WO2024087560A1 - 一种深水四桩导管架的基础钢管桩的水下沉桩定位系统 - Google Patents

一种深水四桩导管架的基础钢管桩的水下沉桩定位系统 Download PDF

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Publication number
WO2024087560A1
WO2024087560A1 PCT/CN2023/091193 CN2023091193W WO2024087560A1 WO 2024087560 A1 WO2024087560 A1 WO 2024087560A1 CN 2023091193 W CN2023091193 W CN 2023091193W WO 2024087560 A1 WO2024087560 A1 WO 2024087560A1
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WO
WIPO (PCT)
Prior art keywords
pile
vertical
frame
steel pipe
holding
Prior art date
Application number
PCT/CN2023/091193
Other languages
English (en)
French (fr)
Inventor
林晓
黄建阳
刘勇
严孝锋
郭新杰
王其标
陈天生
Original Assignee
中交第三航务工程局有限公司
中交三航局第六工程(厦门)有限公司
中交第三航务工程局有限公司厦门分公司
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Application filed by 中交第三航务工程局有限公司, 中交三航局第六工程(厦门)有限公司, 中交第三航务工程局有限公司厦门分公司 filed Critical 中交第三航务工程局有限公司
Publication of WO2024087560A1 publication Critical patent/WO2024087560A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • 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
    • 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
    • E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
    • 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
    • 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
    • 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
    • E02D7/16—Scaffolds or supports for drivers

Definitions

  • the invention relates to an underwater pile sinking positioning system for foundation steel pipe piles of a deep-water four-pile conductor frame.
  • the jacket foundation has high structural strength, high foundation rigidity, good stability, low installation noise, light weight, and convenient transportation and installation. It can be used as a supporting structure for large wind turbines.
  • the jacket foundation is less affected by wave loads and is suitable for sea areas with a water depth range of 5 to 50 meters. Compared with other foundation forms, it has the advantages of fast installation speed and low cost.
  • offshore wind power is developing towards deep sea areas.
  • the jacket foundation structure consists of four foundation steel pipe piles with a diameter of ⁇ 2.4m to ⁇ 4.0m (pile length is 70m to 110m) and an inner inserted jacket.
  • the design pile top elevation of the foundation steel pipe pile is 7m to 17m above the seabed surface, and underwater pile sinking construction is required.
  • the construction window period is very short and the construction difficulty is relatively large.
  • the inner inserted jacket structure needs to be connected with the foundation steel pipe pile underwater for construction (including plugging, leveling and grouting), and the plane position, elevation, verticality and relative position of each pile of the foundation steel pipe pile during pile sinking are required to be controlled with high accuracy.
  • the traditional underwater pile sinking process for the foundation steel pipe piles of the four-pile jacket is to set up an auxiliary steel pipe pile positioning platform (including a floating pile stabilizing platform).
  • This process is suitable for near-shore shallow waters (water depth within 20m).
  • the process is cumbersome and requires multiple insertion and extraction of auxiliary piles. It is greatly affected by the construction window period.
  • the erection and dismantling of the positioning platform and the underwater pile sinking efficiency are low, and it is difficult to adapt to the sea conditions of the underwater pile sinking construction of the foundation steel pipe piles of the offshore wind power four-pile jacket in deepwater areas.
  • the purpose of the present invention is to overcome the defects of the prior art and provide an underwater pile positioning system for the foundation steel pipe piles of a deepwater four-pile jacket, which has the remarkable characteristics of automation, visualization, high precision, high efficiency and high integration.
  • an underwater pile positioning system for the foundation steel pipe piles of a deep-water four-pile jacket comprises a main base plate, four sets of leveling devices, four sets of pile holding devices, a hydraulic system, a monitoring system and a control system;
  • the main base plate includes four vertical pile frames and four connecting beams;
  • each of the vertical pile frames is a quadrilateral space truss structure made of steel pipes and includes four columns and four column side plates connected between the four columns; a cage opening is arranged on the top of each vertical pile frame; four upper pile-holding brackets are arranged one by one at the upper parts of the four corners of each vertical pile frame, and four lower pile-holding brackets are arranged one by one at the lower parts of the four corners of each vertical pile frame;
  • each connecting beam is a quadrilateral space truss structure made of steel pipes and includes four cross bars and four cross bar side plates connected between the four cross bars;
  • each set of leveling devices includes an anti-sinking plate and four leveling lifting mechanisms connected between the lower parts of four columns of the vertical pile frame and the top surface of the anti-sinking plate;
  • each set of pile-holding devices includes four upper pile-holding devices arranged in a one-to-one correspondence on four upper pile-holding brackets and four lower pile-holding devices arranged in a one-to-one correspondence on four lower pile-holding brackets;
  • the hydraulic system includes an oil tank and an underwater valve group installed on the workboat and an underwater detection module installed on the main base;
  • the underwater detection module includes a displacement sensor installed on the leveling lifting cylinder in the four sets of leveling devices and a pressure sensor installed on the oil line of the leveling lifting cylinder, and a displacement sensor installed on the pile holding cylinder in the four sets of pile holding devices and a pressure sensor installed on the oil line of the pile holding cylinder;
  • the monitoring system includes four sealed junction boxes, a main base plate attitude monitoring device and four sets of steel pipe pile attitude monitoring devices;
  • the main base plate attitude monitoring device includes four liquid level meters, a depth meter, a compass and a depth gauge;
  • the four sealed junction boxes are arranged one by one at the lower part of the four vertical pile frames;
  • the four liquid level meters are installed one by one at the same height position of the four vertical pile frames;
  • the compass and the depth gauge are both installed in a sealed junction box on a vertical pile frame;
  • the depth meter is installed in the middle of the bottom of a connecting beam;
  • the signal line of the depth meter is connected to the nearest sealed junction box;
  • four sets of steel pipe pile attitude monitoring devices are installed one by one on the four vertical pile frames, and each set of steel pipe pile attitude monitoring devices includes a sonar detector, a set of horizontal rangefinders, a vertical rangefinder and a camera;
  • the sonar detector is installed in the vertical On the cage mouth of the pile frame;
  • the control system comprises a main control console installed on the work boat and connected to the sealed junction box via a signal bus, wherein the main control console is provided with a programmable controller and a human-machine interaction interface.
  • each of the vertical pile frames and each of the connecting beams are spliced together by several sections of column unit frames, the four columns of each section of the column unit frame are connected by flanges, and the four cross bars of each section of the connecting beam unit are connected by flanges.
  • the above-mentioned underwater pile positioning system for the foundation steel pipe piles of the deep-water four-pile conductor frame wherein the cage mouth includes a circular frame arranged on the top of the vertical pile frame, a plurality of connecting rods evenly connected between the outer side surface of the circular frame and the top frame of the vertical pile frame, and a semicircular frame connected to the top surface of the circular frame through a plurality of oblique connecting rods.
  • the anti-sinking plate comprises a steel plate and a grid-type reinforcing rib plate welded to the bottom of the steel plate.
  • the leveling and lifting mechanism includes a leveling and lifting cylinder and a guide rod mechanism
  • the cylinder base of the leveling and lifting cylinder is fixed to the lower part of the column of the vertical pile frame
  • the tail end of the cylinder body of the leveling and lifting cylinder is hinged on the cylinder base
  • the end of the piston rod of the leveling and lifting cylinder is hinged on the top surface of the anti-sinking plate
  • the guide rod mechanism includes a guide rod base fixed on the top surface of the anti-sinking plate, a hemispherical lower bearing seat installed on the top surface of the guide rod base, a guide rod inserted into the column from the bottom of the column and pivotally connected to the lower bearing seat through the steel ball at the bottom, and an upper bearing seat installed on the top surface of the lower bearing seat to limit the steel ball from escaping from the lower bearing seat.
