CN117306525A - Series-parallel motion compensation pile gripper - Google Patents
Series-parallel motion compensation pile gripper Download PDFInfo
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- CN117306525A CN117306525A CN202311346715.8A CN202311346715A CN117306525A CN 117306525 A CN117306525 A CN 117306525A CN 202311346715 A CN202311346715 A CN 202311346715A CN 117306525 A CN117306525 A CN 117306525A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000003068 static effect Effects 0.000 claims abstract description 22
- 238000007667 floating Methods 0.000 claims abstract description 8
- 239000003921 oil Substances 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 13
- 230000004044 response Effects 0.000 abstract description 7
- 238000010248 power generation Methods 0.000 abstract description 4
- 238000005096 rolling process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 206010033307 Overweight Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/04—Guide devices; Guide frames
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/10—Deep foundations
- E02D27/12—Pile foundations
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/32—Foundations for special purposes
- E02D27/42—Foundations for poles, masts or chimneys
- E02D27/425—Foundations for poles, masts or chimneys specially adapted for wind motors masts
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/32—Foundations for special purposes
- E02D27/44—Foundations for machines, engines or ordnance
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/32—Foundations for special purposes
- E02D27/52—Submerged foundations, i.e. submerged in open water
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
- E02D7/02—Placing by driving
- E02D7/06—Power-driven drivers
- E02D7/14—Components for drivers inasmuch as not specially for a specific driver construction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
- F03D13/25—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors specially adapted for offshore installation
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Structural Engineering (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention discloses a series-parallel motion compensation pile gripper, which comprises a parallel part mechanism and a serial part mechanism, wherein the parallel part mechanism is connected with the pile gripper in parallel; the parallel part mechanism comprises a static platform, a dynamic platform and a rigid driving branched chain; the static platform is fixedly arranged on one side, close to the ship side, of the deck of the piling floating ship, and the movable platform is connected with the static platform through a rigid driving branched chain; the side, connected with the movable platform, of the rigid driving branched chain is provided with a horizontal sliding block, and the horizontal sliding block is matched with a sliding block guide rail arranged below the movable platform, so that the structural parameters of the parallel part mechanism can be changed; the series part mechanism comprises a two-stage pile-holding arm and a contact oil cylinder, wherein the tail part of the one-stage pile-holding arm is rotationally connected with the movable platform, and the contact oil cylinder is arranged at the inner side of a clamping opening of the two-stage pile-holding arm and is used for providing clamping acting force and friction force between the two-stage pile-holding arm and a pile; the serial-parallel motion compensation pile gripper has the characteristics of high compensation precision, high response speed and strong bearing capacity, and can meet the requirement of high-efficiency and accurate installation of offshore wind power generation foundation piles.
Description
Technical Field
The invention relates to the technical field of ocean engineering equipment, in particular to a series-parallel motion compensation pile gripper.
Background
The concept of sustainable development is more and more in focus, renewable energy sources are also more and more emphasized in countries around the world, and development of renewable resources such as wind power generation and photovoltaic power generation is an important point of attention. The ocean contains rich natural resources, the offshore wind power energy is stable, the effective power generation time is long, and the method is suitable for large-scale development; it is also an important object and growth point for the development of renewable energy sources worldwide. One of the construction difficulties of offshore wind power is the installation of piles, and the construction cost of the pile accounts for more than 1/3 of the installation cost of the whole offshore wind turbine. The offshore wind driven generator with the single pile structure is the most common structure, and is usually installed by adopting a pile gripper of a self-elevating platform, but the self-elevating platform is time-consuming and labor-consuming to build, and can only be installed at fixed points, so that the offshore wind driven generator is very inconvenient. Along with the development of wind power technology, the offshore distance for pile installation is longer and longer, the installation water area is deeper and deeper, and simultaneously, the lifting capacity requirement on the installation platform is higher and higher, and the motion compensation pile gripper with flexible and excellent lifting capacity is generated. The floating type ship cannot provide a stable foundation, meanwhile, the accuracy of a power positioning system of the ship cannot meet the installation accuracy of the pile, and the installation verticality of the pile can be influenced by the movement of the ship.
