Underwater facade concrete construction operation equipment

Abstract

The invention belongs to the technical field of underwater construction operation, and particularly provides underwater facade concrete construction operation equipment which comprises an equipment body. The walking mechanisms are symmetrically arranged at the upper and lower ends and the front and rear ends of the equipment main body in the construction direction; a cavity is formed in the equipment main body, and the movable propelling mechanism is arranged in the cavity of the equipment main body; the two sinking and floating propelling mechanisms are symmetrically arranged at the left end and the right end of the equipment main body in the construction direction; the turnover driving mechanism is connected with the sinking and floating propelling mechanism and is used for driving the sinking and floating propelling mechanism to turn over so as to complete switching of the construction surfaces of the equipment main body; one end face of the equipment body is a construction face, and a construction connector is arranged on the construction face and used for carrying an executing mechanism to complete construction. The construction operation equipment provided by the invention can be used for realizing construction operations such as detection and repair of various underwater facade concrete.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater construction operations, and in particular relates to underwater facade concrete construction operation equipment. Background Art

[0002] Underwater facade concrete construction is a common construction technology in marine engineering, underwater buildings, dams and other underwater structure construction projects. This construction method is mainly used to build or repair facade structures in underwater environments, such as dams, docks, bridge foundations, etc.

[0003] The development of underwater facade concrete construction technology enables humans to build various buildings and facilities in underwater environments, providing important technical support for the development and utilization of marine resources. At the same time, this construction method also plays an important role in water conservancy projects, environmental protection and restoration, and other fields.

[0004] When existing underwater concrete structures are damaged, worn, or require regular inspection or maintenance, workers are required to go into the water to perform operations. Since the underwater operating environment is complex and full of dangers, a large amount of manpower costs are required, and there is also the problem of low operating efficiency.

[0005] Based on this problem, the present invention provides an underwater facade concrete construction operation equipment to solve the above problem. Summary of the invention

[0006] In order to overcome the deficiencies of the prior art, the present invention provides an underwater facade concrete construction operation equipment to solve the problems existing in the prior art in underwater construction operations for underwater concrete structures.

[0007] One embodiment of the present invention provides an underwater facade concrete construction operation equipment, comprising:

[0008] Equipment body;

[0009] A walking mechanism, wherein the walking mechanism is symmetrically arranged at the upper and lower ends and the front and rear ends in the construction direction of the equipment body;

[0010] A moving propulsion mechanism, wherein a cavity is provided inside the device body, and the moving propulsion mechanism is provided in the cavity of the device body;

[0011] A sinking and floating propulsion mechanism, wherein two sinking and floating propulsion mechanisms are symmetrically arranged at the left and right ends of the equipment body in the construction direction;

[0012] A flipping driving mechanism, which is connected to the sinking and floating propulsion mechanism and is used to drive the sinking and floating propulsion mechanism to flip so as to complete the switching of the construction surface of the equipment body;

[0013] Among them, one end surface of the equipment body is a construction surface, and a construction joint is provided on the construction surface for carrying an actuator to complete the construction.

[0014] In one embodiment, the upper and lower ends of the device body are provided with mounting cavities;

[0015] A support frame is arranged in the installation cavity, and the equipment main body is connected with the walking mechanism through the support frame arranged in the installation cavity.

[0016] In one embodiment, the support frame includes a first mounting plate, a second mounting plate and a third mounting plate;

[0017] Two first mounting plates are symmetrically arranged in the mounting cavity, and the second mounting plates are arranged at both ends of the two first mounting plates, and the two first mounting plates are connected by the second mounting plates;

[0018] One end of the third mounting plate is connected to the first mounting plate, and four third mounting plates are symmetrically arranged in the mounting cavity in front and back and left and right directions, and each of the third mounting plates is connected to the first mounting plate;

[0019] Wherein, an elastic member is provided at the connection between one end of each of the third mounting plates and the first mounting plate, and a walking mechanism is provided at the other end of each of the third mounting plates.

