CN107096738A - A kind of foundation pile maintaining robot under water - Google Patents
A kind of foundation pile maintaining robot under water Download PDFInfo
- Publication number
- CN107096738A CN107096738A CN201710249805.3A CN201710249805A CN107096738A CN 107096738 A CN107096738 A CN 107096738A CN 201710249805 A CN201710249805 A CN 201710249805A CN 107096738 A CN107096738 A CN 107096738A
- Authority
- CN
- China
- Prior art keywords
- foundation pile
- workbench
- lowering
- robot according
- fixed
- 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.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 24
- 238000004140 cleaning Methods 0.000 claims abstract description 33
- 230000000712 assembly Effects 0.000 claims abstract description 15
- 238000000429 assembly Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D5/00—Bulkheads, piles, or other structural elements specially adapted to foundation engineering
- E02D5/22—Piles
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention discloses a kind of foundation pile maintaining robot under water, applied to cylindricality foundation pile under water is safeguarded, the robot includes：For the fixed mechanism being fixed on foundation pile and the workbench being connected with the fixed mechanism.An at least lowering or hoisting gear is installed, the lowering or hoisting gear connects the workbench and drives the workbench to be moved along foundation pile on the fixed mechanism.The workbench includes the cleaning assemblies for being sheathed on the foundation pile and being rotated around the foundation pile.Fixed mechanism is arranged on the foundation pile above the water surface, and guides workbench to drop to underwater with foundation pile part under clean water by lowering or hoisting gear, convenient control cleaning positions.Cleaning assemblies on workbench is rotated around foundation pile, can be cleaned comprehensively on the foundation pile surface of an altitude range, cleaning performance is good.Rotated in cleaning process around foundation pile, improve cleaning efficiency.
Description
Technical field
The present invention relates to clean technologies field, more particularly, to a kind of foundation pile maintaining robot under water.
Background technology
With the development of road traffic and bridge technology, increasing bridge is applied on road.Such as bridge spanning the sea, height
Build bridge etc..Because the foundation pile part of bridge is needed under water, the particularly foundation pile of bridge spanning the sea, due in complicated ocean
In environment, easily corroded or be corroded accompanying by thing.Therefore need to clean foundation pile and safeguarded.
Because underwater environment is severe, conventional cleaning means can not be with the cleaning process of foundation pile under water.Particularly
Under marine environment, in addition it is also necessary under the impact of ocean current and seawater and the corrosion condition of seawater, equipment can keep stable work shape
State.Existing equipment is only capable of carrying out local maintenance, and cleaning efficiency is low, and maintenance effects are poor.Accordingly, it would be desirable to be improved.
The content of the invention
The deficiency existed for above-mentioned prior art, it is an object of the invention to provide a kind of foundation pile maintaining robot under water.
It has underwater operation stable, the characteristics of cleaning efficiency is high.
To achieve these goals, the technical solution adopted in the present invention is：A kind of foundation pile maintaining robot under water, application
In safeguarding cylindricality foundation pile under water, the robot includes：Connect for the fixed mechanism being fixed on foundation pile and with the fixed mechanism
An at least lowering or hoisting gear is installed, the lowering or hoisting gear connects the workbench on the workbench connect, the fixed mechanism
And driving the workbench to be moved along foundation pile, the workbench includes what is be sheathed on the foundation pile and rotated around the foundation pile
Cleaning assemblies.
Further, the workbench includes being provided with gear mechanism on fixture and tumbler, the tumbler, institute
State to be provided with fixture on an at least motor, the motor and the sliding tooth engaged with the gear mechanism is installed
Wheel, the drive gear drives the gear mechanism to rotate so that the tumbler is rotated around the fixture.
Further, the cleaning assemblies is arranged on the tumbler.
Further, the workbench also includes the locking mechanism drawn in workbench center, the locking mechanism
The workbench is locked into foundation pile.
Further, the locking mechanism includes an at least retractor device, and the output shaft of the retractor device stretches out and supported
It is connected on the foundation pile so that the workbench is fastened in the foundation pile.
Further, the retractor device is provided with three, and is evenly distributed on workbench.
Further, movable pulley is installed on the workbench, passed through between the lowering or hoisting gear and the movable pulley
Connecting rope connects to drive the workbench to move.
Further, the lowering or hoisting gear includes capstan winch, is attached to the power motor of capstan winch, and the connecting rope is wound on strand
On disk.
Further, the lowering or hoisting gear is provided with three, and is evenly distributed on the fixed mechanism.
Further, the fixed mechanism includes the clamping piece of fixed platform and installation on the stationary platform, the lifting
Device is arranged in the fixed platform, and the clamping piece is used for banding to foundation pile.
