Method for using a six-point truss sand suction lifting device for a laying ship

Abstract

The present invention relates to a six-point truss sand suction and lifting device for a laying ship, comprising a support assembly and six groups of working assemblies; the six groups of working assemblies are all slidably connected to the support assembly; the working assembly comprises a moving assembly, a sand suction assembly and a lifting assembly; the sand suction assembly and the lifting assembly are both connected to the moving assembly and move and work through the moving assembly. The support assembly comprises two main beams, each of which is connected to a main frame leg at both ends, and two auxiliary beams are connected between each left and right main frame legs; the moving assembly is slidably connected to the two main beams; the auxiliary beams are connected to a hydraulic pump station, a frequency conversion cabinet and a driver's cab. The present invention minimizes the labor intensity and labor costs of operators, and can effectively improve the precision control, safety performance and construction efficiency of the construction process.

Description

Technical Field

[0001] The invention relates to a six-point truss sand suction lifting device for a laying ship and a use method thereof. Background Art

[0002] A laying ship is an engineering vessel used for channel management and coastal bottom protection projects. It can lift concrete interlocking blocks and mortar transported from barges through the lifting equipment and sand suction and filling equipment installed on the laying ship, and suck and discharge mortar to the laying arrangements, sand bags, and sand ribs, and then transport them to the seabed.

[0003] Existing chain block installation on laying vessels relies entirely on manual experience: two operators operate two fully revolving cranes at the bow and stern of the vessel to lift the concrete chain blocks. The lifting position, placement, and lifting process require remote observation by the operators with weak eyesight, and remote control by multiple on-site workers using high-frequency communication tools. This results in relatively high labor costs and low efficiency and safety. During construction, the two cranes can only lift two chain blocks. A single cycle from lifting the chain block to the lifting position and back to the lifting position takes 6 minutes. During the lifting process, the two crane booms must be carefully positioned to prevent collisions. The load sways significantly during the lifting process, making it difficult for humans to accurately determine the desired lowering position. Crane operators must constantly adjust the crane booms and revolving mechanisms under the guidance of on-site command personnel to ensure accurate placement of the chain blocks. This results in relatively low lifting efficiency and safety, and requires a high level of operational proficiency and coordination between the operators and command personnel.

[0004] Sand suction and filling need to be completed through manual operation of different equipment. The sand suction pump motor, cable, sand suction pump must be connected to the ship-end delivery pipeline and distribution box first, and then the sand suction pump must be hoisted into the barge cabin. The pre-construction preparation process is cumbersome, the labor cost is high, and the construction efficiency is low. During the startup, the operator cannot directly observe the actual operation of the pump, and the relative safety value is low. During the entire construction period, 6-7 workers are required to continuously operate the flushing nozzle to sweep the barge cabin, and at the same time adjust the position of the mud pump in real time to achieve the required suction concentration of the mud pump. The labor demand is large, which leads to increased labor costs, and the operator needs to have certain work experience. The operator must be highly concentrated during the entire operation to prevent the mortar concentration from being too high and the mud pump from overturning, which may lead to production accidents.

[0005] The existing construction technology of laying vessels requires a large amount of manual shifts. Affected by the individual differences of operators, there are problems such as emotionality, fatigue, uneven skills, and construction safety and efficiency varying from person to person. Many key parameter decisions rely too much on manual experience, and fail to effectively utilize the massive data accumulated during construction to provide data support for optimizing construction.

[0006] Therefore, in order to solve the above problems, a six-point truss sand suction lifting device for a laying ship and a method for using the device are proposed. Summary of the Invention

[0007] The purpose of the present invention is to overcome the existing defects and provide a six-point truss sand suction lifting device and a method of use for a laying ship, thereby minimizing the labor intensity and labor cost of operators and effectively improving the medium-precision control, safety performance and construction efficiency of the construction process.

[0008] The technical solution to achieve the above object is: a six-point truss sand suction lifting device for a laying ship, comprising a bracket assembly and six groups of working assemblies; the six groups of working assemblies are all slidably connected to the bracket assembly;

[0009] The working assembly comprises a moving assembly, a sand suction assembly and a lifting assembly; the sand suction assembly and the lifting assembly are both connected to the moving assembly and move and work through the moving assembly.

[0010] Preferably, the bracket assembly includes two main beams, each of the two ends of the main beam is connected to a main frame leg, a camera is installed on each main frame leg, and two auxiliary beams are connected between every two left and right main frame legs; the moving assembly is slidably connected to the two main beams; the auxiliary beams are connected to a hydraulic pump station, a frequency conversion cabinet and a driver's cab.

[0011] Preferably, the moving component includes a longitudinal walking beam and two groups of longitudinal walking mechanisms, each end of the longitudinal walking beam is connected to a group of the longitudinal walking mechanisms, and the two groups of the longitudinal walking mechanisms are respectively slidably connected to the two main beams; a transverse walking mechanism is slidably connected to the longitudinal walking beam, and the transverse walking mechanism is connected to the lifting component; each end of the longitudinal walking beam is connected to a group of extension components.

[0012] Preferably, the extension component includes a folding arm, one end of the folding arm is rotatably connected to the longitudinal walking beam, the upper end face of the other end of the folding arm is connected to a rope body, the other end of the rope body is connected to a folding arm winch, and the folding arm winch is arranged on the main beam; a limit switch and a camera are provided at the front end of the folding arm.