  • the upper pile holding bracket includes a swing arm mounting rod and a cylinder mounting rod, which are fixed in parallel to the corners of the vertical pile frame, one inside and one outside, and one below and one above, and both form an angle of 45° with the side plate of the vertical pile frame;
  • two upwardly extending connecting arms are fixed at intervals in the middle of the swing arm mounting rod, and
  • two pin shaft sleeves extending inwardly and downwardly are installed at intervals in the middle of the swing arm mounting rod, and the lower ends of the two pin shaft sleeves are respectively fixed to the vertical pile frame through an oblique support rod;
  • the structure of the lower pile holding bracket is the same as that of the upper pile holding bracket;
  • the upper pile gripper comprises a pile gripping cylinder, a swing arm and an anti-collision mechanism; wherein,
  • the rear end of the cylinder body of the pile-holding cylinder is hinged to the middle part of the cylinder mounting rod of the upper pile-holding bracket;
  • the swing arm is composed of two triangular plates; the top corner of the swing arm is hinged to two pin sleeves on the upper pile-holding bracket through a swing arm pin shaft, a pile-holding roller is installed on the inner bottom corner of the swing arm through a roller pin shaft, and the outer bottom corner of the swing arm is hinged to the end of the piston rod of the pile-holding cylinder through a cylinder pin shaft.
  • a connecting rod pin is also installed on the inner waist of the swing arm and near the top corner. axis;
  • the anti-collision mechanism comprises a connecting rod and an anti-collision plate; one end of the connecting rod is hinged to the connecting rod pin on the swing rod; the front end of the bottom surface of the anti-collision plate is hinged to the other end of the connecting rod, and the rear end of the anti-collision plate is hinged to the upper ends of the two connecting arms of the upper pile holding bracket;
  • the structure of the lower pile gripper is the same as that of the upper pile gripper.
  • the underwater pile positioning system of the foundation steel pipe piles of the above-mentioned deep-water four-pile conductor frame wherein the light frame includes two mounting plates fixed one above and one below on the middle part of the inner side of a side plate of the vertical pile frame, two vertical rods whose ends are fixed to the two mounting plates one by one, a horizontal seat plate sleeved in the middle part of the two vertical rods, a vertical seat plate fixed to the inner end of the horizontal seat plate, two underwater searchlights installed at intervals on the top surface of the vertical seat plate, and a laser light fixed to the middle part of the upper part of the vertical seat plate; the camera is installed above the laser light; a detection cylinder is hinged on the horizontal seat plate, the piston rod of the detection cylinder is hinged to the outer end of a connecting rod whose middle part is hinged on the horizontal seat plate, and the inner end of the connecting rod is connected to the outer end of a probe rod; the vertical rangefinder is installed at the inner end of the probe rod.
  • the present invention adopts a segmented structure for the four connecting beams of the main base plate, which can adapt to the pile sinking construction of the jacket foundation with a spacing of 22m ⁇ 22m to 30m ⁇ 30m for the foundation steel pipe piles;
  • the present invention provides a leveling device at the bottom of each of the four vertical pile frames of the main base, which not only effectively ensures the stability of the posture of the main base during the underwater sinking of the steel pipe pile, but also increases the stability of the base bottom of the main base, ensuring the safety and reliability of the underwater sinking process;
  • the present invention can control the verticality of the steel pipe pile with high precision and high efficiency by arranging a set of pile holding devices consisting of four upper pile holding devices and four lower pile holding devices in each of the four vertical pile frames of the main base plate, and combining with a monitoring device;
  • the present invention sets a main base attitude monitoring device, which enables the main control console to adjust the relative positions of the four anti-sinking plates and the main base one by one through four sets of leveling lifting cylinders of the leveling devices according to the data fed back by the main base attitude monitoring device, so as to adjust the attitude of the main base, ensure the verticality of the four vertical pile frames, and provide a reference platform for subsequent piling operations;
  • a set of steel pipe pile posture monitoring devices is arranged in each vertical pile frame, so that when the steel pipe is being sunk, the main control console can accurately control the verticality of the steel pipe pile within the allowable range by controlling the pile holding cylinder of the upper pile holding device and the pile holding cylinder of the lower pile holding device corresponding to the steel pipe pile according to the data fed back by the corresponding set of steel pipe pile posture monitoring devices, thereby providing sufficient basis and technical support for real-time error correction during underwater pile sinking;
  • the present invention has the remarkable characteristics of automation, visualization, high precision, high efficiency and high integration, and can solve the technical problems faced by underwater piles of steel pipe piles of jacket foundations near the seabed surface in deep sea areas, such as short construction window period, great construction difficulty, low work efficiency, underwater intelligent positioning, verticality, pile top elevation, high precision control of relative positions of piles, visualized monitoring of underwater pile sinking process and real-time error correction of underwater pile sinking process due to the influence of strong winds, big waves and long surges.
  • FIG. 1 is a front view of an underwater pile sinking positioning system for foundation steel pipe piles of a deepwater four-pile jacket according to the present invention
  • FIG. 2 is a top view of the underwater pile positioning system for the foundation steel pipe piles of the deepwater four-pile jacket of the present invention
  • FIG. 3 is a schematic structural diagram of a cage opening at the top of a vertical pile frame in the underwater pile sinking positioning system of the present invention
  • FIG4 is a front view of a vertical pile frame in the underwater pile positioning system of the present invention.
  • Fig. 4a is a top view of Fig. 4.
  • Fig. 4b is a view in the direction of A-A in Fig. 4a;
  • Fig. 4c is a B-B view in Fig. 4a;
  • Fig. 4d is a F-F view in Fig. 4c;
  • Fig. 4e is a view in the direction of N-N in Fig. 4;
  • FIG. 5 is an axial cross-sectional view of the guide rod mechanism in the underwater pile positioning system of the present invention.
  • FIG. 6 is a schematic diagram of the structure of the upper pile gripper in the underwater pile sinking positioning system of the present invention (the pile gripping cylinder is fully opened);
  • FIG. 7 is a schematic diagram of the structure of the upper pile gripper in the underwater pile positioning system of the present invention (holding Pile cylinder fully retracted);
  • FIG. 8 is a perspective view of an anti-collision plate in an upper pile gripper in the underwater pile sinking positioning system of the present invention.
  • FIG. 9 is a side view of the arrangement of the monitoring system in the underwater pile positioning system of the present invention.
  • FIG. 10 is a perspective view of the arrangement of the monitoring system in the underwater pile positioning system of the present invention.
  • FIG. 10 a is a perspective view of a light stand of a monitoring system in the underwater pile positioning system of the present invention.
  • the underwater pile positioning system of the foundation steel pipe piles of the deepwater four-pile jacket of the present invention includes a main base plate, four sets of leveling devices, four sets of pile holding devices, a hydraulic system, a monitoring system and a control system.
  • the main base plate includes four vertical pile frames 1A and four connecting beams 1B.
  • the four vertical pile frames 1A are arranged in a rectangular manner with the center line connected, that is, the arrangement of the four vertical pile frames 1A should correspond to the arrangement of the four pile legs of the four-pile pipe frame; the vertical pile frame 1A located in the northwest direction is numbered as No. 1, the vertical pile frame 1A located in the northeast direction is numbered as No. 2, the vertical pile frame 1A located in the southwest direction is numbered as No. 3, and the vertical pile frame 1A located in the southeast direction is numbered as No.
  • each vertical pile frame 1A is a quadrilateral space truss and includes four columns 11 and four side plates connected between the four columns 11 The length of each side plate is 8m, and each side plate includes a horizontal rod 12, a vertical web rod and an oblique web rod; each vertical pile frame 1A is assembled from a plurality of column unit frames, and the four columns of each column unit frame are connected by flanges, which is convenient for disassembly and replacement; a cage mouth 10A is arranged on the top of each vertical pile frame 1A; four upper pile holding brackets are arranged one by one at the upper parts of the four corners of each vertical pile frame 1A, and four lower pile holding brackets are arranged one by one at the lower parts of the four corners of each vertical pile frame 1A.
  • the cage mouth 10A includes a circular frame 111 arranged on the top of the vertical pile frame 1A, eight connecting rods 112 evenly connected between the outer side surface of the circular frame 11 and the top frame of the vertical pile frame 1A, and a semicircular frame 114 (see Figure 3) connected to the top surface of the circular frame 111 through eight oblique connecting rods 13, which facilitates the introduction of steel pipe piles into the circular frame 111.
  • the upper pile holding bracket and the lower pile holding bracket have the same structure and include a swing arm mounting rod 10B and a cylinder mounting rod 10C, which are fixed in parallel at the corners of the vertical pile frame 1A, one inside and one outside and one below and one above, and both form an angle of 45° with the side plates of the vertical pile frame 1A; wherein, two upwardly extending connecting arms 121 are fixed at intervals in the middle of the swing arm mounting rod 10B, and two pin shaft sleeves 122 extending inwardly and downwardly are installed at intervals in the middle of the swing arm mounting rod 10B, and the lower ends of the two pin shaft sleeves 122 are respectively fixed to the corners of the vertical pile frame 1A through an oblique support rod 123 (see Figures 4 to 4e).
