An underwater pillow bag throwing and positioning method and a throwing device

Abstract

The present invention discloses an underwater pillow bag throwing and positioning method and a throwing device. The underwater pillow bag throwing device is placed at the edge of the flat plate of a throwing boat, and it includes a placement bottom plate and a GPS positioning system and a multibeam instrument arranged on the placement bottom plate and used for positioning the throwing location of the pillow bag. A lower notch is provided on the lower surface of the placement bottom plate and near the solid part. A limiting launching cylinder is movably arranged inside the lower notch. The limiting launching cylinder generates an angle not only in the horizontal direction but also in the vertical direction. A throwing anchor rod is arranged through the inside of the launching cylinder. One end of the throwing anchor rod is a throwing anchor hook, and the other end of the throwing anchor rod is provided with a steel wire rope. The steel wire rope is wound on a winding assembly arranged on the placement bottom plate. An electromagnetic ejector is arranged on the launching cylinder and used for rapidly impacting the throwing anchor rod and ejecting the throwing anchor rod out of the launching cylinder. The present invention realizes the function of accurately placing the pillow bag.

Description

Technical Field

[0001] The present invention relates to the technical field of pillow bag throwing equipment, and in particular to an underwater pillow bag throwing positioning method and a throwing device. Background Art

[0002] Currently, the riverbeds in the middle and lower reaches of the Yangtze River are composed of easily eroded fine sand and are covered relatively thickly, which causes violent riverbed evolution, resulting in large undulations in the underwater terrain and affecting the operation of the waterway. In order to reinforce the stability of the river bottom, users often need to fill the river bottom with pillow bags filled with mortar.

[0003] Before throwing the pillow bag, use a multibeam measuring instrument to scan the underwater terrain, reasonably divide the underwater throwing area into grids, anchor the sand suction ship and the pillow throwing ship in the throwing area, moor the sand transport ship in place, connect the six-way blowing and filling device, then turn over the flap of the pillow throwing ship, unfold the pipe bag above, start the mud pump to suck sand and fill the pillow bag, and stop blowing when the pillow bag is filled to 80% of its volume. After draining the water, use a high-pressure water gun to flush the pillow bag into the water surface and let it float down to the riverbed.

[0004] However, during the throwing process of traditional pillow bags, it is necessary to use a multibeam measuring instrument for tracking measurement, comparative analysis, and timely correction and supplementary throwing of the position of the pillow bag, which greatly increases the workload of workers. Moreover, due to the flow velocity and buoyancy inherent in the water body itself, the position of the pillow bag in the water body is shifted, and it is difficult to accurately throw the pillow bag to the throwing point position. Summary of the Invention

[0005] This application provides an underwater pillow bag throwing positioning method and a throwing device, which realizes the function of accurately throwing the pillow bag.

[0006] An underwater pillow bag throwing positioning method and a throwing device provided by this application adopt the following technical solutions:

[0007] An underwater pillow bag throwing device, which is placed at the edge of the flat plate of a throwing boat. It includes a placement bottom plate, a GPS positioning system and a multi-beam instrument that are arranged on the placement bottom plate and used to locate the throwing point of the pillow bag. The placement bottom plate is sequentially divided into an operation area, an adjustment area and a throwing area along the throwing point direction of the pillow bag. On one side of the throwing area close to the placement bottom plate and at the central position of the placement bottom plate, there is a rectangular notch, and a solid part is formed outside the rectangular notch. A flipping panel is rotatably arranged inside the rectangular notch. A transmission assembly for driving the pillow bag is arranged on the solid part. A lower notch is arranged on the lower surface of the placement bottom plate and close to the solid part. A limiting launching tube is movably arranged inside the lower notch. The limiting launching tube generates an angle not only in the horizontal direction but also in the vertical direction. A throwing anchor rod penetrates through the inside of the launching tube. One end of the throwing anchor rod is a throwing anchor hook, and the other end of the throwing anchor rod is provided with a steel wire. The steel wire is wound on a winding assembly arranged on the placement bottom plate. An electromagnetic ejector is arranged on the launching tube and used to impact the throwing anchor rod at a high speed and eject the throwing anchor rod out of the launching tube.

