CN113152473B - Underwater stone paving robot with double-support-leg crawler traveling chassis - Google Patents
Underwater stone paving robot with double-support-leg crawler traveling chassis Download PDFInfo
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- CN113152473B CN113152473B CN202110466395.4A CN202110466395A CN113152473B CN 113152473 B CN113152473 B CN 113152473B CN 202110466395 A CN202110466395 A CN 202110466395A CN 113152473 B CN113152473 B CN 113152473B
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- supporting leg
- crawler
- stone
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- movable
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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
- E02D15/10—Placing gravel or light material under water inasmuch as not provided for elsewhere
Abstract
The invention discloses an underwater stone paving robot with a double-support-leg crawler traveling chassis, which comprises a positioning and control system assembly, a material conveying device, a main body of the machine body and a traveling mechanism, wherein a reciprocating driving mechanism for driving the material conveying device is arranged on the main body of the machine body; the walking mechanism comprises a fixed support leg, a movable support leg, a crawler base plate and a connecting seat, the fixed support leg comprises a fixed support leg outer cylinder and a fixed support leg inner cylinder, the movable support leg comprises a movable support leg outer cylinder and a movable support leg inner cylinder, and the fixed support leg inner cylinder and the movable support leg inner cylinder are connected through a compensation oil cylinder; and a supporting leg oil cylinder is arranged in the movable supporting leg. The underwater stone paving robot can realize underwater automatic positioning, automatic walking, automatic stone paving and leveling, improves construction efficiency and safety, promotes construction quality, and meanwhile, only has reciprocating movement of a material conveying device in the reciprocating stone paving process, and is favorable for saving construction energy consumption. Moreover, the service life is prolonged due to the double-support-leg structure.
Description
Technical Field
The invention relates to the technical field of underwater stone paving equipment, in particular to an underwater stone paving robot with a double-support-leg crawler traveling chassis.
Background
With the rapid development of the scale of infrastructure construction in China, construction projects such as various hydraulic structures, hydraulic engineering and the like are increasing day by day, and in the construction process of the construction projects such as the hydraulic structures, the hydraulic engineering and the like, the foundation construction operation such as underwater stone paving, leveling and the like is involved.
At present, ships are used for carrying and throwing and filling stones at home and abroad, and then the throwing and filling stones are leveled by manual diving operation, so that the construction mode is greatly influenced by wind waves, the construction days are few, the overall progress of the project is influenced, the labor intensity is high, the construction safety is poor, and the operation efficiency is low.
In order to realize mechanized, automatic and intelligent construction, some underwater stone paving robots adopting a double-support-leg crawler walking chassis appear in the prior art, for example, the chinese patent with the application number of 201620361509.3 discloses an underwater stone paving robot adopting a double-support-leg crawler walking chassis intelligently, which guides broken stones into an underwater operation plane through a drop pipe, pushes a machine body to walk underwater through a propeller, and paves stones while the machine body walks, so that the mechanized and automatic construction of underwater stone paving is realized to a certain extent. However, it has the following disadvantages: on one hand, the stone paving cannot be leveled, and the stone paving effect is not ensured; on the other hand, stone operation is spread under water, and it connects a ridge repeated operation to be a ridge usually, and when the operation was laid to every ridge moreover, for guaranteeing to spread the stone effect, also can not once lay and can accomplish, need reciprocal the laying, when this equipment carried out reciprocal stone operation of spreading, needed organism moving as a whole, and this is unfavorable for practicing thrift the construction energy consumption to a certain extent.
In addition, the existing underwater stone paving robot usually adopts a single-leg crawler walking chassis, when the whole machine submerges or floats upwards, the crawler chassis is easy to deflect around a hinge point at a large angle and lacks an adjusting means, if the crawler chassis deflects at a large angle and contacts the ground, the crawler chassis is greatly impacted, a leg mechanism is easily damaged, and the service life of the whole machine is influenced.
