CN112694022B - Underwater square block mounting device - Google Patents
Underwater square block mounting device Download PDFInfo
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- CN112694022B CN112694022B CN202011499586.2A CN202011499586A CN112694022B CN 112694022 B CN112694022 B CN 112694022B CN 202011499586 A CN202011499586 A CN 202011499586A CN 112694022 B CN112694022 B CN 112694022B
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- beam assembly
- square
- movable support
- distance sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C25/00—Cranes not provided for in groups B66C17/00 - B66C23/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
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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
- E02D15/08—Sinking workpieces into water or soil inasmuch as not provided for elsewhere
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Automation & Control Theory (AREA)
- Underground Or Underwater Handling Of Building Materials (AREA)
Abstract
The invention discloses an underwater square mounting device, which relates to the technical field of wharf construction and comprises the following components: the device comprises a movable support, a supporting mechanism, a cross beam assembly, a hoisting device and a control system. The movable bracket is in a shape of a Chinese character kou; the two sides of the movable support are provided with supporting mechanisms, and the supporting mechanisms are telescopic to change the height of the movable support; the two ends of the beam assembly are respectively connected with the movable support, the beam assembly divides the movable support into a left part and a right part, and the movable supports of the left part and the right part are stretched and contracted left and right to change the relative position of the beam assembly on the movable supports; one end of the lifting device is connected with the cross beam assembly, the other end of the lifting device is used for lifting the square blocks, and the lifting device moves on the cross beam assembly to change the relative position of the lifting device on the cross beam assembly; and the control system is used for controlling the underwater square mounting device. The underwater square mounting device can be used for realizing the movement of the square to be mounted and the adjustment of the mounting angle, thereby realizing the accurate mounting of the underwater square.
Description
Technical Field
The invention relates to the technical field of wharf construction, in particular to an underwater square mounting device.
Background
At present, the gravity wharf underwater square mounting construction process mainly comprises the following two types: (1) stacking the concrete blocks to a land side storage yard behind the wharf, and hoisting the concrete blocks into water through a crawler crane for installation; (2) the barge ships the concrete blocks to the water, and the crane ship is adopted to install the blocks in the water.
The first conventional process is only suitable for construction of the quay-type wharf and is not suitable for construction of the jetty type wharf without rear land conditions. The process has higher requirement on the bearing capacity of the foundation behind the wharf, extra foundation treatment work is often needed, the foundation can be hoisted when meeting the requirement on the bearing capacity, the construction progress is influenced, and extra cost is needed to be invested. In addition, hoisting is carried out from the rear of the wharf, so that the hoisting distance is too large, heavy and even extra-heavy crawler cranes need to be equipped for operation, and the rental cost of the extra-conventional equipment is huge.
In the second conventional process, the crane ship has low efficiency of posture adjustment in water, the crane ship is difficult to control the installation accuracy of the blocks, and divers have great safety risk in underwater cooperative measurement and installation. Meanwhile, the difficulty of fine positioning of the blocks on water is high, and the influence of wind waves and surging on the crane ship is very obvious.
When the conventional process is adopted for construction, a diver needs to be arranged at the installation position of the square block, the installation position, the gap between the adjacent square blocks and the like are manually judged by using a ruler, and an adjustment instruction is sent. In order to guarantee underwater installation accuracy, in the whole installation process, a diver presses close to a square block for operation all the time, fingers are frequently collided and injured during auxiliary operation, and the underwater installation method has great potential safety hazards.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, the embodiment of the invention provides an underwater square block installation device, which realizes the mechanical installation of underwater square blocks without underwater cooperation of divers.
An underwater cube mounting apparatus according to an embodiment of the present invention includes: the movable bracket is in a shape of a Chinese character kou; the supporting mechanisms are vertically connected to two sides of the movable support, and the supporting mechanisms stretch out and draw back to change the height of the movable support; the two ends of the beam assembly are respectively connected with the movable support, the beam assembly divides the movable support into a left part and a right part, and the movable supports of the left part and the right part are stretched and contracted left and right to change the relative positions of the beam assembly on the movable support; one end of the lifting device is connected with the cross beam assembly, the other end of the lifting device is used for lifting the square blocks, and the lifting device and the cross beam assembly can move relatively in the axial direction of the cross beam assembly so as to change the relative position of the lifting device in the cross beam assembly; and a control system for controlling the underwater cube mounting device.