[0008] By adopting the above technical solution, the angle of the limiting launching tube is adjusted according to the position of the throwing point, so that the launching end of the limiting launching tube faces the riverbed throwing point. By using the electromagnetic ejector, two groups of throwing anchor rods are ejected to the riverbed throwing point position at a high speed. When the throwing anchor hooks at the ends of the two groups of throwing anchor rods are both anchored at the bottom of the riverbed, the winding assembly is adjusted to make the steel wire in a taut state, and the two groups of steel wires form a "guide rail" that is inclined towards the throwing point position underwater. Then, the flipping panel is flipped to disconnect the upper surface of the flipping panel from the lower surface of the pillow bag, and the transmission assembly is used to convey the pillow bag to the "guide rail". The pillow bag is guided along the two groups of "guide rails" to the riverbed throwing point position, which is used to ensure the accuracy of the pillow bag throwing, can effectively avoid the deviation between the pillow bag and the throwing point caused by the water flow and the buoyancy of the water body, and also reduces the number of "quality inspections".

[0009] Preferably, an L-shaped steel piece is arranged at the bottom of the placement bottom plate. A concave groove for one side of the flat plate to pass through is formed between the L-shaped steel piece and the lower surface of the placement bottom plate. The placement bottom plate is fixed on the flat plate by a plurality of groups of screw rods penetrating through the placement bottom plate to realize the installation of the placement bottom plate.

[0010] By adopting the above technical solution, it is used to stably fix the device at the edge of the flat plate.

[0011] Preferably, the transmission assembly includes a conveyor belt. The upper surface of the conveyor belt is flush with the upper surface of the placement bottom plate, and the conveyor belt is symmetrically arranged about the central axis of the rectangular notch.

[0012] By adopting the above technical solution, with the help of the jet water gun outside the device and using the transmission of the conveyor belt, the pillow belt slides off the placement bottom plate and enters the water body.

[0013] Preferably, the winding assembly includes a support frame provided on the placement bottom plate and a placement groove provided inside the placement bottom plate. A first driving motor is provided on the support frame, and a driving wheel is provided at the output end of the first driving motor. The driving wheel is used for winding the steel wire rope. The steel wire rope penetrates through the placement groove and contacts the outer surface of the limiting rotating shaft provided in the placement groove.

[0014] By adopting the above technical solution, during the startup stage of the electromagnetic catapult, the user can turn off the first driving motor to launch the steel wire rope to the bottom of the riverbed. After the pillow bag is thrown, the user can start the first driving motor to make the driving wheel rotate, for quickly winding the steel wire rope.

[0015] Preferably, an adjusting assembly for adjusting the rotation angle of the launching tube at multiple angles is provided on the launching tube.

[0016] By adopting the above technical solution, it is used to adjust the angle of the launching tube at multiple angles, so that the launching end of the launching tube faces the throwing point position of the pillow bag, for accurately launching the anchor rod.

[0017] Preferably, the adjusting assembly includes a support base, a second driving motor and a third driving motor provided on the support base. The output end of the second driving motor is connected with an output rotating shaft. A regulating bracket is provided at the free end of the output rotating shaft. A first bearing is provided inside the regulating bracket, and a first rotating rod is provided inside the first bearing. An installation block is provided at one end of the first rotating rod, and the launching tube is provided on the installation block.

[0018] By adopting the above technical solution, through the second driving motor, the regulating bracket rotates longitudinally, for adjusting the angle of the launching tube located on the installation block.

[0019] Preferably, a first bevel gear is provided at the other end of the first rotating rod, a second bevel gear is provided on the meshing surface of the first bevel gear, and the driving surface of the second bevel gear is connected to the output end of the third driving motor.

[0020] By adopting the above technical solution, by starting the third driving motor, the second bevel gear rotates, and the first bevel gear rotates accordingly, so that the installation block rotates around the central axis of the first rotating rod, and the launching tube rotates horizontally, for adjusting the angle of the launching tube on the horizontal plane.

[0021] Preferably, a sleeve is slidably provided outside the launching tube. There are ball bearings between the inner wall of the sleeve and the outer wall of the launching tube. At least three groups of inclined gripping rods are provided on the radial surface of the sleeve, and a spherical convex portion is provided at the free end of the gripping rod.

