WO2020252624A1 - Underwater topography 3d printer and construction method - Google Patents

Abstract

An underwater topography 3D printer and a construction control method. The printer comprises a base frame, a printing head (7) and an above-water control system (9). The printing head (7) comprises a movable bridge frame (75) which enables the printing head (7) to span across and move relative to the base frame. The printing head (7) is operated and controlled by the above-water control system (9) and performs printing and leveling operations in the base frame. An underwater measuring and positioning system and an automatic orientation adjustment system are disposed on the base frame. The automatic orientation adjustment system is a hydraulic support apparatus disposed on the base frame and is controlled by the above-water control system (9). The underwater measuring and positioning system is communicatively connected to the above-water control system (9) by means of an underwater relay (10). The printer can perform leveling and printing operations on construction materials in any direction within the effective range of the base frame so as to provide technical support for underwater constructions.

Description

[Corrected according to Rule 26 23.07.2019] 　A 3D printer and construction control method for underwater terrain Technical field

The invention relates to the technical field of underwater terrain measurement, in particular to an underwater terrain 3D printer and a construction control method.

Background technique

In the underwater topographic survey technology, many immersed tube tunnels currently under construction use traditional underwater leveling systems in the immersed tube control process, relying on a large number of divers to enter the water, and manually laying and leveling guide rails and filling The gravel is leveled underwater. Although the one-time input cost is low through underwater artificial leveling, the labor intensity is high, the safety risk is high, and the construction efficiency is low, which cannot guarantee the safety of underwater construction. The current base frame carrying platform requires manual adjustment. Due to manual underwater operation, it is limited by water depth pressure, manual operation is difficult, the effective operation time of diving leveling is short, the operation efficiency is low, and the labor intensity is high, and the measurement cannot be effectively and accurately measured. Positioning is time-consuming and laborious.

Therefore, there is an urgent need for underwater automatic leveling equipment technology to solve the problem of relying on a large number of divers to enter the water, manually laying leveling rails, and manually filling gravel for underwater leveling, especially in tunnel engineering and gravity wharf Engineering and other marine engineering fields that require basic treatment.

Chinese utility model patent CN201867196U. The announcement date is June 15, 2011. An underwater leveling machine measurement and positioning system was announced. The system includes a leveling ship measurement positioning system, a leveling machine measurement positioning system and a micro-processing unit. GPS, tilt sensor, position sensor, depth sounder and other equipment to accurately determine the plane position, elevation, horizontal attitude and actual elevation of the bed surface at the time of acceptance of the underwater leveler when it is working; at the same time realize the position and attitude of the leveling ship Positioning, and use the micro-processing unit to design and manage the work location, equipment data collection, real-time calculation, real-time display, limit overrun warning and alarm, data storage, data playback and other functions.

Summary of the invention

The purpose of the present invention is to provide an underwater terrain 3D printer and a construction control method in view of the deficiencies of the prior art, provide safety guarantee for underwater construction, and effectively control the underwater leveling position, leveling elevation, etc. and the entire The precise displacement of the device and the realization of digital visualization provide technical support for underwater construction. At the same time, no divers or very few divers can enter the water, which greatly reduces the safety risks of divers from the source.

In order to solve the above technical problems, the technical solution adopted by the present invention is:

An underwater terrain 3D printer, including a base frame, a printer head, and an overwater control system. The printer head includes a mobile bridge frame. The printer head straddles the base frame and moves relative to the base frame through the mobile bridge frame. It is controlled by the water control system and performs printing and leveling actions in the base frame. The base frame is equipped with an underwater measurement positioning system and an automatic attitude adjustment system. The attitude automatic adjustment system is set on the base frame and is controlled by the water In the controlled hydraulic support device, the underwater measurement and positioning system communicates with the above-water control system through an underwater repeater.

