CN217896611U - Underwater limited space dredging and stone throwing protection equipment - Google Patents

Abstract

The utility model discloses a restricted space is dredged and is thrown stone protective equipment under water, include: a hull having a buoyancy regulating compartment; the moving mechanism comprises walking tracks arranged on two sides of the bottom of the ship body, lateral propellers arranged on two sides of the ship body and a rear propeller arranged at one end of the ship body; the working mechanism comprises a rotary base, a mechanical arm and a working device, wherein the rotary base is arranged at one end, far away from the rear-side propeller, of the top surface of the ship body, one end of the mechanical arm is fixedly connected with the rotary base, and the other end of the mechanical arm is detachably connected with the working device; the working device is used for dredging or stone throwing operation; and the power system is fixedly arranged at the top of the ship body and used for providing working power for the working mechanism, the moving mechanism and the buoyancy regulating cabin. The utility model discloses possess amphibious operation ability, the flexible operation can be dredged in the confined space under water.

Description

Underwater limited space dredging and stone throwing protection equipment

Technical Field

The utility model relates to a dredge and throw stone protective equipment field. More specifically, the utility model relates to a restricted space dredges and rips stone protective equipment under water.

Background

The high-pile wharf bank slope dredging is usually carried out before the construction of a pile foundation and an upper structure, and the construction efficiency is influenced by factors such as large dredging width and depth of the wharf bank slope, complex geological conditions and the like, so that the dredging progress of the bank slope at the early stage of a project is slow, other working surfaces cannot be carried out, and the whole project period is limited. If the overwater pile sinking is firstly carried out, then the bank slope dredging and the riprap protection are carried out, and the pile top and the superstructure are simultaneously constructed, so that the construction period pressure can be relieved. However, after the construction of the pile foundation and the upper structure is completed, the distance between the pile foundations in a dredging area is small, the pile caps at the top and the precast beam plates are constructed, and a bank slope at the bottom of a wharf forms a limited space. Meanwhile, for bank slope riprap protection, after the bank slope is dredged in the traditional construction, the slope surface is not flat, and the riprap protection underwater operation is more, so that the construction quality of the bank slope dredging and riprap protection is poorer, and the safety risk is high. And in the operation maintenance period of the wharf, the wharf pile foundation has a water blocking effect, and under the coupling action of waves, water flow and silt, the silt deposition phenomenon appears at the bottom of a large number of high-pile wharfs, so that the adverse effect is caused on the pile foundation structure. The conventional dredging equipment is also influenced by operation space, tide, waves and the like for dredging the wharf bank slope, and the construction efficiency and the construction quality are limited.

SUMMERY OF THE UTILITY MODEL

It is an object of the present invention to solve at least the above problems and to provide at least the advantages which will be described later.

In order to achieve these objects and other advantages in accordance with the present invention, there is provided an underwater confined space dredging and riprap protection apparatus, comprising:

a hull having a buoyancy regulating cabin to adjust buoyancy of the hull;

the moving mechanism comprises walking crawler belts arranged on two sides of the bottom of the ship body, lateral propellers arranged on two sides of the ship body and rear propellers arranged at one end of the ship body;

the working mechanism comprises a rotary base, a mechanical arm and a working device, wherein the rotary base is arranged at one end, far away from the rear-side propeller, of the top surface of the ship body, one end of the mechanical arm is fixedly connected with the rotary base, and the other end of the mechanical arm is detachably connected with the working device; the working device is used for dredging or stone throwing operation;

and the power system is fixedly arranged at the top of the ship body and used for providing working power for the working mechanism, the moving mechanism and the buoyancy regulating cabin.

Preferably, the working device comprises one or more of a cutter suction pump, a water jet pump, a bucket, a grab bucket or a reamer.

Preferably, the device further comprises a conveying pipeline, wherein the conveying pipeline is connected with the cutter suction pump and used for conveying the muddy water mixture taken out by the cutter suction pump.

