system, and the required movement distance of each propulsion device is calculated through the detection data of the radar wave meter so as to drive the water pressing plate to move up and down for water drainage or water inflow to control the floating state of the ship body; the positioning control system comprises a GPS signal receiver which is connected with the computer control system and is arranged at two different positions on the ship body, and an anchor machine which is connected with the computer control system and is arranged on the ship body and is used for anchoring at least four different positions; the ship body is correspondingly provided with anchor cable connecting points arranged at the end angles of the ship body, and the anchor cable connecting points are provided with angle gauges for measuring the angles of the anchor cables, which are connected with a computer control system; the computer control system obtains the position information of the ship body through the GPS signal receiver, and establishes an absolute coordinate system and a ship-associated coordinate system, so as to further calculate the real-time position information of the connection points of each anchor and the ship body in the absolute coordinate system and the length of each anchor cable when the ship body moves, and finally obtain the retraction and release speed of each anchor machine so as to control the movement of the ship body.

The invention further aims to solve the technical problems that: provided is a pile driving vessel capable of adjusting the position and angle of a held vertical pile to improve the accuracy and safety of pile driving.

In order to solve the technical problems, the invention further adopts the technical scheme that: the pile embracing device comprises two pile embracing devices which are arranged at the bottom of a pile frame in a straight line up and down, and a horizontal installation wing seat is arranged at the position where the pile embracing devices are arranged on the pile frame; the pile embracing device comprises pile embracing units which are arranged on the wing seats on two sides in a relatively sliding manner, and a main driving mechanism for driving the pile embracing units to slide is arranged on one installation seat; the hull is provided with an upper scanner and a lower scanner for scanning the vertical piles.

The invention further aims to solve the technical problems that: a pile driving vessel is provided, which is suitable for vertical piles of various specifications to improve the working efficiency of a hull and reduce the cost.

In order to solve the technical problems, the invention further adopts the technical scheme that: embrace a pile unit including setting up the base on pile frame installation wing seat, articulated on the base have flexible arm of upper and lower pivoted and drive flexible arm pivoted rotary power unit, flexible arm includes the connecting seat with base looks articulated, be equipped with flexible arm canned paragraph on the connecting seat, be equipped with the first pneumatic cylinder of the flexible section concertina movement of the flexible arm of drive on the flexible arm canned paragraph, it is equipped with the first clamp splice of centre gripping stumpage to slide on the flexible arm canned paragraph, be equipped with the second pneumatic cylinder on the connecting seat, the tailpiece of the piston rod portion of second pneumatic cylinder is connected with first clamp splice, it has the second clamp splice of centre gripping stumpage to articulate on the part that the canned paragraph exposes the canned paragraph, be equipped with the third pneumatic cylinder of drive second clamp splice pivoted on the live section.

As a preferred scheme, the rotary power mechanism comprises a sliding block which is arranged on the base and moves up and down and a lifting servo screw mechanism which drives the sliding block to slide, a supporting rod which moves along with the sliding block to drive the telescopic arm to rotate between the vertical direction and the horizontal direction is hinged on the sliding block, and the end part of the supporting rod is hinged with the telescopic arm.

As a preferred scheme, main actuating mechanism is including setting up lead screw and drive lead screw pivoted servo motor on the installation wing seat, the base of embrace a pile unit overlaps through the screw hole cover above that on the lead screw, is equipped with respectively on the installation wing seat in the base both sides and embraces a pile stopper.

The invention further aims to solve the technical problems that: a pile driving vessel is provided, which is suitable for vertical piles of various specifications, eliminates inconvenience of replacing the pile cap, further improves the working efficiency of a hull, and reduces the cost.

In order to solve the technical problems, the invention adopts the further technical scheme that: the pile cap is a variable-diameter pile cap.

As a preferred scheme, the variable-diameter pile cap comprises a pile cap barrel arranged on a pile hammer, an inner supporting mechanism for supporting the inner side surface of a vertical pile is arranged in the pile cap barrel, an annular base is arranged at the lower part of the pile cap barrel, at least three reducing mechanisms for supporting the outer side surface of the vertical pile are circumferentially and uniformly distributed on the base, an avoidance through hole is formed in the position, corresponding to the reducing mechanism, on the side wall of the pile cap barrel, and the reducing mechanism comprises a hydraulic cylinder with adjustable stroke and an outer supporting positioning block, wherein the hydraulic cylinder is arranged on the base, and the outer supporting positioning block is arranged at the end part of a piston rod;

the inner supporting mechanism comprises a supporting body connected with the pile cap barrel, and a plurality of inner supporting baffles which slide along the radial direction of the vertical pile and are matched with the inner surface of the vertical pile and inner supporting power mechanisms for driving the inner supporting baffles are arranged on the supporting body.

As a preferred scheme, the inner supporting power mechanism comprises a plurality of sliding grooves which are uniformly distributed on the lower surface of the supporting body and radiate outwards from the center, the inner supporting baffle is movably clamped in the sliding grooves, a flange is arranged in the center of the lower part of the supporting body, an upper hydraulic rod which is vertically and downwards arranged is arranged on the flange, a connecting disc is arranged at the lower end part of the upper hydraulic rod, a connecting rod is hinged on the connecting disc, and the end part of the connecting rod is hinged with the inner supporting baffle; the annular base is provided with a hydraulic pump which is connected with the hydraulic cylinder and the upper hydraulic rod through a guide pipe.

The invention further aims to solve the technical problems that: the pile driving boat greatly improves the automation degree of pile laying operation, reduces pile laying operators and improves the safety of pile laying operation.

In order to solve the technical problems, the invention adopts the further technical scheme that: and the hull is provided with an automatic pile frame horizontal device.

As a preferred scheme, the pile frame automatic horizontal device comprises a middle supporting mechanism and a tail supporting mechanism which are hinged on a ship body, and a slide way which is arranged on the pile frame in an inclined manner, wherein a movable block is arranged in the slide way, a main oil cylinder is hinged on the ship body, the end part of a piston rod of the main oil cylinder is hinged with the movable block, the two ends of the slide way are respectively provided with an upper fixed point and a lower fixed point for fixing the movable block, a front hinge point and a rear hinge point of the pile frame are arranged on the ship body, and when the pile frame is hinged at the front hinge point and the movable block is fixed at the lower fixed point, a piston rod of the main oil cylinder extends out to;

when the movable block of the pile frame is positioned at the lower fixed point and the master cylinder is retracted, the middle support mechanism is contacted with the pile frame, at the moment, the connection between the lower fixed point and the movable block is released, then the piston rod of the master cylinder extends out to drive the movable block to move to the upper fixed point and be fixed, and the middle support mechanism is in a state of supporting the pile frame in the process that the pile frame rotates downwards in the state until the pile frame is in a horizontal state;

when the movable block of the pile frame is positioned at the upper fixed point and the main oil cylinder is in a retracted state, the tail supporting mechanism is contacted with the pile frame, at the moment, the hinged shaft of the front hinge point is removed, and the pile frame is hinged with the pin shaft seat at the rear hinge point through a pin shaft; the pile frame rotates downwards in the state until the tail supporting mechanism is in the state of supporting the pile frame in the process of lying state.

As a preferred scheme, the middle supporting mechanism comprises a support, a triangular structural member is hinged on the support, a middle roller matched with the pile frame is arranged at an end angle of the upper part of the triangular structural member, a long connecting rod is hinged on one side, away from the pile frame, of the support on the ship body, a short connecting rod is hinged at the end part of the long connecting rod, the end part of the short connecting rod is hinged with one angle of the triangular structural member, an auxiliary oil cylinder for driving the long connecting rod and the short connecting rod to rotate is hinged on the ship body, and the end part of a piston rod of the auxiliary oil cylinder is; when the piston rod of the auxiliary oil cylinder extends out and the movable block of the pile frame is positioned at the lower fixed point and the main oil cylinder retracts, the middle roller wheel is contacted with the pile frame, the short connecting rod and the long connecting rod are collinear, at the moment, the connection between the lower fixed point and the movable block is released, then the piston rod of the main oil cylinder extends out to drive the movable block to move to the upper fixed point and be fixed, and the pile frame rotates downwards in the state until the middle roller wheel is in a state of supporting the pile frame in the process of lying state;

as a preferred scheme, the tail supporting mechanism comprises a support, a support block for supporting the laid-down pile frame is arranged on the support, an imitated groove matched with the pile frame is arranged on the support block, a tail triangular structural part is hinged on the support, a tail roller matched with the pile frame is arranged at an end angle of the upper part of the tail triangular structural part, and the other angle of the tail triangular structural part is hinged with a tail hydraulic cylinder which is hinged on the ship body and drives the tail roller to rotate; when the piston rod of the tail hydraulic cylinder extends out, the piston rod of the auxiliary oil cylinder retracts, and the movable block of the pile frame is positioned at the upper fixed point and the main oil cylinder retracts, the tail roller wheel is contacted with the pile frame, at the moment, the hinged shaft of the front hinge point is removed, and the pile frame is hinged with the pin shaft seat at the rear hinge point through a pin shaft; the pile frame rotates downwards in the state until the tail roller is in the state of supporting the pile frame in the process of lying state.

The invention further aims to solve the technical problems that: the pile driving barge is capable of improving the cutting efficiency of the lifting lugs and greatly improving the safety of the cutting operation of the lifting lugs.

In order to solve the technical problems, the invention further adopts the technical scheme that: and the pile frame is provided with a lifting lug automatic cutting device.