  • each connecting beam 1B is a quadrilateral space truss structure made of steel pipes and includes four cross bars and four side plates connected between the four cross bars, and the width of each side plate is 7m; each connecting beam 1B is also assembled from a number of connecting beam units, and the four cross bars of each connecting beam unit are connected by flanges, which is convenient for adjusting the length of each connecting beam 1B.
  • the four vertical pile frames 1A and the four connecting beams 1B are all provided with lifting points, and can be hoisted as a whole or in parts.
  • each set of leveling devices includes an anti-sinking plate 2 and four leveling lifting mechanisms connected between the lower parts of four columns 11 of the vertical pile frame 1A and the top surface of the anti-sinking plate 2;
  • each anti-sinking plate 2 is square and its geometric dimensions are larger than the plane geometric dimensions of a single vertical pile frame 1A.
  • Each anti-sinking plate 2 includes a square steel plate with a pile hole in the center and a grid-type reinforcing rib plate welded to the bottom surface of the steel plate; the four anti-sinking plates 2 can increase the contact area between the main base and the seabed surface, and enhance the base stability of the underwater pile positioning system.
  • Each leveling and lifting mechanism includes a leveling and lifting cylinder 3 and a guide rod mechanism 20, wherein the cylinder base 30 of the leveling and lifting cylinder 3 is fixed to the lower part of the column 11 of the vertical pile frame 1A, the tail end of the cylinder body of the leveling and lifting cylinder 3 is hinged to the cylinder base 30, and the end of the piston rod of the leveling and lifting cylinder 3 is hinged to the top surface of the anti-sinking plate 2.
  • the guide rod mechanism 20 includes a guide rod base 21, a lower bearing seat 22, a guide rod 23 and an upper bearing seat 25; wherein the guide rod base 21 is fixed on the top surface of the anti-sinking plate 2, and a hemispherical groove is provided on the top surface of the guide rod base 21; the lower bearing seat 22 is hemispherical and is installed on the top surface of the guide rod base 21
  • the guide rod 23 is a steel tube with a steel ball 24 fixed at the bottom.
  • the guide rod 23 is inserted into the column 11 from the bottom of the column 11.
  • the steel ball 24 at the bottom of the guide rod 23 is pivotally connected to the lower bearing seat 22; the upper bearing seat 25 is installed on the top surface of the lower bearing seat 22 to limit the steel ball 24 from falling out of the lower bearing seat 22 (see Figure 5).
  • the four vertical pile frames 1A of the main base plate can adjust the distance between the vertical pile frames 1A and the anti-sinking plate 2 by extending and retracting the piston rods of the leveling and lifting cylinders 3 in the four leveling and lifting mechanisms, thereby adjusting the main base plate to a horizontal posture at a set position.
  • the four leveling and lifting cylinders 3 on each vertical pile frame 1A can act independently or in a coordinated and synchronous manner.
  • each set of pile holding devices includes four upper pile holding devices 4A which are arranged on four upper pile holding brackets in a one-to-one correspondence and four lower pile holding devices 4B which are arranged on four lower pile holding brackets in a one-to-one correspondence;
  • the upper pile holding devices 4A and the lower pile holding devices 4B have the same structure, and the distance between the upper pile holding devices 4A and the lower pile holding devices 4B is 7m;
  • each vertical pile frame 1A contacts the steel pipe pile through the four upper pile holding devices 4A and the four lower pile holding devices 4B and then holds the pile.
  • Each upper pile gripper 4A comprises a pile gripping cylinder 4, a swing arm 41 and an anti-collision mechanism;
  • the rear end of the cylinder body of the pile holding cylinder 4 is hinged to the middle of the bottom surface of the cylinder mounting rod 10C of the upper pile holding bracket;
  • the swing rod 41 is composed of two triangular plates, and a swing rod pin is connected between the top angles of the two triangular plates through two bearings.
  • the two ends of the swing rod pin exposed from the two triangular plates are inserted into two pin sleeves 122 on the swing rod mounting rod 10B of the upper pile-holding bracket one by one, and then fixed by baffles respectively;
  • a roller pin is connected between the inner bottom angles of the two triangular plates, and a pile-holding roller 42 is installed on the roller pin;
  • a cylinder pin is connected between the outer bottom angles of the two triangular plates, and the end of the piston rod of the pile-holding cylinder 4 is hinged on the cylinder pin;
  • a connecting rod pin is also connected on the inner waist of the two triangular plates and near the top angle;
  • the anti-collision mechanism includes a connecting rod 43 and an anti-collision plate 44; one end of the connecting rod 43 is hinged to the connecting rod pin on the swing rod 41; the anti-collision plate 44 is arranged on the upper inner side of the swing rod 41, and a pair of front hinge seats 441 hinged to the other end of the connecting rod 43 are installed at the front end of the middle part of the bottom surface of the anti-collision plate 44, and a hinge seat 441 is installed on each side of the rear end of the anti-collision plate 44 to connect with the swing rod mounting rod 10B of the upper pile bracket.
  • the upper ends of the two connecting arms 121 are hinged to the rear hinged seat 442 (FIG. 6 to FIG.
  • the hydraulic system includes an oil tank and a valve group installed on the workboat and an underwater detection module installed on the main base; the underwater detection module includes a displacement sensor and a pressure sensor installed on the leveling lifting cylinder 3 in the four leveling devices and a displacement sensor and a pressure sensor installed on the pile holding cylinder 4 in the four pile holding devices.
  • the hydraulic system controls the pile holding cylinder 4 in the four pile holding devices and the leveling lifting cylinder 3 in the four leveling devices.
  • the monitoring system includes four sealed junction boxes 5A, main base plate attitude monitoring devices and four sets of steel pipe pile attitude monitoring devices;
  • the main base plate attitude monitoring device includes four liquid level meters 51, a depth meter 52, a compass and a depth gauge (see Figure 9); wherein,
  • the compass and depth gauge are both installed in the sealed junction box 5A located on the No. 1 vertical pile frame 1A; the compass is used to identify the pitch angle, roll angle and azimuth angle of the main base plate, and is used to assist in adjusting the angle and levelness of the main base plate; the depth gauge can measure the distance from its installation position to the sea level according to the water pressure, and is used to judge the water depth of the main base plate and the elevation of the main base plate;
  • level gauges 51 are installed one by one at the same height position of a column 11 of four vertical pile frames 1A; after the main base plate falls on the seabed surface, the levelness of the entire main base plate is judged by the readings of the four level gauges 51;
  • the depth sounder 52 is installed in the middle of the bottom of a connecting beam 1B between the first vertical pile frame 1A and the third vertical pile frame 1A; the signal line of the depth sounder 52 is connected to the sealed junction box 5A located on the first vertical pile frame 1A; the depth sounder 52 can measure the distance from the connecting beam 1B to the seabed surface after the main base is leveled, which is used to judge the depth of the main base into the mud;
  • the lamp stand 50 includes two upper and lower lamps fixed to the inner side of a side plate of the vertical pile frame 1A.
  • the invention comprises a mounting plate 501 at the top, two vertical rods 502 whose two ends are fixed on the two mounting plates 501 in a one-to-one correspondence, a horizontal seat plate 503 sleeved on the middle of the two vertical rods 502, a vertical seat plate 504 fixed on the inner end of the horizontal seat plate 503, two underwater searchlights 57 installed on the top surface of the vertical seat plate 504 at intervals, and a laser light 58 fixed in the middle of the upper part of the vertical seat plate 504; a detection cylinder 5 is hinged on one side of the top surface of the horizontal seat plate 503, and the piston rod of the detection cylinder 5 is hinged to the outer end of a detection connecting rod 505 whose middle part is hinged on the other side of the top surface of the horizontal seat plate 503, and the inner end of the detection connecting rod 505 is connected to the outer end of a detection probe rod
  • the sonar detector 53 is installed on the cage opening 10A of the vertical pile frame 1A (see FIG. 9 ); the sonar detector 51 identifies the position of the underwater steel pipe pile after the steel pipe pile enters the water to a certain depth, which helps to guide the steel pipe pile to fall into the cage opening 10A;
  • a set of horizontal distance meters 54 is composed of two pairs of horizontal distance meters, which are installed one by one on the upper layer and the lower layer of the vertical pile frame 1A.