[0022] By adopting the above technical solution, when the pillow bag slides along the surface of the launching tube onto the steel rope, the bottom of the pillow bag will contact the gripping rods of the sleeve. The three groups of gripping rods form a claw-like structure, which is convenient for quickly positioning at the bottom of the pillow bag. Under the guidance of the sleeve, the pillow bag is directionally conveyed along the two steel ropes, which is used to position the pillow bag and prevent the pillow bag from shifting in the water body.

[0023] Preferably, the underwater pillow bag throwing and positioning method of the underwater pillow bag throwing device includes the following steps:

[0024] S1: Installation preparation work;

[0025] Through the L-shaped steel piece, position the placing bottom plate at the edge of the flat plate of the throwing boat, and use the screw to fix the placing bottom plate on the flat plate to complete the installation of the placing bottom plate.

[0026] S2: Underwater terrain measurement;

[0027] Through the GPS positioning system in cooperation with the multi-beam instrument, and with the help of the measuring boat for measurement, measure the underwater terrain to obtain measurement data. The measurement data is automatically collected by the acquisition software and processed into a cross-section positioning map and an underwater topographic map with a scale of 1:1000.

[0028] S3: Grid division and numbering;

[0029] Perform grid division on the underwater topographic map obtained in S2 and carry out unified numbering. Determine the required volume in the grid according to the designed cross-section and convert it into the number of pillow bags; then number the pillow bags in the order of "right side first, left side second, deep first, shallow second, downstream first, upstream second".

[0030] S4: Positioning and anchoring of the sand suction boat and the pillow throwing boat;

[0031] For the cross-section positioning map obtained in S2, position the pillow throwing boat so that the hull of the pillow throwing boat is parallel to the water flow direction and fix it by the "four-anchor method". Use two anchors on each side of the bow and stern of the hull to pull and fix it in a spread shape; first set two positioning points on the side of the pillow throwing boat for preliminary positioning, then the sand suction boat docks, and finally the sand transport boat gears up and docks with the sand suction boat to obtain the mileage stake number.

[0032] S5: Launching the fixed throwing point;

[0033] Adjust the angle of the limit launching tube according to the position of the mileage stake number, so that the launching end of the limit launching tube faces the riverbed throwing point, and by using an electromagnetic ejector, spray two groups of anchor throwing rods at high speed to the riverbed throwing point position. When the anchor hooks at the ends of the two groups of anchor throwing rods are both anchored at the bottom of the riverbed, adjust the winding assembly to make the steel ropes in a taut state, and the two groups of steel ropes form a "guide rail" that inclines towards the throwing point position underwater. Then, flip the flip panel to disconnect the upper surface of the flip panel from the lower surface of the pillow bag, and use the transmission assembly to convey the pillow bag to the "guide rail". The pillow bag is guided along the two groups of "guide rails" to the riverbed throwing point position, which is used to ensure the accuracy of the pillow bag throwing, can effectively avoid the deviation between the pillow bag and the throwing point caused by the water flow and the buoyancy of the water body, and also reduces the number of "quality inspections".

[0034] By adopting the above technical solution, it is used to more accurately throw the pillow bag to the throwing point position.

[0035] Preferably, in step S4, the mileage stake number is obtained after accurately positioning the two front and rear throwing points of the pillow throwing ship through GPS-RTK.

[0036] By adopting the above technical solution, it is used to accurately obtain the mileage stake number.

[0037] To sum up, the present application has the following beneficial effects:

[0038] 1. For this underwater pillow bag throwing device, adjust the angle of the limit launching tube according to the position of the throwing point, so that the launching end of the limit launching tube faces the riverbed throwing point, and by using an electromagnetic ejector, spray two groups of anchor throwing rods at high speed to the riverbed throwing point position. When the anchor hooks at the ends of the two groups of anchor throwing rods are both anchored at the bottom of the riverbed, adjust the winding assembly to make the steel ropes in a taut state, and the two groups of steel ropes form a "guide rail" that inclines towards the throwing point position underwater. Then, flip the flip panel to disconnect the upper surface of the flip panel from the lower surface of the pillow bag, and use the transmission assembly to convey the pillow bag to the "guide rail". The pillow bag is guided along the two groups of "guide rails" to the riverbed throwing point position, which is used to ensure the accuracy of the pillow bag throwing, can effectively avoid the deviation between the pillow bag and the throwing point caused by the water flow and the buoyancy of the water body;

[0039] 2. For the underwater pillow bag throwing positioning method of this underwater pillow bag throwing device, by using the underwater pillow bag throwing device, it not only realizes the function of accurately throwing the pillow bag, but also reduces the number of "quality inspections".

