CN107916679B - Automatic paver system with movable blanking structure and working method thereof - Google Patents
Automatic paver system with movable blanking structure and working method thereof Download PDFInfo
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- CN107916679B CN107916679B CN201710974097.XA CN201710974097A CN107916679B CN 107916679 B CN107916679 B CN 107916679B CN 201710974097 A CN201710974097 A CN 201710974097A CN 107916679 B CN107916679 B CN 107916679B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/063—Tunnels submerged into, or built in, open water
- E02D29/073—Tunnels or shuttering therefor assembled from sections individually sunk onto, or laid on, the water-bed, e.g. in a preformed trench
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- 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
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Abstract
The invention discloses an automatic paver system with a movable blanking structure and a working method thereof, wherein the automatic paver system comprises the following steps: paving device, paving device includes: a support structure supported on the water bottom surface; the discharging structure is provided with a feeding hole and a discharging hole, and the discharging hole extends towards the water bottom surface; and the transportation structure comprises a first slide rail structure extending along the longitudinal direction and a second slide rail structure extending along the transverse direction, the blanking structure is connected to the first slide rail structure and longitudinally moves along the first slide rail structure, the second slide rail structure is arranged on the supporting structure, and two ends of the first slide rail structure are connected to the second slide rail structure and transversely move along the second slide rail structure to drive the blanking structure to transversely move. The technical scheme of the invention can improve the laying precision and reduce the influence of water flow and waves when the automatic paver system carries out underwater broken stone laying, and can be suitable for different water depth requirements.
Description
Technical Field
The invention relates to the technical field of underwater paving technology, in particular to an automatic paver system with a movable blanking structure and a working method thereof.
Background
In the construction method of the immersed tunnel, a foundation trench needs to be excavated at the bottom, pipe sections of the tunnel are subsequently sunk into the pre-excavated bottom foundation trench section by section, the bottom surface of the foundation trench serving as the foundation of the immersed pipe section is uneven after excavation molding, stone materials need to be backfilled for leveling, the bearing capacity of the foundation is improved, and the relevant sedimentation is controlled, so that each section of the pipe section of the laid and molded tunnel is uniformly stressed, and the use effect is good. In order to improve the flatness of the bottom surface of the foundation trench, the operation ship in the prior art generally adopts a floating leveling ship or a platform leveling ship with a positioning pile, the floating leveling ship and the platform leveling ship with the positioning pile generally comprise a distributing pipe, the distributing pipe directly extends into the water bottom, the overall length of the distributing pipe is longer, and the underwater part of the distributing pipe is easily and directly influenced by water flow and waves, so that the leveling precision is reduced.
Disclosure of Invention
The invention mainly aims to provide an automatic paver system with a movable blanking structure, aiming at improving the paving precision and reducing the influence of water flow and waves when the automatic paver system is used for paving underwater broken stones, and being suitable for different water depth requirements.
In order to achieve the above object, the present invention provides an automatic spreading machine system with a movable blanking structure, comprising: a paving apparatus, the paving apparatus comprising:
a support structure supported on a water bottom surface;
the discharging structure is provided with a feeding hole and a discharging hole for materials to pass through, and the discharging hole extends towards the water bottom surface;
and the transportation structure comprises a first slide rail structure extending along the longitudinal direction and a second slide rail structure extending along the transverse direction, the blanking structure is connected to the first slide rail structure and moves longitudinally along the first slide rail structure, the second slide rail structure is arranged on the supporting structure, two ends of the first slide rail structure are connected to the second slide rail structure and moves transversely along the second slide rail structure to drive the blanking structure to move transversely.
Optionally, the first slide rail structure includes at least two moving beams extending in the longitudinal direction, the two moving beams are disposed opposite to each other, and the blanking structure is connected to the two moving beams and moves longitudinally along the moving beams;
the second slide rail structure comprises at least two transversely extending mounting beams, the two mounting beams are arranged oppositely, two ends of the moving beam are respectively connected with the two mounting beams, and the two moving beams move transversely along the second slide rail structure to drive the blanking structure to move transversely.
Optionally, the first slide rail structure further comprises at least two connecting frames, the connecting frames connect two adjacent movable beams and are located at two ends of the two movable beams, a first transmission chain is arranged between one connecting frame and the other connecting frame,
the first sliding rail structure further comprises a first motor and a first gear, the first motor and the first gear are arranged on the blanking structure, the first gear is meshed with the first transmission chain, and the first motor drives the first gear to rotate to drive the blanking structure to move along the first transmission chain.
