CN110331726A - A kind of underwater topography 3D printer and construction control method - Google Patents
A kind of underwater topography 3D printer and construction control method Download PDFInfo
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- CN110331726A CN110331726A CN201910522545.1A CN201910522545A CN110331726A CN 110331726 A CN110331726 A CN 110331726A CN 201910522545 A CN201910522545 A CN 201910522545A CN 110331726 A CN110331726 A CN 110331726A
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- 238000012876 topography Methods 0.000 title claims abstract description 28
- 238000010276 construction Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 115
- 238000007639 printing Methods 0.000 claims abstract description 43
- 239000004035 construction material Substances 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 43
- 230000009471 action Effects 0.000 claims description 15
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000005553 drilling Methods 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 241000826860 Trapezium Species 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D1/00—Investigation of foundation soil in situ
- E02D1/02—Investigation of foundation soil in situ before construction work
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D2600/00—Miscellaneous
- E02D2600/10—Miscellaneous comprising sensor means
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- Radar, Positioning & Navigation (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Soil Sciences (AREA)
- Underground Or Underwater Handling Of Building Materials (AREA)
Abstract
The invention discloses a kind of underwater topography 3D printer and construction control methods, including pedestal, printing head and control system waterborne, printing head includes mobile gantry, the printing head passes through mobile gantry across on pedestal and relative to pedestal movement, printing head is manipulated by control system waterborne and makees printing leveling movement in pedestal, the pedestal is equipped with subaqueous survey positioning system and posture automatic adjustment system, posture automatic adjustment system is to be located at the hydraulic support device controlled on pedestal by control system waterborne, subaqueous survey positioning system is communicated to connect by undersea repeaters and control system waterborne.Pedestal of the present invention provides safety guarantee for underwater construction, it is comprehensive to construction material completion leveling printing in the effective range of pedestal to print function, control system digital remote is integrated, effectively control the precise displacement of underwater flattening station, leveling absolute altitude etc. and whole device, it realizes digital visual, provides technical guarantee for underwater construction.
Description
Technical field
The present invention relates to bathymetric surveying technical field, especially a kind of underwater topography 3D printer and Construction control side
Method.
Background technique
In bathymetric surveying technology, a plurality of immersed tunnelling method tunnel currently constructed all is using biography in immersed tube control process
The underwater leveling system of system, it is underwater into people by a large amount of divers, water is carried out by being manually laid with leveling guide rail, manually filling up rubble
Lower leveling.Although but large labor intensity, security risk low by input cost of underwater manually leveling are big, construction efficiency
It is low, it can not ensure underwater construction safety.Current pedestal carrying platform needs manually adjust, due to artificial underwater operation, by water
The limitation of deep pressure, manual work is difficult, and the effective operation time for leveling of diving under water is short, and operating efficiency is low, and large labor intensity, no
Positioning effectively can be accurately measured, it is time-consuming and laborious.
Therefore, it currently needs to solve to lean on a large amount of divers underwater into people by underwater automatic leveling equipment technology, passes through people
Work is laid with leveling guide rail, manually fills up the problems such as rubble is flattened under water, especially applies in Tunnel Engineering, gravity type quay
Engineering and other need in the ocean engineering field of based process.
Chinese utility model patent CN201867196U, the day for announcing are to disclose on 06 15th, 2011 a kind of underwater leveling
Machine measurement and positioning system, the system include leveling ship measurement and positioning system, evener measurement and positioning system and microprocessing unit, are led to
The equipment such as GPS, inclination sensor, position sensor, sounding instrument are crossed, the accurate plan-position determined when underwater leveling machine works,
The practical elevation in bedding face when elevation, horizontal attitude and examination；It realizes position and the attitude orientation of leveling ship simultaneously, and passes through
Microprocessing unit, which carries out the design of operation position and management, the acquisition of device data, in real time calculating, real-time display, limit difference, to transfinite
The functions such as early warning and alarming, data storage, data readback.