As a preferable scheme, the automatic lifting lug cutting device comprises a sliding table arranged on the piling guide rail, and a power device for driving the sliding table to move up and down is arranged on the pile frame; the cutting platform is provided with a hydraulic pump station connected with the workbench hydraulic cylinder and a cutting module; a limiting block is arranged on the sliding table, a travel switch matched with the cutting platform is arranged on the limiting block, and the cutting platform can trigger the travel switch after rotating in place in the direction close to the vertical pile; the cutting module comprises a first sliding seat and a first driving mechanism, the first sliding seat is arranged along the connecting line direction of the vertical pile and the pile frame, the first driving mechanism drives the first sliding seat, the first sliding seat is provided with a second sliding seat which slides along the movement direction of the first sliding seat perpendicular to the first sliding seat and a second driving mechanism which drives the second sliding seat, the second sliding seat is provided with a laser sensor, the second sliding seat is also provided with an automatic flame cutting machine with a cutting nozzle moving up and down, and the cutting platform is provided with a propane gas tank which supplies gas to the automatic flame cutting machine.

The invention further aims to solve the technical problems that: the pile driving ship can effectively avoid the steel wire rope from being stretched and broken when the pile slipping working condition occurs, and can avoid the pile driving hammer and the pile cap from falling into the sea.

In order to solve the technical problems, the invention further adopts the technical scheme that: the pile slipping brake device comprises a first brake device arranged on the pile hammer and used for limiting the position of the pile hammer on the pile driving guide rail, and a second brake device arranged on the ship body and used for controlling the steel wire rope to pull the pile hammer to realize braking by braking the winch drum, wherein the upper part of the pile frame is provided with a transition roller, and the upper part of the pile hammer is connected with a winch arranged on the ship body through the steel wire rope.

As a preferred scheme, the first brake device comprises two brake units which are respectively arranged on a pile hammer fixing plate and close to guide rails on two sides of a pile frame, each brake unit comprises a driving oil cylinder which is arranged on the pile hammer fixing plate and is arranged along the direction vertical to the piling guide rail, an intermediate plate which is parallel to a piston rod of the driving oil cylinder is arranged on the pile hammer fixing plate between the driving oil cylinder and the piling guide rail, the end part of the intermediate plate is hinged with a connecting rod, and the end part of the piston rod of the driving oil cylinder is hinged with the connecting rod; the connecting rod is provided with a brake pad matched with the piling guide rail on the pile frame, the pile hammer fixing plate is provided with a speed sensor electrically connected with the control device,

as a preferred scheme, the second brake device comprises an arc-shaped upper brake band matched with a winch drum for winding a steel wire rope, an arc-shaped lower brake band matched with the winch drum, and a hinged base arranged on the ship body, wherein the end parts of the upper brake band and the lower brake band are hinged, the hinged base is hinged with a tightening pull plate, the upper end of the tightening pull plate is hinged with a triangular lever plate, the upper brake band is hinged to the tightening pull plate at the hinged part of the lever plate, a driving sleeve is movably arranged at the upper end of the lever plate, a brake screw is rotatably arranged in the driving sleeve, a screw motor is arranged at the end part of the brake screw far away from the upper brake band, a mounting frame is arranged at the upper part of the outer edge of the upper brake band, a nut matched with the brake screw is arranged in the mounting frame, a loosening pull plate is hinged to the other end of the lever plate, and the lower end of.

This pile driving boat's beneficial effect is: this pile driving boat adopts the precision to the accurate location of pile frame and cooperates the adjustment to the hull gesture when piling to ensure the precision of piling for the steel pile can accurately be squeezed into and set for the position, has avoided because of the potential risks such as disconnected stake that pile cap application of force angle brought along with the hull change, has improved the security and the life of the offshore platform of setting on it. Firstly, a ship body obtains position and attitude information of the ship body through a GPS signal receiver, an absolute coordinate system and a ship-following coordinate system are established, real-time position information and lengths of anchor cables of connecting points of the anchors and the ship body in the absolute coordinate system are further calculated when the ship body moves, and finally the retraction speed of the anchor machines is obtained; meanwhile, the pile driving ship adopts a self-adaptive ship body posture adjusting system, wave parameters are detected through a wave detecting device and fed back to a computer, the influence of waves on a ship body is calculated through software, the control system responds in time according to a calculation result, the posture of the ship body is actively adjusted through the control posture adjusting device, the pitching, rolling and heaving of the pile driving ship are eliminated, the overall stability and the wave resistance of the ship body are improved, the pile driving ship can adapt to the ocean environment of deep water and torrent, particularly the working capacity of the construction working capacity of the sea area with swell and medium-long period waves, the stable operation of pile driving is ensured, the hysteresis of regulating the posture of the ship body after static or dynamic measurement in the past is overcome, the pile driving ship is in a very stable state during operation, and the accuracy of driving foundation piles is well ensured.

On the other hand, because the upper and lower scanners are arranged, if the position of the vertical pile is scanned to form an included angle with a set pile line or the position of the vertical pile deviates from the set position, the position of the vertical pile can be adjusted by adjusting the upper and lower pile holding devices, so that the functions of correcting and righting the deviation are achieved; the positioning precision of the vertical pile can be improved under severe sea conditions by controlling the movement of the ship body and correcting the position of the vertical pile;

due to the adoption of the diameter-variable pile gripper, pile gripping operation with different pile diameters is realized; because the clasping device of the pile clasping device can move front and back and left and right, the deviation rectification and the centering in a small range can be realized; because the cantilever of the pile embracing device can be retracted, the overall height of the pile driving barge is reduced after the pile frame is laid down, and the towing difficulty is reduced;

because the variable-diameter pile caps are adopted, the pile caps do not need to be replaced aiming at the vertical piles with different diameters, and the operation time and cost are reduced; because the inner wall supporting structure is arranged in the pile cap, the end part of the vertical pile is prevented from deforming during pile driving; because the replaceable cushion block is arranged in the pile cap, after long-term piling operation, only the cushion block needs to be replaced, and the pile cap does not need to be replaced;

due to the arrangement of the pile frame automatic falling device, the pile frame can be completely fallen when the pile driving boat is in a towing state, so that the safety problem caused by the pile frame falling is avoided, and the towing difficulty of the pile driving boat is reduced;

because the device for automatically cutting the vertical pile lifting lugs is arranged, manual operation is not needed, the working efficiency is improved, and the safety problem existing when workers cut the lifting lugs is avoided; because the angle of the cutting platform is adjusted according to the deflection angle of the vertical pile during cutting, the lifting lug can still be cut under the deflection state of the vertical pile, and the cutting difficulty is reduced;

due to the arrangement of the first brake device and the second brake device, when a pile slipping working condition occurs, the situation that a steel wire rope stretches cannot occur, the pile hammer and the pile cap fall into the sea is avoided, the accident loss is reduced, and the operation safety is ensured.

The other technical problem to be solved by the invention is as follows: provides a posture adjusting method of the pile driving ship.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the attitude adjusting method of the pile driving barge comprises the following steps:

step one, measuring wave height and period of waves in all directions by adopting a radar wave meter, and transmitting measurement data to a computer;

step two, the computer adopts ANSYS/AQWA hydrodynamic analysis software to solve according to the data of the step one to obtain the angle omega of the ship body rotating around the Y axis to do pitching motion_yThe angle omega of the hull rotating about the X-axis for rolling motion_xThe ship body moves along the Z axis to do a heave motion displacement s, and angle and displacement data are transmitted to the computer;

step three, building a hull model, simplifying the piling ship into a cuboid, taking the floating center of the piling ship as the center of a circle as a rectangular coordinate system, setting the positive direction of an X axis along the length direction of the hull, determining a Y axis and a Z axis through a right-hand rule, wherein the Y axis is along the width direction of the hull, and the positive direction of the Z axis is vertical to the deck of the piling ship and upwards;

step four, the computer receives the angle obtained by the software solution, when the ship body does pitching motion around the Y axis, the waterline of the ship in a static state is marked as MN, and when the piling ship rotates around the Y axis to do pitching motionOn the fly, the waterline is marked M₁N₁The volume of the water discharged from one end which inclines downwards around the Y axis can be measured to be V_yThe length of the piling ship is set as L, the width is set as b, and the inner diameter of the ballast water tank is set as a, omega_yIs M₁N₁The included angle between the floating center and MN and the ship side distance from the floating center to the positive X direction are L₂The ship side distance from the floating center to the positive Y direction is b₂Then entering water wedge volume V_yThe static moment of part of the water on the Y axis is:

the static moment of the water volume in the ballast water tank to the Y axis is as follows:

M₂＝πa²h_yg(L₂-a)；

the static moment of the water inlet wedge-shaped volume to the Y axis is equal to the static moment of the water quantity in the ballast water tank at one side to the Y axis, and then:

obtaining the downward movement displacement of the hydraulic cylinder at the downward inclined end of the ship body

Step five, marking the water line of the ship in a static state as M when the ship body does rolling motion around the X axis₂N₂When the ship is pitching with X-axis rotation, the waterline is marked M₃N₃，

ω_xIs M₂N₂And M₃N₃The volume of the water discharged from one end which inclines downwards around the X axis is V_xThen entering water wedge volume V_xThe static moment of part of the water on the X-axis is:

the static moment of the water volume in the ballast water tank to the X axis is as follows:

M₄＝πa²h_x(b₂-a)；

the static moment of the volume of the water inlet wedge on the X axis is equal to the static moment of the water quantity in the ballast water tank on one side on the X axis, and then:

obtaining the downward movement displacement of two hydraulic cylinders at one end of the ship body which inclines downwards

Step six, marking the waterline of the ship in a static state as M when the ship body does heave motion along the Z axis₄N₄When the piling ship rotates along the Z axis to do heaving motion, the waterline is marked as M₅N₅It is known that when the volume of the displacement of the hull to be reduced is Vz, Vz is bhs, and the volume of water to be discharged from the ballast water tank is V₁Then V is₁＝4πa²h_zThe volume Vz of the reduced displacement of the hull should then be equal to the volume V of water displaced in the ballast water tank₁I.e. bhs ═ 4 pi a²h_zTo obtain the downward movement displacement of the four hydraulic cylinders of the ship body

And step seven, calculating the distance between the water pressing plate and the top of the ballast water tank by using a computer, then respectively controlling the hydraulic cylinders to extend, discharging the water in the ballast water tank into the sea, and enabling the seawater to generate upward reaction force on the downward end of the ship body, so that the buoyancy of the piling ship is increased, and the posture of the piling ship is adjusted.