The motion compensation pile gripper is taken as a core mechanism of the pile driving pontoon, and is the root for realizing quick and accurate pile installation. The existing motion compensation pile gripper for practical operation is limited by a structure, has weak bearing capacity and poor compensation precision. The active sea wave compensation scheme of the current motion compensation pile gripper is generally that the pile gripper is arranged on a guide rail, sea wave motion is compensated through the movement of the pile gripper on different degrees of freedom of the guide rail, the compensation precision is poor, the response speed is low, and the actual construction requirement cannot be met. Meanwhile, when the existing pile gripper is designed, the length of a pile is generally considered, so that a machine capable of gripping a long pile cannot cope with the construction working condition of a short pile, and vice versa, the construction efficiency is greatly reduced, and the cost is increased. In addition, the general pile gripper cannot compensate six degrees of freedom in space, resulting in errors always existing and accumulating. Aiming at the problems of the existing motion compensation pile gripper, the motion compensation pile gripper is very necessary to design the motion compensation pile gripper with high compensation precision, strong bearing capacity, high mechanism rigidity and quick response and can cope with various working conditions.
Disclosure of Invention
The invention aims to provide a series-parallel motion compensation pile gripper, which solves the problems of the prior art, can overcome the motion response of a floating ship, and improves the single pile installation precision so as to meet the performance requirement of pile driving floating ship installation.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a series-parallel motion compensation pile gripper, which comprises a parallel part mechanism and a serial part mechanism, wherein the parallel part mechanism is connected with the pile gripper through a connecting rod;
the parallel part mechanism comprises a static platform, a dynamic platform and a rigid driving branched chain; the static platform is fixedly arranged on one side, close to the shipboard, of the deck of the piling floating pontoon, and the movable platform is connected with the static platform through the rigid driving branched chain; two ends of the rigid driving branched chain are respectively and movably connected with the static platform and the movable platform through universal joints; the rigid driving branched chains are connected with the movable platform, one side of the rigid driving branched chains, which is connected with the movable platform, is provided with a horizontal sliding block, the horizontal sliding block is matched with a sliding block guide rail arranged below the movable platform, and the hinge point positions of the rigid driving branched chains on the movable platform are changed by changing the positions of the horizontal sliding blocks on the sliding block guide rail, so that the inclination angles of the rigid driving branched chains are changed, the height adjustment of the movable platform is realized, and the requirements of pile height change in the construction process are met;
the series part mechanism comprises two-stage pile-holding arms and a contact oil cylinder, wherein each two-stage pile-holding arm comprises two first-stage pile-holding arms which are oppositely arranged and two second-stage pile-holding arms which are oppositely arranged, the tail ends of the two first-stage pile-holding arms are rotationally connected to the top of the movable platform and are respectively driven to rotate by the hydraulic oil cylinder, the head ends of the two first-stage pile-holding arms are respectively hinged with the tail ends of the two second-stage pile-holding arms, and the outer sides of the two first-stage pile-holding arms are respectively provided with a thrust oil cylinder which drives the two second-stage pile-holding arms to open and close; the contact oil cylinders are respectively arranged at the inner sides of the clamping openings of the two primary pile holding arms and the two secondary pile holding arms and are used for providing clamping acting force and friction force between the contact oil cylinders and the piles.
Preferably, 6 rigid driving branched chains are arranged, and the position layout of the adjacent rigid driving branched chains and the static platform or the movable platform is in an isosceles triangle shape.
Preferably, six slide block guide rails are arranged on the lower plane of the platform, one end of the rigid driving branched chain, which is close to the platform, is connected with the horizontal slide block through a universal joint, and the horizontal slide block is in sliding connection in the corresponding slide block guide rail.
Preferably, the rigid driving branched chain is a servo hydraulic cylinder with a built-in displacement sensor, and comprises a push rod and a cylinder barrel, wherein the cylinder barrel end is connected with the static platform, the push rod end is connected with the movable platform, and the push rod has linear motion and autorotation motion relative to the cylinder barrel.
Preferably, a gesture sensor is respectively installed at the middle part of the head end and the tail end of the top of the movable platform, and the gesture sensor is used for acquiring ship motion gesture information, and the motion compensation track of the movable platform is obtained through the calculation of a control console.
