阅读说明：本技术 一种基于自升式平台船的水下稳桩系统及沉桩方法 (Underwater pile stabilizing system and pile sinking method based on self-elevating platform ship ) 是由 张继彪 陆泽城 时蓓玲 胡灵斌 李靖 韦奋祥 夏月 于 2020-04-30 设计创作，主要内容包括：本发明公开了一种基于自升式平台船的水下稳桩系统,包括自升式平台船和稳桩平台。自升式平台船上在两根前桩腿的前后方各自对称地设置两台铰车。稳桩平台包括平台框架、四个浮桶、两对抱桩器、四根打桩导向套管；平台框架的宽度小于自升式平台船的两根前桩腿的间距；四个浮桶均布地设在平台框架内；两对抱桩器对称地设在平台框架的宽度方向的两端,每对抱桩器均包括上抱臂和下抱臂,上抱臂和下抱臂各自铰接在平台框架的上、下层边钢管上,上抱臂通过上翻转机构可向下翻转,下抱臂通过下翻转机构可向上翻转；四根打桩导向套管通过水平向伸缩机构均布地安装在平台框架的边缘。本发明还公开了一种沉桩方法。本发明能提高沉桩精度和沉桩作业的效率。(The invention discloses an underwater pile stabilizing system based on a self-elevating platform ship. Two winches are respectively and symmetrically arranged in front of and behind two front pile legs on the self-elevating platform ship. The pile stabilizing platform comprises a platform frame, four floating barrels, two pairs of pile grippers and four pile driving guide sleeves; the width of the platform frame is smaller than the distance between two front pile legs of the self-elevating platform ship; the four floating barrels are uniformly distributed in the platform frame; the two pairs of pile grippers are symmetrically arranged at two ends of the platform frame in the width direction, each pair of pile grippers comprises an upper pile gripper arm and a lower pile gripper arm, the upper pile gripper arm and the lower pile gripper arm are respectively hinged on the upper layer edge steel pipe and the lower layer edge steel pipe of the platform frame, the upper pile gripper arm can be turned downwards through an upper turning mechanism, and the lower pile gripper arm can be turned upwards through a lower turning mechanism; four piling guide sleeves are uniformly arranged at the edge of the platform frame through a horizontal telescopic mechanism. The invention also discloses a pile sinking method. The invention can improve pile sinking precision and pile sinking operation efficiency.)

1. An underwater pile stabilizing system based on a self-elevating platform ship comprises the self-elevating platform ship, a pile stabilizing platform, an attitude monitoring system and an operating system; it is characterized in that the preparation method is characterized in that,

the self-elevating platform ship stands on the seabed through two front pile legs and two rear pile legs; two winches are respectively and symmetrically arranged in front of and behind two front pile legs on a deck of the self-elevating platform ship; the front end of the deck of the self-elevating platform ship is also provided with a pile driver;

the pile stabilizing platform comprises a platform frame, four floating barrels, two pairs of pile grippers and four pile driving guide sleeves; wherein the content of the first and second substances,

the platform frame is a space truss structure formed by round steel pipes, and the width of the platform frame is smaller than the distance between two front pile legs of the self-elevating platform ship;

four floating barrels are uniformly distributed in the platform frame, and the lower part of each floating barrel is provided with a water inlet and outlet valve;

the pile embracing devices are symmetrically arranged at two ends of the platform frame in the width direction, each pair of pile embracing devices comprises an upper embracing arm and a lower embracing arm which are semicircular, the upper embracing arm and the lower embracing arm are hinged on an upper layer side steel pipe and a lower layer side steel pipe of the platform frame in a one-to-one correspondence manner, the upper embracing arm can be downwards overturned through an upper overturning mechanism, and the lower embracing arm can be upwards overturned through a lower overturning mechanism; a pair of holding claws are respectively oppositely arranged on the inner wall surface of the upper holding arm and the inner wall surface of the lower holding arm;

four pile driving guide sleeves are uniformly arranged on the edge of the platform frame through a horizontal telescopic mechanism and staggered with two pairs of pile embracing devices by 45 degrees;

the attitude monitoring system is arranged on the pile stabilizing platform;

the control system is respectively connected with four winches, water inlet and outlet valves on four floating barrels, two pairs of pile grippers, an upper overturning mechanism, a lower overturning mechanism, a horizontal telescopic mechanism and a posture monitoring system through signal wires;

after the pile stabilizing platform is dragged into the position between the two front pile legs of the self-elevating platform ship on the water surface, the pile stabilizing platform is initially limited by the two pairs of pile grippers and the two front pile legs, and the four winches on the self-elevating platform ship are respectively connected with the pile stabilizing platform through cables, so that the pile stabilizing platform is lowered or lifted along the two front pile legs; when the pile stabilizing platform is lowered to the designed elevation position, the two pairs of pile grippers tightly hold the two front pile legs, so that the pile stabilizing platform is fixed between the two front pile legs of the self-elevating platform ship.

