WO2019076052A1 - 具有活动落料结构的自动摊铺机系统及其工作方法 - Google Patents

具有活动落料结构的自动摊铺机系统及其工作方法 Download PDF

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Publication number
WO2019076052A1
WO2019076052A1 PCT/CN2018/088372 CN2018088372W WO2019076052A1 WO 2019076052 A1 WO2019076052 A1 WO 2019076052A1 CN 2018088372 W CN2018088372 W CN 2018088372W WO 2019076052 A1 WO2019076052 A1 WO 2019076052A1
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WIPO (PCT)
Prior art keywords
blanking
slide rail
motor
blanking structure
paver system
Prior art date
Application number
PCT/CN2018/088372
Other languages
English (en)
French (fr)
Inventor
潘树杰
何军
陈长卿
佟安岐
鲁凯
Original Assignee
中国建筑工程（香港）有限公司
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Application filed by 中国建筑工程（香港）有限公司 filed Critical 中国建筑工程（香港）有限公司
Publication of WO2019076052A1 publication Critical patent/WO2019076052A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D29/00—Independent underground or underwater structures; Retaining walls
    • E02D29/063—Tunnels submerged into, or built in, open water
    • E02D29/073—Tunnels or shuttering therefor assembled from sections individually sunk onto, or laid on, the water-bed, e.g. in a preformed trench
    • 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

Definitions

  • the present application relates to the technical field of underwater paving technology, and in particular to an automatic paver system having a movable blanking structure and a working method thereof.
  • the foundation groove needs to be excavated in the bottom of the water, and then the pipe section of the tunnel is gradually deposited into the pre-digging underwater foundation groove, and the base groove which is the foundation of the sinking pipe section is excavated and formed. After the bottom surface is uneven, it is necessary to backfill the stone for leveling, improve the bearing capacity of the foundation, and control the relevant settlement, so that each section of the tunnel is uniformly stressed and the effect is good.
  • the prior art work ship In order to improve the flatness of the bottom surface of the base groove, the prior art work ship generally adopts a floating leveling ship with a positioning pile or a platform type leveling ship, and the floating leveling ship with the positioning pile and the flat table leveling ship generally
  • the utility model comprises a cloth pipe, the cloth pipe directly penetrates to the bottom of the water, and the overall length of the cloth pipe is long, and the underwater part thereof is easily affected by the water flow and the wave directly, so that the leveling precision is lowered.
  • the main object of the present application is to provide an automatic paver system with a movable blanking structure, which is intended to improve the laying accuracy, reduce the influence of water flow and waves, and enable the automatic paver system to perform the underwater gravel laying. Suitable for different water depth requirements.
  • an automatic paver system having a movable blanking structure proposed by the present application includes: a paving device, the paving device comprising:
  • a support structure the support structure being supported on a bottom surface of the water
  • At least one blanking structure having a feed opening and a discharge opening through which the material passes, the discharge opening extending toward the bottom surface of the water;
  • a transport structure including a first slide rail structure extending in a longitudinal direction and a second slide rail structure extending in a lateral direction, the blanking structure being coupled to the first slide rail structure and along the first slide
  • the rail structure is longitudinally moved, the second rail structure is disposed on the support structure, and both ends of the first rail structure are connected to the second rail structure and move laterally along the second rail structure
  • the first slide rail structure comprises at least two longitudinally extending moving beams, the two moving beams are oppositely disposed, and the blanking structure is coupled to the two moving beams and moves longitudinally along the moving beam;
  • the second sliding rail structure includes at least two laterally extending mounting beams, and the two mounting beams are oppositely disposed, and two ends of the moving beam are respectively connected to one of the mounting beams, and the two moving beams are along the first
  • the two slide rail structures move laterally to drive the blanking structure to move in the lateral direction.
  • the first slide rail structure further includes at least two connecting brackets, the connecting brackets connect two adjacent moving beams, and are located at two ends of the two moving beams, and one of the connecting brackets and another a first transmission chain is arranged between the connecting frames,
  • the first slide rail structure further includes a first motor and a first gear, the first motor and the first gear are disposed on the blanking structure, and the first gear meshes with the first transmission chain, the first A motor drives the first gear to rotate, and the blanking structure is moved along the first transmission chain.
  • the moving beam is further provided with a first guiding rail extending in a longitudinal direction
  • the blanking structure is provided with a first guiding wheel
  • the first guiding wheel is mounted on the first guiding rail, and along the The first guide rail moves.
  • the moving beam is further provided with a longitudinally extending second guiding rail, the second guiding rail is disposed adjacent to the first guiding rail, and the blanking structure is further provided with a second guiding wheel, the first Two guiding wheels are mounted on the second guiding rail and move on the second guiding rail.
  • the second slide rail structure further includes a second drive chain and a second motor, the second drive chain extends in a lateral direction, and at least one end of the first slide rail structure is provided with a connecting portion, the connection
  • the second drive chain is coupled to the second drive chain, and the second motor drives the second drive chain to drive the second slide rail structure to move laterally.
  • the mounting beam is further provided with a third guiding rail extending in a lateral direction
  • the first sliding rail structure is provided with a third guiding wheel at both ends thereof
  • the third guiding wheel is mounted on the third guiding wheel Guide rails and move along the third guide rail.
  • the second motor is provided with a travel recorder that records the rotation of the second motor
  • the first motor of the blanking structure is provided with a travel recorder for recording the first motor rotation stroke
  • the two ends of the first slide rail structure are further provided with a proximity sensor.
  • the blanking structure comprises:
  • Moving the frame the moving frame being coupled to the first slide rail structure and moving longitudinally along the first slide rail structure;
  • the flattening bucket is fixed to the moving frame, and the feeding port and the discharging port are respectively disposed at two ends of the leveling bucket.
  • the blanking structure further includes an elevation measuring instrument, wherein the elevation measuring instrument is disposed on the moving frame, and measures a height between a lower end of the leveling bucket and the bottom surface of the water;
  • the screed is further provided with an observation window
  • the blanking structure further includes a camera
  • the camera is mounted on the screed
  • the screed is recorded through the observation window The status of the material inside.
  • the main controller obtains the first flat value information of the area to be paved, and calculates the paving to be paved according to the first flat value information by using a preset algorithm.
  • the main controller controls the blanking structure to coarsely blank each block according to the blanking amount corresponding to the block.
  • the method includes:
  • the main controller controls the longitudinal movement along the first slide rail structure and coarsely blanks the block, and controls the lateral movement of the first slide rail structure along the second slide rail structure to drive the blanking structure along the lateral direction Move to the next block and rough the block.
  • the support structure of the automatic paver system of the technical solution of the present application is supported on the bottom surface of the water, and the transport structure is slidably connected to the support structure, and the support structure provides support for the transport structure, so that the transport structure can drive the blanking structure to be opposite to the bottom of the water.
  • the material is input from the feeding port of the blanking structure and is outputted from the discharging port, and the discharging port extends toward the bottom surface of the water. Since the blanking structure is closer to the bottom of the water, the output is output from the discharging port. After a short distance, the material can fall to the designated position on the bottom of the water.
  • the entire blanking process is almost unaffected by the water flow, so that the material is placed on the bottom of the water accurately, and the support structure of the automatic paver system is directly supported by the water.