Summary of the invention
It is an object of the invention to: in view of the deficiencies of the prior art, a kind of underwater topography 3D printer provided and construction
Control method provides safety guarantee for underwater construction, while effectively controlling underwater flattening station, leveling absolute altitude etc. and entire dress
The precise displacement set, realize digital visual, provide technical guarantee for underwater construction, at the same realize diver nobody or seldom
Diver enters under water, and the security risk of diver is greatly reduced from source.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of underwater topography 3D printer, including pedestal, printing head and control system waterborne, the printing head include movement
Gantry, the printing head pass through mobile gantry across on pedestal and relative to pedestal movement, and the printing head is by control waterborne
System manipulation processed simultaneously makees printing leveling movement in pedestal, and the pedestal is equipped with subaqueous survey positioning system and posture is adjusted automatically
Whole system, the posture automatic adjustment system is to be located at the hydraulic support device controlled on pedestal by control system waterborne, described
Subaqueous survey positioning system is communicated to connect by undersea repeaters and the control system waterborne.
As the preferred technical solution of the present invention, the pedestal is that the pedestal stringer being parallel to each other by two and two are mutual
The square frame that parallel pedestal crossbeam is fixedly connected to form, the hydraulic support device include multiple hydraulic legs, Mei Gesuo
Fixed more than two hydraulic legs on the outside of pedestal stringer are stated, the both ends of each pedestal crossbeam, which upwardly extend, is equipped with branch
Cushion cap is correspondingly provided with the measuring rod that water level line is stretched out in one end on the supporting station；
The subaqueous survey positioning system includes GPS receiver, pressure sensor, stroke sensor and posture instrument, and the GPS connects
Receipts machine is located at the top of measuring rod, and the stroke sensor is located on the hydraulic leg, and the pressure sensor is located at described
On supporting station, the posture instrument is located on one of them described pedestal crossbeam, and the GPS receiver, pressure sensor, stroke pass
Sensor and posture instrument are communicated to connect with undersea repeaters.
As the preferred technical solution of the present invention, the hydraulic support device includes 4 hydraulic legs, each pedestal
Two hydraulic legs are fixed on the outside of stringer, the hydraulic leg includes the support palm and jack, and the jack passes through ten thousand
Xiang Jieyu support palm connection.
As the preferred technical solution of the present invention, if there are two the measuring rod, two measuring rods are distributed in pedestal
The same side.
As the preferred technical solution of the present invention, the printing head further includes that water surface hopper, walking dolly and walking are whole
Flat bucket, the walking dolly is located on mobile gantry and to move along gantry length direction mobile, in the mobile gantry along
Its length direction is equipped with mobile space, and the vertical direction of the walking dolly is equipped with through hole, the top of the walking leveling bucket
Tapping is connected with casing, which passes through the mobile space and match with the through hole, and described sleeve pipe is in the through hole
On extension end connect with the water surface hopper by feeding hose, the water surface hopper is located on water surface auxiliary ship station or passes through
Itself floating body swims on the water surface.
As the preferred technical solution of the present invention, the casing on the walking leveling bucket is welded in the walking dolly
One entirety of formation in through hole, downwards, the walking is whole for the trapezium structure and opening that the walking leveling bucket is inner hollow
The bottom overall length of flat bucket is greater than the width of mobile gantry, the walking leveling bucket equipped with altimeter, the altimeter with it is waterborne
Control system communication connection.
As the preferred technical solution of the present invention, the movable pulley being equipped with below the mobile gantry passes through gear drive
Synchronous driving, the vehicle bottom of the walking dolly are equipped with multiple traveling wheels, and the mobile gantry is equipped with the matched track of traveling wheel,
The walking dolly drives traveling wheel synchronizing moving on the track by chain tape handler.
It further include posture security system as the preferred technical solution of the present invention, the posture security system includes limit
Device and limit sensors, the pedestal and the mobile gantry are the square frame with joint, the engagement of the pedestal
Joint in place and the mobile gantry is distributed the limiter, and the limit is correspondingly provided on each limiter
Level sensor, the limit sensors are communicated to connect by the undersea repeaters and control system waterborne.
As the preferred technical solution of the present invention, the control system waterborne includes hydraulic station, PLC controller and PC machine,
The hydraulic station is connected by the hydraulic controller on high-pressure oil pipe and PLC controller with quick coupling, the PC machine and institute
State PLC controller electric connection.