[0020] In one embodiment, the mobile propulsion mechanism includes a first propeller and a first drive motor, the first propeller is connected to an output end of the first drive motor, and the first propeller is driven to rotate by the first drive motor.

[0021] In one embodiment, two groups of the first propellers and the first drive motors are arranged in the cavity inside the device body, and the two groups of the first propellers and the first drive motors are arranged symmetrically in the construction direction of the device body.

[0022] In one embodiment, the cavity of the device body is provided with water inlets having the same number as the first propeller;

[0023] A protective net is arranged at the water inlet.

[0024] In one embodiment, a single sinking and floating propulsion mechanism includes a hollow floating plate, a second propeller and a second drive motor;

[0025] Two second propellers are symmetrically arranged inside the hollow floating plate. The output end of the second driving motor is connected to the second propeller, and the second propeller is driven to rotate by the second driving motor.

[0026] In one of the embodiments, the flipping drive mechanism is installed in the equipment body, and the output end of the flipping drive mechanism is rotationally connected to the side of the hollow floating plate close to the equipment body. The flipping drive mechanism drives the hollow floating plate to drive the equipment body to flip, thereby completing the switching of the construction surface.

[0027] In one embodiment, the walking mechanism adopts Mecanum wheels.

[0028] The underwater facade concrete construction equipment provided in the above embodiments has the following beneficial effects:

[0029] The walking mechanism is used to complete the movement of the equipment body after it is close to the working surface. The walking mechanism uses the Mettenham wheel to provide power for the entire walking system and completes the directional movement of the equipment body through each wheel; the walking mechanism can complete the terrain adaptation of the construction surface and the wheel system buffering through the elastic parts on the support frame, so that the equipment body is always close to the surface to be constructed. The moving propulsion mechanism is used to realize the advancement and steering of the equipment body and provide corresponding force for the equipment body to be close to the working surface, which includes the corresponding posture adjustment motor to achieve fine-tuning and correction of the posture. The ups and downs and rotation of the equipment body can be completed by the sinking and floating propulsion mechanism, which also includes propellers and posture adjustment motors to achieve the adjustment of underwater lifting posture. The construction joint is used to complete the installation of specific actuators to complete various underwater constructions, such as installing a water jet nozzle to complete the cleaning and roughening pre-operation of the underwater working surface. Given that there is only one side for the construction operation execution, the flip drive mechanism can be used to cooperate with the sinking and floating propulsion mechanism to complete the rapid switching of the working surface when facing the repair of the continuous random angle working surface to perform the corresponding construction operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0031] Figure 1 A schematic diagram of the overall structure of the underwater facade concrete construction equipment provided by an embodiment of the present invention;

[0032] Figure 2 A schematic top view of an underwater facade concrete construction equipment provided by an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the underwater facade concrete construction equipment provided by an embodiment of the present invention located on the water surface;

[0034] Figure 4 A schematic diagram of the underwater facade concrete construction equipment provided by an embodiment of the present invention sinking underwater;

[0035] Figure 5 A schematic diagram of the construction operation flow of underwater facade concrete construction equipment provided in an embodiment of the present invention.

[0036] Figure Number:

[0037] 100. Equipment body; 110. Installation cavity; 120. Water inlet; 200. Walking mechanism; 300. Mobile propulsion mechanism; 310. First propeller; 320. First drive motor; 400. Sinking and floating propulsion mechanism; 410. Hollow floating plate; 420. Second propeller; 430. Second drive motor; 500. Flipping drive mechanism; 600. Construction joint; 700. Support frame; 710. First mounting plate; 720. Second mounting plate; 730. Third mounting plate; 740. Elastic member; 800. Protective net. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0040] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] Reference Figure 1-Figure 5 One embodiment of the present invention provides an underwater facade concrete construction equipment, including: an equipment body 100, a walking mechanism 200, a moving propulsion mechanism 300, a sinking and floating propulsion mechanism 400 and a flipping drive mechanism 500.