The method has the beneficial effects that: the method further calculates the distance required to be adjusted by the water pressing plate by the static moment of the water entering the wedge-shaped volume part on the ship body, thereby carrying out active compensation, eliminating the pitching and rolling of the piling ship, adapting to more severe sea condition environment and ensuring the piling quality.

The other technical problem to be solved by the invention is as follows: the method for accurately positioning and controlling the piling ship among different pile positions is provided.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the pile driving barge positioning control method comprises the following steps:

step one, installing two GPS signal receivers and a scanner on a ship body, and establishing an absolute coordinate system XOY and a ship-borne coordinate system X ' O ' Y ' in a plane;

secondly, the GPS signal receiver receives the coordinate information and combines a differential signal sent by a satellite base station to obtain the accurate position coordinate of the GPS signal receiver under an absolute coordinate system;

thirdly, obtaining a coordinate O (X) of the origin of the ship-associated coordinate system in the absolute coordinate system according to the position coordinate and the installation position of one GPS signal receiver_O,Y_O)；

Step four, obtaining the Y' direction of a ship-associated coordinate system according to the position coordinates of the two GPS signal receivers;

fifthly, towing the pile driving ship to an operation area and anchoring, measuring the angle of the anchor cable by an angle measuring instrument arranged at the connecting point of the anchor cable, and calculating each anchor distribution point (P) according to the release length of the anchor cable₁～P_n) The position coordinates in the absolute coordinate system XOY are respectively

Sixthly, positioning the center O coordinate of the ship body when the ship is in O (X)_O,Y_O) At the point, each anchor is connected to the hull at a point (Q)₁～Q_n) The coordinate under the absolute coordinate system XOY is Q_i(X_Qi,Y_Qi),i＝1,2,...,n；

Seventhly, in a ship-associated coordinate system X ' O ' Y ', according to each connecting point Q₁～Q_nAnd combining the position relation with the ship center O and the coordinate of the positioned O to obtain the coordinate of each connecting point under an absolute coordinate system XOY as follows:

step eight, setting the position of a target point of the vertical pile as T' (X)_T',Y_T') According to the in-position posture of the ship body, the position of the origin O' of the ship coordinate system when the piling ship is in position is obtained,

theta is the rotation angle of the ship body;

step nine, moving the piling ship from the point O to the point O', setting the movement duration of the ship body as a(s), and obtaining the movement speed in each direction as follows:

wherein v is_XThe moving speed of the ship body along the X direction under the absolute coordinate system,

v_Ythe moving speed of the ship body along the Y direction under the absolute coordinate system,

omega is the angular velocity of the hull rotation.

Step ten, when the ship body moves to the O' point, connecting points (Q) of each anchor and the ship body₁'～Q_n') coordinates in the absolute coordinate system of

Then at time t, Q_iThe coordinates of' are:

step eleven, calculating the length of the steel wire rope, wherein the water depth is h, and neglecting the sagging of the steel wire rope, the length L of the steel wire rope is calculated_i(i ═ 1, 2.., n) is:

twelfth, at the moment t, the cable retracting speed V of each anchor machine_i(i ═ 1, 2.., n) is:

and step thirteen, controlling the retraction speed of each anchor machine according to the obtained speed, and realizing the rapid and accurate movement of the piling ship.

The method has the beneficial effects that: the method for automatically controlling the movement of the ship body is adopted, so that the pile driving ship can quickly and accurately reach a target position, and the pile lifting efficiency and the pile driving precision are improved.

The method for automatically controlling the movement of the ship body can reduce the labor intensity of workers, and can quickly and accurately complete the operation of moving the ship body to the target position without experiential operators.

The method for automatically controlling the movement of the ship body is simple and efficient, is easy to realize the programming of automatic control software, is suitable for piling ships with different anchor numbers, and has wide application range;

the other technical problem to be solved by the invention is as follows: provides a piling method for accurately and safely piling by using the piling ship.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method of piling by a piling vessel, comprising the steps of:

firstly, towing a piling ship to a working area, and throwing down a positioning anchor; the transport ship for loading the vertical piles is in place;

lifting the pile frame, and ensuring the ship body to be horizontal in the pile frame lifting process by adopting the posture adjusting method of the pile driving ship;

determining the position of a ship body and the target position for loading the vertical pile according to a positioning system of the piling ship, and then controlling the piling ship to move to the target position for loading the vertical pile by adopting the method for positioning the piling ship;

fourthly, controlling a lifting hook winch to receive and release the steel wire rope, putting the lifting hook downwards onto a transport ship, and buckling the lifting hook on the vertical pile lifting lug;

fifthly, controlling a lifting hook winch to retract and release a steel wire rope, and lifting and erecting the vertical pile;

lifting the telescopic arm of the pile embracing device, driving the pile embracing unit by the main driving mechanism and drawing the pile embracing unit close to the vertical pile, and then moving the first clamping block and the second clamping block to tightly prop the vertical pile;

step seven, controlling the pile driving ship to move to the pile driving position of the vertical pile by adopting the pile driving ship movement positioning method; whether the position of the vertical pile has deviation or not is detected by the two scanners, and if the position and posture of the vertical pile have deviation, the small-range movement of the pile gripper can be controlled, so that the functions of correcting deviation and righting are achieved;

step eight, descending the hydraulic pile hammer by a certain height to enable the pile cap to be sleeved at the top end of the vertical pile, and controlling the inner wall jacking device and the outer wall jacking device of the variable-diameter pile cap to enable the pile cap to be attached to the vertical pile;

starting the hydraulic pile hammer, starting pile driving operation, detecting the mud penetration depth of the vertical pile after each hammering in real time through a detection system in the pile driving process, adjusting the hammering energy of the hydraulic pile hammer in real time according to a detection result, and then judging whether the condition of hammer rejection or pile slipping occurs or not according to the detection result; meanwhile, the posture adjusting system of the pile driving ship ensures that the ship body is not influenced by waves and keeps a horizontal state during working;

step ten, after hammering the vertical pile into a specified depth, retracting the pile gripper;

eleven, repeating the steps from three to ten until all the vertical piles in a group are filled with mud, and finishing pile group driving operation;

and step twelve, retracting the pile gripper, horizontally falling the pile frame, recovering the positioning anchor, and preparing to tow the pile driving boat to the next working area.

The method has the beneficial effects that: the method comprises the steps of positioning a ship body and a target position for loading a vertical pile, and then controlling the pile driving ship to move to the target position for loading the vertical pile by adopting a pile driving ship movement positioning method so as to facilitate hoisting of the vertical pile; the method can conveniently, accurately and automatically position the piling position and automatically adjust the pile position before piling, so that the piling precision is further improved, and the automation degree of the whole piling process is high.

Drawings

Figure 1 is a front view of a pile driving vessel of the invention.

Figure 2 is a bottom view of the piling vessel of the present invention.

Figure 3 is a side partial cross-sectional view of the piling vessel of the present invention.

Fig. 4 is a sectional view of the ballast water tank of the present invention.

FIG. 5 is a partial three-dimensional view of the portion A in FIG. 1

FIG. 6 is an enlarged view of a portion B of FIG. 5, showing a pile hammer braking device

FIG. 7 is a drawing of a winch brake

FIG. 8 is a cross-sectional view taken at C of FIG. 7

Fig. 9 is an overall position layout of the present invention.

Fig. 10 is a schematic perspective view of the present invention.

Fig. 11 is a schematic top view of the present invention.

Fig. 12 is a front view of the present invention.

Fig. 13 is a schematic perspective view of a pile embracing device according to the present invention.

Figure 14 is a side view of a pile embracing device according to the present invention.

Figure 15 is a side view of a telescopic boom of a pile embracing device according to the invention.

Figure 16 is a top view of a telescopic boom of a pile embracing device according to the invention.

Figure 17 is a top cross-sectional view of a telescoping arm of a pile embracing device in accordance with the present invention.

Fig. 18 is a schematic structural view of the variable-diameter pile cap according to the present invention.

Fig. 19 is a schematic structural diagram of the variable diameter pile cap cylinder according to the present invention.

Fig. 20 is a schematic structural diagram of the inner support mechanism of the variable-diameter pile cap according to the present invention.

Fig. 21 is a schematic structural diagram of the diameter-variable pile cap diameter-variable mechanism according to the present invention.

Fig. 22 is a schematic view of the pile frame of the present invention in operation;

fig. 23 is a schematic top view of the pile frame of the present invention;

fig. 24 is a schematic view of a first step of the first time frame falling of the pile frame of the present invention;

fig. 25 is a schematic view of the pile frame of the present invention taken over for the second time;

fig. 26 is a schematic view of a second collapse of the pile frame of the present invention;

fig. 27 is a schematic view of the horizontal position of the pile frame of the present invention.

Fig. 28 is an overall elevational view of the invention.

Fig. 29 is an overall top view of the present invention.