Preferably, the two primary pile-holding arms are symmetrically arranged relative to the central axis of the movable platform, the head ends of the two primary pile-holding arms are arc-shaped clamping openings, the two secondary pile-holding arms are symmetrically arranged relative to the central axis of the movable platform, the two secondary pile-holding arms are arc-shaped, the head ends of the primary pile-holding arms are connected with the secondary pile-holding arms to form the whole clamping openings of the two-stage pile-holding arms, and the contact oil cylinders are uniformly distributed on the inner sides of the clamping openings of the two-stage pile-holding arms.
Preferably, the cylinder body of the contact oil cylinder is fixed on the primary pile holding arm or the secondary pile holding arm, the telescopic rods of the contact oil cylinder extend towards the inner side of the clamping opening, an arc-shaped pushing block is arranged at the inner end of each telescopic rod, and pushing rollers are arranged at two sides of each pushing block.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the serial-parallel motion compensation pile gripper provided by the invention is arranged on a pile driving floating vessel, and solves the problems of weak lifting capacity and insufficient flexibility of the pile gripper of a self-elevating platform.
2. The parallel-serial motion compensation pile gripper provided by the invention has the advantages that the parallel part mechanism has high rigidity and strong bearing capacity, and can meet the installation requirement of high-weight piles.
3. The parallel part mechanism and the serial part mechanism of the serial-parallel motion compensation pile gripper provided by the invention can compensate the motion response of the ship under the 4-level sea condition, and can also adjust the vertical precision of pile installation.
4. The parallel mechanism part of the serial-parallel motion compensation pile gripper provided by the invention can change the overall parameter structure by changing the position of the rigid branched chain on the movable platform in a linking way, thereby being suitable for different working conditions.
5. The parallel-serial motion compensation pile gripper provided by the invention has six degrees of freedom in space, can be rapidly adapted to complex marine environments, and has good flexibility and extremely high response speed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of a motion compensation pile gripper in series-parallel connection;
FIG. 2 is a schematic structural view of the two-stage pile arm in the open state;
FIG. 3 is a schematic diagram of the structure of the rigid driving branched chain connected with the movable platform in the invention;
in the figure: 1. a static platform; 2. a movable platform; 3a, pushing rod; 3b, a cylinder barrel; 4a, a primary pile holding arm; 4b, a secondary pile arm; 5. a contact oil cylinder; 6. a universal joint; 7. an attitude sensor; 8. a hydraulic cylinder; 9. a thrust cylinder; 10. a horizontal slider; 11. a slider guide rail; 12. and pushing the block.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a series-parallel motion compensation pile gripper so as to solve the problems in the prior art.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The motion compensation pile gripper of the serial-parallel connection in the embodiment, as shown in fig. 1-3, comprises a parallel part mechanism and a serial part mechanism;
the parallel part mechanism comprises a static platform 1, a dynamic platform 2 and a rigid driving branched chain 3; the static platform 1 is fixedly arranged on one side, close to a shipboard, of a deck of the piling floating pontoon, and the movable platform 2 is connected with the static platform 1 through a rigid driving branched chain 3; two ends of the rigid driving branched chain 3 are respectively and movably connected with the static platform 1 and the movable platform 2 through universal joints 6; the horizontal sliding block 10 is arranged on one side of the rigid driving branched chain 3 connected with the movable platform 2, the horizontal sliding block 10 is matched with the sliding block guide rail 11 arranged below the movable platform 2, the hinge point position of the rigid driving branched chain 3 on the movable platform 2 is changed by changing the position of the horizontal sliding block 10 on the sliding block guide rail 11, the inclination angle of each rigid driving branched chain 3 is changed, the height adjustment of the movable platform 2 is realized, and the requirement of pile height change in the construction process is met by changing the key structural size parameter of a parallel part mechanism;
the serial part mechanism comprises two-stage pile-holding arms and a contact oil cylinder 5, wherein each two-stage pile-holding arm comprises two first-stage pile-holding arms 4a which are oppositely arranged and two second-stage pile-holding arms 4b which are oppositely arranged, the tail ends of the two first-stage pile-holding arms 4a are rotationally connected to the top of the movable platform 2 and are respectively driven to rotate by the hydraulic oil cylinder 8, the head ends of the two first-stage pile-holding arms 4a are respectively hinged with the tail ends of the two second-stage pile-holding arms 4b, and the outer sides of the two first-stage pile-holding arms 4a are respectively provided with a thrust oil cylinder 9 which drives the two second-stage pile-holding arms 4b to open and close; the contact oil cylinders 5 are respectively arranged at the inner sides of the clamping openings of the two primary pile holding arms 4a and the two secondary pile holding arms 4b and are used for providing clamping acting force and friction force between the two pile columns.
