Gripper-type fastening device for a subsea robot for shaft excavation

Abstract

The application discloses a claw type fastening device for a shaft driving underwater robot, which comprises a base (1), an underwater robot (2), a telescopic rotating assembly, a claw (3), a pre-buried plate (4) and a positioning plate (5); the pre-buried plate is fixedly installed on the top center of a cross beam (6) at the bottom of a sinking well structure, and a plurality of positioning plates are respectively and intervally arranged at the bottom of the cross beam; the base is installed at the bottom of the underwater robot, and a plurality of claws are respectively and rotatably installed on the base through the telescopic rotating assembly; when the underwater robot sinks to the cross beam, the base can be placed on the pre-buried plate, and the plurality of claws can be respectively and rotatably pressed on the plurality of positioning plates, so that the underwater robot is centrally arranged with the cross beam. The application can solve the problem that the underwater robot cannot be accurately positioned and fastened when being installed underwater in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to a shaft tunneling auxiliary equipment, in particular to a gripper type fastening device for a shaft tunneling underwater robot. BACKGROUND

[0002] At present, in addition to the traditional open cut method and traditional caisson construction, the main construction techniques for deep shaft construction process include pressure sinking method, pneumatic caisson method, VSM (sinking shaft tunneling machine) and other construction techniques.

[0003] In the VSM process, the main components include prefabricated assembled pipe sections, underwater robots, sinking control devices, slurry separation stations, power devices, control devices, etc. The VSM process uses prefabricated internal structure pipe sections, which are mechanically cut by the telescopic milling and digging arm, and the soil residue is discharged to the ground through the soil-to-liquid device; the ground is provided with a slurry separation device, and the hoisting and sinking of the pipe section is controlled by the ground power device. When installing, it is necessary to install embedded parts on the inner wall of the prefabricated assembled pipe section, and the legs of the underwater robot are fixedly installed on the embedded parts, and the mechanical arm of the underwater robot is extended downward for tunneling operation. For the cross beam shaft structure provided at the bottom of the prefabricated assembled pipe section, the mechanical arm of the underwater robot will interfere and collide with the cross beam when it is extended downward, resulting in damage to the mechanical arm and the cross beam.

[0004] In order to avoid interference between the underwater robot and the cross beam, the underwater robot needs to be installed on the cross beam, but when the underwater robot needs to be overhauled, the underwater robot needs to be salvaged to the water surface for overhaul and then re-sunk and installed on the cross beam. At this time, the cross beam is located below the water surface in the caisson, and the installation reliability and accuracy of the underwater robot on the underwater cross beam cannot be guaranteed. If the installation position of the underwater robot deviates from the design position or is unstable, it is easy to affect the tunneling operation of the underwater robot, resulting in excavation error of the underwater soil body and causing uneven sinking of the pipe section, ground subsidence and other construction quality and safety problems.

[0005] Therefore, it is necessary to provide a gripper type fastening device for a shaft tunneling underwater robot, which can solve the problem that the underwater robot cannot be accurately positioned and fastened when installed underwater in the prior art. SUMMARY

[0006] The purpose of the present application is to provide a gripper type fastening device for a shaft tunneling underwater robot, which can solve the problem that the underwater robot cannot be accurately positioned and fastened when installed underwater in the prior art.

[0007] The present application is implemented as follows:

[0008] A kind of gripper type fastening device for shaft driving underwater robot, including base, underwater robot, telescopic rotating assembly, gripper, pre-embedded plate and positioning plate;Pre-embedded plate is fixedly installed at the top center of cross beam at the bottom of open caisson structure, and several positioning plates are respectively arranged at the bottom of cross beam;Base is installed at the bottom of underwater robot, and several grippers are respectively rotatably installed on base by telescopic rotating assembly;When underwater robot sinks to cross beam, it can be placed on pre-embedded plate by base, and several grippers can be respectively rotated and pressed on several positioning plates, so that underwater robot is arranged in center with cross beam.

[0009] Each telescopic rotating assembly includes mounting shell, telescopic drive and rotating arm;One end of mounting shell is embedded in base, and the other end of mounting shell is open and extends to the outside of base;Telescopic drive is arranged in mounting shell, one end of rotating arm is rotatably connected at the open end of mounting shell, and the telescopic end of telescopic drive is rotatably connected at the middle part of rotating arm, and the other end of rotating arm is fixedly connected with gripper.

[0010] The inner wall of mounting shell is formed with a pair of first ear plates at the top, so that one end of rotating arm is rotatably inserted between the pair of first ear plates by pin shaft;The telescopic end of telescopic drive is formed with a pair of second ear plates, so that the middle part of rotating arm is rotatably inserted between the pair of second ear plates by pin shaft.