[0013] Preferably, the lifting assembly includes a lifting mechanism, and the lifting mechanism is connected to the transverse walking mechanism; the lifting mechanism is provided with an encoder and a weight sensor.

[0014] Preferably, the sand suction assembly is connected to the side wall of one end of the longitudinal walking beam; the sand suction assembly includes a mechanical arm, one end of the mechanical arm is rotatably connected to the longitudinal walking beam, the end of the mechanical arm close to the longitudinal walking beam is connected to the main arm oil cylinder, the middle of the mechanical arm is connected to the auxiliary arm oil cylinder, the other end of the mechanical arm is connected to the flushing nozzle oil cylinder and the sand suction pump, the flushing nozzle oil cylinder is connected to the flushing nozzle; the sand suction pump is connected to a mud and water pipe; a plurality of angle sensors are connected to the mechanical arm; and a discharge pressure sensor is connected to the outlet pipeline of the sand suction pump.

[0015] Preferably, the driver's cab is respectively provided with an operation console, a video monitoring display, a data acquisition alarm and control system display, a longitudinal walking mechanism stepless speed regulation control handle, a lifting mechanism and a transverse walking mechanism stepless speed regulation control handle, a walking mechanism single action / linkage selection switch, a mechanical arm control handle, a folding arm control knob, a sand suction pump flushing pump start speed regulation knob and a flushing nozzle control handle.

[0016] A method for using a six-point truss sand suction lifting device of a laying ship comprises the following steps:

[0017] Concrete interlocking plate lifting and hoisting:

[0018] Step 1: The transport ship equipped with concrete interlocking pieces moves to the port side of the laying ship;

[0019] Step 2: The operator uses the folding arm control knob to level the folding arms on both sides. During the lowering process, the signal from the limit switch is fed back to the data acquisition alarm and control system display to display the alarm and status, and the control system takes automatic stop protection;

[0020] Step 3: The operator operates the stepless speed control handle of the longitudinal walking mechanism to control the longitudinal walking beam and the transverse walking mechanism at the same time, and moves the transverse walking mechanism to be just above the concrete chain of the transport ship; the stroke, speed and real-time position during the movement are collected by the encoder, and the control system calculates and feeds back to the data acquisition alarm and control system display. The operator can observe its operating status, speed and position information in real time. When the longitudinal walking beam and the transverse walking mechanism are close to their specified movement stroke, the control system performs pre-deceleration and stop protection through the encoder and limit switch;

[0021] Step 4: When the lifting mechanism reaches the position above the target concrete chain piece on the transport ship, the lifting mechanism is operated by the stepless speed control handle of the longitudinal walking mechanism. The operator lowers the hook to a reasonable height by observing the encoder height information collected by the data acquisition alarm and control system display. After all mechanisms are in place, the operator records and saves the current longitudinal walking beam, transverse walking mechanism and lifting mechanism stroke and height through the data acquisition alarm and control system display interface.

[0022] Step 5: When the hook on the lifting mechanism reaches the target height, the on-site worker hangs the concrete chain ring on the hook. The operator can transmit the real-time on-site image collected by the camera to the data acquisition alarm and control system display for observation. The next step can only be carried out after all personnel have evacuated.

[0023] Step 6: When the concrete interlocking pieces are hooked, the operator can set the size of the actual arrangement and the number of concrete interlocking pieces to be placed through the data acquisition alarm and control system display. The system automatically arranges and displays the concrete interlocking pieces to be transported to the target position above the arrangement already laid by the ship based on the input parameters;

[0024] Step 7: The operator uses the stepless speed control handle of the longitudinal walking mechanism to lift the weight to a certain height. When the concrete interlocking piece leaves the ground, the data measured by the weight sensor is transmitted to the data acquisition alarm and control system display for the operator to observe. The control system determines the maximum speed that the horizontal walking mechanism can travel and limits it according to the design requirements and the data fed back by the weight sensor to prevent equipment failure and safety accidents caused by excessive speed.

[0025] Step 8: When the concrete interlocking piece is hoisted to a certain height, the operator can hoist the concrete interlocking piece to the target position in two ways:

[0026] 1. The operator selects the travel mechanism single-action / linked selection switch. When linked, the operator can simultaneously control the longitudinal travel beam, transverse travel mechanism, and lifting mechanism by manipulating the longitudinal travel mechanism stepless speed control handle and the lifting mechanism and transverse travel mechanism stepless speed control handles. The operator observes the real-time position and speed of the concrete interlocking piece by observing the real-time position and speed collected by each encoder and fed back to the data acquisition, alarm, and control system display. The on-site situation monitored by the camera is transmitted to the video surveillance display to observe the real-time position of the concrete interlocking piece until it is lowered to the set target position. After the concrete interlocking piece is hoisted to the target position, the on-site workers unhook it. The operator confirms the unhooking on the video surveillance display. After the workers evacuate to a safe location, the operator reverses the original operation process and moves the longitudinal travel beam, transverse travel mechanism, and lifting mechanism to the target lifting position on the barge. During the operation, if the concrete interlocking piece fails to move according to the target path and position due to unsafe behavior or error by the operator, or if the equipment malfunctions, the data acquisition, alarm, and control system display will use the data or signals fed back by the frequency converter cabinet, each encoder, and each limit switch to display an alarm and provide protection to prevent safety accidents.