Optionally, the walking beam is further provided with a first guide rail extending along the longitudinal direction, the blanking structure is provided with a first guide wheel, and the first guide wheel is mounted on the first guide rail and moves along the first guide rail.
Optionally, the shifting beam is further provided with a second guide rail extending longitudinally, the second guide rail is adjacent to the first guide rail, and the blanking structure is further provided with a second guide wheel, the second guide wheel is mounted on the second guide rail and moves along the second guide rail.
Optionally, the second slide rail structure further comprises a second transmission chain and a second motor, the second transmission chain extends along the transverse direction, at least one end of the first slide rail structure is provided with a connecting portion, the connecting portion is connected with the second transmission chain, and the second motor drives the second transmission chain to drive the first slide rail structure to move transversely.
Optionally, the mounting beam is further provided with a third guide rail extending in the transverse direction, both ends of the first slide rail structure are provided with third guide wheels, and the third guide wheels are mounted on the third guide rail and move along the third guide rail.
Optionally, the second motor is provided with a stroke recorder for recording the rotation stroke of the second motor;
and/or a stroke recorder for recording the rotation stroke of the first motor is arranged on the first motor of the blanking structure;
and/or proximity sensors are further arranged at two ends of the first sliding rail structure.
Optionally, the blanking structure includes:
the movable frame is connected to the first slide rail structure and moves longitudinally along the first slide rail structure; and
the flattening fill, the flattening fill is fixed in remove the frame, feed inlet and discharge gate are located respectively the both ends of flattening fill.
Optionally, the blanking structure further comprises an elevation measuring instrument, the elevation measuring instrument is arranged on the moving frame and measures the height between the lower end of the leveling bucket and the water bottom surface;
and/or, the flattening fill still is equipped with the observation window, blanking structure still includes the camera, the camera install in the flattening fill to see through the observation window record the material state in the flattening fill.
The invention relates to a working method of an automatic paver system with a movable blanking structure.A main controller obtains first flatness value information of an area to be paved, and the blanking amount of each block in the area to be paved is calculated by a preset algorithm according to the first flatness value information;
the main controller controls the blanking structure to perform coarse blanking on each block according to the blanking amount corresponding to the block.
Optionally, in the step of controlling the blanking structure to perform coarse blanking on each block according to the blanking amount corresponding to the block by the main controller, the method includes:
the main controller controls the first slide rail structure to move longitudinally and coarsely blank the block, controls the first slide rail structure to move transversely along the second slide rail structure, drives the blanking structure to move transversely to the next block, and coarsely blanks the block.
The supporting structure of the automatic paver system in the technical scheme of the invention is supported on the water bottom surface, the transportation structure is connected to the supporting structure in a sliding manner, the supporting structure supports the transportation structure, so that the transportation structure can drive the blanking structure to move at a position relatively close to the water bottom surface, materials are input from the feed inlet of the blanking structure and are output from the discharge outlet, the discharge outlet extends towards the water bottom surface, the blanking structure is close to the water bottom surface, the materials output from the discharge outlet can fall to a specified position of the water bottom surface through a short distance, the whole blanking process is hardly influenced by water flow, the laying position of the materials on the water bottom surface is accurate, the supporting structure of the automatic paver system is directly supported on the water bottom surface, the automatic paver system can be suitable for different water depth requirements, and the automatic paver system has a wide application range.
And, through setting up along longitudinally extended first slide rail structure and along transversely extended second slide rail structure for the blanking structure can be at vertical and horizontal homoenergetic motion and pave, makes this automatic paver system can pave arbitrary assigned position of water bottom surface, further strengthens the effect of paving.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural view of one embodiment of a paving apparatus of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is an enlarged view of a portion of FIG. 1 at B;
FIG. 4 is a schematic view of an embodiment of a blanking structure of the paving apparatus of FIG. 1;
fig. 5 is a schematic structural diagram of an embodiment of an automatic paver system with a movable blanking structure according to the present invention;
fig. 6 is a schematic view of the support structure of the automated paving machine system of fig. 5 coupled to a retractable structure;
fig. 7 is a schematic structural view of the support structure of fig. 5 being hoisted by the retracting structure.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides an automatic paver system 100 with a movable blanking structure.
Referring to fig. 1 to 7, in an embodiment of the present invention, the automatic paver system 100 having a movable blanking structure includes: paving device 10, this paving device 10 includes:
a support structure 11, the support structure 11 being supported on the water bottom surface; the support structure 11 comprises adjustment feet 19 mounted to the support structure 11. The support structure 11 is used for carrying, the adjusting feet 19 are abutted against the water bottom surface, and the height of the support structure 11 relative to the water ground can be adjusted.