Disclosure of Invention
In view of the above, the invention aims to provide an underwater stone paving robot with a double-leg crawler traveling chassis, which has the advantages of simple structure, convenience in operation, convenience in moving and construction, capability of adapting to underwater complex driving road conditions, integration of stone throwing and leveling functions, construction energy consumption saving, stone paving effect improvement, service life improvement and equipment safety improvement.
The invention solves the problems through the following technical means: an underwater stone paving robot adopting a double-support-leg crawler traveling chassis comprises a positioning and control system assembly, a material conveying device, a machine body main body and a traveling mechanism, wherein a leveling plate is arranged at the bottom of the material conveying device, and a reciprocating driving mechanism for driving the material conveying device to horizontally reciprocate is arranged on the machine body main body; the walking mechanism comprises supporting legs, a track chassis and a connecting seat fixedly connected with the track chassis, the supporting legs comprise fixed supporting legs and movable supporting legs, the fixed supporting legs comprise fixed supporting leg outer cylinders and fixed supporting leg inner cylinders which are vertically slidably sleeved, the movable supporting legs comprise movable supporting leg outer cylinders and movable supporting leg inner cylinders which are vertically slidably sleeved, the fixed supporting leg outer cylinders and the movable supporting leg outer cylinders are both fixedly connected with the machine body, and the fixed supporting leg inner cylinders are connected with the movable supporting leg inner cylinders through compensation oil cylinders; a support oil cylinder is arranged in the movable support leg, a cylinder barrel of the support oil cylinder is connected with an outer cylinder of the movable support leg, and a piston rod of the support oil cylinder is connected with an inner cylinder of the movable support leg; the fixed landing leg inner cylinder is matched and connected with the waist-shaped hole through an adjusting pin shaft, and the movable landing leg inner cylinder is connected with the connecting seat through a connecting pin shaft; the positioning and control system assembly comprises a positioning base station and a control unit, and the control unit is electrically connected with the material conveying device, the travelling mechanism and the reciprocating driving mechanism respectively.
Further, reciprocating drive mechanism includes drive chain and chain drive mechanism, the feeding device is connected with drive chain.
Further, the feeding device comprises a hopper, a feeding pipe and a stone paving device which are sequentially communicated, a feeding device driving mechanism connected with a driving chain is arranged on the stone paving device, and the leveling plate is arranged at the bottom of the stone paving device.
Furthermore, a connecting seat is fixedly arranged on the material conveying device driving mechanism and is connected with the driving chain through a connecting pin.
Further, the hopper, the conveying pipe and the stone paving device are fixedly connected through a steel chain.
Furthermore, the positioning base station is installed on the supporting rod, and the bottom of the supporting rod is fixedly connected with an installation seat arranged on the machine body main body through a supporting rod fastening pin shaft.
Furthermore, the support rod is strengthened and stabilized by drawing a steel wire rope or a stabilizing frame.
Further, a water storage cabin is arranged on the machine body main body.
Further, a guardrail is arranged on the edge of the top of the machine body.
Furthermore, a supporting leg oil cylinder seat is arranged at the top of the cylinder barrel of the supporting leg oil cylinder, and the supporting leg oil cylinder seat is fixedly connected with the top of the movable supporting leg outer cylinder through a bolt; the top of the cylinder barrel of the supporting leg oil cylinder is connected with the supporting leg oil cylinder base through a cylinder barrel pin shaft; the bottom of a piston rod of the supporting leg oil cylinder is connected with the movable supporting leg inner cylinder through a piston rod pin shaft.