A kind of construction control method of underwater topography 3D printer, comprising the following steps:
1) pedestal state is monitored in real time: extremely by GPS receiver, pressure sensor, stroke sensor and posture instrument feedback signal
Undersea repeaters, undersea repeaters transmit signal to PLC controller, it is underwater accurate fixed to read pedestal finally by PC machine
Position, leveling absolute altitude, the measured data for flattening thickness and flat state；
2) data processing: by the boundary condition of PC machine input underwater topography construction operating condition to PLC controller, in conjunction with step 1) reality
Measured data is analyzed by data, and PLC controller transmits signal to hydraulic controller, and hydraulic controller is to posture adjust automatically system
System issues action command；
3) pose adjustment: the stroke sensor on hydraulic leg receives the action command information of step 2, all on pedestal
Hydraulic leg makees corresponding expanding-contracting action to the action command, so that pedestal reaches horizontality under water；
4) after pedestal reaches horizontality, the data of flattening station, absolute altitude, leveling thickness printing leveling: are transferred to PLC control
Device obtains leveling height and construction material total amount by data analytical calculation, is referred to by PLC controller to printing head sending movement
It enables, traction signal is issued to mobile gantry and walking dolly, construction material enters the through walking leveling bucket of water surface hopper, walking
Underwater leveling printing operation is completed in the comprehensive accurate displacement in pedestal of leveling bucket；
5) leveling height: altimeter feedback signal to PLC controller shows walking leveling bucket after printing leveling by PC machine
Actual height completes whole printing process.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1. the data of each sensor are transmitted to PLC controller by printer of the present invention, underwater topography is inputted by PC machine and is respectively constructed
The boundary condition of operating condition, after data are analyzed, PLC controller issues hydraulic control system and instructs, and hydraulic leg is made accurately
Expanding-contracting action fast implement the flexibility and controllability of underwater pedestal to reach the adjustment to entire pedestal plane；The dress
Set it is integrated by digital remote, by the data such as flattening station, absolute altitude, leveling thickness, estimated rubble dosage can by wired or
Parameter is transferred to PLC controller by wireless technology, and by PC machine real-time display, is realized digital visual, mentioned for underwater construction
Technical guarantee is supplied.
2. the combination of limit sensors and limiter in the present invention on pedestal and on mobile gantry is as the present apparatus
Security system, it is ensured that when occurring accident or overload can on effective protection pedestal and mobile gantry walking dolly safety, improve
The safety and stability of whole equipment.
3. the related work platform that can be carried on pedestal of the present invention less than 40t weight carries out underwater operation, load-bearing capacity is strong.It should
Pedestal greatly reduces diving work compared with conventional equipment, basic to realize that diver nobody or few diver enter under water,
The security risk of diver is greatly reduced from source, obtains most direct underwater construction safety guarantee；It can be simultaneously underwater
Relevant device provides stable workbench, has considerable social economic value.
4. by water surface hopper, hydromotive equipment energy is quick, convenient, continuously provides construction material；Feeding hose is effective
The vibration between walking dolly and water surface hopper has been buffered, the stability and safety of entire levelling means are improved.
5. integrated by digital remote, on the leveling function based on underwater automatic leveling pedestal, by flattening station, absolute altitude,
Parameter can be transferred to PLC controller by wired or wireless technology by the data such as leveling thickness, estimated rubble dosage, by PC machine
Display realizes digital visual, provides technical guarantee for underwater construction；Data in PC machine after storage pedestal autobalance,
The data such as such as dosage of flattening station, absolute altitude, leveling thickness, estimated rubble construction material, obtain by data analytical calculation
The height that needs to flatten and it is expected that construction material dosage, signal is transmitted to PLC controller, and PLC controller issues instruction, row
Walk leveling bucket can the underwater continuous automatic leveling of Rapid Implementation, it is comprehensive that the materials such as construction material such as sandstone, rubble, gravel are beaten
Print has considerable social economic value.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of underwater topography 3D printer of the present invention；
Fig. 2 is the structural schematic diagram of hydraulic leg in underwater topography 3D printer of the present invention；
Fig. 3 is the structural schematic diagram of printing head in underwater topography 3D printer of the present invention；
Fig. 4 is the structural schematic diagram of mobile gantry in the present invention；
Fig. 5 is the structural schematic diagram of walking dolly in the present invention；
Fig. 6 is the structural schematic diagram of walking leveling bucket in the present invention；
In figure, 1- pedestal crossbeam, 2- pedestal stringer, 3- hydraulic leg, the 30- support palm, 31- universal joint, 32- hydraulic jack,
4- posture instrument, 5- stroke sensor, 6- measuring rod, 7- printing head, 71- water surface hopper, 72- ring flange, 73- feeding hose,
74- walking dolly, 740- through hole, 741- traveling wheel, the mobile gantry of 75-, 750- movable pulley, 751- bridge beam, 752- bridge
Frame stringer, 76- walking leveling bucket, 760- casing, 761- altimeter, 77- mobile space, 8-GPS receiver, 9- control waterborne
System, 10- undersea repeaters, 11- pressure sensor, 12- limit sensors, 13- limiter, 14- track girder, 15- water level line.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figures 1 to 6, a kind of underwater topography 3D printer, including pedestal, printing head 7 and control system waterborne
9, printing head 7 includes mobile gantry 75, which passes through mobile gantry 75 and move across on pedestal and relative to pedestal
Dynamic, printing head 7 is manipulated by control system 9 waterborne and makees printing leveling movement in pedestal, and pedestal is fixed equipped with subaqueous survey
Position system and posture automatic adjustment system, posture automatic adjustment system are to be located on pedestal by the liquid of control system waterborne control 9
Support device is pressed, subaqueous survey positioning system is communicated to connect by undersea repeaters 10 and control system 9 waterborne.