  • the bottom surface can be adapted to different water depth requirements, making the automatic paver system suitable for a wide range of applications.
  • the blanking structure can be spread and spread in both the longitudinal direction and the lateral direction, so that the automatic paver system can be paved Any specified position on the bottom of the water further enhances the paving effect.
  • FIG. 1 is a schematic structural view of an embodiment of a paving device of the present application.
  • Figure 2 is a partial enlarged view of a portion A in Figure 1;
  • Figure 3 is a partial enlarged view of B in Figure 1;
  • FIG. 4 is a schematic structural view of an embodiment of a blanking structure of the paving device of FIG. 1;
  • FIG. 5 is a schematic structural view of an embodiment of an automatic paver system having a movable blanking structure according to the present application
  • Figure 6 is a schematic view showing the support structure of the automatic paver system of Figure 5 connected to the retracting structure;
  • Fig. 7 is a structural schematic view showing the support structure of Fig. 5 being lifted by the retracting structure.
  • fixed may be a fixed connection, or may be a detachable connection, or may be integrated; It may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be an internal connection of two elements or an interaction relationship of two elements unless explicitly defined otherwise.
  • fix may be a fixed connection, or may be a detachable connection, or may be integrated; It may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be an internal connection of two elements or an interaction relationship of two elements unless explicitly defined otherwise.
  • specific meanings of the above terms in the present application can be understood on a case-by-case basis.
  • first”, “second”, and the like in this application are used for descriptive purposes only, and are not to be construed as indicating or implying their relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include at least one of the features, either explicitly or implicitly.
  • the technical solutions between the various embodiments may be combined with each other, but must be based on the realization of those skilled in the art, and when the combination of the technical solutions is contradictory or impossible to implement, it should be considered that the combination of the technical solutions does not exist. Nor is it within the scope of protection required by this application.
  • the present application proposes an automatic paver system 100 having a movable blanking structure.
  • the automatic paver system 100 having a movable blanking structure includes: a paving device 10, the paving device 10 comprising:
  • the support structure 11 supports the support structure 11 on the bottom surface of the water; the support structure 11 includes an adjustment leg 19 mounted to the support structure 11.
  • the support structure 11 functions as a load, the adjustment leg 19 abuts against the water bottom surface, and the height of the support structure 11 relative to the water floor can be adjusted.
  • At least one blanking structure 13 the blanking structure 13 has a feeding port 13a and a discharging port 13b through which the material passes, and the discharging port 13b extends toward the bottom surface of the water;
  • a transport structure (not shown), the transport structure including a first slide rail structure 15 extending longitudinally, the blanking structure 13 being coupled to the first rail structure 15 and moving longitudinally along the first rail structure 15, the support structure 11
  • the second slide rail structure 17 extends in the lateral direction.
  • the two ends of the first slide rail structure 15 are connected to the second slide rail structure 17 and move laterally along the second slide rail structure 17 to drive the blanking structure 13 to move in the lateral direction.
  • the support structure 11 of the automatic paver system 100 of the technical solution of the present application is supported on the bottom surface of the water, and the transport structure is slidably coupled to the support structure 11, which supports and guides the movement track of the transport structure, so that the transport structure can Moving at a position relatively close to the bottom of the water, the blanking structure 13 is connected to the transport structure, so that the blanking structure 13 can also move closer to the bottom of the water under the driving of the transport structure, and the material is separated by the blanking structure.
  • the feed port 13a of 13 is input and outputted by the discharge port 13b, and the discharge port 13b extends toward the bottom surface of the water. Since the blanking structure 13 is closer to the bottom of the water, the material outputted from the discharge port 13b passes through a shorter distance.
  • the automatic paver system 100 has a wide range of applications for different water depth requirements.
  • the blanking structure 13 can be spread and spread in both the longitudinal direction and the lateral direction, so that the automatic paver system 100 The ability to spread any specified location on the bottom of the water further enhances the paving effect.
  • the first slide rail structure 15 includes at least two longitudinally extending moving beams 151, the two moving beams 151 are oppositely disposed, the blanking structure 13 is coupled to the two moving beams 151, and moves longitudinally along the moving beam 151;
  • the second sliding rail structure 17 includes at least two laterally extending mounting beams 171.
  • the two mounting beams 171 are oppositely disposed.
  • Two ends of a moving beam 151 are respectively connected to a mounting beam 171, and the two moving beams 151 are laterally moved along the second sliding rail structure 17 to drive blanking.
  • the structure 13 moves in the lateral direction.
  • the two moving beams 151 are stacked with the blanking structure 13 to carry the blanking structure 13 to move.
  • the blanking structure 13 can move in the direction in which the moving beam 151 extends, that is, in the longitudinal direction.
  • the moving beam 151 slides in the extending direction of the mounting beam 171, that is, laterally.
  • the first rail structure 15 and the second rail structure 17 formed by the arrangement of the moving beam 151 and the mounting beam 171 are slidably engaged with each other. In order to enable the blanking structure 13 to completely spread the paving area.
  • the mounting beam 171 of the present application may be composed of a part of the support structure 11 or may be a separately installed mounting beam 171 and then mounted to the support structure 11.
  • the present application sets a part of the support structure 11 as the mounting beam 171, and the mounting beam 171 may also be provided as a partially hollow cylindrical structure to provide upward buoyancy to offset the gravity of the blanking structure 13. The probability of deformation of the mounting beam 171 is reduced.
  • the moving beam 151 can also be configured as a partially hollow cylindrical structure to provide upward buoyancy to counteract the weight of the blanking structure 13.
  • the first sliding rail structure 15 further includes at least two connecting brackets 153.
  • the connecting bracket 153 connects the two adjacent moving beams 151 and is located at two ends of the two moving beams 151, and one connecting frame 153 and the other connecting frame 153
  • a first transmission chain (not shown) is disposed between the first slide rails 15 and a first motor (not shown) and a first gear (not shown), the first motor and the first gear are disposed on The blanking structure 13, the first gear meshes with the first transmission chain, and the first motor drives the first gear to rotate, and drives the blanking structure 13 to move along the first transmission chain.
  • the two moving beams 151 are connected by the two connecting frames 153 to form an integral first sliding rail structure 15, the blanking structure 13 is disposed on the first sliding rail structure 15, and the first gear is driven to rotate by the first motor.
  • the driving blanking structure 13 is moved along the first transmission chain, and the extending direction of the first transmission chain is longitudinally extended, which is the same as the extending direction of the moving beam 151. It can be understood that this is the manner in which the gear plus chain drives the blanking structure 13 to move. Of course, it can also be set as a gear ring drive or other driving, which is also within the protection scope of the present scheme.
  • the moving beam 151 is further provided with a first guiding rail 1511 extending in the longitudinal direction, and the blanking structure 13 is provided with a first guiding wheel 131, and the first guiding wheel 131 is mounted on the first guiding rail 1511. And moving along the first guide rail 1511.
  • the first guide rail 1511 is generally disposed on the upper surface of the moving beam 151, and the first guide wheel 131 is disposed at the lower end of the blanking structure 13.
  • the moving beam 151 is further provided with a longitudinally extending second guiding rail 1513.
  • the second guiding rail 1513 is disposed adjacent to the first guiding rail 1511.
  • the blanking structure 13 is further provided with a second guiding wheel 133, and a second guiding wheel.