[0042] The equipment body 100 is used to provide installation positions for various mechanisms and to carry various mechanisms to complete corresponding work; one end surface of the equipment body 100 is a construction surface, and a construction joint 600 is provided on the construction surface, which is used to carry an actuator to complete various constructions, and the actuator includes a high-pressure water jet roughening device, a concrete spraying device, a camera, a detection radar, etc.; the upper and lower ends of the equipment body 100 are provided with an installation cavity 110, and a support frame 700 is provided in the installation cavity 110; the support frame 700 includes a first installation plate 710, a second installation plate 720 and a third installation plate 73 0; two first mounting plates 710 are symmetrically arranged in the mounting cavity 110, and the second mounting plates 720 are arranged at both ends of the two first mounting plates 710, and the two first mounting plates 710 are connected by the second mounting plates 720; one end of the third mounting plate 730 is connected to the first mounting plate 710, and four third mounting plates 730 are symmetrically arranged in the mounting cavity 110, and each third mounting plate 730 is connected to the first mounting plate 710, and an elastic member 740 is arranged at the connection between one end of each third mounting plate 730 and the first mounting plate 710.

[0043] The walking mechanism 200 is used to drive the whole equipment to walk in accordance with the construction surface during operation and to drive the whole equipment to turn, etc. The walking mechanism 200 is symmetrically arranged at the upper and lower ends and the front and rear ends of the equipment body 100 in the construction direction; specifically: the other end of each third mounting plate 730 (i.e., the end away from the elastic member 740) is provided with a walking mechanism 200. The walking mechanism 200 adopts a Mecanum wheel. Due to the special structural design of the Mecanum wheel, each wheel consists of a hub and a roller around the hub, and the axis of the roller is at a 45-degree angle to the axis of the hub. This design allows the wheel to roll forward while sliding laterally, thereby realizing the full-scale movement of the whole equipment; at the same time, by adjusting the speed and rotation direction of each wheel, various modes of movement can be combined, including forward movement, lateral movement, oblique movement, rotation and combinations thereof. This enables the whole equipment to be equipped with Mecanum wheels and move flexibly in a narrow or limited space.

[0044] The mobile propulsion mechanism 300 is used to realize the forward movement and turning of the equipment main body 100 and provide corresponding force for the equipment main body 100 to be close to the working surface, and includes a corresponding posture adjustment motor to realize fine-tuning and correction of the posture; a cavity is arranged inside the equipment main body 100, and the mobile propulsion mechanism 300 is arranged in the cavity of the equipment main body 100; the mobile propulsion mechanism 300 includes a first propeller 310 and a first drive motor 320, and the first propeller 310 is connected to the output end of the first drive motor 320, and the first propeller 310 is driven to rotate by the first drive motor 320; wherein, two groups of the first propeller 310 and the first drive motor 320 are arranged in the cavity inside the equipment main body 100, and the two groups of the first propeller 310 and the first drive motor 320 are arranged symmetrically on the left and right in the construction direction of the equipment main body 100.

[0045] Among them, the cavity of the equipment body 100 is provided with water inlets 120, the same number as the first propeller 310, which are used to allow water to flow into the interior of the equipment body 100, so that the first propeller 310 can use the water flow to push the whole; a protective net 800 is provided at the water inlet 120 to prevent debris in the water and waste residue generated during operation from getting stuck in the first propeller 310.

[0046] The sinking and floating propulsion mechanism 400 is used to achieve fine-tuning and correction of the posture. The sinking and floating propulsion mechanism 400 can complete the ups and downs and rotation of the equipment body 100 underwater, and correspondingly also includes a propeller and a posture adjustment motor to achieve the adjustment of the underwater lifting posture; the sinking and floating propulsion mechanism 400 is symmetrically arranged at the left and right ends of the construction direction of the equipment body 100; a single sinking and floating propulsion mechanism 400 includes a hollow floating plate 410, a second propeller 420 and a second drive motor 430; the second propeller 420 is symmetrically arranged inside the hollow floating plate 410. Two, the output end of the second drive motor 430 is connected to the second propeller 420, and the second propeller 420 is driven by the second drive motor 430 to rotate.