In this embodiment, 6 rigid driving branches 3 are provided, and the position layout of the adjacent rigid driving branches 3 and the static platform 1 or the moving platform 2 is in the form of isosceles triangle. The lower plane of the platform 2 is provided with six slide block guide rails 11, one end of the rigid driving branched chain 3, which is close to the platform 2, is connected with a horizontal slide block 10 through a universal joint 6, the horizontal slide block 10 is in sliding connection with the corresponding slide block guide rails 11, and the horizontal slide block 10 is driven to a designated position by virtue of hydraulic pressure and is mechanically locked, so that the whole mechanism parameters of the side parallel mechanism part are changed.
In this embodiment, the rigid driving branched chain 3 is a servo hydraulic cylinder with a built-in displacement sensor, and includes a push rod 3a and a cylinder 3b, the end of the cylinder 3b is connected with the static platform 1, the end of the push rod 3a is connected with the movable platform 2, and the push rod 3a has a linear motion and a rotation motion relative to the cylinder 3 b.
In this embodiment, a sensor is respectively installed in the middle of the top end of the moving platform 2, and the sensor is used for acquiring the motion gesture information of the ship, and the motion compensation track of the moving platform 2 is obtained through the calculation of the control platform.
In this embodiment, two primary pile-holding arms 4a are symmetrically arranged relative to the central axis of the movable platform 2, the head ends of the two primary pile-holding arms 4a are arc-shaped clamping openings, two secondary pile-holding arms 4b are symmetrically arranged relative to the central axis of the movable platform 2, the two secondary pile-holding arms 4b are arc-shaped, the head ends of the primary pile-holding arms 4a are connected with the secondary pile-holding arms 4b to form the clamping openings of the whole two-stage pile-holding arms, and the contact oil cylinders 5 are uniformly distributed on the inner sides of the clamping openings of the two-stage pile-holding arms.
In this embodiment, the cylinder body of the contact oil cylinder 5 is fixed on the primary pile holding arm 4a or the secondary pile holding arm 4b, the telescopic rods of the contact oil cylinder 5 extend towards the inner side of the clamping opening, and an arc-shaped push block 12 is mounted at the inner end of each telescopic rod, and pushing rollers are mounted at two sides of the push block 12.
The motion freedom of the ship is six, and can be divided into rolling, pitching, swaying, bow-rolling, rolling and pitching; the six degrees of freedom of the kinematics of the parallel mechanism are utilized to actively compensate the kinematic response of the ship under the action of ocean waves. The six-degree-of-freedom parallel mechanism takes steel as a main structure, ensures enough rigidity and strength, and simultaneously ensures the reliability of pile-holding operation due to the load capacity of the parallel mechanism. Six servo hydraulic cylinders are symmetrically arranged in space to provide driving force for six rigid driving branched chains 3. The movable platform 2 is provided with a gesture sensor 7, and the motion parameters of the movable platform 2 are transmitted back to a computer on the ship in real time by taking the initial horizontal state as a reference; the computer carries out inverse motion calculation through the joint parameters of the parallel mechanism part and the real-time attitude information of the movable platform 2, and the obtained motion parameters of each rigid driving branched chain 3 realize active compensation through a servo valve. Meanwhile, a position closed loop is formed by a displacement sensor arranged in the servo hydraulic cylinder, so that quick and accurate active sea wave position compensation is never completed, and the working accuracy of pile holding is ensured.