Fig. 30 is a partially enlarged view of a portion a in fig. 29.

Fig. 31 is a three-dimensional structure diagram of the initial position of the workbench according to the invention.

FIG. 32 is a top view of the table of the present invention in its starting position.

Fig. 33 is a perspective view showing the working position of the table of the present invention.

FIG. 34 is a top view of the table of the present invention in its operative position.

Figure 35 is a schematic view of a simplified pile driving vessel coordinate system.

Figure 36 is a schematic view of the pile driving vessel pitch coordinate system.

Figure 37 is a schematic view of the pile driving vessel roll coordinate system.

Figure 38 is a top view of the pile driving vessel.

Figure 39 is a front view of the piling vessel.

Figure 40 is a schematic view of the pile driving vessel in-vessel coordinate system.

Figure 41 is a schematic view of the pile driving vessel motion.

In FIGS. 1-41: 1, a ship body; 101-deck, 2-steel wire rope, 3-winch truck, 4-first brake device, 5-second brake device, 6-pile gripper, 7-pile cap, 8-automatic horizontal device, 9-lifting lug cutting device, 10-guide rail, 11-vertical pile and 12-pile frame; 13-pile hammer; 14-GPS signal receiver, 15-scanner, 16-anchor machine, 17-connecting plate, 18-ballast water tank, 181-water pressing plate, 182-propulsion unit, 183-hinged joint, 184-cushion pad, 185-sealing ring, 19-anchor cable connecting point and 20-radar wave meter;

41-oil cylinder; 42-oil cylinder support plate; 43-articulated shaft; 44-a middle plate; 45-brake pad; 46-a connecting rod; 47-speed sensor;

51-long tight side pins; 52-brake bracket; 53-screw motor, 54-lever plate; 55-tightening the edge pull plate; 56-brake screw; 57-edge loosening and plate pulling; 58-a nut; 59-upper brake band; 510-middle pin; 511-lower brake band; 512-loose edge pin; 513-a retaining ring; 514-a bushing; 515-set screw; 516-a drive sleeve; 517-straight-through type pressure filling oil cup; 518-hinged base; 519-short clinch edge pins;

in fig. 9 to 17: 61. the pile gripper comprises a pile gripper body, a pile gripper mechanism, a lifting servo screw rod mechanism, a lifting servo screw;

in fig. 18 to 21: 71-pile cap cylinder, 72-internal support mechanism, 73-diameter-changing mechanism, 74-annular base, 75-hydraulic pump and 76-conduit; 711-upper pile cap, 712-lower pile cap; 721, a bearing body, 722, a flange plate, 723, an upper hydraulic rod, 724, an inner supporting baffle, 725, a connecting rod and 726, connecting discs; 731-hydraulic cylinder, 732-external support positioning block.

In fig. 22 to 27: 811. a slideway, 812, a lower fixed point, 813, a main oil cylinder, 814, a front hinge point, 815, a rear hinge point, 816, an upper fixed point; 82. the hydraulic cylinder comprises a middle supporting mechanism, 821, a middle roller, 822, a triangular structural part, 823, a front bracket, 824, a short connecting rod, 825, an auxiliary cylinder, 826, a long connecting rod, 83, a tail supporting mechanism, 831, an imitated groove, 832, a tail triangular structural part, 833, a tail roller, 834, a bracket and 835, a tail hydraulic cylinder and a tail hydraulic cylinder; 84. a pin shaft seat.

In fig. 28 to 34: 91. a sliding table; 911-workbench hydraulic cylinder; 912-a limiting block; 913-a travel switch; 92. cutting the platform; 921-hydraulic pump station; 922-propane gas cylinders; 923-a battery; 924-a cutting module; 9241-first motor; 9242-second sliding seat; 9243-first sliding seat; 9244-laser sensor; 9245-second motor; 9246-automatic flame cutter; 93-cable, 94-slip winch.

Detailed Description

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1-8, 38 and 39, a pile driving vessel comprises a hull 1, four corners of the hull 1 are respectively provided with a buoyancy adjusting device, the lower surface of a deck 101 is connected with the buoyancy adjusting device, the buoyancy adjusting device comprises a ballast water tank 18 arranged on the hull 1 and a connecting plate 17 arranged on the lower surface of the deck 101, the connecting plate 17 is hinged with a propelling device 182 (a hydraulic cylinder is adopted in the place) arranged vertically and downwards, the bottom of the ballast water tank 18 is provided with a through hole communicated with the outside, a water pressing plate 181 is arranged on the liquid level in the ballast water tank 18, a sealing ring 185 is arranged between the water pressing plate 181 and the inner wall of the ballast water tank 18, the end part of the propelling device 182 penetrates through the top plate of the ballast water tank 18 to be hinged with the water pressing plate 181, the hull 1 is provided with a radar wave meter 20 for detecting the sea surface wave condition, the radar wave meter 20 is connected with a computer control system, and the radar wave meter 20 detects data to The required movement distance drives the hydraulic cylinder to drive the water pressing plate 181 to move up and down to drain water or intake water so as to control the floating state of the ship body 1; an upper scanner 15 and a lower scanner 15 for scanning the vertical piles 11 are arranged on the ship body 1, and GPS signal receivers 14 are arranged at two different positions on the ship body 1; the ship body 1 is provided with eight anchor machines 16 for anchoring at different positions, and the ship body 1 is provided with anchor cable connecting points 19 for guiding anchor chains; the ship body 1 is rotatably provided with a pile frame 12, the ship body 1 is provided with an automatic horizontal device 8 of the pile frame 12, the pile frame 12 is provided with a pile driving guide rail 10, a pile hammer 13 is movably arranged on the pile driving guide rail 10, the pile hammer 13 is provided with a first brake device 4 for limiting the position of the pile hammer on the pile driving guide rail 10, the upper part of the pile frame 12 is provided with a transition roller, the upper part of the pile hammer 13 is connected with a winch arranged on the ship body 1 through a steel wire rope 2, and the ship body 1 is provided with a second brake device 5 for controlling the steel wire rope 2 to pull the pile hammer 13 through braking a winch roller so as to realize braking; a pile cap 7 is arranged on the pile hammer 13, a pile gripper 6 for gripping the vertical pile 11 is arranged at the lower part of the pile frame 12,

as shown in fig. 5-6, the first brake device 4 includes two brake units respectively disposed on the pile hammer fixing plate near the guide rails 10 on both sides of the pile frame 12, the brake units include a cylinder support plate 42 disposed on the pile hammer fixing plate, a driving cylinder 41 is disposed on the cylinder support plate 42 along a direction perpendicular to the pile driving guide rail 10, an intermediate plate 44 parallel to a piston rod of the driving cylinder 41 is disposed on the pile hammer fixing plate between the driving cylinder 41 and the pile driving guide rail 10, an end of the intermediate plate 44 is hinged to a connecting rod 46, and an end of the piston rod of the driving cylinder 41 is hinged to the connecting rod 46 through a hinge shaft 43; the connecting rod 46 is provided with a brake block 45 which is matched with the piling guide rail 10 on the pile frame 12, the pile hammer fixing plate is provided with a speed sensor 47 which is electrically connected with the control device,

as shown in fig. 7-8, the second brake device 5 includes an arc-shaped upper brake band 59 engaged with the winch drum for winding the cable 2, an arc-shaped lower brake band 511 engaged with the winch drum, and a hinged base 518 disposed on the hull 1, wherein the ends of the upper brake band 59 and the lower brake band 511 are hinged via an intermediate pin 510, the hinged base 518 is hinged via a short tightening edge pin 519 to a tightening edge pulling plate 55, the upper end of the tightening edge pulling plate 55 is hinged to a triangular lever plate 54, and the tightening edge pulling plate 55 is hinged to the lever plate 54 via a long tightening edge pin 51. The upper end activity of lever plate 54 is equipped with drive cover 516, and drive cover 516 includes the body, rotates in the drive cover 516 body and is equipped with brake screw 56, is equipped with bush 514 on brake screw 56 between holding ring and retaining ring 513, the cover of drive cover 516 is established on bush 514, is equipped with the oiling mouth that radially link up on bush 514, and drive cover 516 inlays and is equipped with the straight-through pressure filling oil cup 517 with oiling mouth matched with. The brake screw 56 is provided with a positioning ring for positioning the driving sleeve 516, the brake screw 56 is sleeved with a check ring 513 which is matched with the positioning ring to limit the driving sleeve 516, and the check ring 513 is connected with the brake screw 56 through a set screw 515. The body is provided with a short shaft, and the lever plate 54 is hinged on the short shaft. The end of the brake screw 56 remote from the upper brake band 59 is provided with a screw motor 53.

The upper part of the outer edge of the upper brake band 59 is provided with a mounting frame, a nut 58 matched with the brake screw 56 is arranged in the mounting frame, the other end of the lever plate 54 is hinged with a loose edge pulling plate 57 through a loose edge pin 512, and the lower end of the loose edge pulling plate 57 is hinged with the end part of the lower brake band 511 close to the hinged base 518. The hull 1 is provided with a brake bracket 52 for supporting the lower brake band 511.

