CN106400809A - Intelligent underwater stone paving robot - Google Patents
Intelligent underwater stone paving robot Download PDFInfo
- Publication number
- CN106400809A CN106400809A CN201610265920.5A CN201610265920A CN106400809A CN 106400809 A CN106400809 A CN 106400809A CN 201610265920 A CN201610265920 A CN 201610265920A CN 106400809 A CN106400809 A CN 106400809A
- Authority
- CN
- China
- Prior art keywords
- jackstone
- machine support
- robot
- paver
- detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/10—Placing gravel or light material under water inasmuch as not provided for elsewhere
Abstract
The invention provides an intelligent underwater stone paving robot. The intelligent underwater stone paving robot comprises a stone casting machine bracket, a falling pipe, an electron cabin, an umbilical cable, a hydraulic source, a driving mechanism, a detection mechanism and a checking mechanism, wherein the falling pipe downwards penetrates through the stone casting machine bracket from the top of the stone casting machine bracket; the electron cabin is arranged inside the stone casting machine bracket; a control circuit board and a sensor are arranged inside the electron cabin; one end of the umbilical cable is connected with the control circuit board and the sensor; the other end of the umbilical cable is connected with a mother ship; the hydraulic source is arranged inside the stone casting machine bracket; the hydraulic source is connected with the control circuit board; the driving mechanism is arranged inside the stone casting machine bracket; the driving mechanism is connected with the control circuit board and the hydraulic source; the detection mechanism is arranged on one side of the bottom of the stone casting machine bracket; a detection device is arranged on the detection mechanism; the detection mechanism is connected with the control circuit board and the sensor; the checking mechanism is arranged on the other side of the bottom of the stone casting machine bracket; a checking device is arranged on the checking mechanism; and the checking mechanism is connected with the control circuit board and the sensor. The intelligent underwater stone paving robot has the advantage that the robot stably operates for a long time and accurately casts stone in the shallow-seat and strong-sea current environment.
Description
Technical field
The invention belongs to field of ocean engineering, paver robot under particularly a kind of intelligent water.
Background technology
Submarine optical fiber cable or pipeline are to be laid on seabed, in order to set up the transmission of telecommunications between country or other materials.Existing
The submarine optical fiber cable of row or pipe laying method are exactly to be placed on submarine optical fiber cable to lay on ship on optical cable or pipeline, and then ship slowly starts
While optical cable tiling sink to seabed.In general, lay and main include reconnoitring cleaning, lay He Chong and bury and protect three ranks
Section.Optical cable or pipeline laying typically to be completed by the cable burying machine excavating seabed, laid before ship towing by submarine optical fiber cable
Enter, and various instructions are made by work optical cable.A few row's hole for water sprayings are arranged at its bottom, and during operation, each hole is sprayed to seabed simultaneously
Go out water jets under high pressure, seabed silt is washed open, form optical cable ditch.And its upper side has a fairlead, for guiding optical cable (optical cable)
To optical cable ditch bottom.At present, it is naturally to cover by means of ocean current on ditch by sand, to save the time burying cable, such operation
Easily destroyed by fishery instrument or ship anchor, be unfavorable for the normal use of optical cable or pipeline, considerably increase the cost of maintenance.
Content of the invention
For defect of the prior art, present invention aim at providing one kind to prevent submarine optical fiber cable or pipeline from suffering fishery
Paver robot under the intelligent water of the destruction of instrument or ship anchor.
