Underwater facade concrete construction equipment

Abstract

The present invention belongs to the technical field of underwater construction operations, and specifically provides an underwater facade concrete construction operation equipment, including: an equipment body; a walking mechanism, the walking mechanism is symmetrically arranged at the upper and lower ends and the front and rear ends of the equipment body in the construction direction; a moving propulsion mechanism, a cavity is provided inside the equipment body, and the moving propulsion mechanism is provided in the cavity of the equipment body; a sinking and floating propulsion mechanism, two sinking and floating propulsion mechanisms are symmetrically provided at the left and right ends of the equipment body in the construction direction; a flipping drive mechanism, the flipping drive mechanism 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 equipment body construction surface; 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. The construction operation equipment provided by this application can be used to realize various underwater facade concrete inspection, repair and other construction operations.

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 technique used in marine engineering, underwater buildings, dams, and other underwater structures. This method is primarily used to construct or repair facade structures in underwater environments, such as dams, docks, and bridge foundations.

[0003] The development of underwater facade concrete construction technology has enabled the construction of various structures and facilities in underwater environments, providing important technical support for the development and utilization of marine resources. This construction method also plays a vital role in water conservancy projects, environmental protection, and restoration.

[0004] When existing underwater concrete structures are damaged, worn, or require regular inspection and maintenance, workers are required to go into the water to perform the operations. However, due to the complex and dangerous underwater working environment, a large amount of manpower is 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 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 device, comprising:

[0008] Equipment body;

[0009] 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] 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 flip drive mechanism, connected to the sinking and floating propulsion mechanism, for driving the sinking and floating propulsion mechanism to flip, thereby completing 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 provided in the installation cavity, and the equipment main body is connected to the walking mechanism via the support frame provided 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, front to back and left to right, and each of which 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 provided in the cavity inside the device body, and the two groups of the first propellers and the first drive motors are symmetrically arranged in the construction direction of the device body.

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

[0023] A protective net is provided 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 embodiment, the flipping drive mechanism is installed in the equipment body, and the output end of the flipping drive mechanism is rotatably connected to the side of the hollow float close to the equipment body. The flipping drive mechanism drives the hollow float 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 machine's main body is moved after contact with the work surface using a traveling mechanism. This traveling mechanism utilizes a Meitnam wheel to power the entire traveling system, with each wheel enabling directional movement of the main body. Elastic elements on the support frame adapt the traveling mechanism to the work surface's terrain and provide wheel cushioning, ensuring the main body maintains close contact with the work surface. A mobile propulsion mechanism enables the main body to move forward, turn, and maintain contact with the work surface. This mechanism includes a position adjustment motor for fine-tuning and correcting its position. A buoyant propulsion mechanism enables the main body to rise and fall underwater, rotating. This mechanism also includes a propeller and a position adjustment motor for adjusting its position underwater. Construction joints allow for the installation of specific actuators to facilitate various underwater operations, such as water jets for cleaning and roughening the work surface. Given that the work surface is limited to a single surface, a flip drive mechanism, combined with the buoyant propulsion mechanism, allows for rapid switching between work surfaces when repairing surfaces at varying angles. 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

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

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

[0033] Figure 3 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 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 by 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall 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 under a certain specific posture. If the specific posture changes, the directional indications 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 for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such 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 mutually contradictory or cannot be implemented, it should be deemed that such a 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 main body 100 of the equipment is used to provide installation locations for various mechanisms and to carry various mechanisms to complete corresponding tasks; one end surface of the main body 100 is a construction surface, on which a construction joint 600 is provided for carrying actuators to complete various constructions, such as high-pressure water jet roughening equipment, concrete spraying equipment, cameras, detection radars, etc.; the upper and lower ends of the main body 100 are provided with installation cavities 110, and the installation cavities 110 are provided with support frames 700; the support frames 700 include 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 front and back, 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 front and back and left and right, and each third mounting plate 730 is connected to the first mounting plate 710, and an elastic member 740 is provided 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 entire equipment to move along the construction surface during operation and to drive the entire 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 surrounding 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 achieving all-round movement of the entire 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 allows the entire equipment equipped with Mecanum wheels to move flexibly in narrow or limited spaces.

