A variable cross-section pipe joint floating transportation steering system and implementation method

Abstract

The present invention discloses a variable cross-section pipe segment floating steering system and implementation method, the variable cross-section pipe segment floating steering system comprises a steel bogie, a steering rudder, a steering rudder control device, a water speed tester and a remote control end; the steel bogie is arranged at the rear of the variable cross-section pipe segment; the steering rudder is arranged at the lower part of the steel bogie through a steering rudder connector; the steering rudder control device is connected to the steering rudder through a belt transmission device; the remote control end is connected to the steering rudder control device through communication; when the variable cross-section pipe segment is floating, it is necessary to turn, and the steering rudder angle and the rotational bending moment acting on the center point of the structure under the angle are calculated by the remote control end in combination with the water flow speed detected by the water speed tester to achieve the required steering angle, so that the variable cross-section pipe segment completes the steering. The present invention controls the floating steering in combination with the water flow speed; and completes the steering through the large torque generated by the water flow force on the steering rudder and the long distance from the center of gravity.

Description

Technical Field

[0001] The present invention relates to the technical field of floating transportation of variable cross-section pipe sections, and particularly to a floating transportation steering system and implementation method for variable cross-section pipe sections. Background Technique

[0002] Immersed tube tunnels have been increasingly widely used due to their advantages such as short connection distance, low requirement for foundation bearing capacity, and high cross-section utilization rate. As a key process in the construction of immersed tube tunnels, the floating transportation of the tube section is not only related to the structure of the tube section itself, but also affected by various conditions such as meteorology, hydrology, waterways, and water facilities. The floating transportation of the tube section is a process with relatively high construction risks and difficulty coefficients.

[0003] The floating transportation of the tube section is usually achieved by tying barges around the tube section and then assisting with pusher boats or tugboats, etc. The floating transportation method is controlled by various factors such as waterway conditions, floating transportation distance, hydrology, and meteorology. There are mainly the following two construction schemes: (1) Tugboat floating transportation scheme (2) Winch towing and tugboat pushing scheme.

[0004] Due to the restrictions of the waterway and the huge volume and weight of the tube section, it will be difficult to maneuver the tube section and there will be a lag in maneuvering. When transporting the tunnel tube section, it is somewhat difficult to change the direction of the floating transportation of the tube section and avoid obstacles.

[0005] After literature research, the existing immersed tube floating transportation devices currently have a large volume, complex operation, high floating transportation difficulty in complex water areas, and it is difficult to control the floating transportation trajectory, seriously affecting the efficiency and convenience of the floating transportation of the tube section.

[0006] CN 114319440 A discloses an inland river immersed tube floating transportation and installation operation method. The operation method includes: winching the immersed tube to be floating transported and installed out of the dock; assembling the floating transportation and installation barge; winching the floating transportation and installation barge to straddle above the immersed tube and connecting it; filling water into the floating body and applying a pre-tightening force to the lifting points to press the floating box against the top surface of the immersed tube, and winching the floating transportation and installation barge to float the immersed tube to the position to be installed; discharging the water in the floating body and pressurizing ballast water into the immersed tube until its negative buoyancy reaches a predetermined value, at which time the floating box enters the water to provide buoyancy; then sinking the immersed tube for docking and installation. It can be found that: this application does not solve the problem of changing the direction of the floating transportation of the variable cross-section tube section, and there are no targeted solutions for the problems of steering and avoiding obstacles during floating transportation, and it is impossible to control the floating transportation trajectory of the tube section during floating transportation.

[0007] CN 216549278 U discloses a floating device for a submerged tube, which lifts the submerged tube through a series combination lifting design, thereby reducing the requirement for water depth of the channel for submerged tube transportation, and at the same time reducing the navigation height required for submerged tube transportation. When encountering transportation conditions with insufficient water depth of the channel or limited height of the bridge hole, it can greatly reduce water and soil damage and increase in transportation costs. It can be found that: this application only solves the water depth requirement during floating transportation, and does not consider the problem of turning and avoiding obstacles during floating transportation.