  • a pair of horizontal distance meters 54 located on the upper layer of the vertical pile frame 1A corresponds to the installation position of the upper pile gripper 4A and is installed one by one in the middle of the inner side surfaces of two opposite column side plates of the vertical pile frame 1A.
  • a pair of horizontal distance meters 54 located on the lower layer of the vertical pile frame 1A corresponds to the installation position of the lower pile gripper 4B and is installed one by one in the middle of the inner side surfaces of the other two opposite column side plates of the vertical pile frame 1A.
  • the distance to the steel pipe pile is measured by the two pairs of horizontal distance meters 54 to judge the verticality of the steel pipe pile.
  • the vertical distance meter 55 is installed at the inner end of the detection probe 506 on the lamp frame 50 in the vertical pile frame 1A; the installation height of the vertical distance meter 55 can be adjusted through the horizontal seat plate 503; before the pile sinking construction, the detection cylinder 5 is controlled to retract the detection probe 506 through the detection connecting rod 507, and when the steel pipe pile is self-sunk in place, the detection cylinder 5 is controlled to extend the detection probe 506 through the detection connecting rod 505, so that the vertical distance meter 55 is against the outer surface of the steel pipe pile, and then the hammer is used to drive the pile, and the vertical distance meter 55 measures upward, and can measure the distance to the hammer cap, so as to control the pile sinking elevation of the steel pipe pile;
  • the camera 56 is installed in the middle of the upper part of the vertical seat plate 504 on the lamp frame 50 in the vertical pile frame 1A and is located above the laser light 58; the camera 56 is used to observe the pile sinking state of the steel pipe pile, and the laser light 58 is hit on the scale of the steel pipe pile, and the depth of the pile sinking is judged by the camera 56;
  • the underwater searchlight 57 provides light source for the horizontal rangefinder 54 and the vertical rangefinder 55 .
  • the signal lines of the liquid level meter 51, the sonar detector 53, a group of horizontal rangefinders 54, the vertical rangefinder 55 and the camera 56 on each vertical pile frame 1A are centrally connected to the sealed junction box 5A on their respective vertical pile frames 1A, and the signal lines of the sealed junction boxes 5A on the No. 2 vertical pile frame 1A to the No. 4 vertical pile frame 1A are collectively connected to the sealed junction box 5A on the No. 1 vertical pile frame 1A.
  • the control system includes a main control console installed on the work boat and connected to the sealed junction box 5A on the No. 1 vertical pile frame 1A through a signal bus.
  • the main control console is equipped with a programmable controller and a human-machine interface.
  • the electrical control system completes the collection of operation data and controls the four sets of pile holding devices through the programmable controller. It also provides power and protection for the entire system including the hydraulic system, processes and displays all collected monitoring signals, and measures, monitors and records the depth, direction, horizontal posture of the main base plate, and the position and verticality of the steel pipe piles during the construction of each steel pipe pile.
  • the underwater pile positioning system of the foundation steel pipe piles of the deepwater four-pile jacket of the present invention is assisted by a floating crane or a self-elevating platform ship, and the underwater execution components of the system are connected to the power and control system arranged on the working ship through an umbilical cable.
  • the process of pile sinking operation using the underwater pile positioning system for the foundation steel pipe piles of the deep-water four-pile jacket of the present invention is as follows: positioning the workboat, connecting the equipment power system and conducting a trial run ⁇ lifting the underwater pile positioning system of the present invention ⁇ extending the piston rod of the leveling lifting cylinder, lowering the underwater pile positioning system of the present invention into the water and arranging it above the seabed ⁇ determining the position and azimuth of the main base plate through auxiliary equipment such as a crane and a winch to locate the main base plate ⁇ the anti-sinking plate lands on the seabed ⁇ confirming the position and direction of the main base plate through the posture monitoring device of the main base plate ⁇ evaluating the seabed under the main base plate to determine the baseline Leveling reference point ⁇ activating four sets of leveling devices, adjusting the horizontality of the main base, and calibrating through the compass until the baseline of the main base reaches the horizontal ⁇ recovering the slings ⁇ measuring and monitoring the various posture data of
  • the posture monitoring device of the main base plate feeds back the monitoring signal, and the leveling lifting cylinders 3 of the four leveling devices adjust the relative positions of the four anti-sinking plates 2 and the main base plate one by one to adjust the posture of the main base plate, ensure the verticality of the four vertical pile frames 1A, and provide a reference platform for subsequent piling operations.
  • the sonar detector 53 installed on the cage mouth 10A identifies the position of the underwater steel pipe pile and feeds it back to the main control console on the workboat, and the main control console controls the crane and the winch to adjust the position of the steel pipe pile so that the steel pipe pile can smoothly fall into the cage mouth 10A of the corresponding vertical pile frame 1A, and then the steel pipe pile is introduced into the four upper pile grippers 4A through the cage mouth 10A, and the steel pipe pile is pushed to the vicinity of the center of the vertical pile frame 1A by the pile gripping cylinders 4 of the four upper pile grippers 4A, and then the steel pipe pile continues to be lowered and introduced into the four lower pile grippers 4B, and the pile gripping cylinders 4 of the four lower pile grippers 4B are all pushed out, and the center of the steel pipe pile is positioned at the center of the vertical pile frame 1A, and then the pile gripping cylinders 4 of the four upper pile
  • the four upper pile grippers 4A and the four lower pile grippers 4B are suitable for steel pipe piles with a diameter range of 2.4m to 4.0m.
  • the vertical distance meter 55 is used to monitor the altitude and penetration of the steel pipe piles.
  • the horizontal distance meter 54 and the camera 56 are used to ensure the verticality of the steel pipe piles.
  • the underwater searchlight 57 provides light for the horizontal distance meter 54 and the vertical distance meter 55.