  • the 133 is mounted on the second guide rail 1513 and moves on the second guide rail 1513.
  • the second guiding rail 1513 and the second guiding wheel 133 can further reduce the friction between the blanking structure 13 and the moving beam 151.
  • the two can mutually In order to help prevent the phenomenon of derailment, the transportation sliding of the blanking structure 13 is more stable.
  • the second guide rail 1513 is disposed on the outer side surface of the moving beam 151, and a lower portion of the blanking structure 13 extends a portion for mounting the second guide wheel 133.
  • the second slide rail structure 17 further includes a second drive chain 173 and a second motor (not shown), and the second drive chain 173 extends in a lateral direction, and at least one end of the first slide rail structure 15 A connecting portion 1531 is provided, the connecting portion 1531 is connected to the second transmission chain 173, and the second motor drives the second transmission chain 173 to drive the second sliding rail structure 17 to move laterally.
  • the second slide rail structure 17 of the present application can also adopt a chain drive manner, but slightly different from the driving manner of the first slide rail structure 15, the second drive chain 173 is driven by the second motor.
  • the first drive chain itself is fixed, and the first gear is driven by the first motor and driven in a manner similar to climbing.
  • the second slide rail structure 17 can also be provided as a gear ring drive or other manner, and is also within the protection scope of the present scheme.
  • the connection portion 1531 and the second transmission chain 173 can be connected by bolts for easy disassembly.
  • the two can also be non-detachable connections, such as welding, and are also within the scope of the present application.
  • the mounting beam 171 is further provided with a third guiding rail 1711 extending in the lateral direction.
  • the first sliding rail structure 15 is provided with a third guiding wheel (not shown) at both ends thereof, and the third guiding wheel is mounted on the first guiding wheel
  • the third guide rail 1711 moves along the third guide rail 1711.
  • the frictional force of the first slide rail structure 15 sliding on the mounting beam 171 can be reduced, and the power of the second motor drive can be reduced while reducing material wear.
  • the third guiding rail 1711 is disposed on the upper surface of the mounting beam 171, and the guiding wheel is generally disposed at the lower end of the connecting frame 153 of the first sliding rail structure 15.
  • the second motor is provided with a travel recorder (not shown) for recording the second motor rotational stroke; and/or the first motor of the blanking structure 13 is provided with the first motor rotational stroke.
  • a trip recorder (not shown); and/or a proximity sensor (not shown) is provided at both ends of the first rail structure 15.
  • the stroke recorders of the first motor and the second motor can record the rotational speeds of the respective motors, so that the stroke of the blanking structure 13 and the trajectory of the movement can be calculated, thereby realizing the blanking structure 13. Precise control of movement.
  • the proximity sensor is installed, which has two functions, on the one hand, whether the blanking structure 13 is moved laterally or longitudinally beyond the preset range. On the other hand, it can also be used to adjust the travel recorder to avoid the accumulation error of the travel recorder.
  • the blanking structure 13 includes: a moving frame 135 connected to the first sliding rail structure 15 and moving longitudinally along the first sliding rail structure 15; and a leveling bucket 137,
  • the flat bucket 137 is fixed to the moving frame 135, and the feed port 13a and the discharge port 13b are respectively provided at both ends of the leveling bucket 137.
  • the trajectory in which the screed 137 is driven may be a zigzag shape or a back shape or any other shape.
  • the blanking structure 13 further includes an elevation measuring instrument (not shown), the elevation measuring instrument is disposed on the moving frame 135, and measures the height between the lower end of the leveling bucket 137 and the bottom surface of the water; and/or, the flattening bucket
  • the 137 is further provided with an observation window.
  • the blanking structure 13 further includes a camera. The camera is mounted on the leveling hopper 137, and records the state of the material in the leveling hopper 137 through the observation window.
  • the elevation measuring device can measure the distance from the bottom surface of the water by the elevation measuring instrument, so that the precise amount of blanking can be controlled.
  • the worker can observe the height of the material stored in the leveling bucket 137 photographed by the camera through the detecting screen on the worktable 30 on the water surface, thereby better controlling the main control.
  • the device operates to adjust the blanking amount of the leveling hopper 137.
  • the automatic paver system 100 further includes a work table 30 disposed on the water surface, and the work table 30 is provided with a main controller (not shown), the main controller and the paving device
  • the transport structure of 10 is electrically connected, and the transport structure is controlled to drive the material structure to move in the support structure 11, and the discharge port 13b is driven to spread.
  • the staff can operate and monitor the underwater paving work on the water table 30, and almost no underwater work is required, which ensures the safety of the staff and is automated.
  • the control process makes it possible to carry out the construction of the underwater fabric with the automatic paver system 100 with high efficiency.
  • the worktop 30 on the surface of the water can generally be carried by a ship.
  • the automatic paver system 100 further includes a retracting structure 50 including a driving member 51 and a connecting member 53 connected to the driving member 51.
  • the driving member 51 is coupled to the table 30, and the connecting member 53 is detachably connected to the supporting structure. 11.
  • the main controller is electrically connected to the driving member 51.
  • the control driving portion moves the supporting structure 11 to the designated position when the connecting member 53 is connected to the supporting structure 11.
  • the connecting member 53 of the retracting structure 50 is connected to the supporting structure 11 by manual operation or main controller control, and the driving member 51 drives the connecting member 53 to be
  • the support structure 11 is lifted from the bottom of the water to a distance from the bottom surface of the adjusting foot 19 and moved to the next paving area, and then the supporting structure 11 is sunk to the bottom of the water until the adjusting leg 19 is supported by the next paving area.
  • the bottom surface of the water, the connecting member 53 is separated from the supporting structure 11 by manual operation or main controller control, and the paving device 10 performs the next paving work.
  • the driving member 51 of the retracting structure 50 may be a motor mounted on the worktable 30.
  • the connecting member 53 may be a steel cable, one end is connected to the motor, and the other end is submerged by a worker to be underwater, and is bound to the supporting structure 11
  • the main controller controls the starting motor, and the supporting structure 11 is lifted by a steel cable for a distance, and then the main table controls the motor after the working table 30 moves a certain distance along the length direction of the base groove (ie, the longitudinal direction in FIG. 1).
  • the steel cable is driven to sink the support structure 11 to the next paving area.
  • the connecting member 53 can also be a rack structure, and the main controller controls the positioning information provided by the driving member 51 (motor or cylinder) in combination with the positioning structure, and the control rack structure automatically extends to the position of the supporting structure 11 by
  • the frame structure is manually fixed to the support structure 11 by bolts, screws or snap structures, or the frame structure is automatically fixed to the support structure 11 by the control of the main controller, and the connector is further controlled by the main controller. 53 moves the support structure 11 to the next paved area.
  • the blanking structure 13 is further provided with a detecting component (not shown), and the detecting component detects the flat value information of the bottom surface of the water, and can detect the flatness of the paved area where the material is laid. The result is fed back to the master and the next step is taken.
  • main controller is electrically connected to the transport structure and the blanking structure 13, and the transport structure is controlled to drive the blanking structure 13 to move on the supporting structure 11, and the blanking structure 13 is controlled to fall by the discharging port 13b. material;
  • the automatic paver system 100 further includes a feeding hopper 141 and a feeding pipe 142.