Further, the lifting device comprises a suspender and a base, one end of the suspender is connected with the beam assembly, the other end of the suspender is connected with the base, the suspender can rotate around the axis of the suspender, the base can rotate around the suspender, and the base extends downwards and abuts against a supporting surface to support the underwater square mounting device.
Furthermore, the supporting mechanism comprises a telescopic upright column and a base, one end of the telescopic upright column is vertically connected with the movable support, and the base is connected with the other end of the telescopic upright column.
Further, the underwater square mounting device is provided with a gyroscope.
Furthermore, the number of the gyroscopes is four, and the four gyroscopes are respectively installed at four corners of the movable support.
Furthermore, the telescopic function of the underwater square block installation device is realized through telescopic beams.
Further, control system includes oil pressure driving system, oil pressure driving system includes the hydro-cylinder piston, the hydro-cylinder piston passes through the piston rod drive telescopic roof beam is flexible.
Further, the underwater square block mounting device further comprises a distance sensor system, the distance sensor system comprises a first distance sensor and a second distance sensor, the first distance sensor and the second distance sensor are arranged perpendicularly to each other, the first distance sensor is used for measuring the distance in the X direction, and the second distance sensor is used for measuring the distance in the Y direction.
Furthermore, the underwater square mounting device also comprises an underwater camera which can rotate around a self mounting shaft.
Furthermore, the beam assembly is provided with a GPS positioning system for positioning the underwater square block mounting device.
Based on the technical scheme, the embodiment of the invention at least has the following beneficial effects: through square installation device walking in aqueous under water, utilize hoisting accessory to realize treating the removal of installing the square and the adjustment of installation angle, and then realize the accurate installation of square under water, need the condition of the supplementary installation of diver when having avoided the square installation under water, improved the installation effectiveness of square under water.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a schematic view of an underwater cube installation apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of an integrated tip in an embodiment of the present invention;
FIG. 3 is a schematic diagram of the underwater square block hoisting operation of the underwater square block installation device according to the embodiment of the invention;
FIG. 4 is a schematic view of an underwater square block installation apparatus of an embodiment of the present invention installing an underwater square block;
FIG. 5 is a schematic view of the rotation of the boom of the underwater square mounting apparatus according to the embodiment of the present invention;
FIG. 6 is a schematic view of the operation of the underwater dice moving in accordance with the embodiment of the present invention;
FIG. 7 is a schematic diagram of the operation of the underwater dice alignment of an embodiment of the present invention;
FIG. 8 is a schematic diagram of a measurement system according to an embodiment of the present invention;
FIG. 9 is a schematic diagram showing the movement of the underwater square device according to the embodiment of the invention;
fig. 10 is a schematic structural diagram of a distance sensor system according to an embodiment of the present invention.
Reference numerals: the device comprises a first control surface 1, a second control surface 2, a third control surface 3, a fourth control surface 4, a lifting hole 5, a movable support 11, a beam assembly 12, a telescopic upright post 13, a base 14, a lifting rod 15, a lifting lug 16, a mortise 17, a bottom support 18, a GPS positioning system 21, a gyroscope 22, a distance sensor system 30, a first distance sensor 31, a second distance sensor 32, a camera 33 and a telescopic support arm 34.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1, an underwater dice mounting apparatus according to an embodiment of the present invention includes: the device comprises a movable support 11, a supporting mechanism, a cross beam assembly 12, a hoisting device and a control system.
Specifically, the movable support 11 is square; two sides of the movable support 11 are vertically connected with supporting mechanisms, and the supporting mechanisms are used for changing the height of the movable support 11 through extension and retraction; two ends of the beam assembly 12 are respectively connected with the movable support 11, the beam assembly 12 divides the movable support 11 into a left part and a right part, and the movable supports 11 of the left part and the right part are stretched and contracted left and right to change the relative positions of the beam assembly 12 on the movable support 11; one end of the hoisting device is connected with the cross beam assembly 12, the other end of the hoisting device is used for hoisting the square blocks, and the hoisting device and the cross beam assembly 12 can move relatively in the axial direction of the cross beam assembly so as to change the relative position of the hoisting device in the cross beam assembly 12; the control system is used for controlling the underwater square block installation device.
It should be noted that in the embodiment of the present invention, the telescopic function of the underwater block installation device is realized by the telescopic beams. The telescopic beam has a telescopic function, is compact in structure and small in occupied space, and is commonly used for engineering machinery and other walking machinery.