[0040] Attached drawing invention

[0041] Figure 1 It is the overall structural schematic diagram of the underwater pillow bag throwing device in this embodiment;

[0042] Figure 2It is a schematic diagram of the overall structure of the flipping panel in this embodiment;

[0043] Figure 3 It is a schematic diagram of the overall sectional structure of the placement base plate in this embodiment;

[0044] Figure 4 It is a schematic diagram of the overall structure of the connection between the limiting launching cylinder and the anchor throwing rod in this embodiment;

[0045] Figure 5 It is a schematic diagram of the overall structure of the adjusting assembly in this embodiment;

[0046] Figure 6 It is a schematic diagram of the overall structure of the sleeve in this embodiment;

[0047] Figure 7 It is a flowchart of the underwater pillow bag throwing and positioning method in this embodiment.

[0048] Reference numerals of the invention: 1. Placement base plate; 2. GPS positioning system; 3. Multi-beam instrument; 4. L-shaped steel part; 5. Concave groove; 6. Screw; 7. Rectangular notch; 8. Solid part; 9. Flipping panel; 10. Transmission assembly; 11. Lower notch; 12. Limiting launching cylinder; 13. Anchor throwing rod; 14. Anchor throwing hook; 15. Steel rope; 16. Reeling assembly; 1601. Placement groove; 1602. First driving motor; 1603. Driving wheel; 17. Electromagnetic ejector; 18. Adjusting assembly; 1801. Support seat; 1802. Second driving motor; 1803. Third driving motor; 1804. Output rotating shaft; 1805. Adjusting bracket; 1806. First bearing; 1807. First rotating rod; 1808. Mounting block; 1809. First bevel gear; 18010. Second bevel gear; 19. Sleeve; 20. Grabbing rod; 21. Spherical convex part. Detailed implementation manners

[0049] The following further describes the present application in detail with reference to the drawings. It is necessary to point out here that the following specific implementation manners are only used for further invention of the present application and cannot be understood as a limitation on the protection scope of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application according to the above application content.

[0050] The present invention discloses an underwater pillow bag throwing device, as Figure 1As shown in the figure, the underwater pillow bag throwing device is placed at the edge of the flat plate of the throwing boat. It includes a placing bottom plate 1, a GPS positioning system 2 and a multibeam instrument 3 which are arranged on the placing bottom plate 1 and used to locate the throwing location of the pillow bag. The GPS positioning system 2 cooperates with the multibeam instrument 3, and with the help of a surveying boat for measurement, the underwater topography is measured to obtain measurement data. The measurement data is automatically collected by the acquisition software and processed into an underwater topographic map and a cross-section positioning map with a scale of 1:1000;

[0051] The above-mentioned underwater topographic map is divided into grids and uniformly numbered. According to the designed cross-section, the required volume in the grid is determined and converted into the number of pillow bags; then the pillow bags are numbered in the order of "right side first, left side second, deep first, shallow second, downstream first, upstream second".

[0052] Then, based on the cross-section positioning map, the pillow throwing boat is positioned so that the hull of the pillow throwing boat is parallel to the water flow direction and fixed by the "four-anchor method", with two anchors used to pull and fix diagonally in a shape of "eight" at the bow side and the stern side of the hull respectively. First, two positioning points are set at the side of the pillow throwing boat for preliminary positioning, then the sand suction boat docks, and finally the sand transport boat gears up and docks with the sand suction boat. The GPS-RTK is used to accurately position the two front and rear throwing points of the pillow throwing boat, leaving a drift distance and determining the mileage stake number.