The blanking structure 13 is provided with a feeding hole 13a and a discharging hole 13b for materials to pass through, and the discharging hole 13b extends towards the water bottom surface;
and a transportation structure (not shown), wherein the transportation structure includes a first slide rail structure 15 extending along a longitudinal direction, the blanking structure 13 is connected to the first slide rail structure 15 and moves longitudinally along the first slide rail structure 15, the support structure 11 includes a second slide rail structure 17 extending along a transverse direction, two ends of the first slide rail structure 15 are connected to the second slide rail structure 17 and move transversely along the second slide rail structure 17 to drive the blanking structure 13 to move transversely.
The supporting structure 11 of the automatic paver system 100 of the technical scheme of the invention is supported on the water bottom surface, the transportation structure is connected with the supporting structure 11 in a sliding manner, the supporting structure 11 provides support and guide for the movement track of the transportation structure, so that the transportation structure can move at a position relatively close to the water bottom surface, the blanking structure 13 is connected with the transportation structure, so that the blanking structure 13 can also move at a position relatively close to the water bottom surface under the driving of the transportation structure, materials are input from the feed inlet 13a of the blanking structure 13 and output from the discharge outlet 13b, the discharge outlet 13b extends towards the water bottom surface, and because the blanking structure 13 is close to the water bottom surface, the materials output from the discharge outlet 13b can fall to a specified position of the water bottom surface through a short distance, the whole blanking process is hardly influenced by water flow, so that the laying position of the materials on the water bottom surface is accurate, and the supporting structure 11 of the automatic paver system 100 is directly supported on the water bottom surface, so that the system can be suitable for different water depth requirements, and the application range of the automatic paver system 100 is wide.
Moreover, by arranging the first slide rail structure 15 extending along the longitudinal direction and the second slide rail structure 17 extending along the transverse direction, the blanking structure 13 can move and pave in the longitudinal direction and the transverse direction, so that any specified position of the bottom surface of the water can be paved by the automatic paver system 100, and the paving effect is further enhanced.
Further, the first slide rail structure 15 includes at least two moving beams 151 extending longitudinally, the two moving beams 151 are disposed oppositely, and the blanking structure 13 is connected to the two moving beams 151 and moves longitudinally along the moving beams 151; the second slide rail structure 17 includes at least two transversely extending mounting beams 171, the two mounting beams 171 are disposed oppositely, two ends of a movable beam 151 are respectively connected to the mounting beams 171, and the two movable beams 151 transversely move along the second slide rail structure 17 to drive the blanking structure 13 to transversely move.
That is, the two movable beams 151 support the blanking structure 13 and carry the movement of the blanking structure 13. During the movement, the blanking structure 13 can move along the extending direction of the moving beam 151, i.e. the longitudinal direction. And the movable beam 151 slides in the extending direction of the mounting beam 171, that is, transversely, so that the first slide rail structure 15 and the second slide rail structure 17 formed by the arrangement of the movable beam 151 and the mounting beam 171 are in sliding fit with each other, so that the blanking structure 13 can completely pave the paving area.
It will be appreciated that the mounting beams 171 of the present application may be formed as part of the support structure 11 or may be separately provided mounting beams 171 and then mounted to the support structure 11. In order to simplify the processing technology, a part of the supporting structure 11 is provided as the mounting beam 171, and the mounting beam 171 may also be provided as a partially hollow cylindrical structure to provide upward buoyancy to offset the gravity of the blanking structure 13 and reduce the probability of deformation of the mounting beam 171. Of course, the movable beam 151 may be provided as a partially hollow cylindrical structure to provide upward buoyancy to counteract the gravity of the blanking structure 13.
Further, the first slide rail structure 15 further includes at least two connecting frames 153, the connecting frames 153 connect the two adjacent movable beams 151 and are located at two ends of the two movable beams 151, a first transmission chain (not shown) is disposed between one connecting frame 153 and the other connecting frame 153, the first slide rail structure 15 further includes a first motor (not shown) and a first gear (not shown), the first motor and the first gear are disposed on the blanking structure 13, the first gear is engaged with the first transmission chain, and the first motor drives the first gear to rotate to drive the blanking structure 13 to move along the first transmission chain.
That is, the two movable beams 151 are connected by the two connecting frames 153 to form an integral first slide rail structure 15, the blanking structure 13 is disposed on the first slide rail structure 15, and the first motor drives the first gear to rotate, so as to drive the blanking structure 13 to move along the first transmission chain, and the extension direction of the first transmission chain is longitudinal extension and is the same as the extension direction of the movable beams 151. It can be understood that, this is the mode that the blanking structure 13 is driven by the gears and the chains, and of course, the blanking structure can also be driven by the gears and the chains or by other modes, and is also within the protection scope of the present solution.