Example 1: when the serial-parallel motion compensation pile gripper is used for installing an offshore wind power single pile foundation, the following procedures are carried out:
(1) After the pile-driving pontoon reaches the designated sea area position, the pile-driving pontoon is stopped at the working position by utilizing the power positioning system of the pile-driving pontoon, and the horizontal position of the movable platform 2 is set. The primary pile-holding arm 4a and the secondary pile-holding arm 4b are opened under the action of the hydraulic cylinder 8 and the thrust cylinder 9 respectively. The piles are hoisted into the two-stage pile-holding arms 4 by using a crane on the deck, and then are put into water.
(2) When the pile is inserted into the two-stage pile holding arms 4, the thrust oil cylinder 9 is driven to retract the two-stage pile holding arms 4 and hold the pile. At this time, the contact oil cylinder 5 on the pile holding arm stretches out, and a certain clamping force is applied to the pile through the pushing roller at the stretching end of the piston rod. In the process, the pile uses self gravity to perform self-sinking.
(3) The motion gesture of real-time supervision boats and ships, parallel part mechanism are in operating condition, and six servo hydraulic cylinders move simultaneously, ensure that movable platform 2 and arm portion of embracing the stake do not receive the influence of boats and ships motion, keep relative level. The pile driving hammer is used for driving piles, the perpendicularity of the piles is measured through the perpendicularity measuring instrument after each pile driving, the contact oil cylinder 5 on the pile holding arm works to straighten the piles, and the perpendicularity is ensured to be within 3 per mill.
(4) Repeating the operation in the step (3), if the initial height of the pile gripper is higher, and effective support and centering cannot be provided for the rest pile part in the later period of operation, changing the hinge point position of the rigid branched chain on the movable platform 2, executing the process (2) in the step (2), adjusting the height of the movable platform 2, and repeating the operation in the step (3).
(5) When the pile is driven to the expected depth of the seabed, the primary pile-holding arm 4a and the secondary pile-holding arm 4b are sequentially opened, pile-holding operation is completed, and the pile-driving pontoon goes to the next working position.
Example 2: the offshore wind power single pile foundation with different lengths is installed by adopting the serial-parallel motion compensation pile gripper according to the invention, and the process is carried out as follows:
(1) The side of the rigid driving branched chain 3 in the parallel mechanism part, which is connected with the movable platform 2, is provided with a horizontal sliding block 10, and the lower part of the movable platform 2 is provided with a corresponding sliding block guide rail 11. When the wind power single pile is constructed in sea areas with different depths, the height of the movable platform 2 is determined according to the length and the diameter of the installed wind power single pile, and the hinge point position on the movable platform 2 and the inclination angle of each rigid driving branched chain 3 are obtained through computer calculation.
(2) The horizontal sliding blocks 10 at the tail ends of the six rigid driving branched chains 3 are driven by a servo oil cylinder to move to a designated position along the sliding block guide rail 11 on the movable platform 2, and then are mechanically locked, so that the rigid driving branched chains 3 and the movable platform 2 form hinge joints, and safe and reliable support is provided for subsequent movement compensation.
(3) The flow in the above embodiment 1 is started, and the mounting operation is completed.
The principles and embodiments of the present invention have been described with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In summary, the present description should not be construed as limiting the invention.
Claims (7)
1. A motion compensation type pile gripper of serial-parallel connection is characterized in that: comprises a parallel part mechanism and a serial part mechanism;
the parallel part mechanism comprises a static platform, a dynamic platform and a rigid driving branched chain; the static platform is fixedly arranged on one side, close to the shipboard, of the deck of the piling floating pontoon, and the movable platform is connected with the static platform through the rigid driving branched chain; two ends of the rigid driving branched chain are respectively and movably connected with the static platform and the movable platform through universal joints; the rigid driving branched chains are connected with the movable platform, one side of the rigid driving branched chains, which is connected with the movable platform, is provided with a horizontal sliding block, the horizontal sliding block is matched with a sliding block guide rail arranged below the movable platform, and the hinge point positions of the rigid driving branched chains on the movable platform are changed by changing the positions of the horizontal sliding blocks on the sliding block guide rail, so that the inclination angles of the rigid driving branched chains are changed, the height adjustment of the movable platform is realized, and the requirements of pile height change in the construction process are met;
the series part mechanism comprises two-stage pile-holding arms and a contact oil cylinder, wherein each two-stage pile-holding arm comprises two first-stage pile-holding arms which are oppositely arranged and two second-stage pile-holding arms which are oppositely arranged, the tail ends of the two first-stage pile-holding arms are rotationally connected to the top of the movable platform and are respectively driven to rotate by the hydraulic oil cylinder, the head ends of the two first-stage pile-holding arms are respectively hinged with the tail ends of the two second-stage pile-holding arms, and the outer sides of the two first-stage pile-holding arms are respectively provided with a thrust oil cylinder which drives the two second-stage pile-holding arms to open and close; the contact oil cylinders are respectively arranged at the inner sides of the clamping openings of the two primary pile holding arms and the two secondary pile holding arms and are used for providing clamping acting force and friction force between the contact oil cylinders and the piles.