A control method of the pile slipping device based on the pile driving ship comprises the following steps:

the speed sensor 47 detects and feeds back the instantaneous speed of the pile hammer 13 to the control device in real time, when the fed back speed of the pile hammer 13 is less than or equal to the upper limit value V1 of the normal speed, the control device sends a signal of normal work, and the first brake device and the second brake device do not work; when the feedback speed of the pile hammer 13 is between the upper limit value V1 of the normal speed and a first braking speed value V2, the control device sends a signal to send an extending signal to the oil cylinder 41 of the first braking device on the pile hammer 13, so that the brake pad 45 is contacted with the guide rail 10 to realize braking; when the feedback speed of the pile hammer 13 is greater than a first brake speed value V2, a control signal sends an extending signal to an oil cylinder 41 of a first brake device on the pile hammer 13, so that a brake pad 45 is in contact with a guide rail 10 to realize braking, meanwhile, the control device sends a signal to a screw motor 53 of a second brake device, the screw motor 53 works and drives a brake screw 56 to rotate, the brake screw 56 moves under the action of internal threads of a nut 58, the brake screw 56 drives a lever plate 54 to move, the lever plate 54 drives an upper brake band 59 and a slack side pull plate 57 to move, the slack side pull plate 57 drives a lower brake band 511 to move, the upper brake band 59 and the lower brake band 511 are in contact with a winch roller to realize braking, meanwhile, the control device sends a signal to a frequency modulator of the winch, and the frequency modulator sends a signal for reducing the rotating speed to the winch motor to realize the self-.

As shown in fig. 9-17, the telescopic pile gripper 6 of the pile driving apparatus includes two pile gripping devices 61 arranged in a straight line up and down on the bottom of the pile frame 12, and a horizontal mounting wing seat is arranged on the pile frame 12 at the position where the pile gripping devices 61 are arranged; the pile embracing device 61 comprises pile embracing units which are arranged on the two side mounting wing seats in a relatively sliding manner, and two groups of main driving mechanisms 62 for driving the pile embracing units to slide are symmetrically arranged on the mounting wing seats; the main driving mechanism 62 includes a screw 621 arranged on the mounting wing seat and a servo motor 622 driving the screw 621 to rotate, the base 611 of the pile embracing unit is sleeved on the screw 621 through a threaded hole on the base 611, and pile embracing limiting blocks 624 are respectively arranged on two sides of the base 611 on the mounting wing seat.

The pile embracing unit comprises a base 611 clamped on a mounting wing seat of the pile frame 12, a guide polish rod 623 is arranged on the lower surface of the mounting wing seat, and a matched guide hole is formed in the base 611 of the pile embracing unit. A telescopic arm 612 which rotates up and down is hinged on the base 611, a sliding block 614 which moves up and down and a lifting servo screw rod mechanism 615 which drives the sliding block 614 to slide are arranged on the base 611, a supporting rod 613 which moves along with the sliding block to drive the telescopic arm 612 to rotate between the vertical direction and the horizontal direction is hinged on the sliding block 614, and the end part of the supporting rod 613 is hinged with the telescopic arm 612; the telescopic arm 612 comprises a connecting seat hinged to the base 611, a telescopic arm fixing section 6121 is arranged on the connecting seat, a first hydraulic cylinder 6122 for driving a movable section 6123 of the telescopic arm 612 to do telescopic motion is arranged on the telescopic arm fixing section 6121, a triangular first clamping block 6124 for clamping the vertical pile is arranged on the telescopic arm fixing section 6121 in a sliding mode, a second hydraulic cylinder 6126 is arranged on the connecting seat, the end portion of a piston rod of the second hydraulic cylinder 6126 is connected with the first clamping block 6124, a second clamping block 6125 for clamping the vertical pile is hinged to the portion, exposed out of the fixing section 121, of the movable section 6123, and a third hydraulic cylinder 6127 for driving the second clamping block 6125 to rotate is arranged on the movable section 6123.

When the pile driving device works, the two pile holding devices 61 are located at the position with the largest stroke distance, the sliding block 614 is located at the position with the lowest stroke position, the telescopic arm 612 is in an inclined descending state, the second clamping block 6125 is retracted into the telescopic arm, after the vertical pile 11 is hoisted to the corresponding position to be in place, the lifting servo screw rod mechanism 615 operates, the sliding block 614 is lifted to the position with the highest stroke position, and the supporting rod 613 is driven to move to lift the telescopic arm 612 to the horizontal position; then, the main driving mechanism 62 works, the two sets of lead screws 621 drive the two pile embracing devices 61 to move to a proper position towards the center, the third hydraulic cylinder 6127 pushes the second clamping block 6125 to rotate to a specified position, then the first hydraulic cylinder 6122 contracts to retract the movable section of the telescopic arm, the second hydraulic cylinder 6126 extends to push the first clamping block to move, under the combined action of the two hydraulic cylinders, each clamping block is in contact with the vertical pile 11, the initial angle of the vertical pile 11 entering mud is adjusted through the horizontal position control of each pile embracing unit of the upper pile embracing device and the lower pile embracing device, the deviation rectification and the centering of the vertical pile can be realized, and a centering guide support is provided for the vertical pile 11 in the sinking process.

After the vertical pile 11 enters the mud and before the pile driving by the drop hammer is started, the first clamping blocks 6124 retract under the action of the second hydraulic cylinder 6126, the movable sections 6123 of the telescopic arms extend outwards under the pushing of the first hydraulic cylinder 6122, so that the clamping blocks are separated from the vertical pile 11, and then the pile driving operation by the drop hammer is started. After the pile driving is finished, the second clamping block 6125 is retracted into the telescopic arm under the action of the third hydraulic cylinder 6127, the pile driving hull can move backwards to withdraw the space where the vertical pile 11 is located, and particularly, when pile grouping operation is carried out, the pile gripper is prevented from colliding with adjacent vertical piles which are driven completely. And repeating the processes to carry out pile embracing operation after the next vertical pile 11 is in place. For the vertical piles with different diameters, the transverse position of the pile embracing device 61 and the positions of the clamping blocks are adjusted by comprehensively controlling the main driving mechanism 62, the first hydraulic cylinder 6122 and the second hydraulic cylinder 6126, so that the packing operation of the vertical piles with different diameters is realized.

After the pile driving operation is finished, the telescopic arm 612 is inclined and laid down under the action of the lifting servo screw rod mechanism 615, so that the gravity center of the pile embracing device is lowered after the pile frame is wholly laid down in the non-operation time of the pile driving ship, and the safety is enhanced.

As shown in fig. 18-21, the pile cap 7 includes a pile cap cylinder 71, and the pile cap cylinder 71 includes an upper pile cap 711 and a lower pile cap 712 having a substantially cylindrical shape; an inner supporting mechanism 72 for supporting the inner side face of a vertical pile is arranged in an upper pile cap 711 of the pile cap cylinder 71, an annular base 74 is arranged at the lower part of the pile cap cylinder 71, at least three diameter-changing mechanisms 73 for supporting the outer side face of the vertical pile are uniformly distributed on the annular base 74 in the circumferential direction, an avoiding through hole is formed in the position, corresponding to the diameter-changing mechanisms 73, on the side wall of a lower pile cap 712 of the pile cap cylinder 71, each diameter-changing mechanism 73 comprises a hydraulic cylinder 731 arranged on the annular base 74 and an outer supporting positioning block 732 arranged at the end part of a piston rod of the hydraulic cylinder 731 and; the avoidance hole is provided with a guide sleeve, and the outer support positioning block 732 is provided with a guide part matched with the inner wall of the guide sleeve.

The inner supporting mechanism 72 comprises a supporting body 721 connected with the pile cap cylinder 71, a plurality of sliding grooves radiating outwards from the center are uniformly distributed on the lower surface of the supporting body 721, an inner supporting baffle 724 matched with the inner surface of the vertical pile is movably clamped in the sliding grooves, a flange plate 722 is arranged in the center of the lower part of the supporting body 721, an upper hydraulic rod 723 arranged vertically and downwards is arranged on the flange plate 722, a connecting disc 726 is arranged at the lower end part of the upper hydraulic rod 723, a connecting rod 725 is hinged on the connecting disc 726, and the end part of the connecting rod 725 is hinged with the inner supporting; the annular base 74 is provided with a hydraulic pump 75, and the hydraulic pump 75 is connected with the hydraulic cylinder 731 and the upper hydraulic rod 723 through a conduit 76.

When the variable-diameter pile cap is constructed, the pile cap cylinder 71 is sleeved on a vertical pile; then, an upper hydraulic rod 723 drives the inner support mechanism 72 to change the diameter so that the inner support baffle 724 is attached to the inner surface of the vertical pile; then the hydraulic cylinder 731 drives the reducing mechanism 73 to enable the outer support positioning block 732 to be attached to the outer surface of the vertical pile.