In an embodiment of the present application, the moving beam 151 is further provided with a first guide rail 1511 extending along the longitudinal direction, the blanking structure 13 is provided with a first guide wheel 131, and the first guide wheel 131 is mounted on the first guide rail 1511 and moves along the first guide rail 1511.
Through the cooperation of the first guide rail 1511 and the first guide wheel 131, the friction between the blanking structure 13 and the movable beam 151 can be reduced, and the output power of the first motor can be reduced, so that the blanking structure 13 can be better driven along the longitudinal direction. The first guide rail 1511 is generally disposed on the upper surface of the transfer beam 151, and the first guide wheel 131 is disposed at the lower end of the blanking structure 13.
Further, the movable beam 151 is further provided with a second guide rail 1513 extending longitudinally, the second guide rail 1513 is disposed adjacent to the first guide rail 1511, the blanking structure 13 is further provided with a second guide wheel 133, and the second guide wheel 133 is mounted on the second guide rail 1513 and moves on the second guide rail 1513.
The second guide rail 1513 and the second guide wheel 133 can further reduce the friction between the blanking structure 13 and the moving beam 151, and when the first guide rail 1511 and the second guide rail 1513 are disposed simultaneously, the two can be mutually assisted to prevent the derailment phenomenon, so that the transportation of the blanking structure 13 is more stable. Generally, the second guide rail 1513 is disposed on the outer side surface of the moving beam 151, and a portion of the lower end of the blanking structure 13 is extended to mount the second guide wheel 133.
In an embodiment of the present application, the second slide rail structure 17 further includes a second transmission chain 173 and a second motor (not shown), the second transmission chain 173 extends along the transverse direction, at least one end of the first slide rail structure 15 is provided with a connecting portion 1531, the connecting portion 1531 is connected to the second transmission chain 173, and the second motor drives the second transmission chain 173 to drive the first slide rail structure 15 to move transversely.
That is, the second slide rail structure 17 of the present application can also adopt a chain driving manner, but is slightly different from the driving manner of the first slide rail structure 15 in that the second transmission chain 173 moves along with the driving of the second motor, and the first transmission chain itself is fixed, drives the first gear through the first motor, and adopts a climbing-like manner for transmission. Of course, similar to the first slide rail structure 15, the second slide rail structure 17 may also be configured to be driven by a gear ring or other driving method, and is also within the protection scope of the present disclosure. The connection portion 1531 and the second transmission chain 173 may be connected by a bolt for easy detachment. Of course, it is also within the scope of the present application that the two may be non-detachably connected, such as welded.
Further, the mounting beam 171 is further provided with a third guide rail 1711 extending along the transverse direction, and both ends of the first slide rail structure 15 are provided with third guide wheels (not shown), which are mounted on the third guide rail 1711 and move along the third guide rail 1711.
Similarly, the third guide wheel and the third guide rail 1711 can reduce the friction force of the first sliding rail structure 15 sliding on the mounting beam 171, and reduce the material abrasion and the driving power of the second motor. Typically, the third guide rail 1711 is disposed on the upper surface of the mounting beam 171, and the guide wheel is typically disposed at the lower end of the connecting frame 153 of the first slide rail structure 15.
In an embodiment of the present application, the second motor is provided with a stroke recorder (not shown) for recording the rotation stroke of the second motor; and/or, the first motor of the blanking structure 13 is provided with a stroke recorder (not shown) for recording the rotation stroke of the first motor; and/or, proximity sensors (not shown) are further provided at both ends of the first slide rail structure 15.
That is, it can be understood that the stroke recorders of the first motor and the second motor can record the rotating speeds of the respective motors, so that the stroke and the movement track of the blanking structure 13 can be calculated, and the movement of the blanking structure 13 can be accurately controlled. A proximity sensor is installed, which has the effect of determining whether the blanking structure 13 is moved laterally or longitudinally beyond a predetermined range. On the other hand, the travel recorder can be used for adjusting the travel recorder, and the phenomenon that the travel recorder has accumulated errors is avoided.
In an embodiment of the present application, the blanking structure 13 includes: a movable frame 135, wherein the movable frame 135 is connected to the first slide rail structure 15 and moves longitudinally along the first slide rail structure 15; and a leveling bucket 137, the leveling bucket 137 is fixed to the moving frame 135, and the feeding port 13a and the discharging port 13b are respectively provided at both ends of the leveling bucket 137. The movable frame 135 is driven to move longitudinally along the first slide rail structure 15, so as to drive the leveling bucket 137 to perform discharging and paving. The track along which the screed 137 is driven may be zigzag or any other shape.