The undersea repeaters 10 used in above embodiment can be purchased to obtain on the market, be a kind of signal regeneration amplification
Device may be coupled directly to the control system waterborne 9 on water level line 15.
The preferred embodiment of the present embodiment, pedestal are that the pedestal stringer 2 being parallel to each other by two and two are parallel to each other
The square frame that is fixedly connected to form of pedestal crossbeam 1, hydraulic support device includes multiple hydraulic legs 3, each pedestal stringer 2
The fixed more than two hydraulic legs 3 in outside, the both ends of each pedestal crossbeam 1 are upwardly extended equipped with supporting station, right on supporting station
The measuring rod 6 that water level line 15 is stretched out in one end should be equipped with；
Subaqueous survey positioning system includes GPS receiver 8, pressure sensor 11, stroke sensor 5 and posture instrument 4, GPS receiver
Machine 8 is located at the top of measuring rod 6, and stroke sensor 5 is located on the hydraulic leg 3, and pressure sensor 11 is located at the bearing
On platform, posture instrument 4 is located on one of pedestal crossbeam 1, GPS receiver 8, pressure sensor 11, stroke sensor 5 and posture
Instrument 4 is communicated to connect with undersea repeaters 10.Pressure sensor 11 can measure the depth of water；The special measurement bar being arranged on supporting station
6, the extended water surface installs GPS receiver 8, realizes Underwater Navigation measurement；Stroke sensor 5 can measure the flexible of hydraulic leg 3
Amount；Posture instrument 4, the flat state of the real time measure pedestal；GPS receiver 8, pressure sensor 11, stroke sensor 5 and posture instrument
4 can purchase to obtain in the market.
In above structure, pedestal overall structure is simple, and the hydraulic leg 3 on hydraulic support device is fixed on pedestal, whole
A pedestal can by the hydraulic jack 33 of hydraulic leg 3 realize pedestal horizontal plane plane adjust, thus reach different slope surfaces,
The leveling requirement of different level.Wherein, pedestal, measuring rod 6 and hydraulic leg 3 are steel construction piece, pass through welding between them
Form an entirety.
The preferred embodiment of the present embodiment, hydraulic support device include 4 hydraulic legs 3, each 2 outside of pedestal stringer
Two hydraulic legs 3 are fixed, hydraulic leg 3 includes the support palm 30 and jack, and jack passes through universal joint 31 and the support palm 30
Connection.Hydraulic leg 3 has intelligent Telescopic, and bottom is connected the support, it can be achieved that any landform by universal joint 31.
The preferred embodiment of the present embodiment, if there are two the measuring rod 6, two measuring rods 6 are distributed in pedestal
The same side.Such as measurement is set simultaneously on one of 2 both ends of pedestal stringer and the supporting station of 1 junction of pedestal crossbeam extension
Bar 6.