[0047] The flipping drive mechanism 500 is connected to the sinking and floating propulsion mechanism 400, and is used to drive the sinking and floating propulsion mechanism 400 to flip, so as to complete the switching of the construction surface of the equipment main body 100; specifically: the flipping drive mechanism 500 is installed in the equipment main body 100, and the output end of the flipping drive mechanism 500 is rotatably connected to the side of the hollow floating plate 410 close to the equipment main body 100, and the flipping drive mechanism 500 drives the hollow floating plate 410 to drive the equipment main body 100 to flip, thereby completing the switching of the construction surface.

[0048] Reference Figure 3-Figure 5 , a principle and workflow of this embodiment are as follows:

[0049] The specific working method is selected according to the specific conditions of the underwater facade building. Taking the underwater facade cleaning operation as an example, a high-pressure water jet roughening device is installed on the construction joint 600 of the construction surface of the equipment body 100. After the operation equipment (high-pressure water jet roughening device) is installed, the entire device is put into the water. When the device is put into the water, the hollow floating plate 410 makes the entire device float on the water surface. Figure 3 shown.

[0050] After the whole equipment floats on the water surface, it is driven jointly by the moving propulsion mechanism 300 and the sinking and floating propulsion mechanism 400, and the flipping drive mechanism 500 assists in adjusting the posture, so as to drive the whole equipment to the predetermined construction position. Specifically, the first driving motors 320 symmetrically arranged inside the equipment body 100 respectively drive the first propellers 310 connected to them respectively, and the equipment body 100 is pushed forward under the drive of the first propellers 310. At the same time, the second driving motors 430 symmetrically arranged on both sides of the equipment body 100 respectively drive the second propellers 420 connected to them respectively, so that the equipment body 100 sinks, that is, the equipment body 100 moves forward and sinks under the joint action of the moving propulsion mechanism 300 and the sinking and floating propulsion mechanism 400, and the flipping drive mechanism 500 is driven at the same time to assist the equipment body 100 in adjusting its position until the whole equipment reaches the predetermined construction position.

[0051] When the whole equipment reaches the predetermined construction position, taking the underwater facade cleaning operation as an example (i.e., the operation is performed with the high-pressure water jet roughening equipment), the equipment body 100 is pushed by the first propeller 310, and the reaction force generated by the water flow enables the equipment body 100 to be close to the working surface to ensure the construction distance; when the equipment body 100 is close to the construction surface, the movement of the equipment body 100 at this time depends on the walking mechanism 200, that is, the Mecanum wheel drives the equipment body 100 to walk close to the construction surface, and uses the high-pressure water jet roughening equipment to perform high-pressure cleaning on the construction surface while walking, such as Figure 5 As shown, it is a schematic diagram of a construction walking route for the overall equipment to construct the construction surface. The construction surface is operated in a layer-by-layer operation mode. When the operation of one layer is completed, the equipment body 100 sinks under the action of the second propeller 420. While sinking, the first propeller 310 adjusts the distance. During the entire operation process, the second propeller 420 is working to overcome the buoyancy generated by the hollow floating plate 410; subsequent construction is carried out according to the above cycle. When the operation of the construction surface is completed, the second propeller 420 stops running, so that the equipment body floats up under the buoyancy of the hollow floating plate 410 to recover the equipment.

[0052] It should be noted that, since the surface of the underwater facade building is immersed in water for a long time, it may be corroded, damaged, worn, etc., resulting in an uneven surface. And since an elastic member 740 is provided at the connection between one end of each third mounting plate 730 and the first mounting plate 710, and the other end of each third mounting plate 730 (i.e., the end away from the elastic member 740) is provided with a walking mechanism 200, the walking mechanism 200 adopts a Mecanum wheel. When the Mecanum wheel driving device body 100 walks along the construction surface, if the construction surface is uneven, the Mecanum wheel can adapt to the unevenness of the construction surface under the action of the elastic member 740, and the Mecanum wheel can always be close to the construction surface, so as to improve the stability of the overall equipment during the construction operation.

[0053] As needed, the above-mentioned installation, setting, provision or connection methods include but are not limited to installation, setting or connection by screws, riveting, welding or socketing, fixing, etc., and the installation, setting or connection method is selected according to the needs of the working scenario.