Further, the blanking structure 13 further includes an elevation measuring instrument (not shown), which is disposed on the moving frame 135 and measures the height between the lower end of the leveling bucket 137 and the water bottom surface; and/or, flattening fill 137 still is equipped with the observation window, and blanking structure 13 still includes the camera, and the camera is installed in flattening fill 137 to see through the observation window record flattening fill 137 interior material state. The distance between the blanking structure 13 and the water bottom surface can be measured through the elevation measuring instrument, so that the accurate control and control of blanking amount can be realized. Through set up the observation window on flattening fill 137, the staff can observe the height of storing the material in flattening fill 137 that the camera made through the detection screen on the workstation 30 on the surface of water to can be better operate the master controller, adjust the blanking volume of flattening fill 137.
In an embodiment of the present application, the automatic spreading machine system 100 further includes a work table 30 disposed on the water surface, the work table 30 is provided with a main controller (not shown), the main controller is electrically connected to the transportation structure of the spreading device 10, and controls the transportation structure to drive the material structure to move on the supporting structure 11, so as to drive the discharge port 13b to spread.
Through setting up workstation 30 on the surface of water, the staff can operate and monitor the work of paving under water on workstation 30 on water, need not to carry out underwater operation almost, has guaranteed staff's safety, and automatic control process makes the efficiency of construction that utilizes this automatic paver system 100 to carry out the cloth under water high. The above-surface platform 30 may be carried by a ship, generally.
The automatic paver system 100 further comprises a retractable structure 50, the retractable structure 50 comprises a driving part 51 and a connecting part 53 connected with the driving part 51, the driving part 51 is connected to the workbench 30, the connecting part 53 can be detachably connected with the supporting structure 11, the driving part 51 is electrically connected with the main controller, and the driving part is controlled to move the supporting structure 11 to a specified position when the connecting part 53 is connected with the supporting structure 11.
After the paving device 10 of the automatic paver system 100 finishes one paving operation, the connecting piece 53 of the retractable structure 50 is connected to the supporting structure 11 under the control of a manual operation or a master controller, the driving piece 51 drives the connecting piece 53 to lift the supporting structure 11 from the water bottom to the adjusting supporting leg 19 to be away from the water bottom for a certain distance and move to a next area to be paved, the supporting structure 11 is sunk to the water bottom again until the adjusting supporting leg 19 is supported on the water bottom of the next area to be paved, the connecting piece 53 is separated from the supporting structure 11 under the control of the manual operation or the master controller, and the paving device 10 carries out the next paving operation.
This receiving and releasing structure 50's driving piece 51 can be the motor, install on workstation 30, connecting piece 53 can be the steel cable, one end is connected to the motor, the other end is submerged to under water by the staff, bind it on bearing structure 11, the master controller control starter motor, hang up one section distance with bearing structure 11 through the steel cable, then workstation 30 moves certain distance back along the length direction of foundation trench (be vertical in fig. 1 promptly), master controller control motor drives the steel cable and sinks bearing structure 11 in the area that waits to pave next.
It will be appreciated that the connecting member 53 may also be a frame structure, the master controller controlling the driving member 51 (motor or cylinder) in combination with the positioning information provided by the positioning structure, the frame structure being automatically extended to the position of the support structure 11, the frame structure being manually fixed to the support structure 11 by means of a bolt, screw or snap-fit structure, or the frame structure being automatically fixed to the support structure 11 by the control of the master controller, the connecting member 53 moving the support structure 11 to the next area to be paved under the further control of the master controller.
In an embodiment of the present invention, the blanking structure 13 is further provided with a detection component (not shown), the detection component detects flatness value information of the water bottom surface, can detect the flatness degree of the to-be-paved area where the material is paved, and feeds back the result to the main controller for the next work.
Further, the main controller is electrically connected with the transportation structure and the blanking structure 13, controls the transportation structure to drive the blanking structure 13 to move on the supporting structure 11, and controls the blanking structure 13 to perform blanking through the discharge hole 13 b;
and/or the automatic paver system 100 further comprises a hopper 141 and a feed pipe 142, wherein the hopper 141 is arranged on the workbench 30, one end of the feed pipe 142 is communicated with the hopper 141, and the other end of the feed pipe 142 is communicated with the feed port 13a of the blanking structure 13.