Preferably, the power system comprises an underwater motor, a hydraulic driving device, an electric driving device and a hydraulic oil tank, wherein the underwater motor is respectively connected with the electric driving device and the hydraulic driving device, and the hydraulic driving device is connected with the hydraulic oil tank through a pipeline; the hydraulic driving device and the electric driving device are respectively packaged in the hydraulic sealed cabin and the electric sealed cabin.

Preferably, the underwater motor, the hydraulic sealed cabin, the electric sealed cabin and the hydraulic oil tank are provided with protective frames at the peripheries.

Preferably, the lateral propeller is connected with the side wall of the ship body through a folding mechanism, the folding mechanism comprises a connecting plate and a telescopic rod, one end of the connecting plate is fixedly connected with the lateral propeller, and the other end of the connecting plate is hinged with the side wall of the ship body; one end of the telescopic rod is hinged with the side wall of the ship body, and the other end of the telescopic rod is hinged with the connecting plate.

Preferably, a pneumatic valve is arranged on the buoyancy adjusting cabin, and water is filled or drained into or from the buoyancy adjusting cabin through the pneumatic valve.

Preferably, still include monitored control system, it includes a plurality of camera device, a plurality of sensor, a plurality of ultrasonic distance meter and bank end display platform, a plurality of camera device, a plurality of sensor and a plurality of ultrasonic distance meter respectively evenly distributed in the hull and on the arm, camera device, the sensor and ultrasonic distance meter respectively with bank end display platform is connected.

Preferably, the sensors include an attitude sensor, an angle sensor, a depth sensor, an oil temperature sensor, a pressure sensor, and an ultrasonic positioner.

Preferably, the power system further comprises an electric control system, wherein the electric control system comprises a control unit and a photoelectric composite cable, the control unit is connected with the photoelectric composite cable, and the photoelectric composite cable is connected with the power system.

The utility model discloses at least, include following beneficial effect:

1. the underwater confined space dredging and stone throwing protective equipment provided by the utility model can realize walking on the road and at the bottom and underwater floating and diving movement through the moving mechanism, and has waterway amphibious operation capability; the dredging can be carried out in the underwater limited space through the operation mechanism, so that the simultaneous construction of multiple operation surfaces of a wharf bank slope, a pile foundation and an upper structure is realized, the high-pile wharf construction process is optimized, and the integral construction efficiency of a project is improved. The complex soil can be dredged by replacing the operation device, and underwater slope management and stone throwing can be carried out in the bank slope protection stage, so that the underwater operation of personnel is reduced, and the safety risk is reduced.

2. The utility model provides a restricted space is dredged and is thrown stone protective equipment under water, through the side direction screw that extends both sides, makes the hull keep stronger self-balancing ability. Through the monitoring system, underwater accurate dredging is carried out, meanwhile, collision with a pile foundation can be avoided, and engineering quality is improved.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Fig. 1 is a schematic side view of the dredging and stone-throwing protection equipment according to an embodiment of the present invention;

fig. 2 is a top view of the dredging and stone-throwing protection equipment according to the above embodiment of the present invention;

fig. 3 is a left side view of the dredging and riprap protecting equipment according to the above embodiment of the present invention;

fig. 4 is a construction layout diagram of the dredging and stone-throwing protection equipment according to the above embodiment of the present invention;

Detailed Description

The present invention is described in further detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description.

It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

As shown in fig. 1-3, the utility model provides an underwater confined space dredging and stone throwing protective equipment, which comprises:

a hull 1 having a buoyancy adjustment compartment for adjusting buoyancy of the hull 1;

the moving mechanism comprises walking crawler belts 12 arranged on two sides of the bottom of the ship body 1, lateral propellers 5 arranged on two sides of the ship body 1 and a rear propeller 11 arranged at one end of the ship body 1;

the working mechanism comprises a rotary base 4, a mechanical arm 3 and a working device 2, wherein the rotary base 4 is arranged at one end, far away from the rear-side propeller 11, of the top surface of the ship body 1, one end of the mechanical arm 3 is fixedly connected with the rotary base 4, and the other end of the mechanical arm is detachably connected with the working device 2; the working device 2 is used for dredging or stone throwing;

and the power system is fixedly arranged at the top of the ship body 1 and is used for providing working power for the working mechanism, the moving mechanism and the buoyancy regulating cabin.