The invention has the beneficial effects that:
the underwater stone paving robot adopting the double-support-leg crawler traveling chassis comprises a positioning and control system assembly, a material conveying device, a machine body main body and a traveling mechanism, wherein a leveling plate is arranged at the bottom of the material conveying device, and a reciprocating driving mechanism for driving the material conveying device to horizontally reciprocate is arranged on the machine body main body; the walking mechanism comprises supporting legs, a track chassis and a connecting seat fixedly connected with the track chassis, the supporting legs comprise fixed supporting legs and movable supporting legs, the fixed supporting legs comprise fixed supporting leg outer cylinders and fixed supporting leg inner cylinders which are vertically slidably sleeved, the movable supporting legs comprise movable supporting leg outer cylinders and movable supporting leg inner cylinders which are vertically slidably sleeved, the fixed supporting leg outer cylinders and the movable supporting leg outer cylinders are both fixedly connected with the machine body, and the fixed supporting leg inner cylinders are connected with the movable supporting leg inner cylinders through compensation oil cylinders; a support oil cylinder is arranged in the movable support leg, a cylinder barrel of the support oil cylinder is connected with an outer cylinder of the movable support leg, and a piston rod of the support oil cylinder is connected with an inner cylinder of the movable support leg; the fixed landing leg inner cylinder is connected with the waist-shaped hole in a matching mode through an adjusting pin shaft, and the movable landing leg inner cylinder is connected with the connecting seat through a connecting pin shaft. The underwater stone paving robot adopting the double-leg crawler walking chassis can realize underwater automatic positioning, underwater automatic walking, steering, underwater automatic stone paving and leveling. Whole process can be accomplished automatically, need not artifical the participation, has reduced intensity of labour, has improved the efficiency of construction, has promoted construction quality, has improved construction safety nature, simultaneously, when the fuselage main part removes the back that targets in place, reciprocal stone paving in-process, the fuselage main part can remain motionless, only the reciprocating motion of feeding device is favorable to practicing thrift the construction energy consumption.
Furthermore, the underwater stone paving robot of the application adopts a double-support-leg structure, solves the problem that the existing single-support-leg walking mechanism is easy to deflect around a hinge point to generate a larger angle when the crawler chassis is submerged, makes the walking mechanism of the equipment more reasonable, avoids the problem of equipment damage caused by excessive deflection of the crawler, and improves the safety and the service life of the equipment.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic diagram of the overall structure of the preferred embodiment of the present invention;
FIG. 2 is a schematic view of the structure of the traveling mechanism
FIG. 3 is a cross-sectional view of the movable leg;
FIG. 4 is a schematic structural view of a fuselage body;
FIG. 5 is a schematic view of the positioning and control system assembly;
FIG. 6 is a schematic view of a feeding device;
FIG. 7 is a partially enlarged view showing the connection between the driving mechanism of the feeding device and the driving chain.
Detailed Description
The present invention will be described in detail below with reference to the drawings and examples.
As shown in fig. 1, the underwater stone-paving robot using the dual-legged crawler traveling chassis of the embodiment includes a positioning and control system assembly 1, a material conveying device 2, a main body 3 of the machine body and a traveling mechanism 4, wherein the main body 3 of the machine body is provided with a water storage tank so as to drive the whole machine to dive by injecting water.
As shown in fig. 2-3, the walking mechanism includes a landing leg 41, a connecting seat 43 and a crawler chassis 44, the landing leg 41 includes a fixed landing leg 411 and a movable landing leg 412, the fixed landing leg 411 includes a fixed landing leg outer cylinder 4111 and a fixed landing leg inner cylinder 4112 which are vertically slidably sleeved, the movable landing leg 412 includes a movable landing leg outer cylinder 4121 and a movable landing leg inner cylinder 4122 which are vertically slidably sleeved, the fixed landing leg outer cylinder 4111 and the movable landing leg outer cylinder 4121 are both fixedly connected with the fuselage body, the fixed landing leg outer cylinder 4111 and the movable landing leg outer cylinder 4121 are connected by a cross beam 46 so as to improve the integrity and stability of the structure, the fixed landing leg inner cylinder 4112 and the movable landing leg inner cylinder 4122 are connected by a compensation cylinder 45, the compensation cylinder 45 has a certain initial back pressure to provide an initial pulling force to prevent the fixed landing leg inner cylinder 4112 and the movable landing leg inner cylinder 4122 from being too long due to a moment arm, the deformation is generated by the impact of water flow, so that the stability of the structure is improved; meanwhile, in the driving process, when the crawler chassis generates angle change when meeting a slope, the compensation oil cylinder 45 can also perform self-adaptive expansion.