[0027] Second, the operator selects the automatic mode on the data acquisition alarm and control system display and clicks to start automatic lifting. The control system will automatically control the longitudinal walking beam, transverse walking mechanism, and lifting mechanism based on the target position set in step 6 and the feedback information from each sensor to lift the concrete interlocking piece to the target position. After reaching the target position, the on-site workers will unhook it. After unhooking is completed and the workers have retreated to a safe point, the operator clicks the one-key return button on the interface. The control system will automatically return each mechanism to the lifting position based on the lifting position and height recorded in step 4 for the next round of lifting.

[0028] Sand blasting operation:

[0029] Step 1: Start the hydraulic pump of the hydraulic pump station through the data acquisition alarm and control system display interface. The hydraulic pump station has low liquid level, high oil temperature, and oil pressure measurement sensors, and feeds back signals to the data acquisition alarm and control system display interface to display data and alarms, and is protected by the control system;

[0030] Step 2: Operate the manipulator control handle to control the main arm cylinder and auxiliary arm cylinder on multiple manipulators to lower the sand suction pump to the sand surface in the transport cabin. The real-time angle measured by the angle sensor is fed back to the data acquisition alarm and control system display interface for display. The control system alarms and provides protection for the maximum and minimum angles according to the design requirements of the manipulator, which can prevent damage to the equipment caused by excessive or insufficient angles due to human error.

[0031] Step 3: Start the flushing pump by turning the speed control knob of the sand suction pump and adjust it to the required flow rate and discharge pressure. Water is sprayed out from the flushing nozzle to flush the sand surface. The flushing nozzle cylinder is adjusted by manipulating the flushing nozzle control handle to make the flushing nozzle spray to the desired target position and flush out a mortar pit on the sand surface.

[0032] Step 4: Operate the control handle of the robotic arm to adjust the main arm cylinder and the auxiliary arm cylinder to lower the suction port of the sand suction pump into the mortar pit;

[0033] Step 5: Adjust the speed knob of the sand suction pump and flushing pump to the required speed. The sand suction pump will run at the speed set by the knob.

[0034] Step six: the sucked mortar is discharged into the sand bags or sand ribs laid on the deck through the mud pipe. During the sand suction process, the operator can observe the data fed back by the discharge pressure sensor to the display interface of the data acquisition alarm and control system. The discharge pressure display value can be used to determine whether the sand suction pump is in the state of suction or blocked. During the sand suction process, the flushing pump start speed knob can be adjusted to control the output flow of the flushing pump to keep the mortar at a certain concentration, and the spray position of the flushing nozzle can be adjusted to flush the surrounding sand to the suction port of the sand suction pump.

[0035] Step 7: After the sand is sucked out, follow the above process in reverse order to retract the robotic arm to its original position to complete the sand blasting operation.

[0036] The beneficial effects of the present invention are as follows: the six-point truss sand suction hoisting device for the laying ship integrates the equipment hardware required for two different construction processes, lifting and sand suction and filling, into the six-point truss sand suction hoisting device, and is combined with a centralized monitoring, alarm, visual acquisition and automatic control system that can measure and display in real time. It can help operators understand and accurately grasp the position information, posture, operating status and construction data of each device during the construction of interlocking blocks and sand suction and filling in real time, provide alarm and protection functions during equipment operation, and meet the needs of operators to control multiple devices simultaneously through data monitoring and automatic control systems to perform operations, thereby minimizing the labor intensity and labor costs of operators and effectively improving the medium-precision control, safety performance and construction efficiency of the construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the six-point truss sand suction and lifting device of the laying ship of the present invention;

[0038] Figure 2 It is a detailed diagram of the movement of the lifting assembly of the present invention;

[0039] Figure 3 It is a detailed diagram of the movement of the sand suction assembly of the present invention;

[0040] Figure 4It is a schematic diagram of the driver's cab of the present invention;

[0041] Figure 5 1. It is a top view of the six-point truss sand suction lifting device of the laying ship of the present invention;

[0042] Figure 6 yes Figure 1 Enlarged view of point A in the middle.

[0043] In the figure: 1. Main beam; 2. Mechanical arm; 3. Longitudinal travel mechanism; 4. Hoisting mechanism; 5. Folding arm winch; 6. Horizontal travel mechanism; 7. Main frame legs; 8. Folding arm; 9. Driver's cab; 10. Limit switch; 11. Camera; 12. Encoder; 13. Hydraulic pump station; 14. Auxiliary beam; 17. Longitudinal travel beam; 18. Frequency converter cabinet; 19. Weight sensor; 30. Travel mechanism single action / linkage selection switch; 31. Video monitoring display; 32. Data acquisition, alarm and control Control system display; 33. Stepless speed control handle for longitudinal travel mechanism; 34. Mechanical arm control handle; 35. Folding arm control knob; 36. Sand suction pump speed control knob; 37. Water flushing nozzle control handle; 38. Operation control console; 39. Stepless speed control handle for lifting mechanism and transverse travel mechanism; 43. Angle sensor; 44. Discharge pressure sensor; 45. Sand suction pump; 46. Main arm cylinder; 47. Auxiliary arm cylinder; 48. Water flushing nozzle cylinder; 49. Water flushing nozzle; 51. Mud and water pipe. DETAILED DESCRIPTION

[0044] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0045] The present invention will be further described below with reference to the accompanying drawings.