[0053] An L-shaped steel part 4 is provided at the bottom of the placing bottom plate 1. A recessed groove 5 for one side of the flat plate to pass through is formed between the L-shaped steel part 4 and the lower surface of the placing bottom plate 1. And a plurality of groups of screw rods 6 passing through the placing bottom plate 1 are used to fix the placing bottom plate 1 on the flat plate, realizing the installation of the placing bottom plate 1;

[0054] As Figures 2 - 3As shown in the figure, the placement base plate 1 is sequentially divided into an operation area, an adjustment area, and a throwing area along the throwing point direction of the pillow bag. On one side of the throwing area close to the placement base plate 1 and at the central position of the placement base plate 1, there is a rectangular notch 7, and a solid part 8 is formed outside the rectangular notch 7. A flipping panel 9 is rotatably arranged inside the rectangular notch 7. A rotating shaft is arranged inside the flipping panel 9, and the driving end of the rotating shaft is connected to a motor. A transmission assembly 10 for transmitting the pillow bag is arranged on the solid part 8. Among them, the transmission assembly 10 includes a conveyor belt. The upper surface of the conveyor belt is flush with the upper surface of the placement base plate 1, and the conveyor belt is symmetrically arranged about the central axis of the rectangular notch 7. A lower notch 11 is arranged on the lower surface of the placement base plate 1 and close to the solid part 8. A limiting launching tube 12 is movably arranged inside the lower notch 11. The limiting launching tube 12 can generate an angle not only in the horizontal direction but also in the vertical direction. A throwing anchor rod 13 is arranged through the inside of the launching tube. One end of the throwing anchor rod 13 is provided with a throwing anchor hook 14, and the other end of the throwing anchor rod 13 is provided with a steel wire rope 15. The steel wire rope 15 is wound on a winding assembly 16 arranged on the placement base plate 1. An electromagnetic ejector 17 is arranged on the launching tube for high-speed impacting the throwing anchor rod 13 and ejecting the throwing anchor rod 13 outside the launching tube.

[0055] In this solution, the angle of the limiting launching tube 12 is adjusted according to the position of the throwing point, so that the launching end of the limiting launching tube 12 faces the riverbed throwing point. By using the electromagnetic ejector 17, the two throwing anchor rods 13 are ejected at high speed to the riverbed throwing point position. When the throwing anchor hooks 14 at both ends of the two throwing anchor rods 13 are anchored at the bottom of the riverbed, the winding assembly 16 is adjusted to make the steel wire rope 15 in a taut state, and the two steel wire ropes 15 form a "guide rail" that is inclined towards the throwing point position underwater. Then, the flipping panel 9 is flipped to disconnect the upper surface of the flipping panel 9 from the lower surface of the pillow bag, and the pillow bag is conveyed to the "guide rail" by using the transmission assembly 10. The pillow bag is guided along the two "guide rails" to the riverbed throwing point position, which is used to ensure the accuracy of the pillow bag throwing, can effectively avoid the deviation between the pillow bag and the throwing point caused by water flow and water buoyancy, and also reduces the number of "quality inspections".

[0056] Regarding quality inspection, it means that after the pillow bag is thrown, a multi-beam measuring instrument is used for underwater measurement, and supplementary throwing is carried out for the areas that have not reached the design elevation or have been missed in throwing until the design requirements are met.

[0057] The coiling assembly 16 includes a support frame provided on the placing base plate 1 and a placement groove 1601 provided inside the placing base plate 1. A first driving motor 1602 is provided on the support frame, and a driving wheel 1603 is provided at the output end of the first driving motor 1602. The driving wheel 1603 is used for coiling the steel wire rope 15. The steel wire rope 15 passes through the placement groove 1601 and contacts the outer surface of the limiting rotating shaft provided in the placement groove 1601. During the startup stage of the electromagnetic ejector 17, the user can turn off the first driving motor 1602 to launch the steel wire rope 15 to the bottom of the riverbed. After the pillow bag throwing is completed, the user can start the first driving motor 1602 to rotate the driving wheel 1603 to quickly coil the steel wire rope 15.