[0011] The open end of mounting shell is formed with a positioning notch at the bottom, and the rotating arm can be embedded in the positioning notch when it is rotated downward.

[0012] The gripper is in L-shaped structure, and the positioning plate is in L-shaped structure matching the center corner of gripper and cross beam, so that the positioning plate can be matched and fitted at the center corner of cross beam, and the gripper can be matched and fitted on the positioning plate.

[0013] The positioning plate is provided with four pieces and is evenly distributed at the bottom of pre-embedded plate, so that the four L-shaped positioning plates can be respectively fitted at the four center corners of cross beam;The gripper is provided with four pieces and is evenly distributed around the base, so that the four grippers can be correspondingly pressed and fitted on the four positioning plates.

[0014] Several mounting plates are formed at intervals on the gripper, one end of the mounting plate is in L-shaped structure and is matched and connected with the L-shaped gripper, the other end of the mounting plate is formed with a fixing slot, the opening direction of the fixing slot is opposite to the rotating closing direction of the gripper, so that the other end of the rotating arm is inserted into the fixing slot and fixedly connected with the mounting plate.

[0015] Compared with the prior art, the present application has the following beneficial effects:

[0016] 1. This invention features a positioning plate and grippers. The positioning plate guides the grippers, and during the rotation and contact of the grippers with the positioning plate, a reaction force is generated on the base, causing the base to move and rotate the underwater robot. When the four grippers press against the four positioning plates, the underwater robot is precisely positioned and fixed with the top center of the cross beam. The mutual limiting effect between the four grippers and the center of the cross beam ensures the reliable fixation of the underwater robot, thereby achieving rapid and accurate positioning and reliable installation of the underwater robot in the vertical shaft, and ensuring that the underwater robot's tunneling operation can meet the construction requirements.

[0017] 2. Because the present invention is equipped with a rotating telescopic component, it can provide reliable support and rotation control for the gripper, thereby ensuring the flexible rotation and clamping fixation of the gripper, and enabling the gripper to drive the underwater robot to move and rotate during the rotation and clamping process, which facilitates the rapid positioning of the underwater robot.

[0018] 3. Because the present invention has a pre-embedded plate, it is convenient to install the four positioning plates at the four corners of the center of the cross beam, thereby facilitating the synchronous guidance and positioning of the four grippers. The guiding range is large, which can meet the positioning requirements of the underwater robot when there is a large deviation, ensuring positioning accuracy. At the same time, it is also convenient to provide bottom support for the underwater robot, ensuring the stability of the underwater robot during tunneling. Attached Figure Description

[0019] Figure 1 This is a perspective view of the gripper-type fastening device for an underwater robot used in vertical shaft excavation according to the present invention;

[0020] Figure 2 This is a cross-sectional view of the telescopic rotating component and the gripper in the gripper-type fastening device for a vertical shaft excavation underwater robot of the present invention.

[0021] Figure 3 This is a perspective view of the telescopic rotating component and the gripper in the gripper-type fastening device for a vertical shaft excavation underwater robot of the present invention.

[0022] Figure 4 This is a schematic diagram of the installation of the pre-embedded plate in the claw-type fastening device for a vertical shaft excavation underwater robot of the present invention.

[0023] In the diagram, 1 is the base, 2 is the underwater robot, 3 is the gripper, 301 is the mounting plate, 302 is the fixing groove, 4 is the embedded plate, 5 is the positioning plate, 6 is the cross beam, 701 is the mounting shell, 702 is the telescopic drive component, 703 is the rotating arm, 704 is the first ear plate, 705 is the second ear plate, and 706 is the positioning groove. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] Please see the appendix Figure 1To the attached Figure 4 A claw type fastening device for a shaft driving underwater robot, comprising a base 1, an underwater robot 2, a telescopic rotating assembly, a claw 3, a pre-embedded plate 4 and a positioning plate 5; the pre-embedded plate 4 is fixedly installed at the top center of a cross beam 6 at the bottom of a caisson structure, and a plurality of positioning plates 5 are respectively and evenly arranged at the bottom of the cross beam 6; the base 1 is installed at the bottom of the underwater robot 2, and a plurality of claws 3 are respectively and rotatably installed on the base 1 through the telescopic rotating assembly; when the underwater robot 2 sinks to the cross beam 6, it can be placed on the pre-embedded plate 4 through the base 1, and the plurality of claws 3 can be respectively and tightly pressed on the plurality of positioning plates 5, so that the underwater robot 2 is centrally arranged with the cross beam 6.