[0046] like Figure 1-6 As shown, a six-point truss sand suction and lifting device for a laying ship includes a bracket assembly and six groups of working components; the six groups of working components are all slidably connected to the bracket assembly; the working components include a moving component, a sand suction component and a lifting component; the sand suction component and the lifting component are both connected to the moving component and work by moving the moving component.

[0047] Specifically, the bracket assembly includes two main beams 1, each of which is connected to a main frame leg 7 at both ends, and two auxiliary beams 14 are connected between each left and right main frame legs 7; a camera 11 is installed on each of the main frame legs, and the moving assembly is slidably connected to the two main beams 1; the auxiliary beams 14 are connected to a hydraulic pump station 13, a frequency conversion cabinet 18 and a driver's cab 9.

[0048] Specifically, the mobile assembly includes a longitudinal traveling beam 17 and two sets of longitudinal traveling mechanisms 3. Each end of the longitudinal traveling beam 17 is connected to a set of longitudinal traveling mechanisms 3, and the two sets of longitudinal traveling mechanisms 3 are slidably connected to the two main beams 1. A transverse traveling mechanism 6 is slidably connected to the longitudinal traveling beam 17, and a lifting assembly is connected to the transverse traveling mechanism 6. Each end of the longitudinal traveling beam 17 is connected to a set of extension assemblies. The extension assembly includes a folding arm 8, one end of which is rotatably connected to the longitudinal traveling beam 17, and the other end of the folding arm 8 is connected to a rope. The other end of the rope is connected to a folding arm winch 5, which is installed on the main beam 1. The front end of the folding arm 8 is equipped with a limit switch 10 and a camera 11.

[0049] Specifically, the longitudinal walking beam 17 is driven to move longitudinally by the longitudinal walking mechanism 3. Folding arms 8 are installed on both sides of the longitudinal walking beam 17. During construction work, the folding arms 8 on both sides can be retracted and extended by the folding arm winch 5. The transverse mechanism 6 is connected to the walking beam 17 through the pulley and rack connection direction. The transverse walking mechanism 6 can be made to move in the full range under the walking beam 17 with the folding arms on both sides that have been lowered through the actuator; the lifting mechanism 4 is installed under the transverse walking mechanism 6, and the concrete chain blocks are hoisted by the lifting mechanism 4.

[0050] Specifically, the lifting assembly includes a lifting mechanism 4 , which is connected to the transverse traveling mechanism 6 ; an encoder 12 and a weight sensor 19 are provided on the lifting mechanism 4 .

[0051] Specifically, the sand suction assembly is connected to the side wall of one end of the longitudinal walking beam 17; the sand suction assembly includes a robotic arm 2, one end of the robotic arm 2 is rotatably connected to the longitudinal walking beam 17, the end of the robotic arm 2 close to the longitudinal walking beam 17 is connected to the main arm cylinder 46, the middle of the robotic arm 2 is connected to the auxiliary arm cylinder 47, the other end of the robotic arm 2 is connected to the flushing nozzle cylinder 48 and the sand suction pump 45, the flushing nozzle cylinder 48 is connected to the flushing nozzle 49; the sand suction pump 45 is connected to the mud and water pipe 51; a plurality of angle sensors 43 are connected to the robotic arm 2; and a discharge pressure sensor 44 is connected to the outlet pipeline of the sand suction pump 45.

[0052] Specifically, the robotic arm 2 is installed on the left side of the longitudinal walking beam 17. The movement of the robotic arm 2 is telescopically performed by the main arm cylinder 46 and the auxiliary arm cylinder 47. The flushing nozzle cylinder 48 is installed at the end of the auxiliary arm. The flushing nozzle 49 is telescopically controlled by the cylinder. All hydraulic cylinders are powered by the hydraulic pump station 13; the mud and water pipes 51 are installed on both sides of the robotic arm and extend to the middle of the walking beam 17 through the side of the walking beam; the sand suction pump 45 is connected to the end of the cabinet arm through a wire rope and a shackle, and the sand suction pump is adjusted and lowered into the transport cabin by the robotic arm.

[0053] Specifically, the driver's cab 9 is respectively equipped with an operation console 38, a video monitoring display 31, a data acquisition alarm and control system display 32, a longitudinal walking mechanism stepless speed regulation control handle 33, a lifting mechanism and transverse walking mechanism stepless speed regulation control handle 39, a walking mechanism single action / linkage selection switch 30, a mechanical arm control handle 34, a folding arm control knob 35, a sand suction pump speed regulation knob 36 and a flushing nozzle control handle 37.

[0054] Specifically, the operation console 38 is installed in the driver's cab 9, and the visual acquisition system display 31 is installed on the operation console. The actual situation of the transport ship and the operation area is observed through the camera 11 installed at the end of the left folding arm;

[0055] Specifically, the alarm, measurement data, equipment operating parameter display and control system display 38 are installed on the right side of the operation console 9. The system collects the limit switch 10 signals on both sides of the folding arm 8, the horizontal walking mechanism 6, and the longitudinal walking mechanism 17 for alarm and stop protection, and collects the encoder 12 to measure the specific position information of each walking mechanism. The pressure sensor 44 and the angle sensor 43 are collected to monitor and alarm the operating status and posture of the main arm, auxiliary arm and sand suction pump of the robot arm 2 in real time. The weight sensor 19 data monitors the weight of the hanging object in real time and feeds back to the control system. The control system limits the speed of the above-mentioned mechanism according to the data fed back by the weight sensor.