As a preferred technical solution of the present invention, the base frame is a square frame formed by two mutually parallel base frame longitudinal beams and two mutually parallel base frame transverse beams fixedly connected and formed, and the hydraulic support device includes a plurality of hydraulic legs Two or more hydraulic legs are fixed on the outer side of each base frame longitudinal beam, and both ends of each base frame cross beam are provided with support platforms extending upward, and one end of the support platform is correspondingly provided with a water level Wire measuring rod;

The underwater measurement and positioning system includes a GPS receiver, a pressure sensor, a stroke sensor and an attitude meter. The GPS receiver is arranged on the top of the measuring rod, the stroke sensor is arranged on the hydraulic leg, and the pressure sensor It is arranged on the supporting platform, the attitude indicator is arranged on one of the base frame beams, and the GPS receiver, pressure sensor, travel sensor and attitude indicator are all communicatively connected with an underwater repeater.

As a preferred technical solution of the present invention, the hydraulic support device includes 4 hydraulic outriggers, two hydraulic outriggers are fixed on the outer side of each of the base frame longitudinal beams, and the hydraulic outriggers include a supporting palm and a jack. The jack is connected with the supporting palm through a universal joint.

As a preferred technical solution of the present invention, two measuring rods are provided, and the two measuring rods are distributed on the same side of the base frame.

As a preferred technical solution of the present invention, the printer head further includes a water fabric bucket, a walking trolley, and a walking leveling bucket. The walking trolley is arranged on the mobile bridge and moves along the length of the mobile bridge. A moving space is provided in the longitudinal direction, a through hole is provided in the vertical direction of the walking trolley, and a sleeve is connected to the top opening of the walking leveling bucket, and the sleeve passes through the moving space and communicates with the through hole. The holes are matched, and the protruding end of the sleeve on the through hole is connected to the water fabric bucket through a supply hose, and the water fabric bucket is set on the water surface auxiliary ship or floats on the water surface through its own floating body.

As a preferred technical solution of the present invention, the casing on the walking leveling bucket is welded into the through hole in the walking trolley to form a whole, and the walking leveling bucket has a hollow trapezoidal structure with an opening downward. , The total length of the bottom of the walking leveling bucket is greater than the width of the mobile bridge frame, the walking leveling bucket is provided with an altimeter, and the altimeter is communicatively connected with the water control system.

As a preferred technical solution of the present invention, the movable wheels provided under the movable bridge are synchronously driven by a gear transmission mechanism, the bottom of the trolley is provided with a plurality of walking wheels, and the movable bridge is provided with matching wheels The track, the traveling trolley drives the traveling wheels to move synchronously on the track through the chain belt transmission mechanism.

As a preferred technical solution of the present invention, it also includes an attitude safety system, the attitude safety system includes a limiter and a limit sensor, the base frame and the moving bridge frame are both square frames with joints, and the base frame The limiters are distributed at the joints of the joints and the joints on the movable bridge, and each limiter is provided with a corresponding limit sensor, and the limit sensor passes through the underwater relay The device communicates with the marine control system.

As a preferred technical solution of the present invention, the water control system includes a hydraulic station, a PLC controller, and a PC. The hydraulic station is connected to the hydraulic controller on the PLC controller by a high-pressure oil pipe with a quick connector. The machine is electrically connected with the PLC controller.

A construction control method for an underwater terrain 3D printer includes the following steps:

1) Real-time monitoring of the base frame status: feedback signals to the underwater repeater through GPS receiver, pressure sensor, stroke sensor and attitude meter, the underwater repeater transmits the signal to the PLC controller, and finally reads the base frame through the PC Measured data of precise positioning underwater, leveling elevation, leveling thickness and plane state;

2) Data processing: Input the boundary conditions of the underwater terrain construction conditions to the PLC controller through the PC, combine the measured data in step 1), after data analysis, the PLC controller transmits the signal to the hydraulic controller, and the hydraulic controller automatically controls the attitude The adjustment system issues an action command;

3) Posture adjustment: The stroke sensor on the hydraulic outrigger receives the action command information of step 2), and all the hydraulic outriggers on the base frame make corresponding telescopic actions to the action command, so that the base frame reaches a horizontal state underwater;

4) Printing and leveling: After the base frame reaches the horizontal state, the data of leveling position, elevation, and leveling thickness are transmitted to the PLC controller. After data analysis and calculation, the leveling height and the total amount of construction materials are obtained, and the PLC controller will The printer sends out an action command to send a traction signal to the mobile bridge frame and the walking trolley. The construction materials enter the water fabric bucket directly to the walking leveling bucket, and the walking leveling bucket is accurately displaced in all directions in the base frame to complete the underwater leveling and printing action;

5) Leveling height: The altimeter feedback signal to the PLC controller, and the actual height of the walking leveling bucket after printing and leveling is displayed through the PC to complete the entire printing process.