A supporting leg oil cylinder 4126 is arranged in the movable supporting leg 412, the top of a cylinder barrel of the supporting leg oil cylinder 4126 is connected with a supporting leg oil cylinder seat 4123 through a cylinder barrel pin shaft 4125, and the supporting leg oil cylinder seat 4123 is fixedly connected with the top of a movable supporting leg outer cylinder 4121 through a bolt 4124; the bottom of the piston rod of the supporting leg oil cylinder 4126 is connected with the movable supporting leg inner cylinder 4122 through a piston rod pin shaft 4127. When the walking leg mechanism submerges or floats upwards, the leg oil cylinder can provide certain pulling (pressing) force to ensure that the crawler chassis cannot swing up and down to a greater degree around the adjusting pin shaft, and the landing posture of the crawler chassis is controlled.
A waist-shaped hole 431 is formed in the connecting seat 43, the bottom of the fixed leg inner barrel 4112 is connected with the waist-shaped hole 431 in a matching manner through an adjusting pin shaft 42, and the adjusting pin shaft 42 can slide relative to the waist-shaped hole 431; the bottom of the movable support leg inner cylinder 4122 is connected with the connecting base through a connecting pin shaft 47.
The fixed leg outer cylinder, the fixed leg inner cylinder, the movable leg outer cylinder and the movable leg inner cylinder are all of rectangular tubular structures, so that relative rotation among the sleeved components is avoided, and the structural stability is further improved.
As shown in fig. 4, the body main body 3 is provided with a chain driving mechanism 31, a mounting seat 32, a driving chain 33 and a guard rail 34, the driving chain 33 is driven by the chain driving mechanism 31 to reciprocate, the driving chain 33 and the chain driving mechanism 31 constitute a reciprocating driving mechanism for driving the material conveying device 2 to horizontally reciprocate, and the reciprocating driving mechanism may be constituted by a gear rack or the like.
As shown in fig. 5, the positioning and control system assembly 1 includes a positioning base station 11, a support rod 12 and a control unit 14, the positioning base station 11 is installed on the support rod 12, the bottom of the support rod 12 is fixedly connected to an installation base 32 through a support rod fastening pin, and the support rod 12 is strengthened and stabilized by a pulling steel wire rope 13 or a stabilizing frame. In this embodiment, the support rod 12 is fixedly connected to the main body 3 through four pull cables 13.
As shown in fig. 6, the feeding device 2 comprises a hopper 21, a feeding pipe 23 and a stone-paving device 24 which are sequentially communicated, the hopper 21, the feeding pipe 23 and the stone-paving device 24 are fixedly connected through a steel chain 22, the hopper 21 is suspended on the water surface, and stone is poured into the hopper by the feeding device; the stone paving device 24 is provided with a feeding device driving mechanism 241 connected with the driving chain 33, specifically, as shown in fig. 7, the feeding device driving mechanism 241 is fixedly provided with a connecting seat 2411, and the connecting seat 2411 is connected with the driving chain 33 through a connecting pin 2412. The bottom of the stone-laying device 24 is provided with a screed 242, by means of which screed 242 the laid stone material can be leveled. In addition, in order to improve the adaptability of the laying depth, the conveying pipeline adopts a multi-section pipe body splicing mode, and the pipe bodies are fixedly connected through steel chains.