[0026] The pre-embedded plate 4 is pre-embedded at the top center of the cross beam 6, and the plurality of positioning plates 5 are evenly distributed, which are used for guiding and positioning the plurality of claws 3, so that when the plurality of claws 3 are respectively and rotatably turned from a horizontal open state to a vertical closed state through the telescopic rotating assembly, they can be correspondingly and tightly pressed on the plurality of positioning plates 5, that is, even if there is a deviation between the lowering angle and position of the underwater robot 2 and the center of the cross beam 6, when the claw 3 is aligned and tightly pressed on the positioning plate 5, the base 1 can be formed by the movement between the plates. Reaction force, push the base 1 to rotate and move relative to the pre-embedded plate 4, realize the accurate positioning of the underwater robot 2 on the pre-embedded plate 4, that is, the top center of the cross beam 6. At the same time, the underwater robot 2 is fixed on the cross beam 6 by the clamping of the plurality of claws 3 on the plurality of positioning plates 5 in each direction.

[0027] The number of telescopic rotating assemblies, claws 3 and positioning plates 5 is consistent, which can be increased or decreased according to actual construction needs. In order to effectively position and fix, the number of telescopic rotating assemblies, claws 3 and positioning plates 5 is at least two groups and symmetrically arranged.

[0028] Please refer to the attached Figure 2 and the attached Figure 3 Each telescopic rotating assembly comprises a mounting shell 701, a telescopic driving member 702 and a rotating arm 703; one end of the mounting shell 701 is embedded in the base 1, and the other end of the mounting shell 701 is open and extends to the outside of the base 1; the telescopic driving member 702 is arranged in the mounting shell 701, one end of the rotating arm 703 is rotatably connected to the open end of the mounting shell 701, and the telescopic end of the telescopic driving member 702 is rotatably connected to the middle part of the rotating arm 703 through a pin shaft, and the other end of the rotating arm 703 is fixedly connected with the claw 3.

[0029] Preferably, the telescopic drive 702 can adopt an oil cylinder of the prior art, which can be linked and controlled by a controller equipped in the caisson. The controller controls the oil pressure of the oil cylinder, so that when the telescopic end of the oil cylinder extends outward, the rotating arm 703 rotates outward to open, thereby synchronously rotating the claws 3 outward to open, i.e., the claws 3 rotate from the vertical closed state to the horizontal (or nearly horizontal) open state. Conversely, when the telescopic end of the oil cylinder retracts inward, the rotating arm 703 rotates inward to close, thereby synchronously rotating the claws 3 inward to close, i.e., the claws 3 rotate from the horizontal (or nearly horizontal) open state to the vertical closed state. The rotation opening and closing function of the claws 3 is realized by the telescopic control of the telescopic drive 702, so that the claws 3 can be opened away from the positioning plate 5, facilitating the lifting of the water robot 2 and avoiding interference and collision with the cross beam 6, or the claws 3 can be closed to the vertical closed state and press the positioning plate 5, facilitating the fixing and installation of the water robot 2 on the cross beam 6.

[0030] Please refer to the accompanying drawings Figure 2 and the accompanying drawings Figure 3 , the inner wall top of the mounting shell 701 is formed with a pair of first ear plates 704, so that one end of the rotating arm 703 is rotatably inserted between the pair of first ear plates 704 through a pin shaft; the telescopic end of the telescopic drive 702 is formed with a pair of second ear plates 705, so that the middle part of the rotating arm 703 is rotatably inserted between the pair of second ear plates 705 through a pin shaft.

[0031] Under the telescopic push of the telescopic drive 702, one end of the rotating arm 703 can rotate relative to the base 1 around the pin shaft, thereby driving the claws 3 to flexibly rotate. The middle part of the rotating arm 703 rotates relative to the telescopic end of the telescopic drive 702 through the pin shaft, so as to ensure the angle change between the rotating arm 703 and the telescopic end of the telescopic drive 702 when the rotating arm 703 rotates.

[0032] Please refer to the accompanying drawings Figure 2 and the accompanying drawings Figure 3 , the bottom of the open end of the mounting shell 701 is formed with a positioning notch 706, and the rotating arm 703 can be embedded in the positioning notch 706 when it rotates downward.

[0033] The positioning notch 706 can play a guiding and limiting role, ensuring that the rotating arm 703 drives the claws 3 to rotate in the vertical plane, and the rotating track is controllable, thereby ensuring that the four claws 3 can be correspondingly pressed to the four positioning plates 5, and improving the positioning accuracy.