Further, the control system comprises an oil pressure power system, the oil pressure power system comprises an oil cylinder piston, and the oil cylinder piston is used for driving the telescopic beam to stretch and retract. In the embodiment of the invention, each component unit with the telescopic function is provided with the oil cylinder piston so as to accurately control the component to perform telescopic operation.
The supporting mechanism comprises a telescopic upright column 13 and a base 14, one end of the telescopic upright column 13 is vertically connected with the movable support 11, and the base 14 is connected with the other end of the telescopic upright column 13. Controlling the extension of the telescopic upright columns 13, taking the telescopic upright columns 13 on the two sides of the movable support as supports, and further hoisting the square blocks fixed in the hoisting device; and controlling the telescopic upright post 13 to contract, and then taking the lifting device and the square blocks as supports to further lift the whole underwater square block mounting device.
In this embodiment, the beam assembly 12 includes telescopic beams, the telescopic beams are respectively connected to two ends of the beam assembly 12, the other ends of the telescopic beams are connected to the movable support 11, and the relative position of the suspension rod 15 on the beam assembly 12 is changed by the telescopic beams at two ends of the beam assembly 12. When it is desired to change the fore-aft position of the boom 15 on the beam assembly, the telescoping beam attached to one end of the beam assembly 12 is controlled to extend while the telescoping beam attached to the other end of the beam assembly 12 is controlled to retract, thereby changing the fore-aft position of the boom 15 on the beam assembly 12, as shown in fig. 3.
In other embodiments, the movable support 11 is formed by connecting four telescopic beams connected end to end, a connecting joint is arranged at the connecting position, an oil cylinder piston is arranged in the connecting joint, and the oil cylinder piston drives the telescopic beams to extend and retract through a piston rod.
The lifting device comprises a suspender 15 and a base 18, one end of the suspender 15 is connected with the beam assembly 12, the other end of the suspender 15 is connected with the base 18, the suspender 15 can rotate around the axis of the suspender 15, the base 18 can rotate around the suspender 15, and the base 18 supports the underwater square mounting device by extending downwards and abutting against a supporting surface. In the present embodiment, two booms 15 are provided. And operating an oil cylinder piston for driving the telescopic upright column 13 to stretch and retract, so that the telescopic upright column 13 is retracted to the shortest. In this case the underwater block mounting means on the crane vessel hook corresponds to a conventional block spreader as shown in figure 3. The underwater square block mounting device is moved to the position right above a square block to be mounted, the suspender 15 is aligned to the hanging hole 5 of the square block, the lifting hook descends slowly, and after the suspender 15 is inserted into the hanging hole 5 of the square block, the bottom support 18 rotates for 90 degrees around the mounting axis of the bottom support and is locked, so that the square block can be lifted. The bottom support 18 extends to the supporting surface for the second time, and the bottom support 18 is used as the support of the underwater square mounting device of the embodiment, so that the whole underwater square mounting device can be jacked up.
Since the boom 15 can rotate around its own axis, the relative position between the beam assembly 12 and the boom 15 can be adjusted to the initial state, and the underwater block installation device is adjusted to be square, and at this time, the underwater block installation device and the block to be installed are restored to the orthogonal position relationship at the initial time, as shown in fig. 6.
As an improvement of the above embodiment, the underwater square mounting device is provided with a gyroscope 22 for detecting whether the underwater square mounting device is balanced, so as to ensure that data obtained by subsequent detection is accurate and reliable. In the present embodiment, there are four gyroscopes 22, and the four gyroscopes 22 are respectively mounted at four corners of the movable bracket 11.
As another modification of the above embodiment, the underwater dice mounting apparatus further includes a distance sensor system 30, the distance sensor system 30 includes a first distance sensor 31 and a second distance sensor 32, the first distance sensor 31 and the second distance sensor 32 are disposed perpendicular to each other, the first distance sensor 31 is configured to measure a distance in the X direction, and the second distance sensor 32 is configured to measure a distance in the Y direction. In the embodiment, the side of the suspension rod 15 is provided with a mortise 17, and the distance sensor system 30 is movably connected with the mortise 17 through a sliding block. The movable slide block is driven to move downwards along the mortise 17 in the suspension rod 15, and after the distance sensor system 30 clamps the edges of the square blocks, the slide block in the mortise is locked, so that the distance sensor system 30 is fixed.