As shown in fig. 22-27, the pile driver pile frame automatic lying device comprises a middle supporting mechanism 82 and a tail supporting mechanism 83 hinged on a ship body 1, and a slide 811 obliquely arranged on a pile frame 12, wherein a movable block is arranged in the slide 811, a main cylinder 813 is hinged on the ship body 1, the end part of a piston rod of the main cylinder 813 is hinged with the movable block, the two ends of the slide 811 are respectively provided with an upper fixed point 816 and a lower fixed point 812 for fixing the movable block, a pile frame front hinge point 814 and a rear hinge point 815 are arranged on the ship body 1, when the pile frame 12 is hinged at the front hinge point 814 and the movable block is fixed at the lower fixed point 812, a piston rod of the main cylinder 813 extends out to enable the pile frame 12 to be in a vertical state;

the middle supporting mechanism 82 comprises a front support 823, a triangular structural member 822 is hinged to the front support 823, a middle roller 821 matched with the pile frame 12 is arranged at an upper end angle of the triangular structural member 822, a long connecting rod 826 is hinged to one side, far away from the pile frame 12, of the front support 823 on the ship body 1, a short connecting rod 824 is hinged to the end portion of the long connecting rod 826, the end portion of the short connecting rod 824 is hinged to one angle of the triangular structural member 822, an auxiliary oil cylinder 825 driving the long connecting rod 826 and the short connecting rod 824 to rotate is hinged to the ship body 1, and the end portion of a piston rod of the auxiliary oil cylinder 825 is hinged; when the piston rod of the auxiliary cylinder 825 extends out and the movable block of the pile frame 12 is positioned at the lower fixed point 812 and the main cylinder 813 retracts, the middle roller 821 is in contact with the pile frame 12, at this time, the connection between the lower fixed point 812 and the movable block is released, then the piston rod of the main cylinder 813 extends out to drive the movable block to move to the upper fixed point 816 and be fixed, and the pile frame 12 rotates downwards in the state until the middle roller 821 is in a state of supporting the pile frame 12 in the process of lying state;

the tail supporting mechanism 83 comprises a tail support 834, a support block for supporting the laid pile frame 12 is arranged on the tail support 834, an imitated groove 831 matched with the pile frame 12 is arranged on the support block, a tail triangular structural member 832 is hinged on the tail support 834, a tail roller 833 matched with the pile frame 12 is arranged at an upper end corner of the tail triangular structural member 832, and the other corner of the tail triangular structural member 832 is hinged with a tail hydraulic cylinder 835 which is hinged on the ship body 1 and drives the tail triangular structural member to rotate; when the piston rod of the tail hydraulic cylinder 835 extends out, the piston rod of the auxiliary cylinder 825 retracts, and the movable block of the pile frame 12 is positioned at the upper fixed point 816 and the main cylinder 813 retracts, the tail roller 833 is contacted with the pile frame 12, at the moment, the hinge shaft of the front hinge point 814 is removed, and the pile frame 12 is hinged with the pin shaft seat 84 at the rear hinge point 815 through the pin shaft; the tail roller 833 is in a state of supporting the pile frame 12 in the process of the pile frame 12 rotating downwards in the above state until the lying state.

Taking pile frame laying as an example, the operation method of the device comprises the following steps:

(1) the pile frame is tilted backwards to be attached to the upright middle supporting mechanism (from the figure 22 to the figure 24): fig. 22 shows the pile frame in operation, when the pile frame is reversed, the piston rod of the slave cylinder 825 extends to drive the short connecting rod 824 and the long connecting rod 826 to rotate, the short connecting rod 824 drives the triangular structural member 822 to rotate, and when the short connecting rod 824 and the long connecting rod 826 are moved to be collinear, the intermediate support mechanism 82 reaches the connecting rod dead point position, and locks the slave cylinder 825 at this time. The intermediate support mechanism 82 is now in an attitude adjusted to support the rearwardly inclined pile frame 12. Then the piston rod of the main cylinder 813 contracts to drive the pile frame 12 to rotate along the front hinge point 814 until the pile frame 12 is attached to the roller 821 of the middle supporting mechanism.

(2) The main oil cylinder 813 changes the hinge point: (change from fig. 24 to fig. 25): the middle supporting mechanism 82 supports the pile frame 12 at the moment, and then the main oil cylinder 813 twists to the upper fixing point 816 along the twisting slide 811, so that the twisting point changing operation is completed.

(3) The stake is dumped to the lower anchor point 812 coincident with the pin shaft seat 84 (from fig. 25 to fig. 26): after the change of the pivot is completed, the secondary cylinder 825 is retracted, and the pile frame 12 is laid down to the lower fixed point 812 and overlapped with the pin shaft seat 84 through the link mechanism consisting of the short link 824, the long link 826 and the triangular structural member 822. In the process of laying down, the pile frame 12 is always in tangential contact with the roller 821 under the action of gravity, and the main oil cylinder 813 plays a role in auxiliary support in the process; when the sub-cylinder 825 starts to operate, the tail supporting mechanism 83 also starts to operate, the piston rod of the tail hydraulic cylinder 835 extends to drive the tail triangular structural member 832 to rotate to the posture as shown in fig. 5, the tail supporting mechanism 83 completes the posture adjustment firstly, finally, the lower fixed point 812 is closed with the pin shaft seat 84 under the motion of the sub-cylinder 825, and then the pin of the front hinge point 814 is taken out and the pin of the rear hinge point 815 is put in through the automatic hydraulic pin taking and placing device.

(4) The pile frame is continuously laid down to the horizontal state (from fig. 26 to fig. 27): the tail hydraulic cylinder 835 contracts, the auxiliary oil cylinder 825 assists in supporting, the pile frame 12 can be in tangent contact with the roller 833 all the time under the action of gravity, when the tail hydraulic cylinder 835 contracts, the pile frame 12 can rotate along the rear hinge point 815 under the action of gravity until the pile frame 12 rotates to be attached to the profiling groove 831, and at the moment, the pile frame 12 is completely laid flat.

The process of changing the pile frame from the horizontal state to the vertical state is the reverse process of automatically leveling the pile frame, namely the process from the step (4) to the step (1), and will not be described in detail herein.

As shown in fig. 28-34, the hull 1 is further provided with a lifting lug cutting device 9 for automatically cutting the pile lifting lugs, the lifting lug cutting device comprises a sliding table 91 arranged on the guide rail 10 of the pile frame 12, and the hull is provided with a power device for driving the sliding table 91 to move up and down; the power device comprises a guide pulley arranged on the pile frame 12, a cable 93 is arranged on the sliding table 91, and the cable is connected with a sliding table winch 94 arranged on the ship body 1 by bypassing the guide pulley.

A cutting platform 92 rotating around a vertical axis and a workbench hydraulic cylinder 911 driving the cutting platform 92 to rotate are arranged on the sliding table 91, and a hydraulic pump station 921 connected with the workbench hydraulic cylinder 911 and a cutting module 924 are arranged on the cutting platform 92; a limiting block 912 is arranged on the sliding table 91, a travel switch 913 matched with the cutting platform 92 is arranged on the limiting block 912, and the travel switch 913 is triggered after the cutting platform 92 rotates in place in the direction close to the vertical pile 11;

the cutting module 924 includes a first sliding seat 9243 arranged along the line direction between the pile 11 and the pile frame 12, and a first driving mechanism for driving the first sliding seat 9243, where the first driving mechanism is a first screw mechanism driven by a first motor 9241. The first sliding seat 9243 is provided with a second sliding seat 9242 sliding along a direction perpendicular to the moving direction of the first sliding seat 9243 and a second driving mechanism for driving the second sliding seat 9242, and the second driving mechanism is a second screw mechanism driven by a second motor 9245. The cutting platform 92 is provided with a battery 923 for supplying power to the first motor 9241 and the second motor 9245. The second sliding seat 9242 is provided with a laser sensor 9244, the second sliding seat 9242 is also provided with an automatic flame cutting machine 9246 with a cutting nozzle moving up and down, and the cutting platform 92 is provided with a propane gas tank 922 for supplying gas to the automatic flame cutting machine 9246.

The working process of the automatic cutting vertical pile lifting lug device of the offshore pile driving barge comprises the following steps:

as shown in fig. 28-29, the pile frame hydraulic cylinder supports the pile frame 12 to stand, when the vertical pile 11 reaches a designated position, the vertical pile is fixed by the pile gripper 6, the length of each vertical pile is basically the same, the position of the pile gripper 6 for fixing the vertical pile each time is basically the same, and the position of a lifting lug on the vertical pile 11 is relatively fixed;

as shown in fig. 30-32, at this time, the slipway winch 94 pulls the cutting platform 92 through the cable 93, the slipway 91 carries the cutting platform 92 to move up and down along the guide rail 10, because the position of the pile gripper is fixed, the position of the pile relative to the pile gripper is relatively fixed, and the position of a lifting lug on the pile is also fixed, the workbench takes the pile gripper as a reference, the workbench is quickly positioned to the position of the pile gripper above, and then the pile gripper is lifted for a certain distance to initially position the lifting lug, and the position of a cutting nozzle of the automatic flame cutting machine 9246 is above the lifting lug;

referring to fig. 33-34, the cutting platform 92 is rotated by the worktable hydraulic cylinder 911, and the hydraulic pump station 921 provides a power source for the worktable hydraulic cylinder 911; a limiting block 912 is fixed on the sliding table 91, a travel switch 913 is installed in the limiting block 912, when the workbench hydraulic cylinder 911 acts to drive the cutting platform 92 to rotate, the limiting block 912 is touched, the travel switch 913 is pressed into the limiting block, and at this time, the hydraulic cylinder stops rotating and performs backflow pressure maintaining; the cutting platform 92 rotates to the vicinity of the working position, the initial position of the cutting nozzle of the automatic flame cutting machine 9246 is set right in front of the center line of the vertical pile, and meanwhile, the laser sensor 9244 is also positioned right in front of the center line of the vertical pile;

as shown in fig. 33, the laser sensor 9244 starts to work, the second motor 9245 of the cutting module controls the slider of the screw mechanism to drive the laser sensor 9244 to move to a side far away from the guide rail 10, when the laser sensor 9244 fails to receive a signal, the second motor 9245 of the cutting module stops working, the first motor 9241 of the cutting module starts to work, the cutting nozzle of the automatic flame cutting machine 9246 reaches the cutting position, then the cutting machine automatically ignites to perform cutting work, the cutting stroke of the cutting machine is set, the cutting machine stops working after the stroke is finished, and the propane gas tank 922 provides fuel for the automatic flame cutting machine 9246. The position of the lifting lug on the stake 11 may not be directly opposite the automatic flame cutter 9246, but the range of the lifting lug swing is limited, so no deviation correcting device is needed, and the cutting still can obtain a high-quality cut. A battery 923 provides power to the motor. The cutting of the other lifting lugs on the stake is similar to that described above.