The transportation structure is controlled by the controller to move on the supporting structure 11, so that the transportation structure can move to each position with a paving area, and fine control blanking is realized. The hopper 141 mainly stores a large amount of stone to be paved, and conveys the stone to the feeding hole 13a of the blanking structure 13 through the feeding pipe 142, so that the workbench 30 is conveyed to the blanking structure 13.
Furthermore, a measuring and positioning structure is further arranged on the supporting structure 11, the measuring and positioning structure comprises a measuring frame (not marked) and at least one positioning structure, one end of the measuring frame is rotatably connected to the supporting structure 11, and the positioning structure is fixed at the other end of the measuring frame. The positioning structure of the measuring and positioning structure is used for acquiring the position information of the positioning structure, the position information of the supporting structure 11 can be obtained by combining the known form of the measuring frame, and the supporting structure 11 can be accurately placed at the specified position according to the obtained position information of the supporting structure 11, so that the blanking position of the blanking structure 13 is more accurate. The Positioning structure is a GPS (Global Positioning System), and particularly an RTK (Real-time kinematic) that can provide a three-dimensional Positioning result of a measured position in a specified coordinate System in Real time and achieve centimeter-level accuracy. The acquired position information of the support structure 11 is made more accurate.
Further, the workbench 30 is provided with a storage structure 161, the blanking structure 13 is provided with a silt suction structure 16, the silt suction structure 16 further comprises a silt discharge pipe 163, one end of the silt discharge pipe 163 is communicated with a silt discharge port of the silt suction structure 16, and the other end of the silt discharge pipe 163 is communicated with the storage structure 161. Moreover, the silt suction structure 16 can suck silt through the silt suction pump before paving the stones, so that the silt is discharged from the silt suction port to the outside of the paving area through the silt discharge port, and the stones are paved after the silt is discharged, so that the stones are more stably paved. In order to prevent the pumped sludge from being discharged directly into the water to cause secondary pollution to the water quality, the pumped sludge is stored through the storage structure 161 and is transported away through the work table 30 when stored to a certain amount.
The working table 30 may include a first working table 31, a second working table 33, and a third working table 35, the first working table 31 is used for setting a main controller and a feed hopper 141, the main controller is used for controlling all structures required to be electrically controlled on the paving device 10, the first working table 31 is further provided with a water pump, and the crushed stones in the feed hopper 141 are jointly fed into a feed pipe 142 in combination with water pumped by the water pump. The second table 33 is provided with a storage structure 161, and a main controller for driving the silt suction driving member can also be arranged on the second table 33, and the storage structure 161 is used for storing silt which is transmitted by the silt suction structure 16 through the silt discharging pipe 163. The third worktable 35 is used for arranging the retractable structure 50, and a main controller electrically connected with the retractable structure 50 is arranged on the third worktable 35, and the main controller controls the driving part 51 of the retractable structure 50 to move and drives the connecting part 53 to execute actions.
The present application further provides a method for operating an automatic paver system 100 having a movable blanking structure, including:
the method comprises the steps that a main controller obtains first flatness value information of an area to be paved, and the blanking amount of each block in the area to be paved is calculated through a preset algorithm according to the first flatness value information;
the main controller controls the blanking structure 13 to perform coarse blanking on each block according to the blanking amount corresponding to the block.
The bottom surface of the base groove pre-dug at the bottom is divided into a plurality of continuously arranged areas to be paved along the length direction, each area to be paved is divided into a plurality of continuously arranged blocks, and the range of each block can be matched and divided according to the size of the discharge hole 13b of the blanking structure 13. The blanking amount corresponding to each block can be calculated according to the average value of the concave-convex of the bottom surface in the range of each block, and the blanking amount can be set in equal ratio to the average value of the concave-convex of the corresponding block.
The blanking can be completed by one-time blanking or two-time blanking, and can be completed by more times of blanking according to requirements. In an embodiment of the invention, the blanking is preferably completed twice, that is, the conveying structure performs two periodic movements along the designated track to complete the blanking together, and the blanking mode enables the material amount laid by the blanking structure 13 to be more accurate and the laying to be smoother.
Further, the step of performing coarse blanking on each block according to the blanking amount corresponding to the block by the main controller controlling the blanking structure 13 includes:
the main controller controls the first slide rail structure 15 to move longitudinally and perform coarse blanking on the block, controls the first slide rail structure 15 to move transversely along the second slide rail structure 17, drives the blanking structure 13 to move transversely to the next block, and performs coarse blanking on the block.