In this embodiment, as shown in fig. 2, two perpendicular side surfaces of the signal transmitting integrated terminal are respectively provided with a first distance sensor 31 and a second distance sensor 32, the two sensors have functions of transmitting and receiving signals, the first distance sensor 31 is used for measuring the distance from the signal transmitting end to the X direction of the mounted block, and the second distance sensor 32 is used for measuring the distance from the signal transmitting end to the Y direction of the mounted block. The clearance control between the mounted blocks and the blocks to be mounted and the linear control of the front surfaces of the blocks are realized by two independent sensors. The first distance sensor 31 comprises a first X-direction signal emitter/receiver, the distance measuring sensor system 30 is further provided with a second X-direction signal emitter/receiver, and the position of the first X-direction signal emitter/receiver in the X direction can be adjusted by adjusting the initial length of the arm length of the telescopic arm 34, so that the plane formed by the first X-direction signal emitter/receiver and the second X-direction signal emitter/receiver is parallel to the control panel 2 of the block to be mounted, so as to ensure that the block to be mounted is parallel to the control panel 3 of the block to be mounted in the moving process, as shown in fig. 10.
The positioning in the working process of the embodiment of the invention comprises a coarse positioning stage and a fine positioning stage. For ultrasonic signals, when the blocks are just launched or move greatly in water, because impurities such as seabed sludge and the like are stirred, the water quality turbidity is larger, and in the turning adjustment process of the blocks to be installed, the telescopic upright columns 13 of the underwater block installation device become barriers between the installed blocks and the blocks to be installed. Because the stage is a coarse positioning stage, the requirement on installation precision is not high. Therefore, at this stage, the ultrasonic signal is not influenced by the turbidity of water, the signal propagation is not influenced by obstacles, and the ultrasonic signal with the precision reaching the centimeter level has perfect applicability. After the rough positioning is finished for the laser signals, the water environment is relatively calm, the water turbidity is obviously reduced, the working environment of the laser signals is met, in the fine positioning stage, the deviation correction and secondary control of the mounting position are carried out through the laser signals with the ranging accuracy reaching the millimeter level, the result after the rough positioning is finished is retested and corrected, and the quality target of square underwater mounting can be perfectly realized.
After the block to be assembled enters water and reaches the supporting surface, ultrasonic signals of two X-direction signal transmitters/receivers are started, a large included angle can be found between the block to be assembled and the assembled block, the telescopic upright posts 13 on two sides of the block to be assembled are slowly put down, the base 14 is abutted against the supporting surface and is supported, and then the block to be assembled on the hanging rod 15 is slightly lifted. The real-time data fed back by the gyroscope 22 on the top of the underwater installation device according to the embodiment of the invention timely adjusts the telescopic amount of the telescopic upright post 13, and the overall stability of the underwater square installation device can be ensured in the process of lifting the square to be installed, as shown in fig. 4. According to the distance data of the two X-direction signal transmitters/receivers, the rotation amount of the suspension rod 15 is adjusted, so that the second control surface 2 of the block to be mounted can be rotated around the Z axis to be parallel to the third control surface 3 of the block to be mounted, as shown in FIG. 5.
When moving in the X direction, firstly slightly shortening the right telescopic upright post 13, and at the moment, the underwater square block mounting device realizes balance by the support reaction force provided by the left telescopic upright post 13 and the suspender 15, and extends the telescopic beam of the right movable support 11; then, recovering the holding force state of the right telescopic upright column 13, and under the support of the left telescopic upright column 13 and the right telescopic upright column 13, retracting the suspender 15 to hoist the square block to be loaded, driving the telescopic beam of the left movable support 11 to extend, and simultaneously driving the telescopic beam of the right movable support 11 to retract, so as to move the square block to be loaded to the installation position; and finally, recovering the holding force state of the bottom support 18 of the suspender 15, and enabling the left telescopic upright post 13 to move towards the direction of the assembled blocks through the contraction of the telescopic beam of the left movable support 11, wherein the distance between the two X-direction signal transmitters/receivers is controlled in the process, so that the parallel movement of the assembled blocks is ensured.