After said structure, the invention has the advantages that compared with the prior art,：
Fixed mechanism is arranged on the foundation pile above the water surface, and guides workbench to drop to underwater by lowering or hoisting gear
With foundation pile part under clean water, convenient control cleaning positions.Cleaning assemblies on workbench is rotated around foundation pile, can be cleaned comprehensively
On the foundation pile surface of an altitude range, cleaning performance is good.Rotated in cleaning process around foundation pile, improve cleaning efficiency.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples：
Fig. 1 is the dimensional structure diagram of fixed mechanism in the present invention.
Fig. 2 is the dimensional structure diagram of workbench in the present invention.
Fig. 3 is the configuration schematic diagram of workbench in the present invention.
In figure：Fixed mechanism 10；Fixed platform 11；Clamping piece 12；Lowering or hoisting gear 13；Power motor 131；Capstan winch 132；Even
Splicing 133；Workbench 20；Fixture 21；Tumbler 22；Gear mechanism 221；Locking mechanism 23；Friction plate 231；Driving electricity
Machine 24；Drive gear 241；Movable pulley 25；Cleaning assemblies 26；Balanced component 27；Driven gear 271.
Embodiment
As described below is only presently preferred embodiments of the present invention, is not intended to limit the scope of the present invention.
Embodiment, as shown in Fig. 1 to Fig. 3：A kind of foundation pile maintaining robot under water, applied to safeguarding cylindricality foundation pile under water.
The robot includes：For the fixed mechanism 10 being fixed on foundation pile and the workbench 20 being connected with fixed mechanism 10.It is fixed
An at least lowering or hoisting gear 13 is installed, the connection workbench 20 of lowering or hoisting gear 13 simultaneously drives workbench 20 along foundation pile in mechanism 10
It is mobile.Workbench 20 includes the cleaning assemblies 26 for being sheathed on foundation pile and being rotated around foundation pile.
Foundation pile includes above water and underwater portion, and the cross sectional shape of foundation pile can be circular or rectangle or other section shapes
Shape.Fixed mechanism 10 is arranged on the above water of foundation pile, and workbench 20 is connected with the lowering or hoisting gear 13 on fixed mechanism 10, uses
In the underwater portion for safeguarding and cleaning foundation pile.The working position that workbench 20 is in cleaning foundation pile can control by lowering or hoisting gear 13
Put, such as under water 5 meters, 10 meters, workbench 20 can be made to be moved along the axis direction of foundation pile, and residing working depth position adjustments
It is convenient.Cleaning assemblies 26 on workbench 20 is set on foundation pile and rotated around foundation pile, and the side face of foundation pile can be made to clean dry
Only, cleaning performance is good.
In one embodiment, workbench 20 includes installing with teeth on fixture 21 and tumbler 22, tumbler 22
Take turns and an at least motor 24 is installed on mechanism 221, fixture 21.It is provided with and is nibbled with gear mechanism 221 on motor 24
The drive gear 241 of conjunction, drive gear 241 drives gear mechanism 221 to rotate so that tumbler 22 is rotated around fixture 21, clearly
Clean component 26 is arranged on tumbler 22.
As shown in figure 3, in an embodiment, the section of fixture 21 is in " C " font, and the section of tumbler 22 is in
" C " font, it is in inverted " F " font that its section after gear mechanism 221 is provided with tumbler 22.Fixture 21 and tumbler 22
Mutual socket connection, such as：The lower end flange of the clamping fixture 21 of tumbler 22 so that installed in the upper end flange of fixture 21
Motor 24 is engaged with gear mechanism 221.Alternatively, workbench 20 is closed up by least two parts forms and is set in foundation pile
Outside, there is through hole at the place of closing up of workbench 20, foundation pile is in through hole.
Fixture 21 is fixed on foundation pile, and gear mechanism 221 is the internal gear being connected on tumbler 22, drive gear
241 are connected with the engagement of gear mechanism 221.Motor 24 on fixture 21 is rotated, and drive gear 241 is rotated then
Tumbler 22 is driven to be rotated around foundation pile.Alternatively, a motor 24 is installed on fixture 21, also pacified on fixture 21
Equipped with some at least balanced components 27 for being engaged to gear mechanism 221, balanced component 27 is provided with driven gear 271, driven
Gear 271 is engaged with gear mechanism 221.Alternatively, balanced component 27 is provided with two, and exists with motor 24 in angular distribution
On fixture 21.Tumbler 22 is driven to rotate by motor 24, so that workbench 20 can be circumferentially rotated around foundation pile.