2. The motion compensation pile gripper of serial-parallel connection according to claim 1, wherein: the rigid driving branched chains are arranged in 6, and the position layout of the adjacent rigid driving branched chains and the static platform or the movable platform is in an isosceles triangle.
3. The motion compensation pile gripper of serial-parallel connection according to claim 2, wherein: six slide block guide rails are arranged on the lower plane of the movable platform, one end of the rigid driving branched chain, which is close to the movable platform, is connected with the horizontal slide block through a universal joint, and the horizontal slide block is in sliding connection with the corresponding slide block guide rails.
4. The motion compensation pile gripper of serial-parallel connection according to claim 1, wherein: the rigid driving branched chain is a servo hydraulic cylinder with a built-in displacement sensor and comprises a push rod and a cylinder barrel, wherein the end of the cylinder barrel is connected with the static platform, the end of the push rod is connected with the movable platform, and the push rod has linear motion and autorotation motion relative to the cylinder barrel.
5. The motion compensation pile gripper of serial-parallel connection according to claim 1, wherein: and the middle parts of the head end and the tail end of the top of the movable platform are respectively provided with a gesture sensor, and the gesture sensors are used for acquiring ship motion gesture information and obtaining a motion compensation track of the movable platform through resolving of a control console.
6. The motion compensation pile gripper of serial-parallel connection according to claim 1, wherein: the two primary pile-holding arms are symmetrically arranged relative to the central axis of the movable platform, the head ends of the two primary pile-holding arms are arc-shaped clamping openings, the two secondary pile-holding arms are symmetrically arranged relative to the central axis of the movable platform, the two secondary pile-holding arms are arc-shaped, the head ends of the primary pile-holding arms are connected with the secondary pile-holding arms to form the whole clamping openings of the two-stage pile-holding arms, and the contact oil cylinders are uniformly distributed on the inner sides of the clamping openings of the two-stage pile-holding arms.
7. The motion compensation pile gripper of claim 6, wherein: the cylinder body of the contact oil cylinder is fixed on the primary pile holding arm or the secondary pile holding arm, the telescopic rods of the contact oil cylinder extend towards the inner sides of the clamping openings, an arc-shaped pushing block is arranged at the inner end of each telescopic rod, and pushing rollers are arranged at two sides of each pushing block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311346715.8A CN117306525A (en) | 2023-10-17 | 2023-10-17 | Series-parallel motion compensation pile gripper |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311346715.8A CN117306525A (en) | 2023-10-17 | 2023-10-17 | Series-parallel motion compensation pile gripper |
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| CN117306525A true CN117306525A (en) | 2023-12-29 |
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| CN202311346715.8A Pending CN117306525A (en) | 2023-10-17 | 2023-10-17 | Series-parallel motion compensation pile gripper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117927428A (en) * | 2024-03-21 | 2024-04-26 | 山西禄泽重工科技有限公司 | Offshore wind driven generator mounting structure |
-
2023
- 2023-10-17 CN CN202311346715.8A patent/CN117306525A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117927428A (en) * | 2024-03-21 | 2024-04-26 | 山西禄泽重工科技有限公司 | Offshore wind driven generator mounting structure |
| CN117927428B (en) * | 2024-03-21 | 2024-05-28 | 山西禄泽重工科技有限公司 | Offshore wind driven generator mounting structure |
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