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Abstract

本发明公开了一种深水四桩导管架的基础钢管桩的水下沉桩定位系统，包括主体基盘、四套调平装置、四套抱桩装置、液压系统、监测系统和控制系统。主体基盘包括四个立式桩架和四根联系梁；每个立式桩架的顶部均设置一个笼口；每个立式桩架的四个角部的上、下部设置四个上、下部抱桩支架；四根联系梁连接在四个立式桩架的上部之间；四套调平装置安装在四个立式桩架的底部；每套调平装置包括一块防沉板和四个连接在立式桩架的四根立柱的下部与防沉板的顶面之间的调平升降机构；四套抱桩装置安装在四个立式桩架的内腔中；每套抱桩装置包括四个设在四个上、下部抱桩支架的上、下层抱桩器。本发明具有自动化、可视化、高精度、高效、高度集成的显著特点。

Description

一种深水四桩导管架的基础钢管桩的水下沉桩定位系统 技术领域
本发明涉及一种深水四桩导管架的基础钢管桩的水下沉桩定位系统。
背景技术
随着海上风力发电产业在国内的迅猛发展，越来越多的风机基础形式得以应用。其中导管架基础结构强度高、基础刚度大、稳定性较好、安装噪音小、重量轻、运输安装方便，可作为大型风电机组的支撑结构。导管架基础受波浪荷载影响较小，适用水深范围为5～50m的海域，与其它基础形式相比较具有安装速度快，具有造价低的优点。目前，海上风电正朝着深远海域方向发展，针对离岸25km以上、水深在25m～50m的深远海域的海上风电风机基础结构国内已经在陆续尝试采用导管架基础结构(先桩法)型式，该导管架基础结构由四根直径为φ2.4m～φ4.0m的基础钢管桩(桩长为70m～110m)和一个内插入式导管架组成，基础钢管桩的设计桩顶标高位于海床面以上7m～17m，需要进行水下沉桩施工，在深远海域进行水下沉桩作业时，由于受大风、大浪、长涌等影响，施工窗口期很短，施工难度较大，同时，内插入式导管架结构需要在水下与基础钢管桩进行连接施工(含插接、调平及灌浆)，对基础钢管桩沉桩时的平面位置、标高、垂直度以及各个桩的相对位置的控制精度要求高。
目前，基础钢管桩采用液压锤进行沉桩施工，桩顶偏位较大。在水深越深、海况越差的条件下，液压锤沉桩的桩位偏差越大。在海上打桩过程中，由于施工区域广、作业面大、施工环境和气候条件差，按照常规的GPS-RTK测量技术进行定位，桩位误差仅能≤300mm，如果不采取特殊的施工工艺和控制措施，桩顶相对位置误差将无法满足设计要求，严重影响导管架结构在水下与钢管桩的对位连接安装。
传统的四桩导管架的基础钢管桩的水下沉桩工艺是采用搭设辅助钢管桩定位平台(包括浮式稳桩平台)，该工艺适用于近岸浅水海域(水深在20m以内)，工序繁琐，需要多次插拔辅助桩，受施工窗口期影响影响较大，定位平台的搭拆及水下沉桩工效低，难以适应深水海域的海上风电四桩导管架基础钢管桩的水下沉桩施工的海况。
发明内容
本发明的目的在于克服现有技术的缺陷而提供一种深水四桩导管架的基础钢管桩的水下沉桩定位系统，它具有自动化、可视化、高精度、高效、高度集成的显著特点。
本发明的目的是这样实现的：一种深水四桩导管架的基础钢管桩的水下沉桩定位系统，包括主体基盘、四套调平装置、四套抱桩装置、液压系统、监测系统和控制系统；其中，
所述主体基盘包括四个立式桩架和四根联系梁；
四个立式桩架以平面几何中心的连线呈矩形的方式布置，每个所述立式桩架为由钢管制成的四边形空间桁架结构并包括四根立柱和四片连接在四根立柱之间的立柱边板；每个立式桩架的顶部均设置一个笼口；每个立式桩架的四个角部的上部一一对应地设置四个上部抱桩支架，每个立式桩架的四个角部的下部一一对应地设置四个下部抱桩支架；
四根联系梁一一对应地连接在四个立式桩架的上部之间；每根联系梁均为由钢管制成的四边形空间桁架结构并包括四根横杆和四片连接在四根横杆之间的横杆边板；
四套调平装置一一对应地活动安装在四个立式桩架的底部；每套调平装置包括一块防沉板和四个连接在立式桩架的四根立柱的下部与防沉板的顶面之间的调平升降机构；
四套抱桩装置一一对应地安装在四个立式桩架的内腔中；每套抱桩装置包括四个一一对应地设在四个上部抱桩支架的上层抱桩器和四个一一对应地设在四个下部抱桩支架上的下层抱桩器；
所述液压系统包括安装在工作船上的油箱和水下阀组以及安装在主体基盘上的水下检测模块；所述水下检测模块包括安装在四套调平装置中的调平升降油缸上的位移传感器和安装在调平升降油缸的油路上的压力传感器及安装在四套抱桩装置中的抱桩油缸上的位移传感器和安装在抱桩油缸的油路上的压力传感器；
所述监测系统包括四个密封接线箱、主体基盘姿态监测装置和四套钢管桩姿态监测装置；所述主体基盘姿态监测装置包括四个液位仪、测深仪、罗经仪和深度计；四个密封接线箱一一对应地设在四个立式桩架的下部；四个液位仪一一对应地安装在四个立式桩架的同一个高度位置；所述罗经仪和深度计均安装在一个立式桩架上的密封接线箱内；所述测深仪安装在一根联系梁的底部中间；所述测深仪的信号线连接到最近的一个密封接线箱内；四套钢管桩姿态监测装置一一对应地安装在四个立式桩架上，每套钢管桩姿态监测装置包括声纳探测仪、一组水平测距仪、竖向测距仪和摄像头；所述声纳探测仪安装在立式桩架的笼口上；一组水平测距仪由两对水平测距仪构成，该两对水平测距仪一一对应地安装在立式桩架的上层和立式桩架的下层，一对位于立式桩架的上层的水平测距仪与所述上层抱桩器的安装位置对应并一一对应地安装在立式桩架的两片相对的立柱边板的内侧面的中部，一对位于立式桩架的下层的水平测距仪与所述下层抱桩器的安装位置对应并一一对应地安装在立式桩架的另外两片相对的立柱边板的内侧面的中部；所述竖向测距仪和摄像头均通过一灯架安装在立式桩架上；每个立式桩架上的液位仪、声纳探测仪、一组水平测距仪、竖向测距仪和摄像头的信号线均集中接到各自的立式桩架上的密封接线箱内；
所述控制系统包括安装在工作船上并通过信号总线与所述密封接线箱连接的总控制台，总控制台设有可编程序控制器和人机交互界面。
上述的深水四桩导管架的基础钢管桩水下沉桩定位系统，其中，每个所述立式桩架和每根所述联系梁均由若干段立柱单元框架拼接而成，每段立柱单元框架的四根立柱之间均通过法兰连接，每段联系梁单元的四根横杆之间均通过法兰连接。
上述的深水四桩导管架的基础钢管桩的水下沉桩定位系统，其中，所述笼口包括设在立式桩架的顶部的圆形框、若干均布地连接在圆形框的外侧面与所述立式桩架的顶框的之间的连杆以及通过若干斜连杆连接在圆形框的顶面上的半圆形框。
上述的深水四桩导管架的基础钢管桩的水下沉桩定位系统，其中，所述防沉板包括钢板和焊接在钢板底部的网格式加强筋板。
上述的深水四桩导管架的基础钢管桩的水下沉桩定位系统，其中，所述调平升降机构包括调平升降油缸和导杆机构，所述调平升降油缸的油缸底座固定在所述立式桩架的立柱的下部，该调平升降油缸的缸体尾端铰接在所述油缸底座上，该调平升降油缸的活塞杆的端头铰接在所述防沉板的顶面上；所述导杆机构包括固定在所述防沉板的顶面上的导杆底座、安装在导杆底座的顶面上的半球面下轴承座、从立柱的底部插入立柱内并通过底部的钢球枢接在下轴承座内的导杆和安装在下轴承座的顶面上用以限制所述钢球脱出下轴承座的上轴承座。
上述的深水四桩导管架的基础钢管桩的水下沉桩定位系统，其中，所述上部抱桩支架包括一内一外且一下一上地平行固定在立式桩架的角部并均与所述立式桩架的边板呈45°夹角的摆杆安装杆和油缸安装杆；所述摆杆安装杆的中部间隔地固定两根向上伸出的连接臂，该摆杆安装杆的中部间隔地安装两个向内下方伸出的销轴套，该两个销轴套的下端各自通过一个斜向支撑杆固定在立式桩架上；
所述下部抱桩支架的结构与上部抱桩支架的结构相同；