  • the feeding hopper 141 is disposed on the working table 30.
  • One end of the feeding pipe 142 communicates with the feeding hopper 141, and the other end communicates with the feeding port of the blanking structure 13. 13a.
  • the transport structure is controlled by the controller to move on the support structure 11, so that the transport structure can be moved to each position with the paved area to achieve refined control blanking.
  • the hopper 141 mainly stores a large amount of stone to be paved, and is transported to the feed port 13a of the blanking structure 13 through the feeding pipe 142 to realize the transportation of the table 30 to the blanking structure 13.
  • the support structure 11 is further provided with a measurement positioning structure, the measurement positioning structure includes a measuring frame (not labeled) and at least one positioning structure, one end of the measuring frame is rotatably connected to the supporting structure 11, and the positioning structure is fixed to the measurement The other end of the rack.
  • the positioning structure of the measuring positioning structure is used for acquiring the position information of the positioning structure.
  • the position information of the supporting structure 11 can be obtained by combining the known shape of the measuring frame. According to the obtained position information of the supporting structure 11, the supporting structure 11 can be accurately placed. The position is specified so that the blanking position of the blanking structure 13 is more accurate.
  • Positioning structure is GPS (Global Positioning System, Global Positioning System, specifically RTK (Real-time) Kinematic, carrier phase difference technology), can provide three-dimensional positioning results of the measured position in the specified coordinate system in real time, and achieve centimeter-level accuracy.
  • the position information of the obtained support structure 11 is made more accurate.
  • the worktable 30 is provided with a storage structure 161, and the suction structure 16 is installed at the blanking structure 13, and the suction silt structure 16 further comprises a draining pipe 163, and one end of the draining pipe 163 and the silt discharging structure 16 are discharged.
  • the mouth is connected and the other end is in communication with the storage structure 161.
  • the suction structure 16 the sludge can be sucked by the suction pump before the stone is paved, so that the sludge is excluded from the suction port through the drainage port, and the sludge is removed, and then spread. Stone paving makes the paving of the stone more stable.
  • the extracted sludge is stored through the storage structure 161, and when it is stored to a certain amount, it is transported through the table 30.
  • the work table 30 may include a first work table 31, a second work table 33, and a third work table 35 for setting a main controller and a hopper 141 for controlling the paving device 10
  • the first table 31 is also provided with a water pump, and the gravel in the hopper 141 is fed into the feed pipe 142 in combination with the water pumped by the water pump.
  • the second working table 33 is provided with a storage structure 161, and a main controller for driving the drip driving drive member may also be disposed on the second working table 33 for storing the draining structure 163 through the draining structure 163. Transfer the sludge coming up.
  • the third table 35 is configured to set the retracting structure 50, and the main table 35 is provided with a main controller electrically connected to the retracting structure 50, and the main controller controls the movement of the driving member 51 of the retracting structure 50.