Printing head 7 includes mobile gantry 75, water surface hopper 71, walking dolly 74 and walking leveling bucket 76, mobile gantry
75 across on pedestal and relative to pedestal movement, and walking dolly 74 is located on mobile gantry 75 and moves along 75 length of gantry
Direction is mobile, is equipped with mobile space 753 along its length direction in mobile gantry 75, and the vertical direction of walking dolly 74, which is equipped with, to be passed through
Through-hole 740, walking leveling bucket 76 top drilling at be connected with casing 760, the casing 760 pass through mobile space 77 passed through with described
Through-hole 740 matches, and extension end of the casing 760 on through hole 740 is connect by feeding hose 73 with water surface hopper 71.
Printing head 7 further includes water surface hopper 71, walking dolly 74 and walking leveling bucket 76, and walking dolly 74 is located at movement
On gantry 75 and the movement of 75 length direction of gantry is moved along, mobile gantry 75 is interior to be equipped with mobile space along its length direction
77, the vertical direction of walking dolly 74 is equipped with through hole 740, is connected with casing 760 at the top drilling of walking leveling bucket 76, should
Casing 760 passes through the mobile space 77 and matches with the through hole 740, extension end of the casing 760 on the through hole 740
It is connect by feeding hose 73 with water surface hopper 71, water surface hopper 71 is located on water surface auxiliary ship station or is swum by itself floating body
On the water surface.
Above structure, the data that control system 9 waterborne obtains measurement and positioning, such as absolute altitude, flattening station, absolute altitude, leveling
The data such as thickness, in processor handle to obtain the height for needing to flatten and it is expected that construction material dosage, signal transmission
To PLC controller, PLC controller issues instruction, walking leveling bucket 76 can the underwater continuous automatic leveling of Rapid Implementation, it is comprehensive right
The printing of the materials such as construction material such as sandstone, rubble, gravel.In addition, casing 760 and feeding hose 73 and feeding hose 73 with
It is attached by ring flange 72 between water surface hopper 71, walking dolly 74 and the water surface has effectively been buffered using feeding hose 73
Vibration between hopper 71, system are safer more stable.
The preferred embodiment of the present embodiment, the casing 760 that walking flattens on bucket 76 are welded on passing through in walking dolly 74
An entirety is formed in through-hole 740, trapezium structure and open downward, walking leveling bucket 76 of the leveling bucket 76 of walking for inner hollow
Bottom overall length be greater than the width of mobile gantry 75, walking leveling bucket 76 is equipped with altimeter 761, altimeter 761 and control waterborne
System 9 processed communicates to connect.The open trapezium structure downwards of walking leveling bucket 76 guarantees that material smoothly falls and can fill up base well
The inside of out-of-flatness in frame, and the leveling of completion construction material prints in effective range.It is whole that altimeter can effectively measure walking
The actual elevation of flat bucket, the height of use are calculated as a kind of high accuracy number altimeter, have advanced sonar electronic technology, can mention
For the echo ranging to seabed and submarine target, is externally exported in the form of analog- and digital- two kinds, be widely used in ROV/AUV's
Fixed high feedback, subglacial measure and shallow river landform is tentatively surveyed and drawn etc..
The preferred embodiment of the present embodiment moves the movable pulley 750 being equipped with below gantry 75 and passes through gear drive
The synchronous driving of (not shown), the vehicle bottom of walking dolly 74 are equipped with multiple traveling wheels 741, and the mobile gantry is equipped with traveling wheel
741 matched tracks, walking dolly 74 drive traveling wheel 741 same on the track by chain tape handler (not shown)
Moved further.In above structure, chain tape handler includes movable motor, driving speed reducer, big sprocket wheel and minor sprocket, the walking
Motor and driving speed reducer are fixed on 74 car body of walking dolly, and the input shaft of driving speed reducer and the output shaft of movable motor connect
It connects, output shaft is coaxially connected with minor sprocket, and big sprocket wheel and one group of positive transport wheel are coaxially connected, leads between big sprocket wheel and minor sprocket
Cross chain connection；Chain tape handler further includes driving chain on the outside of traveling wheel, a positive transport wheel of walking dolly 74 with
Pass through driving chain connection on the outside of traveling wheel between adjacent driven traveling wheel.
As long as the gear drive for being able to achieve synchronizing moving on the market is able to satisfy the requirement of the application, bridge is in addition moved
The driving method that frame 75 is used when moving on pedestal can also be driven in addition to gear drive using chain tape handler, be moved
Dynamic gantry 75 is driven by motor speed reducer and drives sprocket wheel chain driving, makes to move by traction drives movable pulley of the chain to pedestal
Dynamic gantry 75 moves forward and backward.