[0034] Please refer to the accompanying drawings Figure 1 to Figure 4 , the claws 3 are in L-shaped structure, and the positioning plates 5 are in L-shaped structure matching the central corners of the claws 3 and the cross beam 6, so that the positioning plates 5 can be matched and fitted at the central corners of the cross beam 6, and the claws 3 can be matched and fitted on the positioning plates 5.

[0035] The L-shaped structure can play a limiting and guiding role in the horizontal and vertical directions when the claw 3 and the positioning plate 5 are positioned, so that the claw 3 and the positioning plate 5 can be completely attached by using the corner structure, and during the relative sliding process between the claw 3 and the positioning plate 5, the reverse force is generated on the base 1 to push the base 1 to rotate or move to be coaxial with the embedded plate 4, so that the underwater robot 2 is accurately positioned.

[0036] Please refer to the accompanying drawings Figure 4 The positioning plate 5 is provided with four blocks and is evenly distributed at the bottom of the embedded plate 4, so that the four L-shaped structures of the positioning plate 5 can be attached at the four central corners of the cross beam 6, respectively; the claw 3 is provided with four claws and is evenly distributed around the base 1, so that the four claws 3 can be correspondingly pressed and attached on the four positioning plates 5.

[0037] The four evenly distributed claws 3 and positioning plates 5 realize accurate positioning of the base 1 and the underwater robot 2 from four directions, improve the positioning efficiency and accuracy of the underwater robot 2, and realize reliable installation of the underwater robot 2 at the center of the cross beam 6 through clamping in four directions, so that the underwater robot 2 will not be deflected and displaced during the tunneling process.

[0038] Please refer to the accompanying drawings Figure 2 and the accompanying drawings Figure 3 The claw 3 is formed with a plurality of mounting plates 301 at intervals, one end of the mounting plate 301 is L-shaped and matched with the claw 3 of the L-shaped structure, the other end of the mounting plate 301 is formed with a fixing groove 302, the opening direction of the fixing groove 302 is opposite to the closing direction of the claw 3, so that the other end of the rotating arm 703 is inserted into the fixing groove 302 and fixedly connected with the mounting plate 301.

[0039] Through the setting of the mounting plate 301, the reliable connection between the claw 3 and the rotating arm 703 can be ensured, and the opening direction of the fixing groove 302 is opposite to the closing direction of the claw 3, so that when the claw 3 is rotated to the vertical closed state, the stress at the connection between the rotating arm 703 and the mounting plate 301 is small, the force can be directly transmitted to the claw 3 to make it rotate and close, and the transmission of the reaction force to the base 1 is ensured; when the claw 3 is rotated to open, the rotating arm 703 only needs to bear the weight of the mounting plate 301 and the claw 3, and the rotating arm 703 and the mounting plate 301 are not easy to be loosened.

[0040] Please refer to the accompanying drawings Figure 1 to the accompanying drawings Figure 4 The positioning method and principle of the underwater robot 2 installed on the cross beam 6 underwater are as follows:

[0041] When pouring the cross beam 6, the round pre-embedded plate 4 is coaxially installed at the top center of the cross beam 6. Before the underwater robot 2 is lowered, the underwater robot 2 is roughly centered with the center of the caisson structure, and the four claws 3 are in an open state and are respectively located at the four corners of the cross beam 6. The underwater robot 2 is lowered by hoisting equipment, and the base 1 is placed on the pre-embedded plate 4 at the center of the cross beam 6.

[0042] The four sets of telescopic rotating assemblies are controlled by the controller of the caisson equipment to drive the telescopic drive 702 to retract the telescopic end of the four telescopic drives 702 inward and drive the rotating arm 703 to rotate towards the center of the cross beam 6, i.e. downward to close, thereby driving the four claws 3 to rotate synchronously towards the positioning plate 5. Since the claws 3 have an L-shaped structure, during the process of the claws 3 approaching and adhering to the positioning plate 5, the L-shaped structure is used for guiding and positioning. If there is a positional and angular deviation between the claws 3 and the positioning plate 5, i.e. a deviation between the center of the underwater robot 2 and the center of the cross beam 6, during the process of the claws 3 retracting inward and adhering, the claws 3 move relative to the positioning plate 5, generating a reaction force on the base 1 to rotate and move the base 1 relative to the pre-embedded plate 4, so that when the four sets of claws 3 rotate to the vertical closed state, they are tightly clamped on the four positioning plates 5. At this time, the center of the underwater robot 2 is aligned with the center of the cross beam 6, thereby accurately positioning and fixing the underwater robot 2 at the top center of the cross beam 6.