  • the drive link 53 performs an action.
  • the present application also provides a method of working with an automated paver system 100 having a movable blanking structure, comprising:
  • the main controller obtains the first flat value information of the to-be-tiled area, and calculates, according to the first flat value information, the blanking amount of each block in the to-be-tiled area by using a preset algorithm;
  • the main controller controls the blanking structure 13 to coarsely blank each block according to the blanking amount corresponding to the block.
  • the bottom surface of the underwater pre-excavated base groove is divided into a plurality of paved areas to be continuously disposed along the length direction thereof, and each of the paved areas is divided into a plurality of continuously arranged blocks, and the range of each block can be determined according to The size of the discharge port 13b of the blanking structure 13 is matched and divided.
  • the corresponding blanking amount of each block can be calculated according to the average value of the bottom surface unevenness in each block range, and the blanking amount can be set in equal proportion to the average value of the unevenness of the corresponding block.
  • the blanking can be completed once or two blanks are completed, and more times can be completed as needed.
  • the method includes:
  • the main controller controls the longitudinal movement of the first slide rail structure 15 and coarsely blanks the block, and controls the first slide rail structure 15 to move laterally along the second slide rail structure 17 to drive the blanking
  • the structure 13 is moved laterally to the next block and the block is roughed.
  • the main controller controls the transport structure to move on the support structure 11 according to the specified trajectory, and acquires real-time position information of the transport structure.
  • the main controller controls the cloth structure to blank the block according to the corresponding blanking amount of the block.

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Abstract

一种具有活动落料结构的自动摊铺机系统(100)，包括摊铺装置(10)，摊铺装置(10)包括支撑结构(11)、至少一落料结构(13) 以及运输结构。支撑结构(11)支撑于水底面；落料结构(13)具有进料口(13a)和出料口(13b)，出料口(13b)朝向水底面延伸；运输结构包括沿纵向延伸的第一滑轨结构(15)和沿横向延伸的第二滑轨结构(17)，落料结构(13)连接于第一滑轨结构(15)，并沿第一滑轨结构(15)纵向移动，第二滑轨结构(17)设于支撑结构(11)，第一滑轨结构(15)的两端连接于第二滑轨结构(17)，并沿第二滑轨结构(17)横向运动，带动落料结构(13)沿横向运动。还公开了一种具有活动落料结构的自动摊铺机系统(100)的工作方法。

Description

具有活动落料结构的自动摊铺机系统及其工作方法
技术领域
本申请涉及水底摊铺技术领域技术领域，特别涉及一种具有活动落料结构的自动摊铺机系统及其工作方法。
背景技术
沉管隧道的施工方法中，需要先在水底开挖基槽，后续将隧道的管段逐节沉放至预先挖好的水底基槽内，而该作为沉放管段基础的基槽在开挖成型后其底面为凹凸不平的，需要回填石料进行平整，改善地基承载力、控制其相关沉降，使得铺设成型的隧道每节管段受力均匀，使用效果好。为了提高基槽底面的平整性，现有技术中的作业船一般采用带定位桩的浮式整平船或平台式整平船，该带定位桩的浮式整平船和平台式整平船一般包括一布料管，布料管直接深入到水底，而布料管的整体长度较长，其在水下的部分容易直接受水流及波浪影响，使得整平精度降低。
发明内容
本申请的主要目的是提供一种具有活动落料结构的自动摊铺机系统，旨在使自动摊铺机系统在进行水底碎石铺垫时，提高铺设精度，降低水流及波浪的影响，并且能够适用于不同的水深要求。
为实现上述目的，本申请提出的具有活动落料结构的自动摊铺机系统，包括：摊铺装置，所述摊铺装置包括：
支撑结构，所述支撑结构支撑于水底面；
至少一落料结构，所述落料结构具有供物料通过的进料口和出料口，所述出料口朝向水底面延伸；
以及运输结构，所述运输结构包括沿纵向延伸的第一滑轨结构和沿横向延伸的第二滑轨结构，所述落料结构连接于该第一滑轨结构，并沿所述第一滑轨结构纵向移动，所述第二滑轨结构设于所述支撑结构，所述第一滑轨结构的两端连接于所述第二滑轨结构，并沿所述第二滑轨结构横向运动，带动所述落料结构沿横向运动。
可选地，所述第一滑轨结构包括至少两纵向延伸的移动梁，两所述移动梁相对设置，所述落料结构连接于两所述移动梁，并沿所述移动梁纵向运动；
所述第二滑轨结构包括至少两横向延伸的安装梁，两所述安装梁相对设置，一所述移动梁的两端分别连接于一所述安装梁，两所述移动梁沿所述第二滑轨结构横向运动，带动所述落料结构沿横向运动。
可选地，所述第一滑轨结构还包括至少两连接架，所述连接架将两相邻移动梁连接，并位于两所述移动梁的两端，并一所述连接架与另一所述连接架之间设有第一传动链条，
所述第一滑轨结构还包括第一马达和第一齿轮，该第一马达和第一齿轮设于所述落料结构，所述第一齿轮与所述第一传动链条啮合，所述第一马达驱动所述第一齿轮转动，带动所述落料结构沿所述第一传动链条移动。
可选地，所述移动梁还设有沿纵向延伸的第一导向轨，所述落料结构设有第一导向轮，所述第一导向轮安装于所述第一导向轨，并沿所述第一导向轨移动。
可选地，所述移动梁还设有纵向延伸的第二导向轨，所述第二导向轨邻接所述第一导向轨设置，所述落料结构还设有第二导向轮，所述第二导向轮安装于所述第二导向轨，并于所述第二导向轨移动。
可选地，所述第二滑轨结构还包括第二传动链条和第二马达，所述第二传动链条沿横向延伸，所述第一滑轨结构的至少一端设有连接部，所述连接部与所述第二传动链条连接，所述第二马达驱动所述第二传动链条，带动所述第二滑轨结构横向运动。