In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

1. The printer of the present invention transmits the data of each sensor to the PLC controller, and inputs the boundary conditions of the various construction conditions of the underwater terrain through the PC. After data analysis, the PLC controller issues instructions to the hydraulic control system, and the hydraulic legs do It can adjust the plane of the entire base frame and quickly realize the flexibility and controllability of the underwater base frame. Through remote digital integration, the device can adjust the leveling position, elevation, leveling thickness, and expected breakage. Data such as stone consumption can be transmitted to the PLC controller through wired or wireless technology, and displayed in real time through the PC to realize digital visualization and provide technical guarantee for underwater construction.

2. In the present invention, the combination of limit sensors and limiters on the base frame and the mobile bridge is used as the safety system of the device to ensure that the safety of the base frame and the walking trolley on the mobile bridge can be effectively protected in the event of an accident or overload, and improve The safety and stability of the entire equipment.

3. The base frame of the present invention can carry related work platforms weighing less than 40t for underwater work, with strong load-bearing capacity. Compared with conventional equipment, the base frame greatly reduces diving work, basically realizes that no divers or very few divers enter the water, greatly reduces the safety risks of divers from the source, and obtains the most direct underwater construction safety guarantee; Provide a stable working platform for underwater related equipment, which has considerable social and economic value.

4. Through the water lining bucket, the water transportation equipment can quickly, conveniently and continuously provide construction materials; the feeding hose effectively buffers the vibration between the walking trolley and the water lining bucket, improving the stability and safety of the entire leveling equipment.

5. Through remote digital integration, based on the leveling function of the underwater automatic leveling base frame, the leveling position, elevation, leveling thickness, estimated crushed stone consumption and other data can be transmitted to PLC control through wired or wireless technology. The PC displays the digital visualization and provides technical support for underwater construction; the PC stores the data after the automatic balance of the base frame, such as leveling position, elevation, leveling thickness, expected gravel and other construction materials Through data analysis and calculation, the data such as the amount to be leveled and the expected amount of construction materials are obtained. The signal is transmitted to the PLC controller. The PLC controller issues instructions. The walking leveling bucket can quickly implement underwater continuous automatic leveling. The printing of construction materials such as sand, gravel, gravel and other materials has considerable social and economic value.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the underwater terrain 3D printer of the present invention;

Figure 2 is a schematic diagram of the structure of the hydraulic leg in the underwater terrain 3D printer of the present invention;

3 is a schematic diagram of the structure of the printer head in the underwater terrain 3D printer of the present invention;

Figure 4 is a schematic diagram of the structure of the mobile bridge in the present invention;

Figure 5 is a schematic diagram of the structure of the walking trolley in the present invention;

Figure 6 is a schematic structural view of the walking leveling bucket in the present invention;

In the figure, 1-base frame beam, 2-base frame longitudinal beam, 3-hydraulic outrigger, 30-support palm, 31-universal joint, 32-hydraulic jack, 4-attitude instrument, 5-stroke sensor, 6 Measuring rod, 7-printer head, 71-water fabric bucket, 72-flange, 73-supply hose, 74-traveling trolley, 740-through hole, 741-traveling wheel, 75-moving bridge, 750-moving wheel , 751- bridge beam, 752- bridge longitudinal beam, 76- walking leveling bucket, 760- casing, 761- altimeter, 77- mobile space, 8-GPS receiver, 9-water control system, 10-underwater Relay, 11-pressure sensor, 12-limit sensor, 13-limiter, 14-track beam, 15-water line.