2. The jack-up platform vessel based underwater pile stabilizing system of claim 1, wherein the platform frame is cross-shaped, and the four pile driving guide sleeves are provided at four recessed corners of the platform frame in a one-to-one correspondence.

3. The self-elevating platform vessel based underwater pile stabilizing system as claimed in claim 1, wherein the clasping claw is provided with a telescopic mechanism.

4. A pile sinking method based on a jack-up platform ship, which is realized by using the underwater pile stabilizing system based on the jack-up platform ship according to claim 1, and is characterized by comprising the following steps:

after the self-elevating platform ship is in place, a crane is used for launching the pile stabilizing platform into water, the pile stabilizing platform is in a floating state under the action of a floating barrel, two pairs of pile grippers are in a contraction state, four pile driving guide sleeves are also in a recovery state, and the maximum width of the whole pile stabilizing platform is smaller than the distance between two front pile legs of the self-elevating platform ship;

step two, using an auxiliary ship to drag the pile stabilizing platform to a designated position below the self-elevating platform ship, then unfolding two pairs of pile grippers, and preliminarily limiting the two pairs of pile grippers and the two front pile legs in a one-to-one correspondence manner, wherein the pile stabilizing platform can translate within a small range and can move up and down along the two front pile legs, so that the two front pile legs are used for limiting and guiding the sinking of the pile stabilizing platform, and then extending out of a pile driving guide sleeve to a set position;

step three, respectively connecting four hinged vehicles on a deck of the self-elevating platform with a pile stabilizing platform through cables, and using the hinged vehicles to lower or lift the pile stabilizing platform, opening valves of water inlets and water outlets at the lower parts of four floating barrels, enabling seawater to enter the floating barrels, enabling buoyancy of the pile stabilizing platform to disappear, synchronously matching the four hinged vehicles, and lowering the pile stabilizing platform; when the pile stabilizing platform is lowered to the designed elevation position, stopping lowering, opening the two pairs of pile grippers to fix the pile stabilizing platform and the two front pile legs of the self-elevating platform ship, hoisting the engineering pile into the pile driving guide sleeve pipe, and performing pile sinking operation through the pile driver on the self-elevating platform ship;

step four, after pile sinking operation is finished, opening the two pairs of pile grippers, lifting the pile stabilizing platform by the four articulated trucks through cables, lifting the pile stabilizing platform above the water surface, closing a water inlet and outlet valve after seawater in the four floating buckets is drained, and then lowering the pile stabilizing platform onto the water surface, wherein the pile stabilizing platform is in a floating state; and (4) releasing the mooring rope on the pile stabilizing platform, then retracting the two pairs of pile embracing devices, contracting the four pile driving guide sleeves, dragging out the pile stabilizing platform by using an auxiliary ship, and recovering to finish the operation.

5. The pile sinking method based on the self-elevating platform vessel as claimed in claim 4, wherein in the third step and the fourth step, the operation and control system controls the cable lowering speed of each winch according to the attitude information of the pile stabilizing platform detected by the attitude monitoring system, so as to ensure the stable lifting and lowering of the pile stabilizing platform.

Technical Field

The invention relates to an underwater pile stabilizing system and a pile sinking method based on a self-elevating platform ship.

Background

At present, when an offshore wind turbine foundation is built, a plurality of engineering piles need to be sunk to the seabed, at the moment, the engineering piles need to be hoisted to pile sinking points through hoisting, and then pile sinking is carried out. In order to ensure that the verticality of a pile body is within 3 per thousand in the process of smoothly inserting the engineering pile into the mud and sinking the pile, a pile stabilizing platform is usually used for stabilizing the engineering pile. Pile inserting and sinking construction are carried out by adopting a self-elevating platform ship. Along with the offshore wind turbine project is close to the deep and far sea gradually, the depth of pile sinking of the self-elevating platform ship is larger and larger, the difficulty is increased gradually, the pile stabilizing difficulty is caused due to reasons such as wave current, the pile sinking precision is lower, the condition of pile sinking failure often appears, and the construction cost is higher.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide an underwater pile stabilizing system and a pile sinking method based on a self-elevating platform ship, which can realize accurate sinking by means of pile legs and a winch on the self-elevating platform ship to achieve the purpose of pile stabilization, thereby improving the pile sinking precision and the pile sinking construction efficiency.