可选地，所述安装梁还设有沿横向延伸的第三导向轨，所述第一滑轨结构的两端均设有第三导向轮，所述第三导向轮安装于所述第三导向轨，并沿所述第三导向轨移动。
可选地，所述第二马达设有记录所述第二马达转动行程的行程记录仪；
且/或，落料结构的第一马达设有记录所述第一马达转动行程的行程记录仪；
且/或，所述第一滑轨结构的两端还设有近程传感器。
可选地，所述落料结构包括：
移动架，所述移动架连接于该第一滑轨结构，并沿所述第一滑轨结构纵向移动；以及
整平斗，所述整平斗固定于所述移动架，所述进料口和出料口分别设于所述整平斗的两端。
可选地，所述落料结构还包括高程测量仪，所述高程测量仪设于所述移动架，并测量所述整平斗的下端与所述水底面之间的高度；
且/或，所述整平斗还设有观察窗，所述落料结构还包括摄影仪，所述摄影仪安装于所述整平斗，并透过所述观察窗记录所述整平斗内的物料状态。
本申请一种具有活动落料结构的自动摊铺机系统的工作方法，主控器获取待摊铺区域的第一平坦值信息，根据该第一平坦值信息通过预设算法计算得到待摊铺区域中的每一区块的落料量；
主控器控制所述落料结构对每一区块按照该区块相对应的落料量进行粗落料。
可选地，在主控器控制所述落料结构对每一区块按照该区块相对应的落料量进行粗落料的步骤中，包括：
主控器控制沿所述第一滑轨结构纵向移动并对该区块粗落料，控制所述第一滑轨结构沿所述第二滑轨结构横向运动，带动所述落料结构沿横向运动至下一区块，并对该区块进行粗落料。
本申请技术方案的自动摊铺机系统的支撑结构支撑于水底面，运输结构滑动连接于支撑结构，该支撑结构对运输结构提供了支撑，使得该运输结构能够驱动落料结构在距离水底面相对较近的位置运动，物料由该落料结构的进料口输入，并由出料口输出，该出料口朝向水底面延伸，由于落料结构距离水底面较近，由出料口输出的物料经过较短的距离即可落至水底面指定位置，整个落料过程几乎不受水流的影响，从而使物料于水底面铺设位置精确，且该自动摊铺机系统的支撑结构直接支撑于水底面，能够适用于不同的水深要求，使得该自动摊铺机系统的适用范围广。
并且，通过设置沿纵向延伸的第一滑轨结构和沿横向延伸的第二滑轨结构，使得落料结构能够在纵向和横向均能运动摊铺，使得该自动摊铺机系统的能够摊铺水底面的任意指定位置，进一步增强摊铺效果。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本申请的摊铺装置的一实施例的结构示意图；
图2为图1中A处的局部放大图；
图3为图1中B处的局部放大图；
图4为图1中摊铺装置的落料结构的一实施例的结构示意图；
图5为本申请具有活动落料结构的自动摊铺机系统的一实施例的结构示意图；
图6为图5中自动摊铺机系统中支撑结构连接于收放结构的示意图；
图7为图5中支撑结构由收放结构吊起的结构示意图。
附图标号说明：
标号 名称 标号 名称
100 自动摊铺机系统 1531 连接部
10 摊铺装置 16 吸淤结构
11 支撑结构 161 储存结构
13 落料结构 163 排淤管
131 第一导向轮 17 第二滑轨结构
133 第二导向轮 171 安装梁
13a 进料口 173 第二传动链条
13b 出料口 1711 第三导向轨
135 移动架 19 调节支脚
137 整平斗 30 工作台
141 送料斗 31 第一工作台
142 送料管 33 第二工作台
15 第一滑轨结构 35 第三工作台
151 移动梁 50 收放结构
1511 第一导向轨 51 驱动件
1513 第二导向轨 53 连接件
153 连接架
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明，本申请实施例中所有方向性指示（诸如上、下、左、右、前、后……）仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
在本申请中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
另外，在本申请中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请提出一种具有活动落料结构的自动摊铺机系统100。
参照图1至7，在本申请实施例中，该具有活动落料结构的自动摊铺机系统100包括：摊铺装置10，该摊铺装置10包括：
支撑结构11，支撑结构11支撑于水底面；该支撑结构11包括安装于该支撑结构11的调节支脚19。支撑结构11起到承载的作用，调节支脚19与水底面抵持，并且可调节支撑结构11相对于水地面的高度。
至少一落料结构13，落料结构13具有供物料通过的进料口13a和出料口13b，出料口13b朝向水底面延伸；
以及运输结构（未标示），运输结构包括沿纵向延伸的第一滑轨结构15，落料结构13连接于该第一滑轨结构15，并沿第一滑轨结构15纵向移动，支撑结构11包括沿横向延伸的第二滑轨结构17，第一滑轨结构15的两端连接于第二滑轨结构17，并沿第二滑轨结构17横向运动，带动落料结构13沿横向运动。
本申请技术方案的自动摊铺机系统100的支撑结构11支撑于水底面，运输结构滑动连接于支撑结构11，该支撑结构11对运输结构的运动轨迹提供了支撑和引导，使得该运输结构能够在距离水底面相对较近的位置运动，落料结构13连接该运输结构，使得落料结构13在该运输结构的驱动下也能在距离水底面较近的位置运动，物料由该落料结构13的进料口13a输入，并由出料口13b输出，该出料口13b朝向水底面延伸，由于落料结构13距离水底面较近，由出料口13b输出的物料经过较短的距离即可落至水底面指定位置，整个落料过程几乎不受水流的影响，从而使物料于水底面铺设位置精确，且该自动摊铺机系统100的支撑结构11直接支撑于水底面，能够适用于不同的水深要求，使得该自动摊铺机系统100的适用范围广。
并且，通过设置沿纵向延伸的第一滑轨结构15和沿横向延伸的第二滑轨结构17，使得落料结构13能够在纵向和横向均能运动摊铺，使得该自动摊铺机系统100的能够摊铺水底面的任意指定位置，进一步增强摊铺效果。
进一步地，第一滑轨结构15包括至少两纵向延伸的移动梁151，两移动梁151相对设置，落料结构13连接于两移动梁151，并沿移动梁151纵向运动；第二滑轨结构17包括至少两横向延伸的安装梁171，两安装梁171相对设置，一移动梁151的两端分别连接于一安装梁171，两移动梁151沿第二滑轨结构17横向运动，带动落料结构13沿横向运动。
也即，两个移动梁151架起落料结构13，承载落料结构13运动。在运动的过程中，落料结构13可沿移动梁151的延伸方向，也即纵向运动。而移动梁151在安装梁171的延伸方向滑动，也即横向滑动，如此，通过移动梁151和安装梁171的设置形成的第一滑轨结构15和第二滑轨结构17，通过相互滑动配合，使得落料结构13能够将摊铺区域完全摊铺。
可以理解的是，本申请的安装梁171可以为支撑结构11的一部分组成，也可以为单独设置的安装梁171，然后安装到支撑结构11上。为简便加工工艺，本申请将支撑结构11的一部分设置为安装梁171，也可以将该安装梁171设置为部分中空的圆筒状结构，以提供向上的浮力，抵消落料结构13的重力，减小安装梁171的变形的概率。当然，还可以将移动梁151设置为部分中空的圆筒状结构，以提供向上的浮力，抵消落料结构13的重力。
进一步地，第一滑轨结构15还包括至少两连接架153，连接架153将两相邻移动梁151连接，并位于两移动梁151的两端，并一连接架153与另一连接架153之间设有第一传动链条（未图示），第一滑轨结构15还包括第一马达（未图示）和第一齿轮（未图示），该第一马达和第一齿轮设于落料结构13，第一齿轮与第一传动链条啮合，第一马达驱动第一齿轮转动，带动落料结构13沿第一传动链条移动。
也即，两移动梁151通过两连接架153连接后形成一整体的第一滑轨结构15，落料结构13设置于该第一滑轨结构15，并且，通过第一马达驱动第一齿轮转动，带动落料结构13沿第一传动链条移动，第一传动链条的延伸方向为纵向延伸，与移动梁151的延伸方向相同。可以理解的是，此为齿轮加链条驱动落料结构13运动的方式，当然，还可以设置为齿轮齿圈驱动或者其他方式驱动，也在本方案的保护范围内。
在本申请的一实施例中，移动梁151还设有沿纵向延伸的第一导向轨1511，落料结构13设有第一导向轮131，第一导向轮131安装于第一导向轨1511，并沿第一导向轨1511移动。
通过该第一导向轨1511和第一导向轮131的配合，可减小落料结构13与移动梁151之间的摩擦力，降低第一马达的输出功率，使得该落料结构13能够被更好的沿纵向驱动。一般将该第一导向轨1511设置在移动梁151的上表面，第一导向轮131设置在落料结构13的下端。