[0054] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An underwater facade concrete construction equipment, characterized in that: include: Device body (100); A walking mechanism (200), wherein the walking mechanism (200) is symmetrically arranged at the upper and lower ends and the front and rear ends of the equipment body (100) in the construction direction; A moving propulsion mechanism (300), wherein a cavity is provided inside the device body (100), and the moving propulsion mechanism (300) is arranged in the cavity of the device body (100); A sinking and floating propulsion mechanism (400), wherein two sinking and floating propulsion mechanisms (400) are symmetrically arranged at the left and right ends of the equipment body (100) in the construction direction; A flipping driving mechanism (500), the flipping driving mechanism (500) being connected to the sinking and floating propulsion mechanism (400) and used for driving the sinking and floating propulsion mechanism (400) to flip, so as to complete the switching of the construction surface of the equipment body (100); One end surface of the equipment body (100) is a construction surface, and a construction joint (600) is provided on the construction surface for carrying an actuator to complete the construction.

2. The underwater facade concrete construction equipment according to claim 1, characterized in that: The upper and lower ends of the device body (100) are both provided with mounting cavities (110); A support frame (700) is arranged in the installation cavity (110), and the equipment main body (100) is connected to the walking mechanism (200) via the support frame (700) arranged in the installation cavity (110).

3. The underwater facade concrete construction equipment according to claim 2, characterized in that: The support frame (700) comprises a first mounting plate (710), a second mounting plate (720) and a third mounting plate (730); Two first mounting plates (710) are symmetrically arranged in the mounting cavity (110) in a front-to-back manner, and the second mounting plates (720) are arranged at both ends of the two first mounting plates (710), and the two first mounting plates (710) are connected via the second mounting plates (720); One end of the third mounting plate (730) is connected to the first mounting plate (710), and four third mounting plates (730) are symmetrically arranged in the mounting cavity (110) in a front-to-back and left-to-right manner, and each of the third mounting plates is connected to the first mounting plate (710); Wherein, an elastic member (740) is provided at the connection point between one end of each of the third mounting plates (730) and the first mounting plate (710), and a walking mechanism (200) is provided at the other end of each of the third mounting plates (730).

4. The underwater facade concrete construction equipment according to claim 1, characterized in that: The mobile propulsion mechanism (300) comprises a first propeller (310) and a first drive motor (320); the first propeller (310) is connected to an output end of the first drive motor (320); and the first propeller (310) is driven to rotate by the first drive motor (320).

5. The underwater facade concrete construction equipment according to claim 4, characterized in that: Two groups of the first propeller (310) and the first drive motor (320) are arranged in the cavity inside the equipment body (100), and the two groups of the first propeller (310) and the first drive motor (320) are arranged symmetrically in the construction direction of the equipment body (100).

6. The underwater facade concrete construction equipment according to claim 4, characterized in that: The cavity of the equipment body (100) is provided with water inlets (120) having the same number as the first propellers (310); A protective net (800) is provided at the water inlet (120).

7. The underwater facade concrete construction equipment according to claim 1, characterized in that: A single sinking and floating propulsion mechanism (400) comprises a hollow floating plate (410), a second propeller (420) and a second driving motor (430); Two second propellers (420) are symmetrically arranged inside the hollow floating plate (410), and the output end of the second driving motor (430) is connected to the second propeller (420), and the second propeller (420) is driven to rotate by the second driving motor (430).

8. The underwater facade concrete construction equipment according to claim 7, characterized in that: The flipping driving mechanism (500) is installed in the equipment body (100), and the output end of the flipping driving mechanism (500) is rotatably connected to a side of the hollow floating plate (410) close to the equipment body (100). The flipping driving mechanism (500) drives the hollow floating plate (410) to drive the equipment body (100) to flip, thereby completing the switching of the construction surface.

9. The underwater facade concrete construction equipment according to any one of claims 1 to 8, characterized in that: The walking mechanism (200) adopts a Mecanum wheel.

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