所述上层抱桩器包括抱桩油缸、摆杆和防撞机构；其中，
所述抱桩油缸的缸体尾端铰接在所述上部抱桩支架的油缸安装杆的中部；
所述摆杆由两块三角形板构成；该摆杆的顶角通过摆杆销轴铰接在所述上层抱桩支架上的两个销轴套上，该摆杆的内侧底角通过滚轮销轴安装一抱桩滚轮，该摆杆的外侧底角通过油缸销轴与所述抱桩油缸的活塞杆的端头铰接，该摆杆的内侧腰上并在靠近所述顶角的位置还安装一根连杆销 轴；
所述防撞机构包括连杆和防撞板；所述连杆的一端与所述摆杆上的连杆销轴铰接；所述防撞板的底面中前端与所述连杆的另一端铰接，该防撞板的后端铰接在所述上部抱桩支架的两根连接臂的上端；
所述下层抱桩器的结构与上层抱桩器的结构相同。
上述的深水四桩导管架的基础钢管桩的水下沉桩定位系统，其中，所述灯架包括两块一上一下地固定在所述立式桩架的一片边板的内侧中部的安装板、两根两端一一对应地固定在两块安装板上的竖杆、套装在两根竖杆的中部的水平座板、固定在水平座板的内端的垂直座板、两个间隔地安装在垂直座板的顶面上的水下探照灯、固定在垂直座板的上部中间的激光灯；所述摄像头安装在所述激光灯的上方；所述水平座板上铰接一个检测用油缸，该检测用油缸的活塞杆与一根中部铰接在水平座板上的连杆的外端铰接，该连杆的内端与一根探杆的外端连接；所述竖向测距仪安装在所述探杆的内端。
本发明的深水四桩导管架的基础钢管桩的水下沉桩定位系统具有以下特点：
1、本发明将主体基盘的四根联系梁采用分段式结构，能适应基础钢管桩的间距为22m×22m～30m×30m的导管架基础的沉桩施工；
2、本发明通过在主体基盘的四个立式桩架的底部各自设置一套调平装置，不仅有效保证了钢管桩水下沉桩过程中主体基盘的姿态稳定，还能增加主体基盘的座底稳定性，保证水下沉桩过程的安全可靠；
3、本发明通过在主体基盘的四个立式桩架内各自设置一套由四个上层抱桩器和四个下层抱桩器构成的抱桩装置，并结合监测装置，能高精度、高效地控制钢管桩的垂直度；
4、本发明通过设置主体基盘姿态监测装置，能使总控制台根据主体基盘姿态监测装置反馈的数据通过四套调平装置的调平升降油缸一一对应地调整四块防沉板与主体基盘的相对位置，用以调整主体基盘的姿态，保证四个立式桩架的垂直度，为后续的打桩作业供基准平台；通过在四个 立式桩架内各自设置一套钢管桩姿态监测装置，使钢管在沉桩时，使总控制台根据对应的一套钢管桩姿态监测装置反馈的数据通过控制与钢管桩对应的上层抱桩器的抱桩油缸和下层抱桩器的抱桩油缸能精确地将钢管桩的垂直度控制在允许范围内，为水下沉桩过程中实时误差纠偏提供充分的依据及技术支持；
5、本发明具有自动化、可视化、高精度、高效、高度集成的显著特点，解决深远海域导管架基础钢管桩邻近海床面水下沉桩所面临的受大风、大浪、长涌等影响施工窗口期很短，施工难度大，工效低及水下智能定位、垂直度、桩顶标高、各个桩的相对位置控制精度要求高、水下沉桩过程可视化监测及水下沉桩过程实时误差纠偏的技术难题。
附图说明
图1是本发明的深水四桩导管架的基础钢管桩的水下沉桩定位系统的主视图；
图2是本发明的深水四桩导管架的基础钢管桩的水下沉桩定位系统的俯视图；
图3是本发明的水下沉桩定位系统中立式桩架顶部的笼口的结构示意图；
图4是本发明的水下沉桩定位系统中的立式桩架的主视图；
图4a是图4的俯视图；
图4b是图4a中的A-A向视图；
图4c是图4a中的B-B向视图；
图4d是图4c中的F-F向视图；
图4e是图4中的N-N向视图；
图5是本发明的水下沉桩定位系统中的导杆机构的轴向剖视图；
图6是本发明的水下沉桩定位系统中的上层抱桩器的结构示意图(抱桩油缸完全打开状态)；
图7是本发明的水下沉桩定位系统中的上层抱桩器的结构示意图(抱 桩油缸完全缩回状态)；
图8是本发明的水下沉桩定位系统中的上层抱桩器中的防撞板的透视图；
图9是本发明的水下沉桩定位系统中的监测系统的布置侧视图；
图10是本发明的水下沉桩定位系统中的监测系统的布置透视图；
图10a是本发明的水下沉桩定位系统中的监测系统的灯架的透视图。
具体实施方式
下面将结合附图对本发明作进一步说明。
请参阅图1至图10a，本发明的深水四桩导管架的基础钢管桩的水下沉桩定位系统，包括主体基盘、四套调平装置、四套抱桩装置、液压系统、监测系统和控制系统。
主体基盘包括四个立式桩架1A和四根联系梁1B。
四个立式桩架1A以中心连线呈矩形的方式布置，即四个立式桩架1A的布置方式要与四桩导管架的四根桩腿的布置方式对应；位于西北方向的立式桩架1A编号为一号，位于东北方向的立式桩架1A编号为二号，位于西南方向的立式桩架1A编号为三号，位于东南方向的立式桩架1A编号为四号；每个立式桩架1A为四边形空间桁架并包括四根立柱11和四片连接在四根立柱11之间的边板，每片边板的长度均为8m，每片边板包括水平杆12、竖腹杆和斜腹杆；每个立式桩架1A由若干段立柱单元框架拼装而成，每段立柱单元框架的四根立柱之间均通过法兰连接；便于拆卸更换；每个立式桩架1A的顶部均设置一个笼口10A；每个立式桩架1A的四个角部的上部一一对应地设置四个上部抱桩支架，每个立式桩架1A的四个角部的下部一一对应地设置四个下部抱桩支架。
笼口10A包括设在立式桩架1A的顶部的圆形框111、八根均布地连接在圆形框11的外侧面与立式桩架1A的顶框的之间的连杆112以及通过八根斜连杆13连接在圆形框111的顶面上的半圆形框114(见图3)，便于将钢管桩导入圆形框111。
上部抱桩支架和下部抱桩支架的结构相同并包括一内一外且一下一上地平行固定在立式桩架1A的角部并均与立式桩架1A的边板呈45°夹角的摆杆安装杆10B和油缸安装杆10C；其中，摆杆安装杆10B的中部间隔地固定两根向上伸出的连接臂121，该摆杆安装杆10B的中部间隔地安装两个向内下方伸出的销轴套122，该两个销轴套122的下端各自通过一个斜向支撑杆123固定在立式桩架1A的角部(见图4至图4e)。
四根联系梁1B一一对应地连接在四个立式桩架1A的上部之间；每根联系梁1B均为由钢管制成的四边形空间桁架结构并包括四根横杆和四片连接在四根横杆之间的边板，每片边板的宽度均为7m；每个联系梁1B也由若干段联系梁单元拼装而成，每段联系梁单元的四根横杆之间均通过法兰连接，便于调节每根联系梁1B的长度，通过调整四根联系梁1B的长度来适应钢管桩的间距为22m×22m～30m×30m的导管架基础的沉桩施工。
四个立式桩架1A和四根联系梁1B上均设有吊点，可进行整体或分体吊装。
四套调平装置一一对应地活动安装在四个立式桩架1A的底部；每套调平装置包括一块防沉板2和四个连接在立式桩架1A的四根立柱11的下部与防沉板2的顶面之间的调平升降机构；
每块防沉板2的平面呈正方形且几何尺寸大于单个立式桩架1A的平面几何尺寸，每块防沉板2包括一块中央开设一桩孔的正方形钢板和焊接在钢板的底面上的网格式加强筋板；四块防沉板2能增加主体基盘与海床面的接触面积，增强水下沉桩定位系统的座底稳定性。
每个调平升降机构包括调平升降油缸3和导杆机构20，其中，调平升降油缸3的油缸底座30固定在立式桩架1A的立柱11的下部，调平升降油缸3的缸体尾端铰接在油缸底座30上，调平升降油缸3的活塞杆的端头铰接在防沉板2的顶面上。
导杆机构20包括导杆底座21、下轴承座22、导杆23和上轴承座25；其中，导杆底座21固定在防沉板2的顶面上，该导杆底座21的顶面上开设半球面形凹槽；下轴承座22呈半球面形并安装在导杆底座21的顶面上 的半球面凹槽内；导杆23为底部固定一钢球24的钢管，该导杆23从立柱11的底部插入立柱11内，该导杆23底部的钢球24枢接在下轴承座22内；上轴承座25安装在下轴承座22的顶面上，用以限制钢球24脱出下轴承座22(见图5)。