Specifically, the main controller controls the transportation structure to move on the supporting structure 11 according to a specified track, and obtains real-time position information of the transportation structure, and when the real-time position information of the transportation structure is matched with position information of a block of an area to be paved, the main controller controls the material distribution structure to perform blanking on the block according to blanking amount corresponding to the block.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides an automatic paver system with activity blanking structure is applied to submarine paving, its characterized in that includes: a paving apparatus, the paving apparatus comprising:
a support structure supported on the water bottom surface and below the water surface;
at least one blanking structure below the water surface, wherein the blanking structure is provided with a feed inlet and a discharge outlet for materials to pass through, and the discharge outlet extends towards the water bottom surface;
the conveying structure comprises a first slide rail structure extending along the longitudinal direction and a second slide rail structure extending along the transverse direction, the blanking structure is connected to the first slide rail structure and moves longitudinally along the first slide rail structure, the second slide rail structure is arranged on the supporting structure, and two ends of the first slide rail structure are connected to the second slide rail structure and moves transversely along the second slide rail structure to drive the blanking structure to move transversely;
the automatic paver system also comprises a workbench arranged on the water surface, wherein the workbench is provided with a main controller, the main controller is electrically connected with the transportation structure, and the transportation structure is controlled to drive the blanking structure to move on the supporting structure and drive the discharge port to pave;
the automatic paver system also comprises a feed hopper and a feed pipe, wherein the feed hopper is arranged on the workbench, one end of the feed pipe is communicated with the feed hopper, and the other end of the feed pipe is communicated with a feed inlet of the blanking structure;
the working table is provided with a storage structure, a sludge suction structure is arranged at the blanking structure, the sludge suction structure further comprises a sludge discharge pipe, one end of the sludge discharge pipe is communicated with a sludge discharge port of the sludge suction structure, and the other end of the sludge discharge pipe is communicated with the storage structure;
the first sliding rail structure comprises at least two moving beams extending longitudinally, the two moving beams are arranged oppositely, and the blanking structure is connected with the two moving beams and moves longitudinally along the moving beams;
the second slide rail structure comprises at least two transversely extending mounting beams, the two mounting beams are oppositely arranged, two ends of one moving beam are respectively connected to one mounting beam, and the two moving beams transversely move along the second slide rail structure to drive the blanking structure to transversely move;
the first slide rail structure also comprises at least two connecting frames, the connecting frames connect two adjacent movable beams and are positioned at two ends of the two movable beams, a first transmission chain is arranged between one connecting frame and the other connecting frame,
the first sliding rail structure further comprises a first motor and a first gear, the first motor and the first gear are arranged on the blanking structure, the first gear is meshed with the first transmission chain, and the first motor drives the first gear to rotate to drive the blanking structure to move along the first transmission chain;
the first motor is provided with a stroke recorder for recording the rotation stroke of the first motor.
2. The automated paving machine system with active blanking structure of claim 1,
the walking beam is also provided with a first guide rail extending along the longitudinal direction, the blanking structure is provided with a first guide wheel, and the first guide wheel is installed on the first guide rail and moves along the first guide rail.
3. The automated paving machine system with active blanking structure of claim 2,
the shifting beam is further provided with a second guide rail extending longitudinally, the second guide rail is adjacent to the first guide rail, the blanking structure is further provided with a second guide wheel, and the second guide wheel is mounted on the second guide rail and moves along the second guide rail.
4. The automatic spreading machine system with the movable blanking structure as claimed in any one of claims 1 to 3, wherein the second slide rail structure further comprises a second transmission chain and a second motor, the second transmission chain extends in a transverse direction, at least one end of the first slide rail structure is provided with a connecting portion, the connecting portion is connected with the second transmission chain, and the second motor drives the second transmission chain to drive the first slide rail structure to move in the transverse direction.
5. The automated paving machine system with active blanking structure of claim 4,
the mounting beam is further provided with a third guide rail extending transversely, third guide wheels are arranged at two ends of the first slide rail structure, and the third guide wheels are mounted on the third guide rail and move along the third guide rail.
6. The automated paving machine system with movable blanking structure of claim 4, wherein the second motor is provided with a stroke recorder for recording the rotation stroke of the second motor;
and/or proximity sensors are further arranged at two ends of the first sliding rail structure.
7. The automated paving machine system with an active blanking structure of claim 4, wherein the blanking structure comprises:
the movable frame is connected to the first slide rail structure and moves longitudinally along the first slide rail structure; and
the flattening fill, the flattening fill is fixed in remove the frame, feed inlet and discharge gate are located respectively the both ends of flattening fill.