[0008] In summary, the current pipe section floating devices have few preset scenarios for the direction change and track of variable cross-section pipe sections, and the existing devices have difficulties in avoiding obstacles, delayed steering effect, large space required for changing direction, and difficulty in controlling the steering angle. Therefore, it is difficult to use and achieve the desired effect in actual engineering. There is a lack of a floating device specifically for variable cross-section pipe sections that is easy to control, easy to implement, and simple to operate. Therefore, in order to solve the above-mentioned floating problem of variable cross-section pipe sections, a variable cross-section pipe section floating steering system and implementation method are proposed. Summary of the invention

[0009] The purpose of the present invention is to provide a variable-section pipe segment floating steering system and an implementation method, which controls the floating steering in combination with the water flow speed; the steering is completed by the large torque generated by the water flow force on the steering rudder and the long distance from the center of gravity. The steel bogie is sufficient to resist the water flow force when the pipe segment rotates, and can ensure the safety and stability of the pipe segment rotation; ensure the stability of the submerged tube floating.

[0010] The present invention is achieved through the following technical solutions:

[0011] A variable-section pipe segment floating and steering system, the variable-section pipe segment floating and steering system comprising a steel bogie, a steering rudder, a steering rudder control device, a water speed tester and a remote control end; the steel bogie is arranged at the rear of the variable-section pipe segment; the steering rudder is arranged at the lower part of the steel bogie through a steering rudder connector; the steering rudder control device is transmission-connected to the steering rudder through a belt drive device; the remote control end is communicatively connected to the steering rudder control device; when the variable-section pipe segment is floating and needs to be turned, the steering rudder angle and the rotational bending moment acting on the center point of the structure at the angle are calculated by the remote control end in combination with the water flow speed detected by the water speed tester to achieve the required steering angle, so that the variable-section pipe segment completes the turning.

[0012] As a further improvement of the technical solution of the present invention, the steel bogie is provided with fixing holes; the steel bogie is installed on the variable-section pipe segment by bolts engaging with the fixing holes.

[0013] As a further improvement of the technical solution of the present invention, the steel bogie is symmetrically arranged along the central axis of the variable-section pipe segment.

[0014] As a further improvement of the technical solution of the present invention, a wheel disc with a rotating shaft is reserved on the steel bogie, and the rotating shaft is connected to the steering rudder by bolts.

[0015] As a further improvement of the technical solution of the present invention, the steering rudder maintains a posture parallel to the forward direction under normal conditions. When rotating, the rotational bending moment = water flow resistance × distance from the steering rudder to the center of gravity, and the water flow resistance = 0.5ρAC s v 2 .

[0016] As a further improvement of the technical solution of the present invention, the water speed tester is welded to the bottom of the steel bogie through a steel plate.

[0017] As a further improvement of the technical solution of the present invention, the steering rudder control device is installed under the rear steel bogie and is connected by bolts and disassembled after the floating transportation is completed.

[0018] As a further improvement of the technical solution of the present invention, the steering rudder control device is internally provided with a motor, which is connected to the rotating shaft by a belt, and the rotation angle is adjusted by an algorithm.

[0019] As a further improvement of the technical solution of the present invention, the water speed tester is signal-connected to the steering rudder control device, so that the steering of the variable cross-section pipe section is controlled in combination with the water speed.

[0020] As a further improvement of the technical solution of the present invention, a method for realizing a floating transportation steering system for a variable cross-section pipe section includes the following steps:

[0021] Step S1: Precast the variable cross-section pipe section;

[0022] Step S2: Connect the steel bogie at the rear of the variable cross-section pipe section;

[0023] Step S3: Connect the steering rudder connecting piece;

[0024] Step S4: Connect the steering rudder;

[0025] Step S5: Install the steering rudder control device;

[0026] Step S6: Float the variable cross-section pipe section;

[0027] Step S7: Turn on the steering rudder control device during the floating transportation process and adjust the steering speed and direction when needed;

[0028] Step S8: The floating transportation is completed.