[0056] Specifically, the transverse walking mechanism 6 can be steplessly speed-controlled through the longitudinal walking mechanism stepless speed control handle 33 above the operating platform; the longitudinal walking mechanism 3 and the lifting mechanism 4 can be controlled through the lifting mechanism and transverse walking mechanism stepless speed control handle 39; the start and speed regulation of the sand suction pump 45 can be operated through the sand suction pump speed regulation knob 36; the main arm cylinder 46, auxiliary arm cylinder 47, and flushing nozzle cylinder 48 of the robotic arm 2 can be controlled by the robotic arm control handle 34 and the flushing nozzle control handle 37; the folding arm 8 can be retracted and extended by the control knob 35; all signal acquisition and control signal transmission are transmitted to the frequency converter 18 through cables or industrial wireless remote control receivers, and then transmitted by the frequency converter to the internal control system of the driver's cab 9.

[0057] This six-point truss sand suction hoisting device for laying vessels integrates the equipment and hardware required for two different construction processes, lifting and sand suction and filling, into the six-point truss sand suction hoisting device, and combines it with a centralized monitoring, alarm, visual acquisition and automatic control system that can measure and display in real time. It can help operators understand and accurately grasp the position information, posture, operating status and construction data of each device during the chain block lifting and sand suction and filling construction in real time, and provide alarm and protection functions during equipment operation. Operators can control multiple devices simultaneously through data monitoring and automatic control systems, minimize the operator's labor intensity and labor costs, and effectively improve the precision control, safety performance and construction efficiency of the construction process.

[0058] A method for using a six-point truss sand suction lifting device of a laying ship comprises the following steps:

[0059] Concrete interlocking plate lifting and hoisting:

[0060] Step 1: The transport ship equipped with concrete interlocking pieces moves to the port side of the laying ship;

[0061] Step 2; the operator folds the arms 8 on both sides flat by turning the folding arm control knob 35. During the lowering process, the signal from the limit switch 10 is fed back to the data acquisition alarm and control system display 32 to display the alarm and status, and the control system automatically stops the protection;

[0062] Step three; the operator operates the stepless speed control handle 33 of the longitudinal walking mechanism to simultaneously control the six longitudinal walking beams 17 and the transverse walking mechanism 6, and moves the transverse walking mechanism 6 to the top of the concrete chain of the transport ship; the stroke, speed and real-time position during the movement are collected by the encoder 12, and then calculated and fed back to the data acquisition alarm and control system display 32 through the control system. The operator can observe its operating status, speed and position information in real time. When the longitudinal walking beam 17 and the transverse walking mechanism 6 are close to their specified action stroke, the control system performs pre-deceleration and stop protection through the encoder 12 and the limit switch 10;

[0063] Step 4: When the lifting mechanism 4 reaches the target concrete chain position on the transport ship, the lifting mechanism 4 is operated by the stepless speed control handle 33 of the longitudinal walking mechanism. The operator lowers the hook to a reasonable height by observing the height information of the encoder 12 collected by the data acquisition alarm and control system display 32. After each mechanism is in place, the operator operates the current longitudinal walking beam 17, the transverse walking mechanism 6 and the lifting mechanism 4 through the data acquisition alarm and control system display 32 interface to record and save the stroke and height of the lifting mechanism 4 with one click.

[0064] Step five: When the hook on the lifting mechanism 4 reaches the target height, the on-site workers will hang the concrete chain ring to the hook, and the operator can transmit the real-time picture collected by the camera 11 to the data acquisition alarm and control system display 32 for observation to ensure that all personnel are evacuated before the next step can be carried out;

[0065] Step six: When the concrete chain piece is hooked, the operator can set the size of the concrete chain piece according to the actual arrangement and the number of concrete chain pieces to be placed through the data acquisition alarm and control system display 32. The system automatically arranges the concrete chain piece according to the input parameters and displays the target position above the arrangement of the concrete chain piece to be transported to the ship;

[0066] Step seven; the operator lifts the weight to a certain height through the stepless speed control handle 33 of the longitudinal walking mechanism. When the concrete chain piece is off the ground, the data measured by the weight sensor 19 is transmitted to the data acquisition alarm and control system display 32 for the operator to observe. The control system determines the maximum speed at which the transverse walking mechanism 6 can travel and limits it according to the design requirements and the data fed back by the weight sensor 19 to prevent equipment failure and safety accidents caused by excessive speed;

[0067] Step 8: When the concrete interlocking piece is hoisted to a certain height, the operator can hoist the concrete interlocking piece to the target position in two ways:

[0068] 1. The operator selects the travel mechanism single action / linkage selection switch 30. When linkage is selected, the operator can simultaneously control the six longitudinal travel beams 17, the transverse travel mechanism 6 and the lifting mechanism 4 by operating the longitudinal travel mechanism stepless speed control handle 33 and the lifting mechanism and transverse travel mechanism stepless speed control handle 39. The operator observes the real-time position and speed collected by the encoder 12 at each position and fed back to the data acquisition alarm and control system display 32, and the on-site situation monitored by the camera 11 is transmitted to the video monitoring display 31 to observe the real-time position of the concrete interlocking piece until it is lowered to the set target position; the concrete interlocking piece After the lifting reaches the target position, the on-site workers unhook it, and the operator confirms whether the unhook has been completed through the video monitoring display 31. After the workers evacuate to a safe position, the operator moves the longitudinal walking beam 17, the transverse walking mechanism 6 and the lifting mechanism 4 to the target lifting position of the barge according to the original operation process in reverse. During the operation, if the concrete interlocking piece fails to move according to the target path and position due to unsafe behavior or error of the operator, or if the equipment fails, the data acquisition alarm and control system display 32 will use the data or signals fed back by the frequency converter cabinet 18, each encoder 12 and each limit switch 10 to display an alarm and provide protection to prevent safety accidents.

[0069] 2. The operator selects the automatic mode through the data acquisition alarm and control system display 32 interface and clicks to start one-key automatic lifting. The control system will automatically control the longitudinal walking beam 17, the transverse walking mechanism 6 and the lifting mechanism 4 according to the target position set in step 6 through the feedback information of each sensor to lift the concrete chain piece to the target position. After reaching the target position, the on-site workers will unhook it. After the unhook is completed and the workers have retreated to a safe point, the operator clicks the one-key return button through the interface. The control system will automatically return each mechanism to the lifting position according to the lifting position and height recorded in step 4 for the next round of lifting.

[0070] Sand blasting operation:

[0071] Step 1: Start the hydraulic pump of the hydraulic pump station 13 through the data acquisition alarm and control system display 32 interface. The hydraulic pump station 13 has low liquid level, high oil temperature, and oil pressure measurement sensors, and feeds back signals to the data acquisition alarm and control system display 32 interface to display data and alarms, and is protected by the control system;

[0072] Step 2: Operate the manipulator control handle 34 to control the main arm oil cylinder 46 and the auxiliary arm oil cylinder 47 on the multiple manipulators 2 to lower the sand suction pump 45 to the sand surface in the transport cabin. The real-time angle measured by the angle sensor 43 is fed back to the data acquisition alarm and control system display 32 for display. The control system alarms and provides protection for the maximum and minimum angles according to the design requirements of the manipulator, thereby preventing damage to the equipment caused by excessive or insufficient angles due to human error.

[0073] Step 3: Start the flushing pump by turning the sand suction pump speed knob 36 and adjust it to the required flow rate and discharge pressure. Water is ejected from the flushing nozzle 49 to flush the sand surface. The flushing nozzle cylinder 48 is adjusted by manipulating the flushing nozzle control handle 37 to make the flushing nozzle 49 spray toward the target position and flush out a mortar pit on the sand surface.

[0074] Step 4: Operate the manipulator arm control handle 34 to adjust the main arm cylinder 46 and the auxiliary arm cylinder 47 to lower the suction port of the sand suction pump 45 into the mortar pit;

[0075] Step 5: Adjust the sand suction pump speed knob 36 to the desired speed, and the sand suction pump 45 runs according to the speed set by the knob;

[0076] Step six, the sucked mortar is discharged into the sand bags or sand ribs laid on the deck through the mud pipe 51. During the sand suction process, the operator can observe the data fed back to the data acquisition alarm and control system display 32 interface through the discharge pressure sensor 44, and judge whether the sand suction pump 45 is in the state of empty suction or blocked pump by the discharge pressure display value; during the sand suction process, when empty suction or blocked pump occurs, the sand suction pump speed control knob 36 can be adjusted to control the output flow of the flushing pump to keep the mortar at a certain concentration, and the spray position of the flushing nozzle 49 can be adjusted to flush the surrounding sand to the suction port of the sand suction pump 45. The suction port of the sand suction pump 45 can be adjusted by adjusting the main arm oil cylinder 46 and the auxiliary arm oil cylinder 47 to ensure the normal operation of the sand suction pump 45. When the amount of sand at the suction port of the sand suction pump 45 is too low, the suction port position of the sand suction pump 45 can be adjusted by adjusting the main arm cylinder 46, the auxiliary arm cylinder 47, and the longitudinal travel mechanism 3 of the lifting device to ensure the efficiency of the sand suction pump. During the sand suction process, the flushing nozzle 49 can be adjusted in real time to flush the sand near the suction port to the suction port position. The scanning positions of the mechanical arm 2, the suction port of the sand suction pump 45, and the flushing nozzle 49 can be observed in real time on the data acquisition, alarm, and control system display 32. The operator can control the above equipment based on the observed real-time monitoring screen.

[0077] Step 7: After the sand is sucked out, follow the reverse process to retract the robot arm 2 to its original position to complete the sand blasting operation.