Repeating the above operations, when the second control surface 2 of the block to be assembled is about 1-1.5m away from the third control surface 3 of the block to be assembled, the right telescopic upright post 13 is erected on the top of the block to be assembled, as shown in fig. 7. And starting a laser signal of the X-direction signal transmitter/receiver, adjusting the extension amount of the telescopic beam of the left movable support 11 and the contraction amount of the telescopic beam of the right movable support 11 according to laser signal data, and controlling the final gap between the block to be assembled and the adjacent assembled block within an error allowable range to finish the alignment installation in the X direction.
The telescopic beams on the two sides of the beam assembly 12 are driven to move the square blocks along the Y-axis direction, and the underwater square block mounting device and the whole square blocks can move in the Y direction by adopting a mode that the hanger rods 15 and the telescopic upright posts 13 on the two sides of the square blocks to be mounted are supported in turn. And starting a laser signal of an X-direction signal transmitter/receiver positioned on the comprehensive end, wherein the first control surface 1 of the block to be installed is continuously close to the fourth control surface 4 of the block to be installed in the process, and when the receiver cannot receive the laser reflection signal, the first control surface 1 of the block to be installed is judged to be far away from the fourth control surface 4 of the block to be installed, and the block needs to be adjusted back in the opposite direction. In the process, the moving condition of the block can be monitored through the underwater high-resolution camera 33, and the block callback frequency and the callback amount are reduced.
As shown in fig. 8, the telescopic arm 34 is driven to push the integrated tip to the control surface 4 of the installed block, turn on the laser signal of the Y-direction signal transmitter/receiver on the integrated tip, and control the block tuning amount according to the laser ranging data until the fourth control surface 4 of the to-be-installed block and the fourth control surface 4 of the installed block are located in the same plane, thereby completing the alignment installation in the Y direction. Thus, the underwater installation of the block is completed.
It should be noted that the "X direction" described above refers to the width direction of the mounted block; "Y-direction" refers to the length direction of the loaded block.
It will be appreciated that the underwater cube mounting arrangement also includes an underwater camera 33, the camera 33 being rotatable about its mounting axis. In this embodiment, the top of the signal transmitting end is provided with a high-resolution underwater camera 33, the camera 33 can rotate freely 360 degrees around the supporting shaft, and a pitch/depression angle of ± 45 degrees is realized, so that not only can the positioning work of the distance measuring sensor system 30 be assisted, but also the fixing condition of the distance measuring sensor system 30 can be checked after the underwater square mounting device of this embodiment picks up the square of the underwater storage yard, and the distance sensor system 30 is ensured to function effectively. At the same time, the camera 33 monitors the entire underwater block installation process, allowing the above-ground technician to master the block installation and finished block protection.
The control system of the present embodiment further includes a visual display screen and a manipulation panel. The visual display screen presents the video image of the high-resolution underwater camera 33, the data monitored by the gyroscope 22 and the distance sensor system in real time, and the visual display screen and the control buttons are integrated into a whole control panel. By the embodiment of the invention, land operators can accurately operate the underwater square block installation device according to the camera 33, the gyroscope 22 and the distance sensor system 30, so that underwater operation of divers is avoided, and potential safety hazards in construction are effectively reduced. In other embodiments, the visual display screen and the control buttons are integrated into a whole control panel and are arranged in the water barge together with the oil pressure power system, and the underwater square mounting device is connected with the water control system through an oil pipe and a data line.
The beam assembly 12 is provided with a GPS positioning system 21 for positioning the underwater cube mounting means. The specific position of the underwater square mounting device can be accurately positioned through the GPS positioning system 21, so that the follow-up work is facilitated. Such as hoisting the block to be loaded into the water near the installation site.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (9)
1. An underwater cube mounting apparatus, comprising:
the movable bracket is in a shape of a Chinese character kou;
the supporting mechanisms are vertically connected to two sides of the movable support, and the supporting mechanisms stretch out and draw back to change the height of the movable support;
the two ends of the beam assembly are respectively connected with the movable support, the beam assembly divides the movable support into a left part and a right part, and the movable supports of the left part and the right part are stretched and contracted left and right to change the relative position of the beam assembly on the movable support;
one end of the lifting device is connected with the cross beam assembly, the other end of the lifting device is used for lifting the square blocks, and the lifting device and the cross beam assembly can move relatively in the axial direction of the cross beam assembly so as to change the relative position of the lifting device on the cross beam assembly; and
the control system is used for controlling the underwater square mounting device;
the lifting device comprises a suspender and a base, one end of the suspender is connected with the beam assembly, the other end of the suspender is connected with the base, the suspender can rotate around the axis of the suspender, the base can rotate around the suspender, and the base extends downwards and abuts against a supporting surface to support the underwater square mounting device.