As shown in fig. 35 to 37, the method for adjusting the attitude of the pile driving vessel includes the steps of:

step four, the computer receives the angle obtained by the software solution, when the ship body does pitching motion around the Y axis, the waterline of the ship in a static state is marked as MN, and when the piling ship rotates around the Y axis to do pitching motion, the waterline is marked as M₁N₁The volume of water discharged from one end which is inclined downwards around the Y axis can be measured asV_yThe length of the piling ship is set as L, the width is set as b, and the inner diameter of the ballast water tank is set as a, omega_yIs M₁N₁The included angle between the floating center and MN and the ship side distance from the floating center to the positive X direction are L₂The ship side distance from the floating center to the positive Y direction is b₂Then entering water wedge volume V_yThe static moment of part of the water on the Y axis is:

M₂＝πa²h_yg(L₂-a)；

M₄＝πa²h_x(b₂-a)；

As shown in fig. 38-41, the method of positioning the pile driving vessel in motion includes the steps of:

fifthly, towing the pile driving ship to an operation area and anchoring, measuring the angle of the anchor cable by an angle measuring instrument arranged at the connecting point of the anchor cable, and calculating eight anchor distribution points (P) according to the release length of the anchor cable₁～P₈) The position coordinates in the absolute coordinate system XOY are respectively

Sixthly, positioning the center O coordinate of the ship body when the ship is in O (X)_O,Y_O) At point, eight anchor and hull connection points (Q)₁～Q_n) The coordinates in the absolute coordinate system XOY are

Seventhly, in a ship-associated coordinate system X ' O ' Y ', according to the eight connecting points Q₁～Q₈And the position relation with the ship center O, and the coordinates of the positioned O are combined to obtain the coordinates of the eight connecting points under an absolute coordinate system XOY as follows:

theta is the rotation angle of the ship body;

omega is the angular velocity of the hull rotation.

Step ten, when the ship body moves to the point O', connecting points (Q) of eight anchors and the ship body₁'～Q_n') coordinates in the absolute coordinate system of

Then at time t, Q_iThe coordinates of' are:

step eleven, calculating the length of the steel wire rope, wherein the water depth is h, and neglecting the sagging of the steel wire rope, the length L of the steel wire rope is calculated_i(i ═ 1,2,.., 8) is:

step twelve, at the moment t, the cable retracting speeds V of the eight anchor machines_i(i ═ 1,2,.., 8) is:

and step thirteen, controlling the retraction speeds of the eight anchor machines according to the obtained speed, and realizing the rapid and accurate movement of the piling ship.

A method of piling by a piling vessel, comprising the steps of:

lifting the pile frame 12, and ensuring the ship body to be horizontal in the process of lifting the pile frame 12 by adopting the method of the pile driving ship;

determining the position of a ship body and the target position of the loading vertical pile 11 according to a positioning system of the piling ship, and then controlling the piling ship to move to the target position of the loading vertical pile 11 by adopting the pile ship movement positioning method;

fourthly, controlling a lifting hook winch to receive and release the steel wire rope, putting the lifting hook downwards onto a transport ship, and buckling the lifting hook on the lifting lug of the vertical pile 11;

fifthly, controlling a lifting hook winch to retract and release the steel wire rope, and lifting and erecting the vertical pile 11;

lifting the telescopic arm of the pile embracing device 6, driving the pile embracing unit by the main driving mechanism and drawing the pile embracing unit close to the vertical pile 11, and then moving the first clamping block and the second clamping block to tightly prop the vertical pile 11;

seventhly, controlling the pile driving ship to move to the pile driving position of the vertical pile 11 by adopting the pile driving ship movement positioning method; if the vertical pile 11 has position and attitude deviation, the small-range movement of the pile gripper 6 can be controlled, and the functions of correcting deviation and righting are achieved;

step eight, descending the hydraulic pile hammer 13 by a certain height to enable the pile cap 7 to be sleeved at the top end of the vertical pile 11, and controlling the inner wall jacking device and the outer wall jacking device of the diameter-variable pile cap 7 to enable the pile cap 7 to be attached to the vertical pile 11;

starting the hydraulic pile hammer 13, starting pile driving operation, detecting the mud penetration depth of the vertical pile 11 after each hammering in real time through a detection system in the pile driving process, adjusting the hammering energy of the hydraulic pile hammer 13 in real time according to a detection result, and then judging whether the condition of hammer rejection or pile slipping occurs or not according to the detection result; meanwhile, the posture adjusting system of the pile driving ship ensures that the ship body is not influenced by waves and keeps a horizontal state during working;

step ten, after hammering the vertical pile into a specified depth, retracting the pile gripper 6;

eleven, repeating the steps from three to ten until all the vertical piles 11 in a group are filled with mud, and finishing pile group driving operation;

and step twelve, retracting the pile gripper 6, laying down the pile frame 12, recovering the positioning anchor, and preparing to tow the piling ship to the next working area.

The above-mentioned embodiments are merely illustrative of the principles and effects of the present invention, and some embodiments may be used, not restrictive; it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications belong to the protection scope of the present invention.

Claims

1. A pile driving ship comprises a ship body, wherein a pile frame is hinged to a ship bow, a pile hanging device is arranged on the ship bow, a pile driving device and a pile embracing device are arranged on the pile frame, the pile driving device comprises a pile driving guide rail arranged on the pile frame, a pile hammer is movably arranged on the pile driving guide rail, and the bottom of the pile hammer is connected with a pile cap; be equipped with swift current stake arresting gear on the hull, its characterized in that: the ship body attitude adjusting system comprises at least four buoyancy adjusting devices which are symmetrically distributed below a deck and used for adjusting the buoyancy state of the ship body, and a radar wave meter arranged on the ship body; the buoyancy adjusting device comprises a water ballast tank arranged on the ship body and a connecting plate arranged on the lower surface of the deck, a propelling device vertically and downwards arranged is hinged on the connecting plate, a through hole communicated with the outside is formed in the bottom of the water ballast tank, a water pressing plate is arranged on the liquid level in the water ballast tank, and the end part of the propelling device penetrates through a top plate of the water ballast tank and is hinged with the water pressing plate; the radar wave meter is connected with the computer control system, and the required movement distance of each propulsion device is calculated through the detection data of the radar wave meter so as to drive the water pressing plate to move up and down for water drainage or water inflow to control the floating state of the ship body; the positioning control system comprises a GPS signal receiver which is connected with the computer control system and is arranged at two different positions on the ship body, and an anchor machine which is connected with the computer control system and is arranged on the ship body and is used for anchoring at least four different positions; the ship body is correspondingly provided with anchor cable connecting points arranged at the end angles of the ship body, and the anchor cable connecting points are provided with angle gauges for measuring the angles of the anchor cables, which are connected with a computer control system; the computer control system obtains the position information of the ship body through the GPS signal receiver, and establishes an absolute coordinate system and a ship-associated coordinate system, so as to further calculate the real-time position information of each anchor and the ship body connecting point in the absolute coordinate system and the length of each anchor cable when the ship body moves, and finally obtain the retraction and release speed of each anchor machine to control the movement of the ship body, wherein the pile caps are variable-diameter pile caps; the variable-diameter pile cap comprises a pile cap barrel arranged on a pile hammer, an inner supporting mechanism for supporting the inner side surface of a vertical pile is arranged in the pile cap barrel, an annular base is arranged at the lower part of the pile cap barrel, at least three reducing mechanisms for supporting the outer side surface of the vertical pile are circumferentially and uniformly distributed on the base, an avoiding through hole is formed in the position, corresponding to the reducing mechanism, of the side wall of the pile cap barrel, and the reducing mechanism comprises a hydraulic cylinder with adjustable stroke and an outer supporting positioning block, wherein the hydraulic cylinder is arranged on the base, and the outer supporting positioning block is arranged at the end part of a;

2. Pile driving vessel according to claim 1, wherein: the pile embracing device comprises two pile embracing devices which are arranged at the bottom of a pile frame in a straight line up and down, and a horizontal installation wing seat is arranged at the position where the pile embracing devices are arranged on the pile frame; the pile embracing device comprises pile embracing units which are arranged on the two side mounting wing seats in a relative sliding manner, and a main driving mechanism for driving the pile embracing units to slide is arranged on the mounting wing seats; the hull is provided with an upper scanner and a lower scanner for scanning the vertical piles.

3. Pile driving vessel according to claim 2, wherein: embrace a pile unit including setting up the base on pile frame installation wing seat, articulated on the base have flexible arm of upper and lower pivoted and drive flexible arm pivoted rotary power unit, flexible arm includes the connecting seat with base looks articulated, be equipped with flexible arm canned paragraph on the connecting seat, be equipped with the first pneumatic cylinder of the flexible section concertina movement of the flexible arm of drive on the flexible arm canned paragraph, it is equipped with the first clamp splice of centre gripping stumpage to slide on the flexible arm canned paragraph, be equipped with the second pneumatic cylinder on the connecting seat, the tailpiece of the piston rod portion of second pneumatic cylinder is connected with first clamp splice, it has the second clamp splice of centre gripping stumpage to articulate on the part that the canned paragraph exposes the canned paragraph, be equipped with the third pneumatic cylinder of drive second clamp splice pivoted on the live section.

4. Pile driving vessel according to claim 3, wherein: the rotary power mechanism comprises a sliding block which is arranged on the base and moves up and down and a lifting servo lead screw mechanism which drives the sliding block to slide, a supporting rod which moves along with the sliding block to drive the telescopic arm to rotate between the vertical direction and the horizontal direction is hinged to the sliding block, and the end part of the supporting rod is hinged to the telescopic arm.