Detailed ways

The specific embodiments of the present invention will be further described below in conjunction with the drawings. It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation to the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

As shown in Figures 1 to 6, an underwater terrain 3D printer includes a base frame, a printer head 7 and a water control system 9. The printer head 7 includes a mobile bridge 75, and the printer head 7 spans the base through the mobile bridge 75. On the frame and move relative to the base frame, the printer head 7 is controlled by the water control system 9 and performs printing and leveling actions in the base frame. The base frame is equipped with an underwater measurement positioning system and an automatic attitude adjustment system. The automatic attitude adjustment system is The hydraulic support device is set on the base frame and controlled by the water control system 9, and the underwater measurement and positioning system communicates with the water control system 9 through the underwater repeater 10.

The underwater repeater 10 used in the above embodiment is commercially available and is a signal regeneration amplifier that can be directly connected to the water control system 9 on the water level 15.

In the preferred implementation of this embodiment, the base frame is a square frame formed by two parallel base frame longitudinal beams 2 and two mutually parallel base frame beams 1 fixedly connected, and the hydraulic support device includes a plurality of hydraulic legs 3, Two or more hydraulic outriggers 3 are fixed on the outer side of each base frame longitudinal beam 2. Both ends of each base frame beam 1 are provided with support platforms extending upward, and the support platform is correspondingly provided with a measuring rod 6 with one end extending from the water level line 15 ；

The underwater measurement and positioning system includes a GPS receiver 8, a pressure sensor 11, a travel sensor 5, and an attitude meter 4. The GPS receiver 8 is arranged on the top of the measuring rod 6, the travel sensor 5 is arranged on the hydraulic leg 3, and the pressure sensor 11 is arranged on the supporting platform, the attitude meter 4 is arranged on one of the base frame beams 1, and the GPS receiver 8, the pressure sensor 11, the travel sensor 5 and the attitude meter 4 are all communicatively connected with the underwater repeater 10. The pressure sensor 11 can measure the depth of the water; the special measuring rod 6 set on the supporting platform can extend the water surface to install the GPS receiver 8 to realize underwater positioning measurement; the stroke sensor 5 can measure the expansion and contraction of the hydraulic leg 3; the attitude meter 4. Measure the plane state of the base frame in real time; GPS receiver 8, pressure sensor 11, travel sensor 5 and attitude indicator 4 are all available on the market.

In the above structure, the overall structure of the base frame is simple, the hydraulic legs 3 on the hydraulic support device are fixed on the base frame, and the entire base frame can be adjusted by the hydraulic jack 33 of the hydraulic legs 3 to achieve the level of the base frame. Leveling requirements for surfaces and different elevations. Among them, the base frame, the measuring rod 6 and the hydraulic support legs 3 are all steel structural parts, and they are welded to form a whole.

In the preferred embodiment of this embodiment, the hydraulic support device includes 4 hydraulic outriggers 3, and two hydraulic outriggers 3 are fixed on the outer side of each base frame longitudinal beam 2. The hydraulic outriggers 3 include a supporting palm 30 and a jack. The joint 31 is connected to the supporting palm 30. The hydraulic outrigger 3 has an intelligent telescopic function, and the bottom is connected by a universal joint 31, which can support any terrain.

In a preferred implementation of this embodiment, two measuring rods 6 are provided, and the two measuring rods 6 are distributed on the same side of the base frame. For example, one of the base frame longitudinal beams 2 is provided with a measuring rod 6 at the same time on the supporting platform extending at the connection point of the base frame cross beam 1 at both ends.

The printer head 7 includes a movable bridge 75, a water fabric bucket 71, a traveling trolley 74, and a traveling leveling bucket 76. The movable bridge 75 spans the base frame and moves relative to the base frame. The traveling trolley 74 is arranged on the movable bridge 75 and runs along the The moving bridge 75 moves in the longitudinal direction, and a moving space 753 is provided along the length of the moving bridge 75, a through hole 740 is provided in the vertical direction of the traveling trolley 74, and a sleeve 760 is connected to the top opening of the traveling leveling bucket 76 The sleeve 760 passes through the moving space 77 to match the through hole 740, and the protruding end of the sleeve 760 on the through hole 740 is connected to the water fabric bucket 71 through the supply hose 73.