Other, the gantry stringer 752 that mobile gantry 75 is parallel to each other by two bridge beams being parallel to each other 751 and two
Connect the rectangular frame of composition.In order to allow walking dolly 74 to move in set range, bridge beam 751 is equipped with walking rail
Road etc., other modes are able to achieve the synchronization of walking dolly 74 on the market and movement can meet this Shen steadily on bridge beam 751
Requirement please, details are not described herein.
The preferred embodiment of the present embodiment, further includes posture security system, and posture security system includes 13 He of limiter
Limit sensors 12, the pedestal and the mobile gantry are the square frame with joint, the joint on pedestal and
Joint on mobile gantry 75 is distributed limiter 13, and a limit sensors 12 are correspondingly provided on each limiter 13, limits
Level sensor 12 is communicated to connect by undersea repeaters 10 and control system 9 waterborne.Limiter 13 and limit sensors 12 are set
It sets, it is ensured that the safety of energy effective protection pedestal and mobile gantry 75 and walking dolly 74 when accident or overload occurs improves
Safety and stability.
In above structure, since pedestal includes pedestal crossbeam and pedestal stringer, have and pedestal stringer 2 on pedestal stringer 2
The matched track girder 14 in top surface, is equipped with limiter 13 on track girder 14 at pedestal crossbeam 1, and the track girder 14 being equipped with is convenient for moving
Gantry 75 is moved across installation.Track girder 14 is also steel construction piece, it and pedestal weld to form an entirety.Mobile gantry 75 is by two
The rectangular frame of a bridge beam 751 being parallel to each other and two connection compositions of gantry stringer 752 being parallel to each other.Bridge beam
751 are equipped with walking track, and limiter is located at the both ends of walking track.
The preferred embodiment of the present embodiment, control system 9 waterborne include hydraulic station, PLC controller and PC machine, hydraulic station
By the hydraulic controller connection on high-pressure oil pipe and PLC controller with quick coupling, PC machine and the PLC controller are electrical
Connection.By PC machine input underwater topography construct operating condition boundary condition to PLC controller, undersea repeaters 10 are by each sensing
The signal that device issues is transmitted to PLC controller together, and the hydraulic controller on PLC controller and PLC issues instruction, each
Component completes instruction action, and PC machine inputs each data, recorded and saved.
The construction control method of the present embodiment underwater topography 3D printer, comprising the following steps:
1) it monitors pedestal state in real time: passing through GPS receiver 8,4 feedback letter of pressure sensor 11, stroke sensor 5 and posture instrument
Number to undersea repeaters 10, undersea repeaters 10 transmit signal to PLC controller, and it is underwater to read pedestal finally by PC machine
It is accurately positioned, leveling absolute altitude, the measured data for flattening thickness and flat state；
2) data processing: by the boundary condition of PC machine input underwater topography construction operating condition to PLC controller, in conjunction with step 1) reality
Measured data is analyzed by data, and PLC controller transmits signal to hydraulic controller, and hydraulic controller is to posture adjust automatically system
System issues action command；
3) pose adjustment: the stroke sensor 5 on hydraulic leg 3 receives the action command information of step 2, the institute on pedestal
There is hydraulic leg 3 to make corresponding expanding-contracting action to the action command, so that pedestal reaches horizontality under water；
4) after pedestal reaches horizontality, the data of flattening station, absolute altitude, leveling thickness printing leveling: are transferred to PLC control
Device, obtains leveling height and construction material total amount by data analytical calculation, is acted by PLC controller to 7 sending of printing head
Instruction issues traction signal to mobile gantry 75 and walking dolly 74, and it is whole that construction material enters the through walking of water surface hopper 71
Flat bucket 76, the walking leveling 76 comprehensive accurate displacements in pedestal of bucket, completes underwater leveling printing operation；
5) leveling height: 761 feedback signal of altimeter to PLC controller shows that walking leveling bucket is flattened in printing by PC machine
Actual height afterwards completes whole printing process.