主体基盘的四个立式桩架1A各自通过四个调平升降机构中的调平升降油缸3的活塞杆的伸缩，调节立式桩架1A与防沉板2之间的距离，进而能调节主体基盘在设定的位置达到水平姿态。每个立式桩架1A上的四个调平升降油缸3既可以单独动作，也可以协调同步动作。
四套抱桩装置一一对应地安装在四个立式桩架1A的内腔中；每套抱桩装置包括四个一一对应地设在四个上部抱桩支架的上层抱桩器4A和四个一一对应地设在四个下部抱桩支架上的下层抱桩器4B；上层抱桩器4A和下层抱桩器4B的结构相同的，且上层抱桩器4A与下层抱桩器4B之间的间距为7m；每个立式桩架1A通过四个上层抱桩器4A和四个下层抱桩器4B与钢管桩接触后抱桩。
每个上层抱桩器4A包括抱桩油缸4、摆杆41和防撞机构；
抱桩油缸4的缸体尾端铰接在上部抱桩支架的油缸安装杆10C的底面中部；
摆杆41由两块三角形板构成，该两块三角形板的顶角之间通过两个轴承跨接一根摆杆销轴，该摆杆销轴的露出两块三角形板的两头一一对应地插入上部抱桩支架的摆杆安装杆10B上的两个销轴套122内，再各自通过挡板固定；两块三角形板的内侧底角之间跨接一根滚轮销轴，该滚轮销轴上安装一个抱桩滚轮42；两块三角形板的外侧底角之间跨接一根油缸销轴，抱桩油缸4的活塞杆的端头铰接在该油缸销轴上；两块三角形板的内侧腰上并在靠近顶角的位置还跨接一根连杆销轴；
防撞机构包括连杆43和防撞板44；其中，连杆43的一端与摆杆41上的连杆销轴铰接；防撞板44设在摆杆41的内侧上方，该防撞板44的底面的中部前端安装一对与连杆43的另一端铰接的前铰接座441，该防撞板44的后端两侧各自安装一个与上部抱桩支架的摆杆安装杆10B上的 两根连接臂121的上端一一对应地铰接的后铰接座442(图6至图8)。通过控制四个上层抱桩器的抱桩油缸4和四个下层抱桩器的抱桩油缸不仅能适应不同直径的钢管桩，还能调整钢管桩的垂直度。
液压系统包括安装在工作船上油箱和阀组以及安装在主体基盘上的水下检测模块；水下检测模块包括安装在四套调平装置中的调平升降油缸3上的位移传感器和压力传感器以及安装在四套抱桩装置中的抱桩油缸4上的位移传感器和压力传感器。液压系统控制四套抱桩装置中的抱桩油缸4和四套调平装置中的调平升降油缸3。
监测系统包括四个密封接线箱5A、主体基盘姿态监测装置和四套钢管桩姿态监测装置；
四个密封接线箱5A一一对应地安装在四个立式桩架1A的内腔下部；
主体基盘姿态监测装置包括四个液位仪51、测深仪52、罗经仪和深度计(见图9)；其中，
罗经仪和深度计均安装在位于一号立式桩架1A上的密封接线箱5A内；罗经仪用于识别主体基盘的俯仰角、滚动角和方位角，用于协助调整主体基盘的角度和水平度；深度计能根据水压测得其安装位置至海平面的距离，用于判断主体基盘的入水深度和主体基盘的高程；
四个液位仪51一一对应地安装在四个立式桩架1A的一根立柱11的同一个高度位置；当主体基盘落在海床面之后，通过四个液位仪51的读数来判断整个主体基盘的水平度；
测深仪52安装在一号立式桩架1A与三号立式桩架1A之间的一根联系梁1B的底部中间；该测深仪52的信号线接到位于一号立式桩架1A上的密封接线箱5A内；该测深仪52在主体基盘调平后能测得联系梁1B至海床面的距离，用于判断主体基盘的入泥深度；
四套钢管桩姿态监测装置一一对应地设在四个立式桩架1A的内腔中，每个钢管桩姿态监测装置包括灯架50、声纳探测仪53、一组水平测距仪54、竖向测距仪55和摄像头56；其中，
灯架50包括两块一上一下地固定在立式桩架1A的一片边板的内侧中 部的安装板501、两根两端一一对应地固定在两块安装板501上的竖杆502、套装在两根竖杆502的中部的水平座板503、固定在水平座板503的内端的垂直座板504、两个间隔地安装在垂直座板504的顶面上的水下探照灯57、固定在垂直座板504的上部中间的激光灯58；水平座板503的顶面一侧铰接一个检测用油缸5，该检测用油缸5的活塞杆与一根中部铰接在水平座板503的顶面另一侧的检测连杆505的外端铰接，该检测连杆505的内端与一根检测探杆506的外端连接(见图10和图10a)；
声纳探测仪53安装在立式桩架1A的笼口10A上(见图9)；声纳探测仪51在钢管桩入水一定深度后识别水下钢管桩的方位，有助于引导钢管桩落入笼口10A；
一组水平测距仪54由两对水平测距仪构成，该两对水平测距仪一一对应地安装在立式桩架1A的上层和立式桩架1A的下层，一对位于立式桩架1A的上层的水平测距仪54与上层抱桩器4A的安装位置对应并一一对应地安装在立式桩架1A的两片相对的立柱边板的内侧面的中部，一对位于立式桩架1A的下层的水平测距仪54与下层抱桩器4B的安装位置对应并一一对应地安装在立式桩架1A的另外两片相对的立柱边板的内侧面的中部；在沉桩过程中，通过两对水平测距仪54测得与钢管桩的间距，用于判断钢管桩的垂直度。
竖向测距仪55安装在立式桩架1A内的灯架50上的检测探杆506的内端；竖向测距仪55可以通过水平座板503调整安装高度；沉桩施工前，控制检测用油缸5通过检测连杆507将检测探杆506缩回，当钢管桩自沉到位后控制检测用油缸5通过检测连杆505将检测探杆506伸出，使竖向测距仪55靠在钢管桩的外侧面上，然后套锤打桩，竖向测距仪55向上测量，可以测到锤帽的距离，以此来控制钢管桩的沉桩高程；
摄像头56安装在立式桩架1A内的灯架50上的垂直座板504的上部中间并位于激光灯58的上方；摄像头56用于观察钢管桩的沉桩状态，激光灯58打在钢管桩的刻度上，通过摄像头56判断沉桩的深度；
水下探照灯57为水平测距仪54和竖向测距仪55提供光源。
每个立式桩架1A上的液位仪51、声纳探测仪53、一组水平测距仪54、竖向测距仪55和摄像头56的信号线均集中连接到各自的立式桩架1A上的密封接线箱5A内，二号立式桩架1A至四号立式桩架1A上的密封接线箱5A的信号线汇总连接到一号立式桩架1A上的密封接线箱5A内。
控制系统包括安装在工作船上并通过信号总线与一号立式桩架1A上的密封接线箱5A连接的总控制台，总控制台设有可编程序控制器和人机交互界面。电气控制系统通过可编程序控制器完成作业数据的采集并对四套抱桩装置进行控制，还为包括液压系统在内的整个系统提供动力及保护，对所有收集到的监测信号进行处理、显示，对各钢管桩打桩施工过程中主体基盘的深度、方向、水平姿态，钢管桩的位置、垂直度进行测量、监视和录像留存。
本发明的深水四桩导管架的基础钢管桩的水下沉桩定位系统，由浮吊或自升式平台船协助作业，该系统的水下执行部件通过脐带缆与设置在工作船上的动力及控制系统连接。
采用本发明的深水四桩导管架的基础钢管桩的水下沉桩定位系统，进行沉桩作业的流程为：工作船定位，连接设备动力系统并进行试运行→起吊本发明的水下沉桩定位系统→调平升降油缸的活塞杆部分伸出，本发明的水下沉桩定位系统下放至水中并布置在海床上方→通过吊机及绞车等辅助设备确定主体基盘的位置和方位角，以定位主体基盘→防沉板降落在海床上→通过主体基盘的姿态监测装置确认主体基盘的位置和方向→对主体基盘下的海床进行评估，以确定基线调平参考点→激活四套调平装置，调整主体基盘的水平度，并通过罗经仪校正，直到主体基盘的基准线达到水平→回收吊索具→实时测量并监测海床以及主体基盘的各项姿态数据→采用振动锤并通过四个上层抱桩器和四个下层抱桩器进行插桩、沉桩作业，通过实时监测主体基盘和钢管桩的姿态数据并根据需要调整→依次以同样的方式安装第二根钢管桩、第三根钢管桩和第四根钢管桩→测量四根钢管桩的桩顶的位置→重新连接吊索具，回收本发明的水下沉桩定位系统。