The printer head 7 also includes a water fabric bucket 71, a traveling trolley 74, and a traveling leveling bucket 76. The traveling trolley 74 is arranged on the movable bridge 75 and moves along the length of the movable bridge 75. The movable bridge 75 is provided with moving along its length. Space 77, the vertical direction of the walking trolley 74 is provided with a through hole 740, the top opening of the walking leveling bucket 76 is connected with a sleeve 760, which passes through the moving space 77 and matches the through hole 740 The protruding end of the sleeve 760 on the through hole 740 is connected to the water fabric bucket 71 through the supply hose 73. The water fabric bucket 71 is set on the water surface auxiliary ship or floats on the water surface through its own floating body.

With the above structure, the water control system 9 will measure and position the data, such as elevation, leveling position, elevation, leveling thickness, etc., and process the data to obtain the height to be leveled and the estimated amount of construction materials, and then transmit the signal to The PLC controller, the PLC controller issues instructions, and the walking leveling bucket 76 can quickly implement underwater continuous automatic leveling, and print construction materials such as sand, gravel, gravel and other materials in all directions. In addition, the sleeve 760 and the supply hose 73, as well as the supply hose 73 and the water fabric hopper 71 are all connected by a flange 72. The supply hose 73 is used to effectively buffer the space between the walking trolley 74 and the water fabric hopper 71 The vibration makes the system safer and more stable.

In the preferred implementation of this embodiment, the sleeve 760 on the walking leveling bucket 76 is welded into the through hole 740 in the walking trolley 74 to form a whole, and the walking leveling bucket 76 has a hollow trapezoidal structure and opens downwards. The total length of the bottom of the walking leveling bucket 76 is greater than the width of the movable bridge 75. The walking leveling bucket 76 is provided with an altimeter 761, and the altimeter 761 is connected to the water control system 9 in communication. The open downward trapezoidal structure of the walking leveling bucket 76 ensures that the materials fall smoothly and can fill the uneven interior of the base frame well, and complete the leveling and printing of construction materials within the effective range. The altimeter can effectively measure the actual elevation of the walking leveling bucket. The altimeter used is a high-precision digital altimeter, with advanced sonar electronic technology, which can provide echo ranging for seabed and underwater targets, both in analog and digital The form of external output is widely used in the fixed height feedback of ROV/AUV, under-ice measurement and preliminary topographic mapping of shallow rivers, etc.

In the preferred implementation of this embodiment, the movable wheels 750 provided under the movable bridge 75 are synchronously driven by a gear transmission mechanism (not shown in the figure). The bottom of the traveling trolley 74 is provided with a plurality of traveling wheels 741. A track matched with the traveling wheels 741 is provided, and the traveling trolley 74 drives the traveling wheels 741 to move synchronously on the rails through a chain belt transmission mechanism (not shown in the figure). In the above structure, the chain belt transmission mechanism includes a walking motor, a walking reducer, a large sprocket and a small sprocket. The walking motor and the walking reducer are fixed on the body of the walking trolley 74. The input shaft of the walking reducer and the walking motor The output shaft is connected with the small sprocket coaxially, the large sprocket is coaxially connected with a set of driving wheels, and the large sprocket and the small sprocket are connected by a chain; the chain belt transmission mechanism also includes the outer side of the walking wheel As for the transmission chain, one driving wheel of the traveling trolley 74 and the adjacent driven wheel are connected by a transmission chain outside the traveling wheel.

As long as the gear transmission mechanism that can realize synchronous movement on the market can meet the requirements of this application, in addition to the gear transmission mechanism, the driving method adopted when the movable bridge 75 moves on the base frame can also be driven by a chain belt transmission mechanism. The motor-driven reducer drives the sprocket chain to drive, and the movable wheel is driven by the traction force of the chain to the base frame to make the movable bridge 75 move forward and backward.