进一步地，移动梁151还设有纵向延伸的第二导向轨1513，第二导向轨1513邻接所述第一导向轨1511设置，落料结构13还设有第二导向轮133，第二导向轮133安装于第二导向轨1513，并于第二导向轨1513移动。
第二导向轨1513和第二导向轮133可进一步的减小落料结构13与移动梁151之间的摩擦力，在同时设置第一导向轨1511和第二导向轨1513时，二者可互为助力，防止出现脱轨的现象，使得落料结构13的运输滑动更加稳固。一般的，第二导向轨1513设置在移动梁151的外侧表面，落料结构13的下端延伸出一部分，用以安装第二导向轮133。
在本申请的一实施例中，第二滑轨结构17还包括第二传动链条173和第二马达（未图示），第二传动链条173沿横向延伸，第一滑轨结构15的至少一端设有连接部1531，连接部1531与第二传动链条173连接，第二马达驱动第二传动链条173，带动第二滑轨结构17横向运动。
也即，本申请的第二滑轨结构17也可采用链条驱动的方式，但是跟第一滑轨结构15的驱动方式略有不同的是，第二传动链条173是跟随第二马达的驱动而运动的，第一传动链条本身是固定的，通过第一马达驱动第一齿轮，采用类似攀爬的方式进行传动。当然，同第一滑轨结构15类似的是，第二滑轨结构17还可以设置为齿轮齿圈驱动或者其他方式驱动，也在本方案的保护范围内。连接部1531与第二传动链条173的连接方式可为螺栓连接，以方便拆卸。当然，二者也可为不可拆卸连接，如焊接，也在本申请的保护范围内。
进一步地，安装梁171还设有沿横向延伸的第三导向轨1711，第一滑轨结构15的两端均设有第三导向轮（未图示），第三导向轮安装于所述第三导向轨1711，并沿所述第三导向轨1711移动。
同样的，通过第三导向轮和第三导向轨1711的设置，可减小第一滑轨结构15在安装梁171上滑动的摩擦力，在降低物料磨损的同时，降低第二马达驱动的功率。一般的，该第三导向轨1711设置在安装梁171的上表面，导向轮一般设置在第一滑轨结构15的连接架153的下端。
在本申请的一实施例中，第二马达设有记录第二马达转动行程的行程记录仪（未图示）；且/或，落料结构13的第一马达设有记录第一马达转动行程的行程记录仪（未图示）；且/或，第一滑轨结构15的两端还设有近程传感器（未图示）。
也即，可以理解的是，第一马达和第二马达的行程记录仪均可记录各自马达的转速，从而可计算出落料结构13的行程以及运动的轨迹，从而实现对落料结构13的运动的精确控制。安装近程传感器，其具有两方面的作用，一方面是为了落料结构13沿横向移动或沿纵向移动是否超出了预先设置的范围。另一方面也可以用来调校行程记录仪，避免出现行程记录仪出现累积误差的现象。
在本申请的一实施例中，落料结构13包括：移动架135，移动架135连接于该第一滑轨结构15，并沿第一滑轨结构15纵向移动；以及整平斗137，整平斗137固定于移动架135，进料口13a和出料口13b分别设于整平斗137的两端。通过驱动移动架135沿第一滑轨结构15纵向移动，带动整平斗137进行出料摊铺。该整平斗137被驱动的轨迹可为Z字型或回字形或其他任意的形状。
进一步地，落料结构13还包括高程测量仪（未图示），高程测量仪设于移动架135，并测量整平斗137的下端与水底面之间的高度；且/或，整平斗137还设有观察窗，落料结构13还包括摄影仪，摄影仪安装于所述整平斗137，并透过观察窗记录整平斗137内的物料状态。通过高程测量仪可以测量落料结构13距离水底面的距离，如此可实现精确的落料量的掌握可控制。通过在整平斗137上设置观察窗，工作人员在水面上的工作台30上即可通过检测屏观测到摄影仪摄制的整平斗137中储存物料的高度，从而能更好的对主控器进行操作，对整平斗137的落料量进行调节。
在本申请的一实施例中，该自动摊铺机系统100还包括设于水面上的工作台30，工作台30设有主控器（未图示），主控器与所述摊铺装置10的运输结构电性连接，控制运输结构驱动料结构于支撑结构11运动，带动出料口13b进行摊铺。
通过设置在水面上的工作台30，工作人员在水上的工作台30上即可对水下的摊铺工作进行操作和监控，几乎无需进行水下作业，保证了工作人员的安全，且自动化的控制过程使得运用该自动摊铺机系统100进行水下布料的施工效率高。水面的上的工作台30可以一般由船来承载。
自动摊铺机系统100还包括收放结构50，收放结构50包括驱动件51和与该驱动件51连接的连接件53，驱动件51连接于工作台30，连接件53可拆卸连接支撑结构11，主控器电连接驱动件51，控制驱动部于连接件53连接支撑结构11时，移动支撑结构11至指定位置。
当该自动摊铺机系统100的摊铺装置10完成一次摊铺工作后，收放结构50的连接件53由人工操作或主控器控制连接至支撑结构11，驱动件51驱动连接件53将支撑结构11由水底吊起至调节支脚19离开水底面一段距离，并移动至下一待摊铺区域，再将支撑结构11下沉于水底，直至调节支脚19支撑于下一待摊铺区域的水底面，连接件53由人工操作或主控器控制与支撑结构11分离，摊铺装置10进行下一次的摊铺工作。
该收放结构50的驱动件51可以为电机，安装于工作台30上，连接件53可以为钢缆，一端连接至电机，另一端由工作人员潜至水下，将其捆绑于支撑结构11上，主控器控制启动电机，通过钢缆将支撑结构11吊起一段距离，接着工作台30沿基槽的长度方向（即为图1中的纵向）运动一定距离后，主控器控制电机带动钢缆将支撑结构11沉放于下一待摊铺区域。
可以理解地，该连接件53还可以为架式结构，主控器控制驱动件51（电机或气缸）结合定位结构提供的定位信息，控制架式结构自动伸长至支撑结构11所在位置，由人工通过螺栓、螺钉或卡扣结构将该架式结构固定于支撑结构11，或者该架式结构由主控器的控制自动固定于支撑结构11，在主控器的进一步控制下，该连接件53将支撑结构11移动至下一待摊铺区域。
本申请一实施例中，落料结构13还设有检测件（未图示），检测件对水底面的平坦值信息进行检测，能够对铺设过物料的待摊铺区域的平整程度进行检测，并将结果反馈至主控器，进行下一步工作。
进一步地，主控器电性连接所述运输结构和落料结构13，控制所述运输结构带动所述落料结构13于支撑结构11运动，并控制落料结构13由出料口13b进行落料；
且/或，自动摊铺机系统100还包括送料斗141和送料管142，送料斗141设于工作台30，送料管142的一端连通送料斗141，另一端连通落料结构13的进料口13a。
通过控制器控制运输结构在支撑结构11上运动，使得该运输结构能够运动到带摊铺区域的每个位置，实现精细化的控制落料。送料斗141主要存储有大量的待摊铺的石料，通过送料管142运送到落料结构13的进料口13a，实现工作台30到落料结构13的运输。
进一步地，支撑结构11上还设有测量定位结构，测量定位结构包括测量架（未标示）和至少一定位结构，测量架的一端转动连接于所述支撑结构11，定位结构固定于所述测量架的另一端。该测量定位结构的定位结构用于获取自身的位置信息，结合测量架的已知形态能够得出支撑结构11的位置信息，根据得到的支撑结构11的位置信息能够准确的将支撑结构11放置到指定位置，从而使落料结构13的落料位置更加准确。定位结构为GPS（Global Positioning System，全球定位系统），具体为RTK（Real-time kinematic，载波相位差分技术），能够实时地提供所测位置在指定坐标系中的三维定位结果，并达到厘米级精度。使获取到的支撑结构11的位置信息更加准确。
进一步地，工作台30设有储存结构161，在落料结构13处安装有吸淤结构16，吸淤结构16还包括排淤管163，排淤管163的一端与吸淤结构16的排淤口连通，另一端与储存结构161连通。并且，通过该吸淤结构16，可在摊铺石料前，通过吸淤泵对淤泥进行抽吸，使得淤泥从吸淤口经由排淤口排除摊铺区域外，将淤泥排除后，再进行摊铺石料，使得石料的摊铺更加稳固。为了防止抽出的淤泥直接排放到水里对水质造成二次污染，通过储存结构161，对抽出的淤泥进行储存，待储存到一定量时，通过工作台30运走。
工作台30可以包括第一工作台31、第二工作台33和第三工作台35，第一工作台31用于设置主控器和送料斗141，该主控器用于控制摊铺装置10上的所需电控的所有结构，该第一工作台31还设置有水泵，送料斗141内的碎石结合水泵泵出的水共同送入送料管142中。第二工作台33设置有存储结构161，用于驱动吸淤驱动件的主控器也可以设置于该第二工作台33，该存储结构161用于存放由吸淤结构16通过排淤管163传输上来的淤泥。第三工作台35用于设置收放结构50，并于该第三工作台35上设置有电连接该收放结构50的主控器，该主控器控制收放结构50的驱动件51运动，驱动连接件53执行动作。
本申请还提供一种具有活动落料结构的自动摊铺机系统100的工作方法，包括：
主控器获取待摊铺区域的第一平坦值信息，根据该第一平坦值信息通过预设算法计算得到待摊铺区域中的每一区块的落料量；