One technical scheme for achieving the purpose of the invention is as follows: an underwater pile stabilizing system based on a self-elevating platform ship comprises the self-elevating platform ship, a pile stabilizing platform, an attitude monitoring system and an operating system;

the self-elevating platform ship stands on the seabed through two front pile legs and two rear pile legs; two winches are respectively and symmetrically arranged in front of and behind two front pile legs on a deck of the self-elevating platform ship; the front end of the deck of the self-elevating platform ship is also provided with a pile driver;

the pile stabilizing platform comprises a platform frame, four floating barrels, two pairs of pile grippers and four pile driving guide sleeves; wherein the content of the first and second substances,

the platform frame is a space truss structure formed by round steel pipes, and the width of the platform frame is smaller than the distance between two front pile legs of the self-elevating platform ship;

four floating barrels are uniformly distributed in the platform frame, and the lower part of each floating barrel is provided with a water inlet and outlet valve;

the pile embracing devices are symmetrically arranged at two ends of the platform frame in the width direction, each pair of pile embracing devices comprises an upper embracing arm and a lower embracing arm which are semicircular, the upper embracing arm and the lower embracing arm are hinged on an upper layer side steel pipe and a lower layer side steel pipe of the platform frame in a one-to-one correspondence manner, the upper embracing arm can be downwards overturned through an upper overturning mechanism, and the lower embracing arm can be upwards overturned through a lower overturning mechanism; a pair of holding claws are respectively oppositely arranged on the inner wall surface of the upper holding arm and the inner wall surface of the lower holding arm;

four pile driving guide sleeves are uniformly arranged on the edge of the platform frame through a horizontal telescopic mechanism and staggered with two pairs of pile embracing devices by 45 degrees;

the attitude monitoring system is arranged on the pile stabilizing platform;

the control system is respectively connected with four winches, water inlet and outlet valves on four floating barrels, two pairs of pile grippers, an upper overturning mechanism, a lower overturning mechanism, a horizontal telescopic mechanism and a posture monitoring system through signal wires;

after the pile stabilizing platform is dragged into the position between the two front pile legs of the self-elevating platform ship on the water surface, the pile stabilizing platform is initially limited by the two pairs of pile grippers and the two front pile legs, and the four winches on the self-elevating platform ship are respectively connected with the pile stabilizing platform through cables, so that the pile stabilizing platform is lowered or lifted along the two front pile legs; when the pile stabilizing platform is lowered to the designed elevation position, the two pairs of pile grippers tightly hold the two front pile legs, so that the pile stabilizing platform is fixed between the two front pile legs of the self-elevating platform ship.

In the underwater pile stabilizing system based on the self-elevating platform ship, the platform frame is in a cross shape, and the four pile driving guide sleeves are correspondingly arranged at the corners of the four concave recesses of the platform frame one by one.

The underwater pile stabilizing system based on the self-elevating platform ship is characterized in that the holding claws are provided with telescopic mechanisms.

The other technical scheme for realizing the purpose of the invention is as follows: the invention discloses a pile sinking method based on a self-elevating platform ship, which is realized by adopting the underwater pile stabilizing system based on the self-elevating platform ship and comprises the following steps:

after the self-elevating platform ship is in place, a crane is used for launching the pile stabilizing platform into water, the pile stabilizing platform is in a floating state under the action of a floating barrel, two pairs of pile grippers are in a contraction state, four pile driving guide sleeves are also in a recovery state, and the maximum width of the whole pile stabilizing platform is smaller than the distance between two front pile legs of the self-elevating platform ship;

step two, using an auxiliary ship to drag the pile stabilizing platform to a designated position below the self-elevating platform ship, then unfolding two pairs of pile grippers, and preliminarily limiting the two pairs of pile grippers and the two front pile legs in a one-to-one correspondence manner, wherein the pile stabilizing platform can translate within a small range and can move up and down along the two front pile legs, so that the two front pile legs are used for limiting and guiding the sinking of the pile stabilizing platform, and then extending out of a pile driving guide sleeve to a set position;