In addition, the movable bridge 75 is a rectangular frame formed by connecting two parallel bridge beams 751 and two parallel bridge longitudinal beams 752. In order to allow the walking trolley 74 to move within a predetermined range, the bridge beam 751 is provided with a walking track, etc. Other methods on the market that can realize the synchronization of the walking trolley 74 and move steadily on the bridge beam 751 can meet the requirements of this application. No longer.

The preferred implementation of this embodiment also includes an attitude safety system. The attitude safety system includes a limiter 13 and a limit sensor 12. Both the base frame and the moving bridge frame are square frames with joints. Limiters 13 are distributed at the joint and the joint on the movable bridge 75. Each limiter 13 is provided with a limit sensor 12 corresponding to the limit sensor 12, which communicates with the water control system 9 through the underwater repeater 10 connection. The setting of the limiter 13 and the limit sensor 12 ensures that the safety of the base frame, the mobile bridge 75 and the walking trolley 74 can be effectively protected in the event of an accident or overload, and the safety and stability are improved.

In the above structure, since the base frame includes a base frame beam and a base frame longitudinal beam, the base frame longitudinal beam 2 has a track beam 14 matching the top surface of the base frame longitudinal beam 2, and the track beam 14 has a limit near the base frame beam 1. The positioner 13 is provided with a track beam 14 to facilitate the cross installation of the movable bridge 75. The track beam 14 is also a steel structure, which is welded to the base frame to form a whole. The movable bridge 75 is a rectangular frame formed by connecting two parallel bridge beams 751 and two parallel bridge longitudinal beams 752. The bridge beam 751 is provided with a walking track, and the stoppers are arranged at both ends of the walking track.

In a preferred implementation of this embodiment, the water control system 9 includes a hydraulic station, a PLC controller, and a PC. The hydraulic station is connected by a high-pressure oil pipe with a quick connector to the hydraulic controller on the PLC controller. The PC is connected to the PLC. The controller is electrically connected. The boundary conditions of the underwater terrain construction conditions are input to the PLC controller through the PC. The underwater repeater 10 transmits the signals sent by the various sensors to the PLC controller together. The PLC controller and the hydraulic controller on the PLC issue instructions. Each component completes the command action, and the PC inputs, records and saves each data.

The construction control method of the underwater terrain 3D printer in this embodiment includes the following steps:

1) Real-time monitoring of the status of the base frame: feedback signals to the underwater repeater 10 through the GPS receiver 8, pressure sensor 11, stroke sensor 5 and attitude indicator 4, and the underwater repeater 10 transmits the signal to the PLC controller, and finally passes The PC reads the actual measurement data of the precise positioning, leveling elevation, leveling thickness and plane state of the base frame under water;

2) Data processing: Input the boundary conditions of the underwater terrain construction conditions to the PLC controller through the PC, combine the measured data in step 1), after data analysis, the PLC controller transmits the signal to the hydraulic controller, and the hydraulic controller automatically controls the attitude The adjustment system issues an action command;

3) Posture adjustment: The stroke sensor 5 on the hydraulic outrigger 3 receives the action instruction information of step 2), and all the hydraulic outriggers 3 on the base frame make corresponding telescopic actions to the action instruction, so that the base frame reaches underwater Level state

4) Printing and leveling: After the base frame reaches the horizontal state, the data of leveling position, elevation, and leveling thickness are transmitted to the PLC controller. After data analysis and calculation, the leveling height and the total amount of construction materials are obtained, and the PLC controller will The printer head 7 issues an action command to send a traction signal to the mobile bridge 75 and the walking trolley 74. The construction material enters the water fabric bucket 71 directly to the walking leveling bucket 76, and the walking leveling bucket 76 accurately moves in all directions in the base frame to complete the underwater finishing. Flat printing action;

5) Leveling height: The altimeter 761 feeds back the signal to the PLC controller, and the PC displays the actual height of the walking leveling bucket after printing and leveling to complete the entire printing process.