5. Pile driving vessel according to claim 2, wherein: the main driving mechanism comprises a lead screw arranged on the mounting wing seat and a servo motor driving the lead screw to rotate, the base of the pile embracing unit is sleeved on the lead screw through a threaded hole in the base, and pile embracing limiting blocks are respectively arranged on two sides of the base on the mounting wing seat.

6. Pile driving vessel according to claim 1, wherein:

the inner support power mechanism comprises a plurality of sliding grooves which are uniformly distributed on the lower surface of the supporting body and radiate outwards from the center, the inner support baffle is movably clamped in the sliding grooves, a flange is arranged in the center of the lower part of the supporting body, an upper hydraulic rod which is vertically arranged downwards is arranged on the flange, a connecting disc is arranged at the lower end part of the upper hydraulic rod, a connecting rod is hinged on the connecting disc, and the end part of the connecting rod is hinged with the inner support baffle; the annular base is provided with a hydraulic pump which is connected with the hydraulic cylinder and the upper hydraulic rod through a guide pipe.

7. Pile driving vessel according to claim 1, wherein: and the hull is provided with an automatic pile frame horizontal device.

8. Pile driving vessel according to claim 7, wherein: the pile frame automatic horizontal device comprises a middle supporting mechanism and a tail supporting mechanism which are hinged on a ship body, and a slide way which is arranged on the pile frame in an inclined mode, wherein a movable block is arranged in the slide way, a main oil cylinder is hinged on the ship body, the end part of a piston rod of the main oil cylinder is hinged with the movable block, the two ends of the slide way are respectively provided with an upper fixed point and a lower fixed point for fixing the movable block, a front hinge point and a rear hinge point of the pile frame are arranged on the ship body, and when the pile frame is hinged at the front hinge point and the movable block is fixed at the lower fixed point, a piston rod of the main oil cylinder extends;

9. Pile driving vessel according to claim 8, wherein: the middle supporting mechanism comprises a support, a triangular structural part is hinged to the support, a middle roller matched with the pile frame is arranged at an end angle of the upper part of the triangular structural part, a long connecting rod is hinged to one side, away from the pile frame, of the support on the ship body, a short connecting rod is hinged to the end part of the long connecting rod, the end part of the short connecting rod is hinged to one angle of the triangular structural part, an auxiliary oil cylinder driving the long connecting rod and the short connecting rod to rotate is hinged to the ship body, and the end part of a piston rod of the auxiliary oil cylinder; when the piston rod of the auxiliary oil cylinder extends out and the movable block of the pile frame is positioned at the lower fixed point and the main oil cylinder retracts, the middle roller wheel is contacted with the pile frame, the short connecting rod and the long connecting rod are collinear, at the moment, the connection between the lower fixed point and the movable block is released, then the piston rod of the main oil cylinder extends out to drive the movable block to move to the upper fixed point and be fixed, and the pile frame rotates downwards in the state until the middle roller wheel is in the state of supporting the pile frame in the process of lying state.

10. Pile driving vessel according to claim 8, wherein: the tail supporting mechanism comprises a support, a supporting block for supporting the laid-down pile frame is arranged on the support, an imitated groove matched with the pile frame is formed in the supporting block, a tail triangular structural part is hinged to the support, a tail roller matched with the pile frame is arranged at an end angle of the upper portion of the tail triangular structural part, and the other angle of the tail triangular structural part is hinged to a tail hydraulic cylinder which is hinged to the ship body and drives the tail hydraulic cylinder to rotate; when the piston rod of the tail hydraulic cylinder extends out, the piston rod of the auxiliary oil cylinder retracts, and the movable block of the pile frame is positioned at the upper fixed point and the main oil cylinder retracts, the tail roller wheel is contacted with the pile frame, at the moment, the hinged shaft of the front hinge point is removed, and the pile frame is hinged with the pin shaft seat at the rear hinge point through a pin shaft; the pile frame rotates downwards in the state until the tail roller is in the state of supporting the pile frame in the process of lying state.

11. Pile driving vessel according to claim 1, wherein: and the pile frame is provided with a lifting lug automatic cutting device.

12. Pile driving vessel according to claim 11, wherein: the automatic lifting lug cutting device comprises a sliding table arranged on the piling guide rail, and a power device for driving the sliding table to move up and down is arranged on the pile frame; the cutting platform is provided with a hydraulic pump station connected with the workbench hydraulic cylinder and a cutting module; a limiting block is arranged on the sliding table, a travel switch matched with the cutting platform is arranged on the limiting block, and the cutting platform can trigger the travel switch after rotating in place in the direction close to the vertical pile; the cutting module comprises a first sliding seat and a first driving mechanism, the first sliding seat is arranged along the connecting line direction of the vertical pile and the pile frame, the first driving mechanism drives the first sliding seat, the first sliding seat is provided with a second sliding seat which slides along the movement direction of the first sliding seat perpendicular to the first sliding seat and a second driving mechanism which drives the second sliding seat, the second sliding seat is provided with a laser sensor, the second sliding seat is also provided with an automatic flame cutting machine with a cutting nozzle moving up and down, and the cutting platform is provided with a propane gas tank which supplies gas to the automatic flame cutting machine.

13. Pile driving vessel according to any of claims 1-12, wherein: the pile slipping brake device comprises a first brake device arranged on the pile hammer and used for limiting the position of the pile hammer on the pile driving guide rail, and a second brake device arranged on the ship body and used for controlling the steel wire rope to pull the pile hammer to realize braking by braking the winch drum, wherein the upper part of the pile frame is provided with a transition roller, and the upper part of the pile hammer is connected with a winch arranged on the ship body through the steel wire rope.

14. Pile driving vessel according to claim 13, wherein: the first brake device comprises two brake units which are respectively arranged on a pile hammer fixing plate and close to guide rails on two sides of a pile frame, each brake unit comprises a driving oil cylinder which is arranged on the pile hammer fixing plate and is arranged along the direction vertical to the piling guide rail, an intermediate plate which is parallel to a piston rod of the driving oil cylinder is arranged on the pile hammer fixing plate between the driving oil cylinder and the piling guide rail, the end part of the intermediate plate is hinged with a connecting rod, and the end part of the piston rod of the driving oil cylinder is hinged with the connecting rod; the connecting rod is provided with a brake pad matched with the piling guide rail on the pile frame, and the pile hammer fixing plate is provided with a speed sensor electrically connected with the control device.

15. Pile driving vessel according to claim 14, wherein: the second brake device comprises an arc-shaped upper brake band matched with a winch drum for winding a steel wire rope, an arc-shaped lower brake band matched with the winch drum, and a hinged base arranged on the ship body, wherein the end parts of the upper brake band and the lower brake band are hinged, the hinged base is hinged with a tightening pull plate, the upper end of the tightening pull plate is hinged with a triangular lever plate, the hinged part of the lever plate on the tightening pull plate is hinged with an upper brake band, the upper end of the lever plate is movably provided with a driving sleeve, a brake screw is arranged in the driving sleeve in a rotating mode, the end part, far away from the upper brake band, of the brake screw is provided with a screw motor, the upper part of the outer edge of the upper brake band is provided with a mounting frame, a nut matched with the brake screw is arranged in the mounting frame, the other end of the lever plate is hinged with a slack side.

16. A method of attitude adjustment of a pile driving vessel as set forth in any of claims 1-15, comprising the steps of:

step four, the computer receives the angle obtained by the software solution, when the ship body does pitching motion around the Y axis, the waterline of the ship in a static state is marked as MN, and when the piling ship rotates around the Y axis to do pitching motion, the waterline is marked as M₁N₁The volume of the water discharged from one end which inclines downwards around the Y axis can be measured to be V_yThe length of the piling ship is set as L, the width is set as b, and the inner diameter of the ballast water tank is set as a, omega_yIs M₁N₁The included angle between the floating center and MN and the ship side distance from the floating center to the positive X direction are L₂The ship side distance from the floating center to the positive Y direction is b₂Then entering water wedge volume V_yThe static moment of part of the water on the Y axis is:

M₂＝πa²h_yg(L₂-a)；

M₄＝πa²h_x(b₂-a)；

17. Pile driving vessel positioning control method according to any of the claims 1-15, comprising the steps of:

fifthly, towing the pile driving ship to an operation area and anchoring, measuring the angle of the anchor cable by an angle measuring instrument arranged at the connecting point of the anchor cable, and then releasing the anchor cable to be longDegree, calculating each anchor distribution point (P)₁～P_n) The position coordinates in the absolute coordinate system XOY are respectively

Sixthly, positioning the center O coordinate of the ship body when the ship is in O (X)_O,Y_O) At the point, each anchor is connected to the hull at a point (Q)₁～Q_n) The coordinates in the absolute coordinate system XOY are

theta is the rotation angle of the ship body;

omega is the angular velocity of the rotation of the ship body;

Then at time t, Q_iThe coordinates of' are:

18. Piling method of a piling vessel according to any of the claims 1-15, comprising the steps of:

lifting the pile frame, and ensuring the ship body to be horizontal in the pile frame lifting process by adopting the attitude adjusting method of the pile driving ship as claimed in claim 16;

determining a hull position and a target position for loading the vertical pile according to a positioning system of the piling ship, and controlling the piling ship to move to the target position for loading the vertical pile by adopting the piling ship positioning control method according to claim 17;

seventhly, controlling the pile driving ship to move to a pile driving position of the pile by adopting the pile driving ship movement positioning method according to claim 17; whether the position of the vertical pile has deviation or not is detected by the two scanners, and if the position and posture of the vertical pile have deviation, the small-range movement of the pile gripper can be controlled, so that the functions of correcting deviation and righting are achieved;