[0029] Compared with the prior art, the present invention has the following technical advantages:

[0030] The present invention combines water flow velocity to control floating transportation and steering; the steering is completed by the large torque generated by the long distance between the water flow force on the steering rudder and the center of gravity. The steel bogie is strong enough to resist the water flow force during the rotation of the pipe section, ensuring the safety and stability of the pipe section rotation; ensuring the stability of the immersed tube floating transportation; the present invention adjusts the rotation angle by an algorithm, which can accurately control the track; reduces the requirement for the channel width during the immersed tube transportation, reduces or avoids the channel dredging work required during the immersed tube transportation, and improves the overall work efficiency; the present invention can reduce soil and water damage and lower the transportation cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 FIG. is a schematic structural diagram of installing a steel bogie and a steering rudder on a variable cross-section pipe joint according to an embodiment of the present invention;

[0032] Figure 2 FIG. is a schematic overall structural diagram of a floating transportation and steering system for a variable cross-section pipe joint according to an embodiment of the present invention;

[0033] Figure 3 FIG. is a schematic diagram of the signal connection between the steering rudder control device and the remote control end according to an embodiment of the present invention.

[0034] The reference numerals in the figures are:

[0035] 1 - variable cross-section pipe joint; 2 - steel bogie; 3 - fixing hole; 4 - steering rudder; 5 - steering rudder control device; 6 - belt drive device; 7 - steering rudder connecting piece; 8 - remote control end. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The present invention will be described in detail below in conjunction with the drawings and specific embodiments. Here, the schematic embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.

[0037] It should be noted that all directional indications (such as up, down, left, right, front, back, upper end, lower end, top, bottom...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0038] In the present invention, unless otherwise clearly defined and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood according to specific circumstances.

[0039] In addition, in the present invention, descriptions such as "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. Additionally, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] The present invention will be further described in detail below with reference to the accompanying drawings.

[0041] As Figures 1 to 3 shown, a variable cross-section pipe section floating transportation steering system, the variable cross-section pipe section floating transportation steering system includes a steel steering frame 2, a steering rudder 4, a steering rudder control device 5, a water speed tester, and a remote control terminal 8; the steel steering frame 2 is arranged at the rear of the variable cross-section pipe section 1; the steering rudder 4 is arranged at the lower part of the steel steering frame 2 through a steering rudder connecting member 7; the steering rudder control device 5 is drivingly connected to the steering rudder 4 through a belt transmission device 6; the remote control terminal 8 is communicatively connected to the steering rudder control device 5; when the variable cross-section pipe section 1 is floating and needs to be steered, in combination with the water flow speed detected by the water speed tester, the steering rudder angle and the rotational moment acting on the structural center point at this angle are calculated through the remote control terminal 8 to reach the required steering angle. It should be noted that the rotational moment first needs to resist the water resistance to start rotating, which is the condition for starting rotation. Subsequently, the increase of this force is the means for adjusting the track curve, which can be understood as turning in a large circle or a small circle. This is that the calculation of the steering rudder angle is the included angle generated between the horizontal movement speed and the normal running speed. The horizontal movement speed is provided by the turning moment and can be calculated according to the kinetic energy and momentum theorem in different directions, and the normal running speed is obtained according to the actual situation. That is, for an object moving forward at a constant speed, a horizontal turning moment is provided to provide a horizontal speed, and the turning angle is arctan (forward length / horizontal movement length) per unit time; so that the variable cross-section pipe section 1 completes the steering. The present invention controls the floating transportation steering in combination with the water flow speed; the larger moment generated by the long distance between the water flow force on the steering rudder 4 and the center of gravity is used to complete the steering. The steel steering frame 2 is sufficient to resist the water flow force suffered during the rotation of the pipe section, and can ensure the safety and stability of the rotation of the pipe section; ensure the stability of the floating transportation of the immersed tube.