The working principle of this embodiment: First, input the boundary conditions of each construction condition to the PLC controller through the PC. During work, when the construction condition is not good and uneven, the entire base frame is not in a vertical state, and is relayed underwater. The sensor transmits the data of each sensor to the PLC controller. The data is displayed by the display on the PC, and the water depth and inclination of the four pressure sensors 11 corresponding to the four support platforms on the leveling frame are known. The GPS receiver 8 on the computer displays the position and elevation of the entire base frame in real time, the four stroke sensors on the four hydraulic legs 3 feedback the initial stroke of the hydraulic jack 32, and the attitude meter 4 feeds back the current attitude of the base frame, after data analysis , The PLC controller issues instructions to the hydraulic controller, the hydraulic controller adjusts the four hydraulic legs 3 on both sides of the base frame to lift into position, and the hydraulic legs are provided by the hydraulic station to provide hydraulic power to achieve the entire base frame in a flat state; After the base frame is in a horizontal state, the leveling position, elevation, leveling thickness and other data are transmitted to the PLC controller. After data analysis and calculation, the estimated height that needs to be leveled and the estimated amount of construction materials for filling the underwater terrain are calculated. The PLC controller gives instructions to the printer head. The construction material enters from the water fabric hopper 71, passes through the supply hose 73 to the walking leveling hopper 76 and enters the square frame of the base frame. The moving wheel under the moving bridge 75 acts as a gear transmission mechanism. Moving along the base frame beam 1 or the base frame longitudinal beam 2 synchronously, the walking trolley 74 and the walking leveling bucket 76 form a whole, and the traveling wheels 741 of the walking trolley 74 are driven by the chain belt transmission mechanism to move synchronously, and the moving bridge is on the base frame. The moving trajectory line of the upper part and the moving trajectory of the walking leveling bucket on the moving bridge are always vertical. The moving bridge reciprocates on the base frame, and the walking trolley drives the walking leveling bucket to reciprocate in the moving bridge, and the walking leveling bucket 76 Move in all directions within the effective range of the base frame and complete the underwater leveling printing. After the printing is completed, the altimeter on the walking leveling bucket is transmitted to the PLC controller through data, and the actual elevation of the walking leveling bucket is displayed by the PC; Finally, when an overload occurs or an accident occurs, the limit sensor 12 feeds back the signal to the underwater repeater 10 and then transmits it to the PLC controller. The PLC controller issues instructions. The limiter 13 can effectively protect the safety of the entire device and improve safety. Sex and stability.

The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, without departing from the principle and spirit of the present invention, various changes, modifications, substitutions and modifications to these embodiments still fall within the protection scope of the present invention.

Claims (10)

1. An underwater terrain 3D printer, which is characterized in that it comprises a base frame, a printer head, and a water control system. The printer head includes a mobile bridge frame. The printer head spans the base frame and moves relative to the base frame through the mobile bridge frame. The printer head is controlled by the water control system and performs printing and leveling actions in the base frame. The base frame is provided with an underwater measurement positioning system and an automatic attitude adjustment system, and the attitude automatic adjustment system is set on the base frame A hydraulic support device controlled by a water control system, and the underwater measurement and positioning system communicates with the water control system via an underwater repeater.
2. The underwater terrain 3D printer according to claim 1, wherein the base frame is a square frame formed by two mutually parallel base frame longitudinal beams and two mutually parallel base frame beams fixedly connected. The hydraulic supporting device includes a plurality of hydraulic supporting legs, and two or more hydraulic supporting legs are fixed on the outer side of each base frame longitudinal beam, and the two ends of each base frame cross beam are provided with supporting platforms extending upward. The supporting table is correspondingly provided with a measuring rod with one end extending out of the water level line;