本发明的水下沉桩定位系统下放至海床上后，通过主体基盘的姿态监测装置反馈监测信号，由四套调平装置的调平升降油缸3一一对应地调整四块防沉板2与主体基盘的相对位置，以调整主体基盘的姿态，保证四个立式桩架1A的垂直度，为后续的打桩作业供基准平台。在进行沉桩作业时，钢管桩入水一定深度后，安装在笼口10A上的声纳探测仪53识别水下钢管桩的方位并反馈给工作船上的总控制台，由总控制台控制吊机及绞车调整钢管桩的方位，使钢管桩能顺利落入对应的立式桩架1A的笼口10A内，接着通过笼口10A将钢管桩导入四个上层抱桩器4A内，通过四个上层抱桩器4A的抱桩油缸4将钢管桩顶推到立式桩架1A的中心附近，然后钢管桩继续下放，导入四个下层抱桩器4B中，四个下层抱桩器4B的抱桩油缸4全部顶出，将钢管桩的中心定位在立式桩架1A的中心，再对四个上层抱桩器4A的抱桩油缸4进行控制，精确地将钢管桩的垂直度控制在允许范围内。四个上层抱桩器4A和四个下层抱桩器4B能适用钢管桩的直径范围为2.4m～4.0m，通过竖向测距仪55监测钢管桩的海拔高度和贯入度；通过水平测距仪54和摄像头56保证钢管桩的垂直度。水下探照灯57为水平测距仪54和竖向测距仪55提供光源。
以上实施例仅供说明本发明之用，而非对本发明的限制，有关技术领域的技术人员，在不脱离本发明的精神和范围的情况下，还可以作出各种变换或变型，因此所有等同的技术方案也应该属于本发明的范畴，应由各权利要求所限定。

Claims (7)

  1. 一种深水四桩导管架的基础钢管桩的水下沉桩定位系统，包括主体基盘、四套调平装置、四套抱桩装置、液压系统、监测系统和控制系统；其特征在于，
    所述主体基盘包括四个立式桩架和四根联系梁；
    四个立式桩架以平面几何中心的连线呈矩形的方式布置，每个所述立式桩架为由钢管制成的四边形空间桁架结构并包括四根立柱和四片连接在四根立柱之间的立柱边板；每个立式桩架的顶部均设置一个笼口；每个立式桩架的四个角部的上部一一对应地设置四个上部抱桩支架，每个立式桩架的四个角部的下部一一对应地设置四个下部抱桩支架；
    四根联系梁一一对应地连接在四个立式桩架的上部之间；每根联系梁均为由钢管制成的四边形空间桁架结构并包括四根横杆和四片连接在四根横杆之间的横杆边板；
    四套调平装置一一对应地活动安装在四个立式桩架的底部；每套调平装置包括一块防沉板和四个连接在立式桩架的四根立柱的下部与防沉板的顶面之间的调平升降机构；
    四套抱桩装置一一对应地安装在四个立式桩架的内腔中；每套抱桩装置包括四个一一对应地设在四个上部抱桩支架的上层抱桩器和四个一一对应地设在四个下部抱桩支架上的下层抱桩器；
    所述液压系统包括安装在工作船上的油箱和水下阀组以及安装在主体基盘上的水下检测模块；所述水下检测模块包括安装在四套调平装置中的调平升降油缸上的位移传感器和安装在调平升降油缸的油路上的压力传感器及安装在四套抱桩装置中的抱桩油缸上的位移传感器和安装在抱桩油缸的油路上的压力传感器；
    所述监测系统包括四个密封接线箱、主体基盘姿态监测装置和四套钢管桩姿态监测装置；所述主体基盘姿态监测装置包括四个液位仪、测深仪、罗经仪和深度计；四个密封接线箱一一对应地设在四个立式桩架的下部； 四个液位仪一一对应地安装在四个立式桩架的同一个高度位置；所述罗经仪和深度计均安装在一个立式桩架上的密封接线箱内；所述测深仪安装在一根联系梁的底部中间；所述测深仪的信号线连接到最近的一个密封接线箱内；四套钢管桩姿态监测装置一一对应地安装在四个立式桩架上，每套钢管桩姿态监测装置包括声纳探测仪、一组水平测距仪、竖向测距仪和摄像头；所述声纳探测仪安装在立式桩架的笼口上；一组水平测距仪由两对水平测距仪构成，该两对水平测距仪一一对应地安装在立式桩架的上层和立式桩架的下层，一对位于立式桩架的上层的水平测距仪与所述上层抱桩器的安装位置对应并一一对应地安装在立式桩架的两片相对的立柱边板的内侧面的中部，一对位于立式桩架的下层的水平测距仪与所述下层抱桩器的安装位置对应并一一对应地安装在立式桩架的另外两片相对的立柱边板的内侧面的中部；所述竖向测距仪和摄像头均通过一灯架安装在立式桩架上；每个立式桩架上的液位仪、声纳探测仪、一组水平测距仪、竖向测距仪和摄像头的信号线均集中接到各自的立式桩架上的密封接线箱内；
    所述控制系统包括安装在工作船上并通过信号总线与所述密封接线箱连接的总控制台，总控制台设有可编程序控制器和人机交互界面。
  2. 根据权利要求1所述的深水四桩导管架的基础钢管桩水下沉桩定位系统，其特征在于，每个所述立式桩架和每根所述联系梁均由若干段立柱单元框架拼接而成，每段立柱单元框架的四根立柱之间均通过法兰连接，每段联系梁单元的四根横杆之间均通过法兰连接。
  3. 根据权利要求1所述的深水四桩导管架的基础钢管桩的水下沉桩定位系统，其特征在于，所述笼口包括设在立式桩架的顶部的圆形框、若干均布地连接在圆形框的外侧面与所述立式桩架的顶框的之间的连杆以及通过若干斜连杆连接在圆形框的顶面上的半圆形框。
  4. 根据权利要求1所述的深水四桩导管架的基础钢管桩的水下沉桩定位系统，其特征在于，所述防沉板包括钢板和焊接在钢板底部的网格式加强筋板。
  5. 根据权利要求1所述的深水四桩导管架的基础钢管桩的水下沉桩 定位系统，其特征在于，所述调平升降机构包括调平升降油缸和导杆机构，所述调平升降油缸的油缸底座固定在所述立式桩架的立柱的下部，该调平升降油缸的缸体尾端铰接在所述油缸底座上，该调平升降油缸的活塞杆的端头铰接在所述防沉板的顶面上；所述导杆机构包括固定在所述防沉板的顶面上的导杆底座、安装在导杆底座的顶面上的半球面下轴承座、从立柱的底部插入立柱内并通过底部的钢球枢接在下轴承座内的导杆和安装在下轴承座的顶面上用以限制所述钢球脱出下轴承座的上轴承座。
  6. 根据权利要求1所述的深水四桩导管架的基础钢管桩的水下沉桩定位系统，其特征在于，所述上部抱桩支架包括一内一外且一下一上地平行固定在立式桩架的角部并均与所述立式桩架的边板呈45°夹角的摆杆安装杆和油缸安装杆；所述摆杆安装杆的中部间隔地固定两根向上伸出的连接臂，该摆杆安装杆的中部间隔地安装两个向内下方伸出的销轴套，该两个销轴套的下端各自通过一个斜向支撑杆固定在立式桩架上；
    所述下部抱桩支架的结构与上部抱桩支架的结构相同；
    所述上层抱桩器包括抱桩油缸、摆杆和防撞机构；其中，
    所述抱桩油缸的缸体尾端铰接在所述上部抱桩支架的油缸安装杆的中部；
    所述摆杆由两块三角形板构成；该摆杆的顶角通过摆杆销轴铰接在所述上层抱桩支架上的两个销轴套上，该摆杆的内侧底角通过滚轮销轴安装一抱桩滚轮，该摆杆的外侧底角通过油缸销轴与所述抱桩油缸的活塞杆的端头铰接，该摆杆的内侧腰上并在靠近所述顶角的位置还安装一根连杆销轴；
    所述防撞机构包括连杆和防撞板；所述连杆的一端与所述摆杆上的连杆销轴铰接；所述防撞板的底面中前端与所述连杆的另一端铰接，该防撞板的后端铰接在所述上部抱桩支架的两根连接臂的上端；
    所述下层抱桩器的结构与上层抱桩器的结构相同。
  7. 根据权利要求1所述的深水四桩导管架的基础钢管桩的水下沉桩定位系统，其特征在于，所述灯架包括两块一上一下地固定在所述立式桩 架的一片边板的内侧中部的安装板、两根两端一一对应地固定在两块安装板上的竖杆、套装在两根竖杆的中部的水平座板、固定在水平座板的内端的垂直座板、两个间隔地安装在垂直座板的顶面上的水下探照灯、固定在垂直座板的上部中间的激光灯；所述摄像头安装在所述激光灯的上方；所述水平座板上铰接一个检测用油缸，该检测用油缸的活塞杆与一根中部铰接在水平座板上的连杆的外端铰接，该连杆的内端与一根探杆的外端连接；所述竖向测距仪安装在所述探杆的内端。
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