主控器控制所述落料结构13对每一区块按照该区块相对应的落料量进行粗落料。
水底预挖的基槽的底面沿其长度方向划分为连续设置的多个待摊铺区域，每一待摊铺区域又被划分为多个连续设置的区块，每一区块的范围可以根据落料结构13的出料口13b的尺寸相匹配划分。可以根据每一区块范围内底面凹凸的平均值，计算得到每一区块相应的落料量，该落料量可以与相应区块的凹凸的平均值呈等比设置。
落料可以为一次落料完成或两次落料完成，根据需要也可以为更多次的落料完成。本申请一实施例中优选为两次落料完成，即运输结构沿指定轨迹进行两个周期运动共同完成落料，该落料方式使得落料结构13铺设的物料量更加准确，铺设更加平整。
进一步地，在主控器控制所述落料结构13对每一区块按照该区块相对应的落料量进行粗落料的步骤中，包括：
主控器控制沿所述第一滑轨结构15纵向移动并对该区块粗落料，控制所述第一滑轨结构15沿所述第二滑轨结构17横向运动，带动所述落料结构13沿横向运动至下一区块，并对该区块进行粗落料。
具体地，主控器控制运输结构于支撑结构11上按照指定轨迹运动，并获取运输结构的实时位置信息，当运输结构的实时位置信息与待摊铺区域的区块位置信息相匹配时，主控器控制布料结构对该区块按照该区块相对应的落料量进行落料。
以上所述仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是在本申请的申请构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。

Claims (20)

  1. 一种具有活动落料结构的自动摊铺机系统，其中，包括：摊铺装置，所述摊铺装置包括：
    支撑结构，所述支撑结构支撑于水底面；
    至少一落料结构，所述落料结构具有供物料通过的进料口和出料口，所述出料口朝向水底面延伸；
    以及运输结构，所述运输结构包括沿纵向延伸的第一滑轨结构和沿横向延伸的第二滑轨结构，所述落料结构连接于该第一滑轨结构，并沿所述第一滑轨结构纵向移动，所述第二滑轨结构设于所述支撑结构，所述第一滑轨结构的两端连接于所述第二滑轨结构，并沿所述第二滑轨结构横向运动，带动所述落料结构沿横向运动。
  2. 如权利要求1所述的具有活动落料结构的自动摊铺机系统，其中，
    所述第一滑轨结构包括至少两纵向延伸的移动梁，两所述移动梁相对设置，所述落料结构连接于两所述移动梁，并沿所述移动梁纵向运动；
    所述第二滑轨结构包括至少两横向延伸的安装梁，两所述安装梁相对设置，一所述移动梁的两端分别连接于一所述安装梁，两所述移动梁沿所述第二滑轨结构横向运动，带动所述落料结构沿横向运动。
  3. 如权利要求2所述的具有活动落料结构的自动摊铺机系统，其中，
    所述第一滑轨结构还包括至少两连接架，所述连接架将两相邻移动梁连接，并位于两所述移动梁的两端，并一所述连接架与另一所述连接架之间设有第一传动链条，
    所述第一滑轨结构还包括第一马达和第一齿轮，该第一马达和第一齿轮设于所述落料结构，所述第一齿轮与所述第一传动链条啮合，所述第一马达驱动所述第一齿轮转动，带动所述落料结构沿所述第一传动链条移动。
  4. 如权利要求3所述的具有活动落料结构的自动摊铺机系统，其中，
    所述移动梁还设有沿纵向延伸的第一导向轨，所述落料结构设有第一导向轮，所述第一导向轮安装于所述第一导向轨，并沿所述第一导向轨移动。
  5. 如权利要求4所述的具有活动落料结构的自动摊铺机系统，其中，
    所述移动梁还设有纵向延伸的第二导向轨，所述第二导向轨邻接所述第一导向轨设置，所述落料结构还设有第二导向轮，所述第二导向轮安装于所述第二导向轨，并于所述第二导向轨移动。
  6. 如权利要求2所述的具有活动落料结构的自动摊铺机系统，其中，所述第二滑轨结构还包括第二传动链条和第二马达，所述第二传动链条沿横向延伸，所述第一滑轨结构的至少一端设有连接部，所述连接部与所述第二传动链条连接，所述第二马达驱动所述第二传动链条，带动所述第二滑轨结构横向运动。
  7. 如权利要求3所述的具有活动落料结构的自动摊铺机系统，其中，所述第二滑轨结构还包括第二传动链条和第二马达，所述第二传动链条沿横向延伸，所述第一滑轨结构的至少一端设有连接部，所述连接部与所述第二传动链条连接，所述第二马达驱动所述第二传动链条，带动所述第二滑轨结构横向运动。
  8. 如权利要求4所述的具有活动落料结构的自动摊铺机系统，其中，所述第二滑轨结构还包括第二传动链条和第二马达，所述第二传动链条沿横向延伸，所述第一滑轨结构的至少一端设有连接部，所述连接部与所述第二传动链条连接，所述第二马达驱动所述第二传动链条，带动所述第二滑轨结构横向运动。
  9. 如权利要求5所述的具有活动落料结构的自动摊铺机系统，其中，所述第二滑轨结构还包括第二传动链条和第二马达，所述第二传动链条沿横向延伸，所述第一滑轨结构的至少一端设有连接部，所述连接部与所述第二传动链条连接，所述第二马达驱动所述第二传动链条，带动所述第二滑轨结构横向运动。
  10. 如权利要求6所述的具有活动落料结构的自动摊铺机系统，其中，
    所述安装梁还设有沿横向延伸的第三导向轨，所述第一滑轨结构的两端均设有第三导向轮，所述第三导向轮安装于所述第三导向轨，并沿所述第三导向轨移动。
  11. 如权利要求7所述的具有活动落料结构的自动摊铺机系统，其中，
    所述安装梁还设有沿横向延伸的第三导向轨，所述第一滑轨结构的两端均设有第三导向轮，所述第三导向轮安装于所述第三导向轨，并沿所述第三导向轨移动。
  12. 如权利要求6所述的具有活动落料结构的自动摊铺机系统，其中，所述第二马达设有记录所述第二马达转动行程的行程记录仪；
    且/或，落料结构的第一马达设有记录所述第一马达转动行程的行程记录仪；
    且/或，所述第一滑轨结构的两端还设有近程传感器。
  13. 如权利要求7所述的具有活动落料结构的自动摊铺机系统，其中，所述第二马达设有记录所述第二马达转动行程的行程记录仪；
    且/或，落料结构的第一马达设有记录所述第一马达转动行程的行程记录仪；
    且/或，所述第一滑轨结构的两端还设有近程传感器。
  14. 如权利要求8所述的具有活动落料结构的自动摊铺机系统，其中，所述第二马达设有记录所述第二马达转动行程的行程记录仪；
    且/或，落料结构的第一马达设有记录所述第一马达转动行程的行程记录仪；
    且/或，所述第一滑轨结构的两端还设有近程传感器。
  15. 如权利要求6所述的具有活动落料结构的自动摊铺机系统，其中，所述落料结构包括：
    移动架，所述移动架连接于该第一滑轨结构，并沿所述第一滑轨结构纵向移动；以及
    整平斗，所述整平斗固定于所述移动架，所述进料口和出料口分别设于所述整平斗的两端。
  16. 如权利要求15所述的具有活动落料结构的自动摊铺机系统，其中，
    所述落料结构还包括高程测量仪，所述高程测量仪设于所述移动架，并测量所述整平斗的下端与所述水底面之间的高度；
    且/或，所述整平斗还设有观察窗，所述落料结构还包括摄影仪，所述摄影仪安装于所述整平斗，并透过所述观察窗记录所述整平斗内的物料状态。
  17. 如权利要求6所述的具有活动落料结构的自动摊铺机系统，其中，还包括设于水面上的工作台，所述工作台设有主控器，所述主控器与所述摊铺装置的运输结构电性连接，控制所述运输结构驱动所述落料结构于所述支撑结构运动，带动所述出料口进行摊铺。
  18. 如权利要求7所述的具有活动落料结构的自动摊铺机系统，其中，还包括设于水面上的工作台，所述工作台设有主控器，所述主控器与所述摊铺装置的运输结构电性连接，控制所述运输结构驱动所述落料结构于所述支撑结构运动，带动所述出料口进行摊铺。
  19. 一种具有活动落料结构的自动摊铺机系统的工作方法，其中，包括：
    主控器获取待摊铺区域的第一平坦值信息，根据该第一平坦值信息通过预设算法计算得到待摊铺区域中的每一区块的落料量；
    主控器控制所述落料结构对每一区块按照该区块相对应的落料量进行粗落料。
  20. 如权利要求19所述的具有活动落料结构的自动摊铺机系统的工作方法，其中，
    在主控器控制所述落料结构对每一区块按照该区块相对应的落料量进行粗落料的步骤中，包括：
    主控器控制沿所述第一滑轨结构纵向移动并对该区块粗落料，控制所述第一滑轨结构沿所述第二滑轨结构横向运动，带动所述落料结构沿横向运动至下一区块，并对该区块进行粗落料。
PCT/CN2018/088372 2017-10-18 2018-05-25 具有活动落料结构的自动摊铺机系统及其工作方法 WO2019076052A1 (zh)

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