For solving above-mentioned technical problem, the present invention provides paver robot under a kind of intelligent water, including：Jackstone machine support；
Fall pipe, described fall pipe run through described jackstone machine support from the top down of described jackstone machine support；Electronic compartment, described electronic compartment sets
Put in described jackstone machine support, be provided with control board and sensor in described electronic compartment；Umbilical cables, described umbilical cables
One end is connected with described control board and described sensor, and the other end of described umbilical cables connects lash ship；Hydraulic power source, described liquid
Potential source is arranged in described jackstone machine support, and described hydraulic power source is connected with described control board；Drive mechanism, described driving machine
Structure is arranged in described jackstone machine support, and described drive mechanism is connected with described control board and described hydraulic power source；Explorer
Structure, described detection agency is arranged on the side of described basilisk frame bottom, is provided with detecting devices, institute on described detection agency
State detection agency to be connected with described control board and described sensor；Testing agency, described testing agency is arranged on described throwing
The opposite side of stone machine support bottom, is provided with testing equipment in described testing agency, described testing agency and described control circuit
Plate and described sensor connect.
Preferably, described testing agency includes：Testing stand, one end of described testing stand is with described basilisk holder pivots even
Connect；Detection connecting rod, one end of described detection connecting rod is connected with described jackstone machine support, the described other end detecting connecting rod with described
Testing stand connects；Described testing equipment is arranged on described testing stand, described testing equipment and described control board and described
Sensor connects.
Preferably, described detection agency includes：Detect frame, one end of described detection frame is with described basilisk holder pivots even
Connect；Detect connecting rod, one end of described detection connecting rod is connected with described jackstone machine support, the other end of described detection connecting rod with described
Detect frame to connect；Described detecting devices is arranged on described detection frame, described detecting devices and described control board and described
Sensor connects.
Preferably, described detection connecting rod and described detection connecting rod are hydraulic stem.
Preferably, described drive mechanism includes propeller, and described propeller is arranged in described lower memory space, described pushes away
Enter device to be connected with described hydraulic power source.
Preferably, described angle of rake quantity is four, four described propellers around described fall pipe in 90 degree uniform between
Every arrangement.
Preferably, the top in described jackstone machine support is connected with wirerope, and one end of described wirerope is propped up with described basilisk
The top of frame connects, and the other end of described wirerope is connected with lash ship.
Preferably, the quantity of described wirerope is three, and three described wirerope wheels fall to managing in 120 degree of uniform intervals around described
Arrangement.
Preferably, it is provided with bearing frame in described jackstone machine support, described bearing frame is by described jackstone machine support
Inside is divided into memory space and lower memory space；
Described fall pipe run through described jackstone machine support and described bearing frame from the top down of described jackstone machine support；Institute
State electronic compartment to be arranged in described upper memory space；Described hydraulic power source is arranged in described upper memory space；Described drive mechanism
It is arranged in described lower memory space.
Preferably, described testing equipment is multibeam sonar；Described detecting devices is pipe locator or seeks cable device.
Compared with prior art, under intelligent water of the present invention, paver robot has advantages below：
1) keep stably working long hours and accurately completing jackstone in the environment of the strong ocean current in shallow sea.
2) cause to ensure basilisk direction of advance by sensor (sonar seeks cable device or pipe locator) in mixed seawater in jackstone
Consistent with cable, pipe laying direction, reach the protective effect to cable for the paver.
Brief description
By reading detailed description non-limiting example made with reference to the following drawings, the further feature mesh of the present invention
And advantage will become more apparent upon.
Fig. 1 is paver robot architecture schematic diagram under intelligent water of the present invention.
In figure：
1- falls pipe 2- jackstone machine support 3- bearing frame
4- propeller 5- detects frame 6- testing stand
7- detects connecting rod 8- detection connecting rod 9- electronic compartment
10- wirerope 11- umbilical cables 12- hydraulic power source
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, can also make and some change and change.
As shown in figure 1, the present invention provides paver robot under a kind of intelligent water, including：Jackstone machine support 2, in basilisk
It is provided with bearing frame 3, the inside of jackstone machine support 2 is divided into upper memory space and lower memory space by bearing frame 3 in support 2,
The upper memory space on top is used for installing electronic compartment 9 and hydraulic power source 12, on the one hand can support whole equipment it is ensured that structural strength exists
Firm in strong ocean current, on the other hand can use as bumper.