[0058] As Figures 4 - 5 shown, an adjusting assembly 18 for multi-angle adjusting the rotation angle of the launching tube is provided on the launching tube to multi-angle adjust the angle of the launching tube so that the launching end of the launching tube faces the pillow bag throwing point position for accurately launching the anchor rod 13. The adjusting assembly 18 includes a support seat 1801, a second driving motor 1802 and a third driving motor 1803 provided on the support seat 1801. The output end of the second driving motor 1802 is connected with an output rotating shaft 1804. An adjusting bracket 1805 is provided at the free end of the output rotating shaft 1804. A first bearing 1806 is provided inside the adjusting bracket 1805, and a first rotating rod 1807 is provided inside the first bearing 1806. An installation block 1808 is provided at one end of the first rotating rod 1807, and the launching tube is provided on the installation block 1808. By the second driving motor 1802, the adjusting bracket 1805 rotates longitudinally to adjust the angle of the launching tube located on the installation block 1808. A first bevel gear 1809 is provided at the other end of the first rotating rod 1807. A second bevel gear 18010 is provided on the meshing surface of the first bevel gear 1809. The driving surface of the second bevel gear 18010 is connected to the output end of the third driving motor 1803. When the adjusting bracket 1805 is adjusted to an appropriate angle, by starting the third driving motor 1803, the second bevel gear 18010 rotates, driving the first bevel gear 1809 to rotate, so that the installation block 1808 rotates around the central axis of the first rotating rod 1807, driving the launching tube to rotate in the horizontal direction to adjust the angle of the launching tube on the horizontal plane.

[0059] As Figure 6As shown in the figure, a sleeve 19 is slidably arranged outside the launcher tube. There are ball bearings between the inner wall of the sleeve 19 and the outer wall of the launcher tube. Three groups of inclined gripping rods 20 are arranged on the radial surface of the sleeve 19. A spherical protrusion 21 is arranged at the free end of the gripping rod 20. When the pillow bag slides along the surface of the launcher tube onto the steel rope 15, the bottom of the pillow bag will contact the gripping rod 20 of the sleeve 19. The three groups of gripping rods 20 form a claw-like structure, which is convenient for quickly positioning at the bottom of the pillow bag. Under the guidance of the sleeve 19, the pillow bag is directionally fed along the two steel ropes 15, which is used to position the pillow bag and prevent the pillow bag from shifting in the water body.

[0060] As Figure 7 shown, the underwater pillow bag throwing and positioning method of this underwater pillow bag throwing device includes the following steps:

[0061] S1: Installation preparation work;

[0062] Through the L-shaped steel part 4, the placing bottom plate 1 is positioned at the edge of the flat plate of the throwing boat, and the placing bottom plate 1 is fixed to the flat plate by using the screw 6 to complete the installation of the placing bottom plate 1.

[0063] S2: Underwater terrain survey;

[0064] Through the GPS positioning system 2 cooperating with the multi-beam instrument 3, and with the help of the surveying boat for measurement, the underwater terrain is surveyed to obtain measurement data. The measurement data is automatically collected by the acquisition software and processed into a cross-section positioning map and an underwater topographic map with a scale of 1:1000.

[0065] S3: Grid division and numbering;

[0066] The underwater topographic map obtained in S2 is divided into grids and uniformly numbered. According to the designed cross-section, the required volume in the grid is determined and converted into the number of pillow bags. Then, the pillow bags are numbered in the order of "right side first, left side second, deep first, shallow second, downstream first, and upstream second".

[0067] S4: Positioning and anchoring of the sand suction boat and the pillow throwing boat;

[0068] For the cross-section positioning map obtained in S2, the pillow throwing boat is positioned so that the hull of the pillow throwing boat is parallel to the water flow direction and fixed by the "four-anchor method", with two anchors obliquely pulled in a figure-eight shape on the bow side and the stern side of the hull respectively. First, two positioning points are set on the side of the pillow throwing boat for preliminary positioning, then the sand suction boat docks, and finally the sand transport boat gears up and docks with the sand suction boat to obtain the mileage stake number, where the mileage stake number is obtained by accurately positioning the two front and rear throwing points of the pillow throwing boat through GPS-RTK.