   The underwater measurement and positioning system includes a GPS receiver, a pressure sensor, a stroke sensor and an attitude meter. The GPS receiver is arranged on the top of the measuring rod, the stroke sensor is arranged on the hydraulic leg, and the pressure sensor It is arranged on the supporting platform, the attitude indicator is arranged on one of the base frame beams, and the GPS receiver, pressure sensor, travel sensor and attitude indicator are all communicatively connected with an underwater repeater.
3. An underwater terrain 3D printer according to claim 2, characterized in that: the hydraulic support device comprises 4 hydraulic outriggers, and two hydraulic outriggers are fixed on the outer side of each of the base frame longitudinal beams, so The hydraulic outrigger includes a supporting palm and a jack, and the jack is connected to the supporting palm through a universal joint.
4. The underwater terrain 3D printer according to claim 2, wherein there are two measuring rods, and the two measuring rods are distributed on the same side of the base frame.
5. The underwater terrain 3D printer according to claim 1, characterized in that: the printer head further comprises a water fabric bucket, a walking trolley and a walking leveling bucket, the walking trolley is arranged on the moving bridge and runs along the moving bridge. Moving in the longitudinal direction, the moving bridge is provided with a moving space along its length, the walking trolley is provided with a through hole in the vertical direction, and the top opening of the walking leveling bucket is connected with a sleeve. The pipe passes through the moving space to match the through hole, the extension end of the sleeve on the through hole is connected to the water lining bucket through a supply hose, and the water lining bucket is set on the water surface auxiliary ship Or float on the water through its own floating body.
6. An underwater terrain 3D printer according to claim 5, wherein the sleeve on the walking leveling bucket is welded into the through hole in the walking trolley to form a whole, and the walking leveling bucket It is a hollow trapezoidal structure with an opening downward, along the moving direction of the moving bridge, the length of the walking leveling bucket is greater than the width of the moving bridge, the walking leveling bucket is provided with an altimeter, and the altimeter passes water The lower repeater is in communication connection with the maritime control system.
7. An underwater terrain 3D printer according to claim 5, characterized in that: the moving wheels provided under the moving bridge frame are synchronously driven by a gear transmission mechanism, and the bottom of the walking trolley is provided with a plurality of walking wheels, The moving bridge frame is provided with a track matched with traveling wheels, and the traveling trolley drives the traveling wheels to move synchronously on the track through a chain belt transmission mechanism.
8. The underwater terrain 3D printer according to claim 1, characterized in that it further comprises an attitude safety system, the attitude safety system comprises a limiter and a limit sensor, the base frame and the mobile bridge frame are both A square frame with joints, the stoppers are distributed at the joints of the base frame and the joints on the moving bridge, each of the stoppers is provided with a corresponding limit sensor, so The limit sensor communicates with the marine control system through the underwater repeater.
9. The underwater terrain 3D printer according to claim 1, wherein the water control system includes a hydraulic station, a PLC controller and a PC, and the hydraulic station is controlled by a high-pressure oil pipe with a quick connector and a PLC. The hydraulic controller on the device is connected, and the PC is electrically connected with the PLC controller.
10. A construction control method for an underwater terrain 3D printer according to any one of claims 1 to 9, characterized by comprising the following steps:

    1) Real-time monitoring of the base frame status: feedback signals to the underwater repeater through GPS receiver, pressure sensor, stroke sensor and attitude meter, the underwater repeater transmits the signal to the PLC controller, and finally reads the base frame through the PC Measured data of precise positioning underwater, leveling elevation, leveling thickness and plane state;

    2) Data processing: Input the boundary conditions of the underwater terrain construction conditions to the PLC controller through the PC, combine the measured data in step 1), after data analysis, the PLC controller transmits the signal to the hydraulic controller, and the hydraulic controller automatically controls the attitude The adjustment system issues an action command;

    3) Posture adjustment: The stroke sensor on the hydraulic outrigger receives the action command information of step 2), and all the hydraulic outriggers on the base frame make corresponding telescopic actions to the action command, so that the base frame reaches a horizontal state underwater;

    4) Printing and leveling: After the base frame reaches the horizontal state, the data of leveling position, elevation, and leveling thickness are transmitted to the PLC controller. After data analysis and calculation, the leveling height and the total amount of construction materials are obtained, and the PLC controller will The printer sends out an action command to send a traction signal to the mobile bridge frame and the walking trolley. The construction materials enter the water fabric bucket directly to the walking leveling bucket, and the walking leveling bucket is accurately displaced in all directions in the base frame to complete the underwater leveling and printing action;

    5) Leveling height: The altimeter feedback signal to the PLC controller, and the actual height of the walking leveling bucket after printing and leveling is displayed through the PC to complete the entire printing process.

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