Four propellers 4 are in 90 degree of uniform intervals arrangements around the pipe 1 that falls, and are driven by hydraulic power source 12 propeller 4 and entirely set
Standby move on sea bed, and ensure there is flexible orientation in enough thrust and motion in high current environment.
The setting of jackstone machine support 2 and propeller 4 can keep stably working long hours and accurately completing jackstone.
Fall one end of pipe 1 connects lash ship and basilisk.On lash ship, rubble enters in pipe 1 by conveyer belt, in jackstone
In machine motion process, in the pipe 1 that will fall, rubble is laid on seabed and subscribes on route.
It is respectively mounted detection agency and testing agency in the both sides of jackstone machine support 2 bottom.Detection agency and testing agency
Detection frame 5 and testing stand 6 respectively with jackstone machine support 2 rotate is connected, detection frame 5 and testing stand 6 respectively with jackstone machine support 2
Between connecting rod 7 and signal detecting connecting rod 8 detected by hydraulic pressure connect, agree to be launched according to actual conditions or pack up.It is work in expansion
When making, pipe locator is installed or seeks cable device as detecting devices detecting frame 5, multibeam sonar is respectively mounted on testing stand 6 and makees
For testing equipment it is ensured that paver robot direction of advance is consistent with cable, pipe laying direction under intelligent water, reach paver to cable
The protective effect of line.
It is provided with control board (not shown) in electronic compartment 9 and sensor (not shown) is realized to whole equipment
On the control of part and data collection, and transmit control command and sensing data by umbilical cables 11, realize in real time
Communication.
In addition, being connected with three wireropes 10 and take turns around the pipe 1 that falls at the top of jackstone machine support 2 is in 120 degree of uniform intervals cloth
The wirerope 10 put, for hanging paver robot under intelligent water from lash ship.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or change, this not shadow
Ring the flesh and blood of the present invention.In the case of not conflicting, feature in embodiments herein and embodiment can any phase
Mutually combine.
Claims (10)
1. under a kind of intelligent water paver robot it is characterised in that include：
Jackstone machine support；
Fall pipe, described fall pipe run through described jackstone machine support from the top down of described jackstone machine support；
Electronic compartment, described electronic compartment is arranged in described jackstone machine support, is provided with control board and biography in described electronic compartment
Sensor；
Umbilical cables, one end of described umbilical cables is connected with described control board and described sensor, described umbilical cables another
End connects lash ship；
Hydraulic power source, described hydraulic power source is arranged in described jackstone machine support, and described hydraulic power source is connected with described control board；
Drive mechanism, described drive mechanism is arranged in described jackstone machine support, described drive mechanism and described control board
And described hydraulic power source connects；
Detection agency, described detection agency is arranged on the side of described basilisk frame bottom, is provided with described detection agency
Detecting devices, described detection agency is connected with described control board and described sensor；
Testing agency, described testing agency is arranged on the opposite side of described basilisk frame bottom, sets in described testing agency
There is testing equipment, described testing agency is connected with described control board and described sensor.
2. under intelligent water according to claim 1 paver robot it is characterised in that described testing agency includes：
Testing stand, one end of described testing stand is connected with described basilisk holder pivots；
Detection connecting rod, one end of described detection connecting rod is connected with described jackstone machine support, the described other end detecting connecting rod and institute
State testing stand to connect；
Described testing equipment is arranged on described testing stand, and described testing equipment is connected with described control board and described sensor
Connect.
3. under intelligent water according to claim 2 paver robot it is characterised in that described detection agency includes：
Detect frame, one end of described detection frame is connected with described basilisk holder pivots；
Detect connecting rod, one end of described detection connecting rod is connected with described jackstone machine support, the other end of described detection connecting rod and institute
State detection frame to connect；
Described detecting devices is arranged on described detection frame, and described detecting devices is connected with described control board and described sensor
Connect.
4. under intelligent water according to claim 3 paver robot it is characterised in that described detection connecting rod and described detection
Connecting rod is hydraulic stem.