[0069] S5: Launching the fixed throwing point;

[0070] Adjust the angle of the limit launching tube 12 according to the position of the mileage stake number, so that the launching end of the limit launching tube 12 faces the riverbed throwing point, and by using the electromagnetic ejector 17, spray the two groups of anchor throwing rods 13 to the riverbed throwing point position at high speed. When the anchor hooks 14 at the ends of the two groups of anchor throwing rods 13 are both anchored at the bottom of the riverbed, adjust the winding assembly 16 to make the steel rope 15 in a taut state, and the two groups of steel ropes 15 form a "guide rail" that slopes towards the throwing point position underwater. Then flip the flip panel 9 to disconnect the upper surface of the flip panel 9 from the lower surface of the pillow bag, and use the transmission assembly 10 to convey the pillow bag to the "guide rail". The pillow bag is guided along the two groups of "guide rails" to the riverbed throwing point position, which is used to ensure the accuracy of the pillow bag throwing, can effectively avoid the deviation between the pillow bag and the throwing point caused by the water flow and the buoyancy of the water body, and also reduces the number of "quality inspections".

[0071] The above are all the preferred embodiments of this application, and the protection scope of this application is not limited by this. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. An underwater pillow bag throwing device, which is placed at the edge of the flat plate of a pillow throwing boat. Characterized in that: It includes a placement bottom plate (1), a GPS positioning system (2) and a multibeam instrument (3) that are arranged on the placement bottom plate (1) and are used to locate the pillow bag throwing location. The placement bottom plate (1) is sequentially divided into an operation area, an adjustment area and a throwing area along the throwing point direction of the pillow bag. On one side of the throwing area close to the placement bottom plate (1) and at the central position of the placement bottom plate (1), there is a rectangular notch (7), and a solid part (8) is formed outside the rectangular notch (7). A flipping panel (9) is rotatably arranged inside the rectangular notch (7). A transmission assembly (10) for transmitting the pillow bag is arranged on the solid part (8). A lower notch (11) is arranged on the lower surface of the placement bottom plate (1) and close to the solid part (8). A limiting launching tube (12) is movably arranged inside the lower notch (11). The limiting launching tube (12) generates an angle not only in the horizontal direction but also in the vertical direction. A throwing anchor rod (13) penetrates through the inside of the launching tube. One end of the throwing anchor rod (13) is provided with a throwing anchor hook (14), and the other end of the throwing anchor rod (13) is provided with a steel wire rope (15). The steel wire rope (15) is wound on a winding assembly (16) arranged on the placement bottom plate (1). An electromagnetic ejector (17) for impacting the throwing anchor rod (13) and ejecting the throwing anchor rod (13) outside the launching tube is arranged on the launching tube.

2. The underwater pillow bag throwing device according to claim 1, Characterized in that: An L-shaped steel part (4) is arranged at the bottom of the placement bottom plate (1). A concave groove (5) for one side of the flat plate to pass through is formed between the L-shaped steel part (4) and the lower surface of the placement bottom plate (1). The placement bottom plate (1) is fixed on the flat plate by a plurality of groups of screw rods (6) penetrating through the placement bottom plate (1) to realize the installation of the placement bottom plate (1).

3. The underwater pillow bag throwing device according to claim 1, Characterized in that: The transmission assembly (10) includes a conveyor belt. The upper surface of the conveyor belt is flush with the upper surface of the placement bottom plate (1), and the conveyor belt is symmetrically arranged about the central axis of the rectangular notch (7).

4. The underwater pillow bag throwing device according to claim 1, Characterized in that: The winding assembly (16) includes a support frame arranged on the placement bottom plate (1) and an installation groove (1601) arranged inside the placement bottom plate (1). A first driving motor (1602) is arranged on the support frame. The output end of the first driving motor (1602) is provided with a driving wheel (1603). The driving wheel (1603) is used to wind the steel wire rope (15). The steel wire rope (15) penetrates through the installation groove (1601) and is in contact with the outer surface of a limiting rotating shaft arranged inside the installation groove (1601).

5. The underwater pillow bag throwing device according to claim 1, Characterized in that: An adjustment assembly (18) for adjusting the rotation angle of the launching tube at multiple angles is arranged on the launching tube.