When construction operation is carried out, a water storage cabin arranged in the machine body main body 3 starts to be filled with water to drive the whole machine to dive to the vicinity of a working area, and a positioning base station 11 receives a positioning signal and sends a control signal to the traveling mechanism 4 through a control unit 14, so that the traveling mechanism 4 accurately enters a working position; after entering the station, the external feeding mechanism starts feeding. The materials firstly enter a hopper 21 and fall to a stone paving device 24 through a material conveying pipe 23; the stone paving device 24 is connected with the driving chain 33 through the material conveying device driving mechanism 241, and the driving chain 33 drives the stone paving device 24 to reciprocate horizontally along the driving chain 33 to carry out reciprocating stone paving operation; a leveling plate 242 is arranged at the lower end of the stone paving device 24, and the paved stones can be leveled by the reciprocating movement of the leveling plate 242; after the first ridge is laid, the positioning base station 11 sends out a control signal to control the travelling mechanism 4 to move to the second ridge operation position, when the travelling mechanism reaches the second ridge operation position, the operation process of the first ridge is repeated until the second ridge operation is finished, and the operation process is repeated until the whole laying work is finished.
In conclusion, the underwater stone-paving robot adopting the double-support-leg crawler traveling chassis can realize underwater automatic positioning, underwater automatic traveling, steering, underwater automatic stone paving and leveling. Whole process can be accomplished automatically, need not artifical the participation, has reduced intensity of labour, has improved the efficiency of construction, has promoted construction quality, has improved construction safety nature, simultaneously, when the fuselage main part removes the back that targets in place, reciprocal stone paving in-process, the fuselage main part can remain motionless, only the reciprocating motion of feeding device is favorable to practicing thrift the construction energy consumption. Moreover, a double-supporting-leg structure is adopted, the problem that the existing single-supporting-leg walking mechanism is easy to deflect around a hinge point at a large angle under water flow impact when the crawler chassis is submerged is solved, the walking mechanism of the equipment is more reasonable, the problem of equipment damage caused by excessive deflection of the crawler is avoided, and the safety and the service life of the equipment are improved.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides an adopt stone robot is spread under water on two legged crawler travel chassis which characterized in that: the device comprises a positioning and control system assembly (1), a material conveying device (2), a machine body main body (3) and a traveling mechanism (4), wherein a leveling plate (242) is arranged at the bottom of the material conveying device (2), and a reciprocating driving mechanism for driving the material conveying device to horizontally reciprocate is arranged on the machine body main body (3); the walking mechanism comprises supporting legs (41), a crawler chassis (44) and a connecting seat (43) fixedly connected with the crawler chassis, the supporting legs comprise fixed supporting legs (411) and movable supporting legs (412), the fixed supporting legs comprise fixed supporting leg outer cylinders (4111) and fixed supporting leg inner cylinders (4112) which are vertically slidably sleeved, the movable supporting legs comprise movable supporting leg outer cylinders (4121) and movable supporting leg inner cylinders (4122) which are vertically slidably sleeved, the fixed supporting leg outer cylinders and the movable supporting leg outer cylinders are both fixedly connected with the machine body, and the fixed supporting leg inner cylinders are connected with the movable supporting leg inner cylinders through compensation oil cylinders (45); a supporting leg oil cylinder (4126) is arranged in the movable supporting leg, a cylinder barrel of the supporting leg oil cylinder is connected with an outer cylinder of the movable supporting leg, and a piston rod of the supporting leg oil cylinder is connected with an inner cylinder of the movable supporting leg; a kidney-shaped hole (431) is formed in the connecting seat, the fixed landing leg inner cylinder is connected with the kidney-shaped hole in a matching mode through an adjusting pin shaft (42), and the movable landing leg inner cylinder is connected with the connecting seat through a connecting pin shaft (47); the positioning and control system assembly comprises a positioning base station (11) and a control unit (14), wherein the control unit is electrically connected with the material conveying device, the travelling mechanism and the reciprocating driving mechanism respectively.
2. An underwater stone-laying robot using a double-legged crawler-running chassis according to claim 1, characterized in that: the reciprocating driving mechanism comprises a driving chain (33) and a chain driving mechanism (31), and the material conveying device is connected with the driving chain.