step three, respectively connecting four hinged vehicles on a deck of the self-elevating platform with a pile stabilizing platform through cables, and using the hinged vehicles to lower or lift the pile stabilizing platform, opening valves of water inlets and water outlets at the lower parts of four floating barrels, enabling seawater to enter the floating barrels, enabling buoyancy of the pile stabilizing platform to disappear, synchronously matching the four hinged vehicles, and lowering the pile stabilizing platform; when the pile stabilizing platform is lowered to the designed elevation position, stopping lowering, opening the two pairs of pile grippers to fix the pile stabilizing platform and the two front pile legs of the self-elevating platform ship, hoisting the engineering pile into the pile driving guide sleeve pipe, and performing pile sinking operation through the pile driver on the self-elevating platform ship;

step four, after pile sinking operation is finished, opening the two pairs of pile grippers, lifting the pile stabilizing platform by the four articulated trucks through cables, lifting the pile stabilizing platform above the water surface, closing a water inlet and outlet valve after seawater in the four floating buckets is drained, and then lowering the pile stabilizing platform onto the water surface, wherein the pile stabilizing platform is in a floating state; and (4) releasing the mooring rope on the pile stabilizing platform, then retracting the two pairs of pile embracing devices, contracting the four pile driving guide sleeves, dragging out the pile stabilizing platform by using an auxiliary ship, and recovering to finish the operation.

In the pile sinking method based on the self-elevating platform ship, when the third step and the fourth step are performed, the control system controls the speed of lowering the mooring rope of each winch according to the attitude information of the attitude monitoring system for detecting the pile stabilizing platform, so that the pile stabilizing platform is stably lifted and lowered.

The underwater pile stabilizing system and the pile sinking method based on the self-elevating platform ship have the following characteristics:

1) the pile stabilizing platform in the underwater pile stabilizing system can stabilize the pile in the pile sinking process by means of the pile legs of the self-elevating platform ship;

2) the pile stabilizing platform in the underwater pile stabilizing system has self-floating property which is easy to realize, can complete pile embracing operation with the pile leg of the self-elevating platform ship under the assistance of hoisting equipment, and can realize fixation with the pile leg of the self-elevating platform ship;

3) the pile stabilizing platform in the underwater pile stabilizing system can realize accurate sinking by means of a winch on a self-elevating platform ship, so that the pile stabilizing purpose is achieved, and the pile sinking precision can be improved;

4) the pile stabilizing platform in the underwater pile stabilizing system can be used for driving four engineering piles by sinking once, can be used for driving single piles and jacket foundation piles, and can accurately position the pile position

5) The pile stabilizing platform in the underwater pile stabilizing system is simple in structure and convenient to recover, so that the efficiency of pile sinking operation can be improved.

6) The pile sinking method can improve the efficiency and the pile sinking precision.

Drawings

FIG. 1 is a schematic diagram of the underwater pile stabilization system of the present invention based on a jack-up platform vessel;

FIG. 2 is a schematic structural diagram of a pile stabilizing platform in the underwater pile stabilizing system of the present invention;

fig. 3 is a state diagram of a second step performed in the method of sinking a pile based on a jack-up platform vessel according to the present invention;

fig. 4 is a state diagram of the third step performed in the method for sinking a pile based on a jack-up platform vessel according to the present invention.

Detailed Description

The invention will be further explained with reference to the drawings.

Referring to fig. 1 to 4, the underwater pile stabilizing system based on a jack-up platform vessel of the present invention includes a jack-up platform vessel 10, a pile stabilizing platform 20, a control system, and an attitude detection system.

The jack-up platform vessel 10 stands on the seabed by means of two front legs 11 and two rear legs 12; two winches 31 are respectively and symmetrically arranged on the deck of the self-elevating platform ship 10 in front of and behind two front pile legs 11; the jack-up platform vessel 10 is also provided with a pile driver (not shown) at the front end of the deck.