In this embodiment, the walking tracks 12 can make the hull realize land and water bottom walking movement, and the walking tracks 12 are walking track devices conventionally used in the prior art, and include driving wheels, thrust wheels, guide wheels, tracks and other structures. The side propellers 5 and the rear side propeller 11 are used for realizing the side propulsion and the front and rear propulsion of the ship body 1 in water. And the floating center and the gravity center of the ship body are adjusted by adjusting the water quantity of the buoyancy adjusting cabin, so that the ship body 1 floats upwards and submerges in water, specifically, a pneumatic valve is arranged on the buoyancy adjusting cabin, and water is filled into or drained from the buoyancy adjusting cabin through the pneumatic valve. The working mechanism is arranged at one end, far away from the rear-side propeller 11, of the top surface of the ship body 1, the rotary base 4 can drive the mechanical arm 3 and the working device 2 to rotate, the mechanical arm 3 can adopt a conventional multi-degree-of-freedom mechanical arm or a working arm of an excavator, and the working device 2 is driven to move to a working area through the mechanical arm 3. The working device 2 is used for dredging and stone-throwing operations, and specifically comprises one or more of a cutter suction pump, a water jet pump, a bucket, a grab bucket or a reamer. According to actual use requirements, the working device is selected and mounted on the mechanical arm 3.

In another embodiment, the device further comprises a conveying pipeline, wherein the conveying pipeline is connected with the cutter suction pump and used for conveying the muddy water mixture taken out by the cutter suction pump. And the muddy water mixture pumped out by the cutter suction pump is conveyed to a transfer cabin or a hydraulic filling area through the conveying pipeline.

In another embodiment, the power system comprises a submerged motor 10, a hydraulic driving device, an electric driving device and a hydraulic oil tank 9, wherein the submerged motor 10 is connected with the electric driving device and the hydraulic driving device, and the hydraulic driving device 14 is connected with the hydraulic oil tank 9 through a pipeline; the hydraulic driving device and the electric driving device are respectively packaged in the hydraulic sealed cabin 14 and the electric sealed cabin 7. The electric driving apparatus may employ a conventional electric driver for precisely controlling the rotation speed and rotation angle of the underwater motor 10. The hydraulic driving apparatus includes a hydraulic pump connected to the underwater motor 10 as a power element of a hydraulic system, an electro-hydraulic servo valve, and the like. The electric driving device and the hydraulic driving device are respectively connected with corresponding devices in the moving mechanism and the working mechanism to provide working power for the moving mechanism and the working mechanism. Specifically, the electric drive device is connected to the working device, the walking crawler 12, the lateral propeller 5, and the rear propeller 11, and the hydraulic drive device is connected to the robot arm 3.

In another embodiment, a protective frame 6 is arranged on the periphery of the underwater motor 10, the hydraulic sealed cabin 14, the electric sealed cabin 7 and the hydraulic oil tank 9. Through protection frame 6 is right motor 10 under water, hydraulic pressure sealed cabin 14 electric sealed cabin 7 reaches hydraulic tank 9 provides the protection, avoids colliding with and causes the damage.

In another embodiment, the lateral propeller 5 is connected with the side wall of the hull 1 through a folding mechanism 13, the folding mechanism 13 comprises a connecting plate 131 and a telescopic rod 132, one end of the connecting plate 131 is fixedly connected with the lateral propeller 5, and the other end of the connecting plate is hinged with the side wall of the hull 1; one end of the telescopic rod 132 is hinged to the side wall of the hull 1, and the other end is hinged to the connecting plate 132. Referring to fig. 3, the telescopic rod 132 is retracted to drive the connecting plate 131 to be retracted towards the ship body 1 or to be extended and opened back to the ship body 1, so that the lateral propeller 5 is retracted and extended. And the self-balancing ability of the hull 1 can be improved by extending the side propellers 5.