3. An underwater stone-laying robot using a double-legged crawler-running chassis according to claim 2, characterized in that: the stone paving device comprises a hopper (21), a conveying pipe (23) and a stone paving device (24) which are sequentially communicated, wherein a conveying device driving mechanism (241) connected with a driving chain (33) is arranged on the stone paving device (24), and a leveling plate (242) is arranged at the bottom of the stone paving device.
4. An underwater stone-laying robot using a dual-legged crawler-walking chassis according to claim 3, characterized in that: the conveying device driving mechanism (241) is fixedly provided with a connecting seat (2411), and the connecting seat (2411) is connected with the driving chain through a connecting pin (2412).
5. An underwater stone-laying robot using a dual-legged crawler-walking chassis according to claim 4, characterized in that: the hopper, the conveying pipe and the stone paving device are fixedly connected through a steel chain (22).
6. An underwater stone-laying robot using a double-legged crawler-running chassis according to claim 1, characterized in that: the positioning base station (11) is installed on the supporting rod (12), and the bottom of the supporting rod (12) is fixedly connected with an installation seat (32) arranged on the machine body main body through a supporting rod fastening pin shaft.
7. An underwater stone-laying robot using a dual-legged crawler-walking chassis according to claim 6, characterized in that: the supporting rod (12) is strengthened and stabilized by drawing a steel wire rope (13) or a stabilizing frame.
8. An underwater stone-laying robot using a double-legged crawler-running chassis according to claim 1, characterized in that: the machine body main body (3) is provided with a water storage cabin.
9. An underwater stone-laying robot using a double-legged crawler-running chassis according to claim 1, characterized in that: the top edge of the machine body main body (3) is provided with a guardrail (34).
10. An underwater stone-laying robot using a double-legged crawler-running chassis according to any one of claims 1 to 9, characterized in that: the top of the cylinder barrel of the supporting leg oil cylinder is provided with a supporting leg oil cylinder seat (4123), and the supporting leg oil cylinder seat is fixedly connected with the top of the movable supporting leg outer cylinder through a bolt (4124); the top of the cylinder barrel of the supporting leg oil cylinder is connected with a supporting leg oil cylinder seat through a cylinder barrel pin shaft (4125); the bottom of a piston rod of the supporting leg oil cylinder is connected with the movable supporting leg inner cylinder through a piston rod pin shaft (4127).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110466395.4A CN113152473B (en) | 2021-04-28 | 2021-04-28 | Underwater stone paving robot with double-support-leg crawler traveling chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110466395.4A CN113152473B (en) | 2021-04-28 | 2021-04-28 | Underwater stone paving robot with double-support-leg crawler traveling chassis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113152473A CN113152473A (en) | 2021-07-23 |
| CN113152473B true CN113152473B (en) | 2022-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110466395.4A Active CN113152473B (en) | 2021-04-28 | 2021-04-28 | Underwater stone paving robot with double-support-leg crawler traveling chassis |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH375505A (en) * | 1960-07-02 | 1964-02-29 | Natino Eraldo | Gantry crane |
| CN201338915Y (en) * | 2009-01-20 | 2009-11-04 | 三一电气有限责任公司 | Amphibious crawling crane |
| US8459898B2 (en) * | 2010-03-26 | 2013-06-11 | Guntert & Zimmerman Const. Div., Inc. | Adjustable bolster swing legs for mounting and aligning and reorienting crawlers for slipform paving machines |
| CN207345949U (en) * | 2017-08-14 | 2018-05-11 | 中交第二航务工程局有限公司 | A kind of sea crawler-type traveling job platform |
| CN108999165A (en) * | 2018-08-16 | 2018-12-14 | 燕山大学 | A kind of shallow sea mobile working platform being suitable for especially big slope in length and breadth |
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- 2021-04-28 CN CN202110466395.4A patent/CN113152473B/en active Active
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