[0043] The maximum opening distance of the four claws 3 (i.e. the maximum opening distance of the two oppositely arranged claws 3) can reach 1834mm, allowing a horizontal single-sided error (i.e. the deviation distance between the center of the underwater robot 2 and the center of the cross beam 6) of 270mm; the maximum guiding distance of the four positioning plates 5 to the four claws 3 (i.e. the maximum movement distance of the four claws 3 relative to the four positioning plates 5) can reach 2935mm, and the single-sided guiding distance (i.e. the maximum movement distance of each claw 3 relative to the positioning plate 5) can reach 820mm; the allowable single-sided angular error of the claw 3 (i.e. the maximum angle of rotation of the underwater robot 2 caused by the reaction force of each claw 3 on the base 1) reaches 12°; in the case that there is a large deviation between the lowering position of the underwater robot 2 and the center of the cross beam 6, the four claws 3 can effectively, accurately, quickly and reliably position and fix the underwater robot 2.

[0044] During the tunneling construction of the underwater robot 2, the telescopic end of the telescopic drive 702 is always retracted, i.e. the four sets of claws 3 are tightly fixed at the center of the cross beam 6, thereby ensuring the accurate controllability and safe construction of the tunneling state of the underwater robot 2.

[0045] The above merely preferred embodiments of the present application are not intended to limit the scope of the application, thus, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the present application.

Claims

1. A gripper fastening device for a subsea robot used in shaft excavation, characterized in that: The utility model relates to a kind of underwater robot positioning device, including base (1), underwater robot (2), telescopic rotating assembly, claw (3), pre-embedded plate (4) and positioning plate (5);Pre-embedded plate (4) is fixedly installed at the top center of cross beam (6) in the bottom of open caisson structure, several positioning plates (5) are respectively spaced apart in the bottom of cross beam (6);Base (1) is installed in the bottom of underwater robot (2), several claws (3) are respectively rotatable open and close type installed on base (1) by telescopic rotating assembly;When underwater robot (2) sinks to cross beam (6), it can be placed on pre-embedded plate (4) by base (1), and several claws (3) can be respectively rotated and pressed on several positioning plates (5), so that underwater robot (2) and cross beam (6) are arranged in centering; Each telescopic rotating assembly includes mounting shell (701), telescopic drive (702) and rotating arm (703);One end of mounting shell (701) is embedded in base (1), and the other end of mounting shell (701) is open and extends to the outside of base (1); Telescopic drive (702) is arranged in mounting shell (701), one end of rotating arm (703) is rotatably connected to the open end of mounting shell (701), and the telescopic end of telescopic drive (702) is rotatably connected to the middle part of rotating arm (703), and the other end of rotating arm (703) is fixedly connected with claw (3); The bottom of the open end of mounting shell (701) is formed with positioning notch (706), and rotating arm (703) can be embedded in positioning notch (706) when it is rotated downward. The claw (3) is in L-shaped structure, and the positioning plate (5) is in L-shaped structure matching the center angle of the claw (3) and the cross beam (6), so that the positioning plate (5) can be matched and fitted at the center angle of the cross beam (6), and the claw (3) can be matched and fitted on the positioning plate (5).

2. Gripping jaw fastening device for a shaft driving underwater robot according to claim 1, characterized in that: The top of the inner wall of the mounting shell (701) is formed with a pair of first ear plates (704), so that one end of the rotating arm (703) is rotatably inserted between the pair of first ear plates (704) through a pin shaft; The telescopic end of the telescopic drive (702) is formed with a pair of second ear plates (705), so that the middle part of the rotating arm (703) is rotatably inserted between the pair of second ear plates (705) through a pin shaft.

3. The gripper fastening device for a shaft driving underwater robot according to claim 1, characterized in that: The positioning plate (5) is provided with four pieces which are evenly distributed on the bottom of the pre-embedded plate (4), so that the four L-shaped positioning plates (5) can be respectively fitted on the four center angles of the cross beam (6); The claw (3) is provided with four pieces which are evenly distributed around the base (1), so that the four claws (3) can be correspondingly pressed and fitted on the four positioning plates (5).

4. The gripper fastening device for a shaft driving underwater robot according to claim 1, characterized in that: The claw (3) is formed with a plurality of mounting plates (301) at intervals, one end of the mounting plate (301) is in L-shaped structure and matched with the claw (3) in L-shaped structure, the other end of the mounting plate (301) is formed with a fixing groove (302), the opening direction of the fixing groove (302) is opposite to the rotating closing direction of the claw (3), so that the other end of the rotating arm (703) is inserted into the fixing groove (302) and fixedly connected with the mounting plate (301).

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