Cleaning assemblies 26 is installed on tumbler 22, cleaning assemblies 26 includes that the high pressure water jets of high-pressure fluid can be exported
Head, for mobile or rotate to clean the cleaning brush of foundation pile, or other cleaning assemblies 26 are used for the cleaning mode that cleans foundation pile.
At the same time, cleaning assemblies 26 can be rotated under the drive of tumbler 22 along foundation pile, comprehensively the outer peripheral face of cleaning foundation pile.Rotate
Probe assembly, such as survey meter, defectoscope, analyzer etc. can be installed, fault of construction or detection for detecting foundation pile on part 22
Water environment data near foundation pile etc..
As shown in Fig. 2 workbench 20 also includes the locking mechanism 23 drawn in the center of workbench 20, locking mechanism 23
Workbench 20 is locked into foundation pile, wherein locking mechanism 23 is arranged on fixture 21.In one embodiment, lock
Determining mechanism 23 includes an at least retractor device, and such as retractor device uses hydraulic cylinder mechanism.The output shaft of retractor device stretches out simultaneously
It is connected on foundation pile so that workbench 20 is fastened in foundation pile.Alternatively, friction plate is installed on the output shaft of retractor device
231, the friction plate 231 is connected on foundation pile, wherein, friction plate 231 can be made of materials such as rubber or nylon.As excellent
Choosing, retractor device is provided with three, and is evenly distributed on workbench 20.
Workbench 20 is stabilized in the predeterminated position on foundation pile by way of retractor device is connected on foundation pile, install
It is convenient.Friction plate 231 can expand the contact area of output shaft and foundation pile, install stable.Retractor device can by stretch out or
The mode of retraction is locked or unlocked so that workbench 20 is fixed or moved along foundation pile, easy to operate.
Movable pulley 25 is installed on workbench 20, connected between lowering or hoisting gear 13 and movable pulley 25 by connecting rope 133
To drive workbench 20 to move.Workbench 20 allows workbench 20 to be moved along foundation pile by the connection of connecting rope 133.
Movable pulley 25 is installed to be connected to lowering or hoisting gear 13 on workbench 20, workbench 20 is lifted flexibly, by workbench 20
Weight transmitting to lowering or hoisting gear 13 and fixed mechanism 10 on, power needed for lowering or hoisting gear 13 reduces.
As shown in figure 1, in one embodiment, lowering or hoisting gear 13 includes capstan winch 132, is attached to the power motor of capstan winch 132
131, connecting rope 133 is on capstan winch 132.Power motor 131 drives capstan winch 132 to rotate, one end of connecting rope 133 wound on
On capstan winch 132, and shrink or deploy with the rotation of capstan winch 132 so that workbench carries out elevating movement.Lowering or hoisting gear 13 is set
There are three, and be evenly distributed on fixed mechanism 10.Lifting, which sets three, can make the stress equalization of workbench 20, be maintained at steady
Fixed mobile status, prevents workbench 20 from deflecting, the resistance of motion is small.
Fixed mechanism 10 includes fixed platform 11 and the clamping piece 12 in fixed platform 11, and lowering or hoisting gear 13 is installed
In fixed platform 11, clamping piece 12 is used for banding to foundation pile.Fixed mechanism 10 is fixed on the portion waterborne of foundation pile, fixed platform 11
It can close up to form fixed mechanism 10 to be fixed on foundation pile by two parts with clamping piece 12.Fixed platform 11 can be installed conveniently
Lowering or hoisting gear 13 and other auxiliary equipments, such as power, the device such as water supply.Clamping piece 12 is fastened on foundation pile by fastener, peace
Dress is convenient, and position adjustments are convenient.
Cleaning assemblies is widely used at present, and other structures and principle are same as the prior art, repeat no more here.
Claims (10)
1. a kind of foundation pile maintaining robot under water, applied to safeguarding cylindricality foundation pile under water, it is characterised in that the robot includes：
For the fixed mechanism being fixed on foundation pile and the workbench being connected with the fixed mechanism, installed on the fixed mechanism
There is an at least lowering or hoisting gear, the lowering or hoisting gear connects the workbench and drives the workbench to be moved along foundation pile, institute
State the cleaning assemblies that workbench includes being sheathed on the foundation pile and rotating around the foundation pile.
2. robot according to claim 1, it is characterised in that the workbench includes fixture and tumbler, institute
State and gear mechanism is installed on tumbler, be provided with an at least motor, the motor and install on the fixture
There is the drive gear engaged with the gear mechanism, the drive gear drives the gear mechanism to rotate so that described to rotate
Part is rotated around the fixture.
3. robot according to claim 2, it is characterised in that the cleaning assemblies is arranged on the tumbler.