In another embodiment, the system further comprises a monitoring system, which comprises a plurality of camera devices, a plurality of sensors, a plurality of ultrasonic distance meters and a shore end display platform, wherein the plurality of camera devices, the plurality of sensors and the plurality of ultrasonic distance meters are respectively and uniformly distributed on the ship body and the mechanical arm, and the camera devices, the sensors and the ultrasonic distance meters are respectively connected with the shore end display platform. The ship body, the water body and the surrounding influence are visualized through the camera device. Preferably, the camera device is an LED deep water camera. The ultrasonic distance measuring instrument is mainly used for measuring the distance between a ship body or a mechanical arm and a wharf pile foundation and other obstacles and providing an anti-collision alarm effect. Preferably, the bank end display platform is composed of a camera display screen, an attitude display screen and system parameters, wherein the camera display screen is connected with each camera device for observing the environmental information around the equipment. And the attitude display screen and the system parameter display screen are connected with the sensors and the ultrasonic distance measuring instrument and are respectively used for monitoring the balance problem of the ship body in the submergence and ascent processes and various data information of the working operation of the moving mechanism, the working structure and the power system.

Further, the sensors include an attitude sensor, an angle sensor, a depth sensor, an oil temperature sensor, a pressure sensor, and an ultrasonic positioner. And monitoring the attitude, the position and the water depth of the ship body and the working performance of the moving mechanism, the working structure and the power system in real time through a plurality of sensors.

In another embodiment, the power system further comprises an electric control system which comprises a control unit and a photoelectric composite cable, wherein the control unit is connected with the photoelectric composite cable, and the photoelectric composite cable is connected with the power system. The control unit may employ a PLC controller or other microprocessor. The staff generates instructions through the control element, and control signals are transmitted to the electric driving device and the hydraulic driving device through the photoelectric composite cable, so that the moving mechanism and the working mechanism are controlled.

The following example illustrates the construction method of the dredging and riprap protection equipment: referring to fig. 4, the width of the wharf is 66m (total width of the front platform and the rear platform), the distance between the bent frames is 12m, the water depth at the front edge of the wharf is 14m, the initial mud surface 17 is below the water level 20, the elevation 16 is designed according to the bank slope, and the required dredging depth range is 6-12 m. The concrete construction steps are as follows:

step S1: and (5) carrying out construction of the overwater pile sinking, the pile top and the wharf superstructure. After the overwater pile sinking is finished by at least 5 bent frames, a plurality of subsection construction such as pile cores, pile caps 18, nodes, precast beam plates 19 and the like is carried out, wherein the transverse minimum distance of the pile caps 18 is 5.5m, and the longitudinal minimum distance is 5.2m. And simultaneously laying the dredging and stone throwing protection equipment.

Step S2: the staff sends out instructions through the control element, the electrical control system is matched with the power system, and the dredging and stone throwing protection equipment is sailed between the wharf bent pile foundations through the lateral propellers 5 and the rear side propellers 11; the draft of the hull 1 is then adjusted by means of the pneumatic valves, and the dredging and riprap protection equipment is submerged to the initial mud level 17.

And step S3: dredging a bank slope: and uniformly dredging the bank slope layer by layer according to the designed elevation of the bank slope in the sequence of the wharf shelving. The dredging and riprap protection equipment is used for dredging soil between piles in a mode of retreating from the shore side to the sea side, a water jet pump or a bucket is used for breaking the soil for general soil, an electric reamer is used for breaking the soil when the soil meets a hard soil layer, then the soil is taken out through a suction pump, and the mud-water mixture is conveyed into a transport ship or a hydraulic filling area through the conveying pipeline. When the dredging is carried out to the transverse neutral position of each bent pile foundation, the angle of the dredging and stone-throwing protection equipment is adjusted through the lateral screw propellers 5 and the rear screw propellers 11, then the mechanical arm 3 is stretched into the neutral position to be excavated, and meanwhile, the working state is monitored in real time according to the sensors and the ultrasonic distance meters, so that the collision is avoided.

And step S4: and (5) performing the construction of the wharf superstructure and the underwater dredging at the same time, and circulating S3 until the wharf bank slope dredging is finished.