2. An underwater tile installation apparatus according to claim 1, wherein: the supporting mechanism comprises a telescopic stand column and a base, one end of the telescopic stand column is perpendicularly connected with the movable support, and the base is connected with the other end of the telescopic stand column.
3. An underwater tile installation apparatus according to claim 1, wherein: the underwater square mounting device is provided with a gyroscope.
4. An underwater tile installation apparatus according to claim 3, wherein: the number of the gyroscopes is four, and the four gyroscopes are respectively installed on four corners of the movable support.
5. An underwater tile installation apparatus according to claim 1, wherein: the telescopic function in the underwater square block mounting device is realized through a telescopic beam.
6. An underwater tile installation apparatus according to claim 5, wherein: the control system comprises an oil pressure power system, the oil pressure power system comprises an oil cylinder piston, and the oil cylinder piston drives the telescopic beam to stretch and retract through a piston rod.
7. An underwater tile installation apparatus according to claim 1, wherein: the underwater square block mounting device further comprises a distance sensor system, wherein the distance sensor system comprises a first distance sensor and a second distance sensor, the first distance sensor and the second distance sensor are arranged perpendicularly to each other, the first distance sensor is used for measuring the distance in the X direction, and the second distance sensor is used for measuring the distance in the Y direction.
8. An underwater tile installation apparatus according to claim 1, wherein: the underwater square block mounting device further comprises an underwater camera, and the camera can rotate around a mounting shaft of the camera.
9. An underwater tile installation apparatus according to claim 1, wherein: the beam assembly is provided with a GPS positioning system for positioning the underwater square block mounting device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011499586.2A CN112694022B (en) | 2020-12-18 | 2020-12-18 | Underwater square block mounting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011499586.2A CN112694022B (en) | 2020-12-18 | 2020-12-18 | Underwater square block mounting device |
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| CN112694022A CN112694022A (en) | 2021-04-23 |
| CN112694022B true CN112694022B (en) | 2021-12-14 |
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| CN202011499586.2A Active CN112694022B (en) | 2020-12-18 | 2020-12-18 | Underwater square block mounting device |
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| CN114753295B (en) * | 2022-03-28 | 2024-04-16 | 中交第四航务工程局有限公司 | Square block installation positioning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2765891Y (en) * | 2004-12-24 | 2006-03-22 | 宗胜琪 | Distance change type rectangular hanger |
| CN201458583U (en) * | 2009-05-22 | 2010-05-12 | 上海市电力公司 | Liftable and detachable lifting platform |
| JP2015101417A (en) * | 2013-11-21 | 2015-06-04 | 株式会社東芝 | Transportation apparatus |
| CN205076017U (en) * | 2015-10-23 | 2016-03-09 | 极视成像科技（武汉）有限公司 | Cable drives inspection robot under water |
| CN208394634U (en) * | 2018-06-15 | 2019-01-18 | 大连宏远气动液压船舶辅机有限公司 | A kind of mining boom hoisting of the swingable tune that declines |
| CN210558937U (en) * | 2019-08-01 | 2020-05-19 | 江门市泰林模具有限公司 | Large-scale mould clamp gets overhead traveling crane |
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2020
- 2020-12-18 CN CN202011499586.2A patent/CN112694022B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2765891Y (en) * | 2004-12-24 | 2006-03-22 | 宗胜琪 | Distance change type rectangular hanger |
| CN201458583U (en) * | 2009-05-22 | 2010-05-12 | 上海市电力公司 | Liftable and detachable lifting platform |
| JP2015101417A (en) * | 2013-11-21 | 2015-06-04 | 株式会社東芝 | Transportation apparatus |
| CN205076017U (en) * | 2015-10-23 | 2016-03-09 | 极视成像科技（武汉）有限公司 | Cable drives inspection robot under water |
| CN208394634U (en) * | 2018-06-15 | 2019-01-18 | 大连宏远气动液压船舶辅机有限公司 | A kind of mining boom hoisting of the swingable tune that declines |
| CN210558937U (en) * | 2019-08-01 | 2020-05-19 | 江门市泰林模具有限公司 | Large-scale mould clamp gets overhead traveling crane |
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| CN112694022A (en) | 2021-04-23 |
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