[0078] The laying vessel is equipped with a six-point truss sand suction lifting device. Two operators can operate the walking mechanisms at the same time to lift six concrete interlocking pieces at a time according to needs, thereby increasing lifting efficiency and saving labor costs. Two operators can control six robotic arms at the same time according to needs, and remotely control the mud pump to improve the efficiency of sand suction and flushing and save labor costs. Operators can observe the on-site situation in real time through the visual acquisition system, reducing labor costs and improving the safety factor. The measurement and display system can improve the equipment control accuracy, prevent accidents caused by operator errors and equipment failures, and improve the safety factor from the perspective of inherent safety. The control system can select six truss lifting devices for automatic lifting, and achieve precise lifting according to the preset position.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for using a six-point truss sand suction lifting device for a laying ship, characterized in that: A six-point truss sand suction lifting device for a laying ship comprises a support assembly and six groups of working assemblies; the six groups of working assemblies are all slidably connected to the support assembly; The working assembly includes a moving assembly, a sand suction assembly and a lifting assembly; the sand suction assembly and the lifting assembly are both connected to the moving assembly and move and work through the moving assembly; The support assembly comprises two main beams (1), each of the two ends of the main beam (1) is connected to a main frame leg (7), two auxiliary beams (14) are connected between each left and right main frame legs (7), and a camera (11) is installed on each main frame leg; the moving assembly is slidably connected to the two main beams (1); the auxiliary beams (14) are connected to a hydraulic pump station (13), a frequency conversion cabinet (18) and a driver's cab (9); The moving assembly comprises a longitudinal walking beam (17) and two groups of longitudinal walking mechanisms (3), each of the two ends of the longitudinal walking beam (17) is connected to a group of the longitudinal walking mechanisms (3), and the two groups of the longitudinal walking mechanisms (3) are respectively slidably connected to the two main beams (1); a transverse walking mechanism (6) is slidably connected to the longitudinal walking beam (17), and the transverse walking mechanism (6) is connected to the lifting assembly; each of the two ends of the longitudinal walking beam (17) is connected to a group of extension assemblies; The extension assembly comprises a folding arm (8), one end of the folding arm (8) is rotatably connected to the longitudinal walking beam (17), the upper end surface of the other end of the folding arm (8) is connected to a rope body, the other end of the rope body is connected to a folding arm winch (5), and the folding arm winch (5) is arranged on the main beam (1); a limit switch (10) and a camera (11) are arranged at the front end of the folding arm (8); The lifting assembly comprises a lifting mechanism (4), wherein the lifting mechanism (4) is connected to the transverse walking mechanism (6); an encoder (12) and a weight sensor (19) are provided on the lifting mechanism (4); The sand suction component is connected to the side wall of one end of the longitudinal walking beam (17); the sand suction component includes a mechanical arm (2), one end of the mechanical arm (2) is rotatably connected to the longitudinal walking beam (17), the end of the mechanical arm (2) close to the longitudinal walking beam (17) is connected to a main arm oil cylinder (46), the middle of the mechanical arm (2) is connected to an auxiliary arm oil cylinder (47), the other end of the mechanical arm (2) is connected to a flushing nozzle oil cylinder (48) and a sand suction pump (45), the flushing nozzle oil cylinder (48) is connected to a flushing nozzle (49); the sand suction pump (45) is connected to a muddy water pipe (51); the mechanical arm (2) is connected to a plurality of angle sensors (43); the outlet pipeline of the sand suction pump (45) is connected to a discharge pressure sensor (44); The driver's cab (9) is provided with an operation console (38), a video monitoring display (31), a data acquisition alarm and control system display (32), a stepless speed regulation control handle (33) for the longitudinal traveling mechanism, a stepless speed regulation control handle (39) for the lifting mechanism and the transverse traveling mechanism, a traveling mechanism single action / linkage selection switch (30), a mechanical arm control handle (34), a folding arm control knob (35), a sand suction pump speed regulation knob (36) and a water spray nozzle control handle (37); The method of use includes the following steps: Concrete interlocking plate lifting and hoisting: Step 1: The transport ship equipped with concrete interlocking pieces moves to the port side of the laying ship; Step 2: The operator lowers the folding arms (8) on both sides by means of the folding arm control knob (35). During the lowering process, the signal of the limit switch (10) is fed back to the data acquisition alarm and control system display (32), which displays the alarm and status, and automatically stops the protection by means of the control system; Step 3: The operator operates the stepless speed control handle (33) of the longitudinal walking mechanism to control the six longitudinal walking beams (17) and the transverse walking mechanism (6) at the same time, and moves the transverse walking mechanism (6) to the top of the concrete chain of the transport ship; the stroke, speed and real-time position during the movement are collected by the encoder (12), and the control system calculates and feeds back to the data acquisition alarm and control system display (32). The operator can observe its operating status, speed and position information in real time. When the longitudinal walking beam (17) and the transverse walking mechanism (6) are close to their specified action stroke, the control system performs pre-deceleration and stop protection through the encoder (12) and the limit switch (10); Step 4: When the lifting mechanism (4) reaches the position above the target concrete chain piece on the transport ship, the lifting mechanism (4) is operated by the stepless speed control handle (33) of the longitudinal walking mechanism, and the operator lowers the hook to a reasonable height by observing the height information of the encoder (12) collected by the data acquisition alarm and control system display (32). After all the mechanisms are in place, the operator records and saves the current stroke and height of the longitudinal walking beam (17), the transverse walking mechanism (6) and the lifting mechanism (4) through the interface of the data acquisition alarm and control system display (32); Step 5: When the hook on the lifting mechanism (4) reaches the target height, the on-site workers hang the concrete chain ring on the hook, and the operator can transmit the real-time on-site image collected by the camera (11) to the data acquisition alarm and control system display (32) for observation, ensuring that all personnel are evacuated before the next step can be carried out; Step 6: When the concrete chain piece is hooked, the operator can set it according to the actual size of the arrangement and the number of concrete chain pieces to be placed through the data acquisition alarm and control system display (32). The system automatically arranges and displays the concrete chain pieces required to be transported to the target position above the arrangement already laid by the ship according to the input parameters; Step 7: The operator lifts the weight to a certain height through the stepless speed control handle (33) of the longitudinal walking mechanism. When the concrete chain piece is off the ground, the data measured by the weight sensor (19) is transmitted to the data acquisition alarm and control system display (32) for the operator to observe. The control system determines the maximum speed that the transverse walking mechanism (6) can travel and limits it according to the design requirements and the data fed back by the weight sensor (19) to prevent equipment failure and safety accidents caused by excessive speed. Step 8: When the concrete interlocking piece is hoisted to a certain height, the operator can hoist the concrete interlocking piece to the target position in two ways:

1. The operator selects the single-action / linkage selection switch (30) of the traveling mechanism. When linkage is selected, the operator can simultaneously control the six longitudinal traveling beams (17), the transverse traveling mechanism (6) and the lifting mechanism (4) by operating the stepless speed control handle (33) of the longitudinal traveling mechanism and the stepless speed control handle (39) of the lifting mechanism and the transverse traveling mechanism. The operator observes the real-time position and speed collected by the encoder (12) at each position and feeds them back to the data acquisition alarm and control system display (32) and the on-site situation monitored by the camera (11) and transmitted to the video monitoring display (31) to observe the real-time position of the concrete chain until it is lowered to the set target position; After the locking piece is hoisted to the target position, the on-site workers unhook it, and the operator confirms whether it has been unhooked through the video monitoring display (31). After the workers evacuate to a safe position, the operator moves the longitudinal walking beam (17), the transverse walking mechanism (6) and the lifting mechanism (4) to the target lifting position of the barge according to the original operation process in reverse. During the operation, if the concrete locking piece does not move according to the target path and position due to unsafe behavior or mistakes of the operator or if the equipment fails, the data acquisition alarm and control system display (32) will use the data or signals fed back by the frequency conversion cabinet (18), each encoder (12) and each limit switch (10) to perform alarm display and protection to prevent safety accidents from occurring; 2. The operator selects the automatic mode through the data acquisition alarm and control system display (32) interface, clicks to start automatic lifting, and the control system automatically controls the longitudinal walking beam (17), the transverse walking mechanism (6) and the lifting mechanism (4) according to the target position set in step 6 through the feedback information of each sensor, and lifts the concrete chain piece to the target position. After reaching the target position, the on-site workers unhook it; after the unhook is completed and the workers retreat to a safe point, the operator clicks the one-key return button through the interface, and the control system automatically returns each mechanism to the lifting position according to the lifting position and height recorded in step 4, and performs the next round of lifting; Sand blasting operation: Step 1: start the hydraulic pump of the hydraulic pump station (13) through the data acquisition alarm and control system display (32) interface. The hydraulic pump station (13) has low liquid level, high oil temperature, and oil pressure measurement sensors, and feeds back signals to the data acquisition alarm and control system display (32) interface to display data and alarms, and is protected by the control system; Step 2: operate the manipulator control handle (34) to control the main arm oil cylinder (46) and the auxiliary arm oil cylinder (47) on the multiple manipulators (2) to lower the sand suction pump (45) to the sand surface in the transport cabin. The real-time angle measured by the angle sensor (43) is fed back to the data acquisition alarm and control system display (32) interface for display. The control system alarms and provides protection for the maximum and minimum angles according to the design requirements of the manipulator, thereby preventing damage to the equipment caused by excessive or insufficient angles due to human operation errors. Step 3: Start the flushing pump by turning the speed knob (36) of the sand suction pump and adjust it to the required flow rate and discharge pressure. Water is ejected from the flushing nozzle (49) to flush the sand surface. The flushing nozzle oil cylinder (48) is adjusted by manipulating the flushing nozzle control handle (37) to make the flushing nozzle (49) spray toward the desired target position and flush out a mortar pit on the sand surface. Step 4: operate the mechanical arm control handle (34) to adjust the main arm oil cylinder (46) and the auxiliary arm oil cylinder (47) to lower the suction port of the sand suction pump (45) into the mortar pit; Step 5: Adjust the speed knob (36) of the sand suction pump to the desired speed, and the sand suction pump (45) runs according to the speed set by the knob; Step 6: The sucked mortar is discharged into the sand bags or sand ribs laid on the deck through the mud and water pipe (51). During the sand suction process, the operator can observe the data fed back to the data acquisition alarm and control system display (32) by the discharge pressure sensor (44). The discharge pressure display value can be used to determine whether the sand suction pump (45) is in the state of suction or blocked. During the sand suction process, the sand suction pump speed knob (36) can be adjusted to control the output flow of the flushing pump to keep the mortar at a certain concentration, and the flushing nozzle (49) spray position can be adjusted to flush the surrounding sand to the suction port of the sand suction pump (45); Step 7: After the sand is sucked and the speed is completed, the above process is reversed to retract the mechanical arm (2) to the original position to complete the sand blasting operation.

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