[0042] Specifically, in the solution of this embodiment, fixing holes 3 are provided on the steel steering frame 2; the steel steering frame 2 is installed on the variable cross-section pipe section 1 through bolts in cooperation with the fixing holes 3.

[0043] Specifically, in the solution of this embodiment, the steel bogie 2 is symmetrically arranged along the central axis of the variable cross-section pipe section 1.

[0044] Specifically, in the solution of this embodiment, a wheel disc with a rotating shaft is reserved on the steel bogie 2, and the rotating shaft is connected to the steering rudder 4 by bolts.

[0045] Specifically, in the solution of this embodiment, the steering rudder 4 maintains a posture parallel to the advancing direction under normal conditions. When rotating, the rotation bending moment = water flow resistance × distance from the steering rudder to the center of gravity, and the water flow resistance = 0.5ρAC s v 2 。

[0046] Specifically, in the solution of this embodiment, the water speed tester is welded to the bottom of the steel bogie 2 through a steel plate.

[0047] Specifically, in the solution of this embodiment, the steering rudder control device 5 is installed below the rear steel bogie 2 and is connected by bolts, and is disassembled after the floating transportation is completed.

[0048] Specifically, in the solution of this embodiment, the steering rudder control device 5 is internally provided with a motor, which is connected to the rotating shaft by a belt and uses an algorithm to adjust the rotation angle. It should be noted that according to the above, to control the size of the steering angle, the rotation torque needs to be controlled. Then, the rotation torque needs to be provided by the component force of the water flow resistance to the force on the steering rudder. Therefore, this algorithm needs to combine the required steering angle as described above to obtain the required rotation torque, and then obtain the component force of the water flow resistance to the steering rudder and the distance from the component force to the center of gravity. Its value is related to the rotation angle of the steering rudder because this angle determines the vertical component force of the water flow resistance on the steering rudder and the distance between this force and the center of gravity; the present invention uses an algorithm to adjust the rotation angle, which can accurately control the track; reduces the requirement for the width of the waterway during the transportation of the immersed tube, reduces or avoids the dredging work of the waterway required during the transportation of the immersed tube, and speeds up the overall work efficiency; the present invention can reduce soil and water damage and reduce the transportation cost.

[0049] Specifically, in the solution of this embodiment, the water speed tester is signal-connected to the steering rudder control device 5, so that the steering of the variable cross-section pipe section 1 is controlled in combination with the water speed. It should be noted that after the water speed tester detects the water flow speed, it sends the detected water speed data to the steering rudder control device 5 through wireless communication. The steering rudder control device 5 controls the floating transportation steering in combination with the water flow speed; the steering is completed by the larger torque generated by the long distance between the water flow force and the center of gravity on the steering rudder.

[0050] Specifically, in the solution of this embodiment, a method for realizing a floating transportation steering system for a variable cross-section pipe section includes the following steps:

[0051] Step S1: Precast the variable cross-section pipe section 1;

[0052] Step S2: Connect the steel bogie 2 at the rear of the variable cross-section pipe section 1;

[0053] Step S3: Connect the rudder connecting piece 7;

[0054] Step S4: Connect the rudder 4;

[0055] Step S5: Install the rudder control device 5;

[0056] Step S6: Float the variable cross-section pipe section 1;

[0057] Step S7: Turn on the rudder control device 5 during the floating transportation process, and adjust the turning speed and direction when needed;

[0058] Step S8: The floating transportation is completed.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] The present invention combines the water flow velocity to control the floating transportation steering; the turning is completed by the large torque generated by the long distance between the water flow force and the center of gravity on the rudder. The steel bogie 2 is strong enough to resist the water flow force during the pipe section rotation, which can ensure the safety and stability of the pipe section rotation; ensure the stability of the immersed tube floating transportation; the present invention uses an algorithm to adjust the rotation angle, which can accurately control the track; reduce the requirements for the channel width during the immersed tube transportation, reduce or avoid the channel dredging work required during the immersed tube transportation, and improve the overall work efficiency; the present invention can reduce the soil and water damage and lower the transportation cost.