4. robot according to claim 1, it is characterised in that the workbench also includes receiving to workbench center
The locking mechanism held together, the locking mechanism by the workbench to be locked to foundation pile.
5. robot according to claim 4, it is characterised in that the locking mechanism includes an at least retractor device, institute
The output shaft for stating retractor device stretches out and is connected on the foundation pile so that the workbench is fastened in the foundation pile.
6. robot according to claim 5, it is characterised in that the retractor device is provided with three, and is evenly distributed on
Workbench.
7. robot according to claim 1, it is characterised in that movable pulley, the liter are provided with the workbench
Connect to drive the workbench to move by connecting rope between falling unit and the movable pulley.
8. robot according to claim 7, it is characterised in that the lowering or hoisting gear includes capstan winch, is attached to capstan winch
Power motor, the connecting rope is on capstan winch.
9. robot according to claim 8, it is characterised in that the lowering or hoisting gear is provided with three, and is evenly distributed on
On the fixed mechanism.
10. robot according to claim 1, it is characterised in that the fixed mechanism includes fixed platform and is arranged on
Clamping piece in fixed platform, the lowering or hoisting gear is arranged in the fixed platform, and the clamping piece is used for banding to foundation pile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710249805.3A CN107096738B (en) | 2017-04-17 | 2017-04-17 | Robot is maintained to foundation pile under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710249805.3A CN107096738B (en) | 2017-04-17 | 2017-04-17 | Robot is maintained to foundation pile under water |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107096738A true CN107096738A (en) | 2017-08-29 |
| CN107096738B CN107096738B (en) | 2020-04-24 |
Family
ID=59656266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710249805.3A Active CN107096738B (en) | 2017-04-17 | 2017-04-17 | Robot is maintained to foundation pile under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107096738B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655075A (en) * | 2018-06-04 | 2018-10-16 | 苏州格目软件技术有限公司 | A kind of annular cleaning equipment for ocean engineering platform |
| CN108663029A (en) * | 2018-02-01 | 2018-10-16 | 深圳市建设综合勘察设计院有限公司 | A kind of method, storage medium and terminal obtaining underwater cylindrical stub information |
| CN109868819A (en) * | 2019-02-25 | 2019-06-11 | 蒙泽喜 | A kind of structurally stable screw pile driver for heavy construction engineering |
| CN112550590A (en) * | 2020-10-29 | 2021-03-26 | 威海海洋职业学院 | Attachment cleaning device for ocean platform |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0084811A2 (en) * | 1982-01-23 | 1983-08-03 | Zf-Herion-Systemtechnik Gmbh | Apparatus for working under water |
| JP2000073325A (en) * | 1998-08-28 | 2000-03-07 | Taisei Corp | Organism adhesion preventing device for pile |
| CN103501414A (en) * | 2013-10-18 | 2014-01-08 | 中国海洋石油总公司 | Mobile underwater monitoring device with floating platforms |
| WO2015176132A1 (en) * | 2014-05-23 | 2015-11-26 | Whitsunday Mooring And Marine Construction Pty Ltd | Data capture device and system |
-
2017
- 2017-04-17 CN CN201710249805.3A patent/CN107096738B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0084811A2 (en) * | 1982-01-23 | 1983-08-03 | Zf-Herion-Systemtechnik Gmbh | Apparatus for working under water |
| JP2000073325A (en) * | 1998-08-28 | 2000-03-07 | Taisei Corp | Organism adhesion preventing device for pile |
| CN103501414A (en) * | 2013-10-18 | 2014-01-08 | 中国海洋石油总公司 | Mobile underwater monitoring device with floating platforms |
| WO2015176132A1 (en) * | 2014-05-23 | 2015-11-26 | Whitsunday Mooring And Marine Construction Pty Ltd | Data capture device and system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108663029A (en) * | 2018-02-01 | 2018-10-16 | 深圳市建设综合勘察设计院有限公司 | A kind of method, storage medium and terminal obtaining underwater cylindrical stub information |
| CN108663029B (en) * | 2018-02-01 | 2021-04-06 | 深圳市建设综合勘察设计院有限公司 | Method for acquiring underwater cylindrical foundation pile information, storage medium and terminal |
| CN108655075A (en) * | 2018-06-04 | 2018-10-16 | 苏州格目软件技术有限公司 | A kind of annular cleaning equipment for ocean engineering platform |
| CN109868819A (en) * | 2019-02-25 | 2019-06-11 | 蒙泽喜 | A kind of structurally stable screw pile driver for heavy construction engineering |
| CN112550590A (en) * | 2020-10-29 | 2021-03-26 | 威海海洋职业学院 | Attachment cleaning device for ocean platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107096738B (en) | 2020-04-24 |
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