The working principle of the present embodiment: the boundary condition of each construction operating condition is inputted to PLC controller, work by PC machine first
When making, when construction operating condition is bad there is out-of-flatness when, entire pedestal is not in plumbness, by undersea repeaters by each sensing
The data of device are transmitted to PLC controller, which is shown by the display in PC machine, learn four bearings on leveling frame
The depth of water and gradient of corresponding four pressure sensors 11 feedback of platform, the GPS receiver 8 simultaneously on measuring rod 6 are aobvious in real time
Show the first of four stroke sensors, the 5 feedback hydraulic jack 32 on the position and elevation, four hydraulic legs 3 of entire pedestal
Journey, the posture instrument 4 of beginning feed back the posture of current pedestal, analyze by data, issue a command to hydraulic controller under PLC controller,
Hydraulic controller adjusts four hydraulic legs 3 lifting of pedestal two sides in place, and hydraulic leg provides hydraulic power by hydraulic station, real
Now entire pedestal reaches formation state；Secondly, after pedestal is in horizontality, by numbers such as flattening station, absolute altitude, leveling thickness
According to being transferred to PLC controller, expected height that needs flatten is obtained by data analytical calculation and to fill and lead up underwater topography estimated
The dosage of construction material issues printing head by PLC controller and instructs, and construction material enters from water surface hopper 71, passes through confession
Expect that hose 73 reaches walking leveling bucket 76 and enters in the square frame of pedestal, the lower movable pulley of mobile gantry 75 is in gear drive
Under the action of along 2 synchronizing moving of pedestal crossbeam 1 or pedestal stringer, walking dolly 74 and walking leveling bucket 76 formed one it is whole
Body, by 741 synchronizing moving of traveling wheel of chain tape handler driving walking dolly 74, motion track of the mobile gantry on pedestal
Line remains vertical with moving rail trace of the walking leveling bucket on mobile gantry, movement gantry moves back and forth on pedestal,
Walking dolly drives walking leveling bucket to move reciprocatingly in mobile gantry, and walking leveling bucket 76 is complete in the effective range of pedestal
Orientation is mobile and completes underwater leveling printing, and after the completion of printing, the altimeter on walking leveling bucket is transmitted to PLC control by data
Device processed shows the actual elevation of walking leveling bucket by PC machine；Finally, when occurring overloading or occurring accident, limit sensors 12
Feedback signal is to undersea repeaters 10 and then is transmitted to PLC controller, sends instructions under PLC controller, limiter 13 can be protected effectively
The safety of whole device is protected, safety and stability is improved.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (10)
1. a kind of underwater topography 3D printer, it is characterised in that: described to beat including pedestal, printing head and control system waterborne
Printing head includes mobile gantry, which passes through mobile gantry across mobile on pedestal and relative to pedestal, described to beat
Print head is manipulated by control system waterborne and is made in pedestal printing leveling movement, and the pedestal is equipped with subaqueous survey positioning system
System and posture automatic adjustment system, the posture automatic adjustment system be located on pedestal controlled by control system waterborne it is hydraulic
Support device, the subaqueous survey positioning system are communicated to connect by undersea repeaters and the control system waterborne.
2. a kind of underwater topography 3D printer according to claim 1, it is characterised in that: the pedestal is mutual by two
The square frame that parallel pedestal stringer and two pedestal crossbeams being parallel to each other are fixedly connected to form, the hydraulic support device
Including multiple hydraulic legs, fixed more than two hydraulic legs, each pedestal are horizontal on the outside of each pedestal stringer
The both ends of beam upwardly extend and are correspondingly provided with the measuring rod that water level line is stretched out in one end on the supporting station equipped with supporting station；
The subaqueous survey positioning system includes GPS receiver, pressure sensor, stroke sensor and posture instrument, and the GPS connects
Receipts machine is located at the top of measuring rod, and the stroke sensor is located on the hydraulic leg, and the pressure sensor is located at described
On supporting station, the posture instrument is located on one of them described pedestal crossbeam, and the GPS receiver, pressure sensor, stroke pass
Sensor and posture instrument are communicated to connect with undersea repeaters.
3. a kind of underwater topography 3D printer according to claim 2, it is characterised in that: the hydraulic support device includes
4 hydraulic legs, fix two hydraulic legs on the outside of each pedestal stringer, the hydraulic leg include the support palm and
Jack, the jack pass through universal joint and support palm connection.
4. a kind of underwater topography 3D printer according to claim 2, it is characterised in that: it sets there are two the measuring rod,
Two measuring rods are distributed in the same side of pedestal.