[0061] The technical solutions provided by the embodiments of the present invention have been introduced in detail above. Specific examples are used in this article to elaborate on the principles and implementation manners of the embodiments of the present invention. The descriptions of the above embodiments are only applicable to help understand the principles of the embodiments of the present invention; at the same time, for those of ordinary skill in the art, according to the embodiments of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A variable cross-section pipe jacking floating transportation steering system, characterized in that: The variable-section pipe segment floating steering system includes a steel bogie, a steering rudder, a steering rudder control device, a water speed tester and a remote control end; the steel bogie is arranged at the rear of the variable-section pipe segment; the steering rudder is arranged at the lower part of the steel bogie through a steering rudder connector; the steering rudder control device is transmission-connected to the steering rudder through a belt drive device; the remote control end is communicatively connected to the steering rudder control device; when the variable-section pipe segment is floating and needs to be turned, the steering rudder angle and the rotational bending moment acting on the center point of the structure at the angle are calculated by the remote control end in combination with the water flow speed detected by the water speed tester to achieve the required steering angle, so that the variable-section pipe segment completes the steering; an algorithm is used to obtain the required rotational torque in combination with the required steering angle, and then the distance between the component force from the water flow resistance to the steering rudder and the component force to the center of gravity is obtained, and the distance between the component force from the water flow resistance to the steering rudder and the component force to the center of gravity is related to the steering rudder rotation angle.

2. The variable cross-section pipe-joint floating transportation and steering system according to claim 1, characterized in that: The steel bogie is provided with fixing holes; the steel bogie is installed on the variable-section pipe segment by bolts matching the fixing holes.

3. A variable cross-section pipe joint floating transportation steering system according to claim 2, characterized in that: The steel bogie is symmetrically arranged along the central axis of the variable-section pipe segment.

4. The variable cross-section pipe joint floating transportation and steering system according to claim 1, characterized in that: A wheel disc with a rotating shaft is reserved on the steel bogie, and the rotating shaft is connected to the steering rudder through bolts.

5. A variable cross-section pipe joint floating transportation steering system according to claim 1, characterized in that: The steering rudder maintains a parallel attitude to the forward direction under normal conditions. When it rotates, the turning bending moment = water flow resistance × distance from the steering rudder to the center of gravity, and the water flow resistance = 0.5ρAC s v 2 .

6. The variable cross-section pipe-joint floating transportation and steering system according to claim 1, wherein: The water speed tester is welded to the bottom of the steel bogie through a steel plate.

7. A variable cross-section pipe section floating transportation and steering system according to claim 1, characterized in that: The steering rudder control device is installed under the rear steel bogie and connected by bolts, and is disassembled after floating is completed.

8. The variable cross-section pipe joint floating transportation and steering system according to claim 1, characterized in that: The steering rudder control device has a built-in motor, which is connected to the rotating shaft through a belt, and uses an algorithm to adjust the rotation angle.

9. A variable cross-section pipe joint floating transportation steering system according to claim 1, characterized in that: The water speed tester is connected to the steering rudder control device signal so that the steering of the variable cross-section pipe section is controlled in combination with the water speed.

10. An implementation method of a variable cross-section pipe section floating transportation steering system as described in claim 1, characterized in that, The following steps are involved: Step S1: prefabrication of variable cross-section pipe segments; Step S2: The steel bogie at the rear of the variable cross-section pipe segment is connected; Step S3: Connecting the steering rudder connector; Step S4: Steering rudder connection; Step S5: installing the steering rudder control device; Step S6: floating the variable cross-section pipe segment; Step S7: during the floating process, the steering rudder control device is turned on to adjust the steering speed and direction when necessary; Step S8: Floating is completed.

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