Step S5: protecting against riprap: the construction of the upper structures such as the precast beam, the node, the precast panel and the surface layer of the wharf is completed, the dredging and stone throwing protective equipment enters the bent frame from the front edge of the wharf, sails to the shore connecting position, the working personnel carry stone to the wharf shore connecting position, and the dredging and stone throwing protective equipment lays the stone on a bank slope through a grab bucket or a bucket to protect the bank slope. Until the riprap protection is finished in all areas.

In the process of equipment operation, according to the requirements of dredging and stone throwing work, the working devices at the front section of the mechanical arm 3 are flexibly replaced by a cutter suction pump, a water jet pump, a bucket, a grab bucket, a reamer and the like. And the camera device and the sensors transmit data information to the shore end display platform in real time, so that working personnel can check working environment, ship posture, working performance parameters of the moving mechanism and the working mechanism and the like in real time.

While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.

Claims (10)

1. The utility model provides an underwater confined space is dredged and is thrown stone protective equipment which characterized in that includes:

a hull having a buoyancy regulating cabin to adjust buoyancy of the hull;

the moving mechanism comprises walking tracks arranged on two sides of the bottom of the ship body, lateral propellers arranged on two sides of the ship body and a rear propeller arranged at one end of the ship body;

the working mechanism comprises a rotary base, a mechanical arm and a working device, wherein the rotary base is arranged at one end, far away from the rear-side propeller, of the top surface of the ship body, one end of the mechanical arm is fixedly connected with the rotary base, and the other end of the mechanical arm is detachably connected with the working device; the working device is used for dredging or stone throwing operation;

and the power system is fixedly arranged at the top of the ship body and used for providing working power for the working mechanism, the moving mechanism and the buoyancy regulating cabin.

2. The underwater confined space dredging and riprap protection apparatus of claim 1 wherein the working device comprises one or more of a cutter suction pump, a water jet pump, a bucket, a grapple, or a reamer.

3. The underwater confined space dredging and riprap protection apparatus of claim 2 further comprising a delivery pipe connected to the cutter pump for delivering the slurry mixture removed by the cutter pump.

4. The underwater confined space dredging and riprapping protection apparatus as recited in claim 1, wherein said power system comprises an underwater motor, a hydraulic driving device, an electric driving device and a hydraulic oil tank, said underwater motor is connected with said electric driving device and said hydraulic driving device, respectively, said hydraulic driving device is connected with said hydraulic oil tank through a pipeline; the hydraulic driving device and the electric driving device are respectively packaged in the hydraulic sealed cabin and the electric sealed cabin.

5. The underwater confined space dredging and riprap protection apparatus of claim 4 wherein the underwater motor, the hydraulic capsule, the electric capsule and the hydraulic tank are peripherally provided with protection racks.

6. The underwater confined space dredging and riprap protection equipment of claim 1 wherein the lateral propeller is connected with the side wall of the hull by a folding mechanism, the folding mechanism comprises a connecting plate and a telescopic rod, one end of the connecting plate is fixedly connected with the lateral propeller, and the other end is hinged with the side wall of the hull; one end of the telescopic rod is hinged with the side wall of the ship body, and the other end of the telescopic rod is hinged with the connecting plate.

7. The underwater confined space dredging and riprap protection apparatus of claim 1 wherein the buoyancy adjustment chamber is provided with a pneumatic valve through which water is filled or drained into the buoyancy adjustment chamber.

8. The underwater confined space dredging and riprap protection apparatus of claim 1, further comprising a monitoring system comprising a plurality of cameras, a plurality of sensors, a plurality of ultrasonic rangefinders and a shore-end display platform, wherein the plurality of cameras, the plurality of sensors and the plurality of ultrasonic rangefinders are respectively and uniformly distributed on the hull and the robotic arm, and the cameras, the sensors and the ultrasonic rangefinders are respectively connected with the shore-end display platform.

9. The underwater confined space dredging and riprap protection apparatus of claim 8 wherein the sensors include attitude sensors, angle sensors, depth sensors, oil temperature sensors, pressure sensors and ultrasonic positioners.

10. The underwater confined space dredging and riprap protection apparatus of claim 1 further comprising an electrical control system including a control unit and a photoelectric composite cable, the control unit being connected to the photoelectric composite cable, the photoelectric composite cable being connected to the power system.

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