[0044] The mobile propulsion mechanism 300 is used to realize the forward movement and steering of the equipment main body 100 and provide corresponding force for the equipment main body 100 to stick to the working surface, which includes a corresponding posture adjustment motor for realizing fine-tuning and correction of the posture; a cavity is provided inside the equipment main body 100, and the mobile propulsion mechanism 300 is provided 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 first propellers 310 and first drive motors 320 are provided in the cavity inside the equipment main body 100, and the two groups of first propellers 310 and first drive motors 320 are symmetrically provided 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 with the same number as the first propellers 310, which are used to allow water to flow into the interior of the equipment body 100, so that the first propellers 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; two sinking and floating propulsion mechanisms 400 are 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; two second propellers 420 are symmetrically arranged inside the hollow floating plate 410, and the output end of the second drive motor 430 is connected to the second propeller 420, and the second drive motor 430 drives the second propeller 420 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 situation 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 installation of the working equipment (high-pressure water jet roughening device), 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 entire equipment floats on the water surface, it is driven jointly by the mobile propulsion mechanism 300 and the sinking and floating propulsion mechanism 400, and the flipping drive mechanism 500 assists in adjusting the posture to drive the entire equipment to the predetermined construction position. Specifically, the first driving motors 320 symmetrically arranged inside the equipment main body 100 respectively drive the first propellers 310 connected to them, and the equipment main 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 main body 100 respectively drive the second propellers 420 connected to them, so that the equipment main body 100 sinks. That is, the equipment main body 100 moves forward and sinks under the joint action of the mobile 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 main body 100 in adjusting its position until the entire equipment reaches the predetermined construction position.

[0051] When the whole equipment arrives at 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 chiseling 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 chiseling 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 entire 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 float 410; subsequent construction is carried out according to the above cycle. When the operation on the construction surface is completed, the second propeller 420 stops running, allowing the equipment body to float up under the buoyancy of the hollow float 410 to recover the equipment.

[0052] It should be noted that due to prolonged immersion in water, the surface of the underwater facade may be corroded, damaged, worn, and otherwise uneven. Furthermore, since an elastic member 740 is provided at one end of each third mounting plate 730 where it connects to the first mounting plate 710, and a running mechanism 200 is provided at the other end of each third mounting plate 730 (i.e., the end away from the elastic member 740), the running mechanism 200 utilizes a Mecanum wheel. When the Mecanum wheel-driven device body 100 travels along the construction surface, if the surface is uneven, the elastic member 740 allows the Mecanum wheel to adapt to the unevenness of the construction surface and maintain close contact with the surface, thereby improving the stability of the entire device during operation.

[0053] As needed, the above-mentioned installation, setting, provision or connection methods include but are not limited to screws, rivets, welding or socketing, fixing and the like. The installation, setting or connection method is selected according to the work 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 transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application 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 provided 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 flip driving mechanism (500), the flip 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, thereby completing 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 construction; The upper and lower ends of the device body (100) are both provided with mounting cavities (110); A support frame (700) is provided in the installation cavity (110), and the device body (100) is connected to the walking mechanism (200) via the support frame (700) provided in the installation cavity (110); 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), 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 three mounting plates is connected to the first mounting plate (710); Wherein, 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 a walking mechanism (200) is provided at the other end of each third mounting plate (730); 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); 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); The flip drive mechanism (500) is installed in the equipment body (100), and the output end of the flip drive mechanism (500) is rotatably connected to a side of the hollow floating plate (410) close to the equipment body (100). The flip drive mechanism (500) drives the hollow floating plate (410) to drive the equipment body (100) to flip, thereby completing the switching of the construction surface. The walking mechanism (200) adopts a Mecanum wheel.

2. 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), wherein 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).

3. The underwater facade concrete construction equipment according to claim 2, characterized in that: Two groups of the first propellers (310) and the first drive motors (320) are provided in the cavity inside the device body (100), and the two groups of the first propellers (310) and the first drive motors (320) are symmetrically arranged in the construction direction of the device body (100).

4. The underwater facade concrete construction equipment according to claim 2, characterized in that: The cavity of the device 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).

Images