6. The underwater pillow bag throwing device according to claim 5, It is characterized in that: The adjusting assembly (18) includes a support base (1801), a second driving motor (1802) and a third driving motor (1803) arranged on the support base (1801). The output end of the second driving motor (1802) is connected with an output rotating shaft (1804). The free end of the output rotating shaft (1804) is provided with an adjusting bracket (1805). The inside of the adjusting bracket (1805) is provided with a first bearing (1806). A first rotating rod (1807) is arranged inside the first bearing (1806). One end of the first rotating rod (1807) is provided with a mounting block (1808). The launch tube is arranged on the mounting block (1808).

7. The underwater pillow bag throwing device according to claim 6, It is characterized in that: The other end of the first rotating rod (1807) is provided with a first bevel gear (1809). A second bevel gear (18010) is arranged on the meshing surface of the first bevel gear (1809). The driving surface of the second bevel gear (18010) is connected to the output end of the third driving motor (1803).

8. The underwater pillow bag throwing device according to claim 1, It is characterized in that: A sleeve (19) is slidably arranged outside the launch tube. Ball bearings are arranged between the inner wall of the sleeve (19) and the outer wall of the launch tube. At least three groups of inclined grab bars (20) are arranged on the radial surface of the sleeve (19). The free end of the grab bar (20) is provided with a spherical convex part (21).

9. An underwater pillow bag throwing and positioning method using the underwater pillow bag throwing device according to any one of claims 2-8, It is characterized in that: Its steps include: S1: Installation preparation work; Through the L-shaped steel part (4), the placing bottom plate (1) is positioned at the edge of the flat plate of the pillow throwing ship, and the placing bottom plate (1) is fixed on the flat plate by using the screw (6) to complete the installation of the placing bottom plate (1); S2: Underwater terrain measurement; Through the GPS positioning system (2) cooperating with the multi-beam instrument (3), and with the help of a measurement ship for measurement, the underwater terrain is measured to obtain measurement data. The measurement data is automatically collected by the acquisition software and processed into a cross-section positioning map and an underwater topographic map with a scale of 1:1000; S3: Grid division and numbering; The underwater topographic map obtained in S2 is divided into grids and uniformly numbered. According to the designed cross-section, the required volume in the grid is determined and converted into the number of pillow bags; then the pillow bags are numbered in the order of "right side first, left side second, deep first, shallow second, downstream first, upstream second"; S4: Positioning and anchoring of the sand suction ship and the pillow throwing ship; For the cross-section positioning map obtained in S2, the pillow throwing ship is positioned so that the hull of the pillow throwing ship is parallel to the water flow direction and fixed by the "four-anchor method", with two anchors respectively used to pull and fix obliquely in a figure-eight shape on the bow side and the stern side of the hull; first, two positioning throwing points are set on the side of the pillow throwing ship for preliminary positioning, then the sand suction ship docks, and finally the sand transport ship gears up and docks with the sand suction ship to obtain the mileage stake number; S5: Launch and determine the throwing point; Adjust the angle of the limit launching tube (12) according to the position of the mileage stake number, so that the launching end of the limit launching tube (12) faces the riverbed throwing point. By using the electromagnetic ejector (17), spray two groups of anchor throwing rods (13) to the riverbed throwing point position. When the anchor throwing hooks (14) at the ends of the two groups of anchor throwing rods (13) are both anchored at the bottom of the riverbed, adjust the winding assembly (16) to make the steel rope (15) in a taut state, and the two groups of steel ropes (15) form a "guide rail" that slopes towards the throwing point position underwater. Then, flip the flip panel (9) to disconnect the upper surface of the flip panel (9) from the lower surface of the pillow bag, and use the transmission assembly (10) to convey the pillow bag to the "guide rail". The pillow bag is guided along the two groups of "guide rails" to the riverbed throwing point position, which is used to ensure the accuracy of the pillow bag throwing, can effectively avoid the deviation between the pillow bag and the throwing point caused by water flow and water buoyancy, and also reduces the number of "quality inspections".

10. The underwater pillow bag throwing and positioning method according to claim 9, characterized in that: In step S4, the mileage stake number is obtained after accurately positioning the two front and rear throwing points of the pillow throwing ship through GPS-RTK.

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