5. a kind of underwater topography 3D printer according to claim 1, it is characterised in that: the printing head further includes water
Fabric bucket, walking dolly and walking leveling bucket, the walking dolly are located on mobile gantry and move along gantry length direction
It is mobile, it is equipped with mobile space along its length direction in the mobile gantry, the vertical direction of the walking dolly is equipped with perforation
Hole, the walking flatten and are connected with casing at the top drilling to struggle against, which passes through the mobile space and the through hole
Match, extension end of the described sleeve pipe on the through hole is connect by feeding hose with the water surface hopper, the water surface hopper
It is located on water surface auxiliary ship station or is swum on the water surface by itself floating body.
6. a kind of underwater topography 3D printer according to claim 5, it is characterised in that: the set on the walking leveling bucket
Pipe is welded on one entirety of the formation through hole in the walking dolly Nei, and the walking leveling bucket is the trapezoidal knot of inner hollow
Structure and it is open move along the moving direction of gantry downwards, the length of the walking leveling bucket is greater than the width of mobile gantry, institute
It states walking leveling bucket and is equipped with altimeter, the altimeter is communicated to connect by undersea repeaters and the control system waterborne.
7. a kind of underwater topography 3D printer according to claim 5, it is characterised in that: be equipped with below the mobile gantry
Movable pulley driven by the way that gear drive is synchronous, the vehicle bottom of the walking dolly is equipped with multiple traveling wheels, the mobile bridge
Frame is equipped with the matched track of traveling wheel, and the walking dolly drives traveling wheel same on the track by chain tape handler
Moved further.
8. a kind of underwater topography 3D printer according to claim 1, it is characterised in that: it further include posture security system,
The posture security system includes limiter and limit sensors, and the pedestal and the mobile gantry are with joint
Square frame, the joint on the joint of the pedestal and the mobile gantry are distributed the limiter, each limit
The limit sensors are correspondingly provided on the device of position, the limit sensors pass through the undersea repeaters and control system waterborne
System communication connection.
9. a kind of underwater topography 3D printer according to claim 1, it is characterised in that: the control system waterborne includes
Hydraulic station, PLC controller and PC machine, the hydraulic station is by hydraulic on high-pressure oil pipe and PLC controller with quick coupling
Controller connection, the PC machine and the PLC controller are electrically connected.
10. a kind of a kind of construction control method of underwater topography 3D printer as claimed in any one of claims 1-9 wherein,
Be characterized in that the following steps are included:
1) pedestal state is monitored in real time: extremely by GPS receiver, pressure sensor, stroke sensor and posture instrument feedback signal
Undersea repeaters, undersea repeaters transmit signal to PLC controller, it is underwater accurate fixed to read pedestal finally by PC machine
Position, leveling absolute altitude, the measured data for flattening thickness and flat state；
2) data processing: by the boundary condition of PC machine input underwater topography construction operating condition to PLC controller, in conjunction with step 1) reality
Measured data is analyzed by data, and PLC controller transmits signal to hydraulic controller, and hydraulic controller is to posture adjust automatically system
System issues action command；
3) pose adjustment: the stroke sensor on hydraulic leg receives the action command information of step 2, all on pedestal
Hydraulic leg makees corresponding expanding-contracting action to the action command, so that pedestal reaches horizontality under water；
4) after pedestal reaches horizontality, the data of flattening station, absolute altitude, leveling thickness printing leveling: are transferred to PLC control
Device obtains leveling height and construction material total amount by data analytical calculation, is referred to by PLC controller to printing head sending movement
It enables, traction signal is issued to mobile gantry and walking dolly, construction material enters the through walking leveling bucket of water surface hopper, walking
Underwater leveling printing operation is completed in the comprehensive accurate displacement in pedestal of leveling bucket；
5) leveling height: altimeter feedback signal to PLC controller shows walking leveling bucket after printing leveling by PC machine
Actual height completes whole printing process.
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| WO2020252624A1 (en) * | 2019-06-17 | 2020-12-24 | 广州打捞局 | Underwater topography 3d printer and construction method |
| CN112677474A (en) * | 2020-12-04 | 2021-04-20 | 广东石油化工学院 | Wingless electric power forward and reverse bidirectional extrusion propulsion type underwater 3D printer |
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Application publication date: 20191015 |