8. The automated paving machine system with active blanking structure of claim 7,
the blanking structure further comprises an elevation measuring instrument, the elevation measuring instrument is arranged on the moving frame and is used for measuring the height between the lower end of the leveling bucket and the water bottom surface;
and/or, the flattening fill still is equipped with the observation window, blanking structure still includes the camera, the camera install in the flattening fill to see through the observation window record the material state in the flattening fill.
9. The working method of the automatic paver system with the movable blanking structure as in any one of claims 1 to 8, characterized by comprising the following steps:
the method comprises the steps that a main controller obtains first flatness value information of an area to be paved, and the blanking amount of each block in the area to be paved is calculated through a preset algorithm according to the first flatness value information;
the main controller controls the blanking structure to perform coarse blanking on each block according to the blanking amount corresponding to the block.
10. The method of claim 9, wherein the automatic paver system with movable blanking structure is characterized in that,
in the step of controlling the blanking structure to perform coarse blanking on each block according to the blanking amount corresponding to the block by the main controller, the method comprises the following steps:
the main controller controls the blanking structure to move longitudinally along the first slide rail structure and perform coarse blanking on the block, and then controls the first slide rail structure to move transversely along the second slide rail structure to drive the blanking structure to move transversely to the next block and perform coarse blanking on the block.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710974097.XA CN107916679B (en) | 2017-10-18 | 2017-10-18 | Automatic paver system with movable blanking structure and working method thereof |
| PCT/CN2018/088372 WO2019076052A1 (en) | 2017-10-18 | 2018-05-25 | Automatic paver system having movable material dropping structure and an operating method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710974097.XA CN107916679B (en) | 2017-10-18 | 2017-10-18 | Automatic paver system with movable blanking structure and working method thereof |
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| Publication Number | Publication Date |
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| CN107916679A CN107916679A (en) | 2018-04-17 |
| CN107916679B true CN107916679B (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710974097.XA Active CN107916679B (en) | 2017-10-18 | 2017-10-18 | Automatic paver system with movable blanking structure and working method thereof |
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| Country | Link |
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| CN (1) | CN107916679B (en) |
| WO (1) | WO2019076052A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107916607B (en) * | 2017-10-18 | 2019-09-17 | 中国建筑工程（香港）有限公司 | Automatic paver system with measurement and positioning structure |
| CN107916679B (en) * | 2017-10-18 | 2020-10-09 | 中国建筑工程（香港）有限公司 | Automatic paver system with movable blanking structure and working method thereof |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04238915A (en) * | 1990-12-28 | 1992-08-26 | Mitsui Eng & Shipbuild Co Ltd | Spreader for seabed sand |
| JPH04363417A (en) * | 1991-06-10 | 1992-12-16 | Toa Harbor Works Co Ltd | Rubble throw-in and levelling device |
| JP3220836B2 (en) * | 1993-12-28 | 2001-10-22 | 東洋建設株式会社 | Suspension equipment for underwater work machines |
| CN102073057B (en) * | 2010-11-15 | 2012-07-25 | 中交一航局第二工程有限公司 | Measuring and positioning system of underwater evener |
| CN203188126U (en) * | 2013-04-18 | 2013-09-11 | 中国建筑土木建设有限公司路桥分公司 | Rail-type bridge floor concrete-paving material-distributing machine |
| BE1024096B1 (en) * | 2013-10-29 | 2017-11-14 | Baggerwerken Decloedt En Zoon N.V. | DEVICE AND METHOD FOR APPLYING TO A UNDERWATER FLOOR OF A LOW MATERIAL WITH PRIOR DETERMINED LEVEL LEVEL |
| CN103993543B (en) * | 2014-04-30 | 2016-08-24 | 陈建军 | H-shaped four-crawler-belt slipform paver |
| CN105178146A (en) * | 2015-08-18 | 2015-12-23 | 河南省路桥建设集团有限公司 | Automatic paving control system for paving machine |
| CN205712118U (en) * | 2016-06-24 | 2016-11-23 | 天津海斯泰普智能机械科技有限公司 | Underwater dumped rockfill base bed flattening device |
| CN107916679B (en) * | 2017-10-18 | 2020-10-09 | 中国建筑工程（香港）有限公司 | Automatic paver system with movable blanking structure and working method thereof |
| CN207567817U (en) * | 2017-10-18 | 2018-07-03 | 中国建筑工程（香港）有限公司 | Automatic paver system with movable blanking structure |
-
2017
- 2017-10-18 CN CN201710974097.XA patent/CN107916679B/en active Active
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2018
- 2018-05-25 WO PCT/CN2018/088372 patent/WO2019076052A1/en active Application Filing
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| CN107916679A (en) | 2018-04-17 |
| WO2019076052A1 (en) | 2019-04-25 |
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