The pile stabilizing platform 20 comprises a platform frame 21, four floating barrels 22, two pairs of pile grippers 23 and four pile driving guide sleeves 24; wherein the content of the first and second substances,

the platform frame 21 is a space truss structure composed of circular steel pipes, and the width of the platform frame 21 is smaller than the distance between the two front legs 11 of the jack-up platform vessel 10;

four floating buckets 22 are uniformly distributed in the platform frame 21, and the lower part of each floating bucket 22 is provided with a water inlet and outlet valve;

two pairs of pile grippers 23 are symmetrically arranged at two ends of the platform frame 21 in the width direction, each pair of pile grippers 23 comprises an upper arm 231 and a lower arm 232 which are semicircular, a pair of clamping claws 230 are respectively oppositely arranged on the inner wall surface of the upper arm 231 and the inner wall surface of the lower arm 232, and each clamping claw 230 is provided with a telescopic mechanism; the upper embracing arms 231 and the lower embracing arms 232 are hinged to the upper layer side steel pipe and the lower layer side steel pipe of the platform frame 21 in a one-to-one correspondence manner, the upper embracing arms 231 are downwards overturned by 90 degrees from the horizontal direction by taking the upper side steel pipe as a hinge shaft through the upper overturning mechanism 233, and the lower embracing arms 232 are upwards overturned by 90 degrees from the horizontal direction by taking the lower side steel pipe as a hinge shaft through the lower overturning mechanism 234; the upper overturning mechanism 233 and the lower overturning mechanism 234 may be oil cylinders, air cylinders, or the like;

four pile driving guide sleeves 24 are uniformly arranged on the edge of the platform frame 21 through a horizontal telescopic mechanism 240 and are staggered with two pairs of pile embracing devices 23 by 45 degrees; the horizontal telescopic mechanism 240 may be an oil cylinder, an air cylinder, or the like;

the planar shape of the platform frame 21 is cross, square or circular;

the plane shape of the platform frame 21 of this embodiment is cross-shaped, and is formed by vertically crossing a length-direction bar frame and a width-direction bar frame, and two pairs of pile grippers 23 are correspondingly arranged at two ends of the width-direction bar frame of the platform frame 21 one by one; four pile guide sleeves 24 are provided in one-to-one correspondence at the four recessed corners of the platform frame 21 (see fig. 2);

the attitude monitoring system is arranged on the pile stabilizing platform 20, consists of a plurality of attitude sensors and is used for detecting the attitude of the pile stabilizing platform 20 in the whole pile sinking process;

the control system is respectively connected with the four winches 31, water inlet and outlet valves on the four floating barrels 22, the two pairs of pile grippers 23, the upper overturning mechanism 233, the lower overturning mechanism 234, the horizontal telescopic mechanism 240 and the attitude monitoring system through signal lines; the control system detects the attitude information of the pile stabilizing platform 20 according to the attitude monitoring system, and controls the stable lifting and lowering of the pile stabilizing platform 20 and the stability in water.

After the pile stabilizing platform 20 is pulled into the space between the two front pile legs 11 of the self-elevating platform ship 10 on the water surface, the pile stabilizing platform 20 is primarily limited by the two pairs of pile grippers 23 and the two front pile legs 11, and the four winches 30 on the self-elevating platform ship 10 are respectively connected with the pile stabilizing platform 20 through cables 31, so that the pile stabilizing platform 20 is lowered or lifted along the two front pile legs 11; when the pile stabilizing platform 20 is lowered to the designed elevation position, the two pairs of pile grippers 23 grip the two front legs 11, so that the pile stabilizing platform 20 is fixed between the two front legs 11 of the self-elevating platform ship 10.

The underwater pile stabilizing system based on the self-elevating platform ship has the advantages that the pile stabilizing platform has self-floating performance, can conveniently reach a designated position on the water surface through the auxiliary ship, is limited by the pair of pile grippers and the two front pile legs of the self-elevating platform ship, can conveniently and quickly realize pile gripping or pile releasing, and can perform lifting motion along the two front pile legs of the self-elevating platform ship through the four winches on the self-elevating platform ship to realize the pile stabilizing effect. The pile stabilizing platform can conveniently and quickly realize floating and stable sinking through the floating barrel, and has the characteristics of small volume, light weight and high flexibility.

The underwater pile stabilizing system based on the self-elevating platform ship is suitable for most of steel pile wharfs and platforms with steel piles as supporting structures. The whole system is provided with a plurality of sensors and a whole set of automatic control system, all actions can be set according to parameters, and automatic construction operation is realized.