5. under intelligent water according to claim 1 paver robot it is characterised in that described drive mechanism include advance
Device, described propeller is arranged in described lower memory space, and described propeller is connected with described hydraulic power source.
6. under intelligent water according to claim 5 paver robot it is characterised in that described angle of rake quantity be four
Individual, four described propellers fall to managing in 90 degree of uniform intervals arrangements around described.
7. under intelligent water according to claim 1 paver robot it is characterised in that top in described jackstone machine support
It is connected with wirerope, one end of described wirerope is connected with the top of described jackstone machine support, the other end of described wirerope is with lash ship even
Connect.
8. under intelligent water according to claim 7 paver robot it is characterised in that described wirerope quantity be three,
Three described wirerope wheels fall to managing in 120 degree of uniform intervals arrangements around described.
9. under intelligent water according to claim 1 paver robot it is characterised in that being provided with described jackstone machine support
Bearing frame, the inside of described jackstone machine support is divided into upper memory space and lower memory space by described bearing frame；
Described fall pipe run through described jackstone machine support and described bearing frame from the top down of described jackstone machine support；Described electricity
Sub- cabin is arranged in described upper memory space；Described hydraulic power source is arranged in described upper memory space；Described drive mechanism setting
In described lower memory space.
10. under intelligent water according to claim 1 paver robot it is characterised in that described testing equipment be multi-beam
Sonar；Described detecting devices is pipe locator or seeks cable device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610265920.5A CN106400809A (en) | 2016-04-26 | 2016-04-26 | Intelligent underwater stone paving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610265920.5A CN106400809A (en) | 2016-04-26 | 2016-04-26 | Intelligent underwater stone paving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106400809A true CN106400809A (en) | 2017-02-15 |
Family
ID=58006976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610265920.5A Pending CN106400809A (en) | 2016-04-26 | 2016-04-26 | Intelligent underwater stone paving robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106400809A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108570990A (en) * | 2018-04-27 | 2018-09-25 | 中英海底系统有限公司 | Shallow water ocean bottom cable stone accurately fills device and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10311034A (en) * | 1997-05-12 | 1998-11-24 | Masakazu Watanabe | Leveling construction method for rubble-mound as foundation of maritime structure |
| KR20050026784A (en) * | 2003-09-09 | 2005-03-16 | 은성기초건설(주) | Underwater riprap tamping form of construction work and the device |
| CN104653864A (en) * | 2015-01-22 | 2015-05-27 | 哈尔滨工程大学 | Stone falling pipe stone dumping device for treating suspended spanning of submarine pipeline |
| CN104988926A (en) * | 2015-06-26 | 2015-10-21 | 深圳海油工程水下技术有限公司 | Deep water stone throwing method and device |
| CN206070539U (en) * | 2016-04-26 | 2017-04-05 | 金莉萍 | Paver robot under intelligent water |
-
2016
- 2016-04-26 CN CN201610265920.5A patent/CN106400809A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10311034A (en) * | 1997-05-12 | 1998-11-24 | Masakazu Watanabe | Leveling construction method for rubble-mound as foundation of maritime structure |
| KR20050026784A (en) * | 2003-09-09 | 2005-03-16 | 은성기초건설(주) | Underwater riprap tamping form of construction work and the device |
| CN104653864A (en) * | 2015-01-22 | 2015-05-27 | 哈尔滨工程大学 | Stone falling pipe stone dumping device for treating suspended spanning of submarine pipeline |
| CN104988926A (en) * | 2015-06-26 | 2015-10-21 | 深圳海油工程水下技术有限公司 | Deep water stone throwing method and device |
| CN206070539U (en) * | 2016-04-26 | 2017-04-05 | 金莉萍 | Paver robot under intelligent water |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108570990A (en) * | 2018-04-27 | 2018-09-25 | 中英海底系统有限公司 | Shallow water ocean bottom cable stone accurately fills device and method |
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Application publication date: 20170215 |