Referring to fig. 3 and 4, the pile sinking method based on the self-elevating platform ship of the present invention is implemented by using the underwater pile stabilizing system based on the self-elevating platform ship of the present invention, and includes the following steps:

after the self-elevating platform ship 10 is in place, a crane is used for launching the pile stabilizing platform 20 into water, the pile stabilizing platform 20 is in a floating state under the action of a floating bucket 22, the upper overturning mechanisms 233 and the lower overturning mechanisms 234 on the two pairs of pile embracing devices 23 are in a contracting state, the horizontal telescopic mechanisms 240 for controlling the four pile driving guide sleeves 24 to be contracted are in a recovering state, and the maximum width of the whole pile stabilizing platform 20 is smaller than the distance between two front pile legs 11 of the self-elevating platform ship 10;

step two, dragging the pile stabilizing platform 20 to a designated position below the self-elevating platform ship 10 by using an auxiliary ship, namely dragging the pile stabilizing platform 20 between two front pile legs 11, unfolding upper holding arms 231 and lower holding arms 232 of two pairs of pile grippers 23 through an upper overturning mechanism 233 and a lower overturning mechanism 234, clamping the upper holding arms 231 and the lower holding arms 232 of the two pairs of pile grippers 23 on the two front pile legs 11 in a one-to-one correspondence manner to perform preliminary limit, clamping a pair of holding claws 230 on the upper holding arms 231 and a pair of holding claws 230 on the lower holding arms 232 to be not tightened, and then enabling the pile stabilizing platform 20 to translate within a small range and move up and down along the two front pile legs 11 to enable the two front pile legs 11 to perform limit guide for sinking of the pile stabilizing platform 20, and then extending out four pile driving guide sleeves 24 to a set position through a horizontal telescopic mechanism 240 (see fig. 3);

step three, connecting four winches 30 on the deck of the self-elevating platform ship 10 with four corners of the pile stabilizing platform 20 through cables 31 respectively, and using the four winches to lower or lift the pile stabilizing platform 20, opening valves of water inlets and water outlets at the lower parts of four floating buckets 22 to enable seawater to enter the floating buckets 22, enabling the buoyancy of the pile stabilizing platform 20 to disappear, and synchronously matching the four winches 30 to lower the pile stabilizing platform 20; in the process of lowering the pile stabilizing platform 20, the control system controls the lowering speed of the mooring rope 31 of each winch 30 according to the posture information of the pile stabilizing platform 20 detected by the posture monitoring system so as to ensure that the pile stabilizing platform 20 is stably lowered; when the pile stabilizing platform 20 is lowered to the designed elevation position, stopping lowering, tightening the holding claws 230 on the two pairs of pile holders 23, fixing the pile stabilizing platform 20 and the two front pile legs 11 of the self-elevating platform ship 10 (see fig. 4), at the moment, hoisting the engineering pile into the pile driving guide sleeve 24, and performing pile sinking operation through the pile driver on the self-elevating platform ship 10; controlling the horizontal telescopic mechanism 240 according to the driving position of the engineering pile to enable the four pile driving guide sleeves 24 to be located at the driving position of the engineering pile so as to ensure pile stabilizing precision;

step four, after pile sinking operation is completed, opening the two pairs of pile grippers 23 to separate the pile stabilizing platform 20 from the two front pile legs 11 of the self-elevating platform ship 10, then lifting the pile stabilizing platform 20 by the four winches 30 through cables 31, lifting the pile stabilizing platform 20 to a position above the water surface, waiting for the seawater in the four floating buckets 22 to be drained, closing the water inlet and outlet valve, then lowering the pile stabilizing platform 20 to the water surface, and at the moment, keeping the pile stabilizing platform 20 in a floating state; the cable 31 on the pile stabilizing platform 20 is released, the upper embracing arm 231 and the lower embracing arm 232 of the two pairs of pile embracing devices 23 are retracted through the upper overturning mechanism 233 and the lower overturning mechanism 234, the four pile driving guide sleeves 24 are retracted through the horizontal telescopic mechanism 240, then the pile stabilizing platform 20 is pulled out from the lower part of the self-elevating platform ship 10 by using an auxiliary ship (see fig. 1), and the operation can be completed after the pile stabilizing platform 20 is recovered; in the lifting and lowering processes of the pile stabilizing platform 20, the control system controls the lowering speed of the cable 31 of each winch 30 according to the posture information of the pile stabilizing platform 20 detected by the posture monitoring system so as to ensure that the pile stabilizing platform 20 is lifted and lowered stably.

The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and therefore all equivalent technical solutions should also fall within the scope of the present invention, and should be defined by the claims.