Dam breach plugging device, parallel control method and dam plugging method thereof

Abstract

A dam gap plugging device comprises a rope hanging mechanism (10), a loader pair (20), a stacking mechanism (30) and a parallel control (80), and the rope hanging mechanism (10) comprises a first rope hanging ring (16) and a second rope hanging ring (17) which are arranged in parallel and used for conveying the loader pair (20) between a gap and a dam; the loader pair (20) comprises a lifting mechanism (21) which is used for being matched with the rope hanging mechanism (10) to sequentially switch among a loading hovering state, a feeding state, a stacking hovering state and a returning state; the stacking mechanism (30) comprises an adjuster (31) and a load grabbing hook (32), and is used for grabbing and releasing the throwing stone bags and stacking the throwing stone bags at proper positions; the parallel controller (80) is electrically connected with the rope hanging mechanism (10), the loader pair (20) and the stacking mechanism (30) and used for coordinating the loader pair (20) and the stacking mechanism (30) to complete parallel stacking dam forming work, and the structure is reliable, simple and practical.

Description

Technical Field

[0001] The present invention relates to the technical field of dam breach plugging, and particularly relates to a dam breach plugging device, a parallel control method and a dam plugging method thereof. Background Art

[0002] There are mainly four major difficulties in plugging a breach: ① The dam is narrow, making it inconvenient to carry out multi-person operations; ② The water is deep and the flow is rapid, and there is no stable operation platform to rely on; ③ It is difficult to carry out the operation of driving piles in suspended flowing water; ④ It is difficult to quickly form a dam by throwing materials. The plugging ideas and facilities in the prior art have the following defects:

[0003] (1) The method of throwing materials

[0004] The method of throwing materials is a common method for plugging a breach. The materials thrown include gabions, sandbags, sunken ships, trucks, etc. However, from the perspective of the plugging effect, due to the poor stability of the materials in flowing water and the buoyancy effect, the materials are washed away when they enter the water. The actual amount of materials used is 1.5 - 3 times the planned amount, which not only causes huge waste but also delays the time for plugging the breach. The breach quickly widens to more than a hundred meters, and it is very difficult for the method of throwing materials to be implemented without being troubled by the above four major difficulties.

[0005] (2) The combined steel-wood-earth-rock dam

[0006] The combined steel-wood-earth-rock dam is to implant steel pipes or wooden piles at a certain density into the bottom of the breach, connect and fix them into a pile framework, and concentrate on throwing bagged crushed stones or sandbags and building a slope protection with earth and rock to form a water-blocking dam. The operation of implanting steel pipes or wooden piles is also very difficult, and it is difficult to implement only by manual labor and must rely on large-scale operation machinery. The Yellow River Institute of Hydraulic Research of the Yellow River Water Conservancy Commission discloses a new structure for plugging a levee breach (CN221721501U, publication date: September 17, 2024), which relates to a plugging method. Step S1: Throw two pipes wrapped with anti-erosion films into the breach, and wrap the anti-erosion film around the surface of the breach; then throw several pipes into the breach for drainage; Step S2: Take soil locally, use excavators, loaders and dump trucks to make and fill geotextile bags, and quickly carry out the closure; Step S3: After the closure is completed, throw earth bags at the breach 1 at one end of the steel pipe with an intake mesh 6, and the earth bags block the inlet end of the pipe 2 in the mouth of the breach along the flow, and the earth bags block the drainage port of the pipe. Pour loose soil into the mouth of the breach for airtightness. Step S4: Build a moon embankment 7 outside the levee, and pump slurry into the moon embankment 7 for further airtightness reinforcement. Thus, the emergency plugging operation of the breach is completed. This method requires the coordinated and rapid operation of a large number of machines for throwing geotextile bags. It may be difficult to carry out on relatively narrow dams.

[0007] (3) The prior art mostly relies on engineering vehicles for plugging

[0008] Yunnan University discloses a pulling-type dike breach plugging device and its application method (CN117051770A, publication date: November 14, 2023), which includes bundling a floating platform with steel pipes and floating barrels, and fixing both ends of the floating platform on the fixed columns on both sides of the breach; guiding steel wires 4 are fixed on the fixed columns 2 on both sides, the middle of the guiding steel wires is fixed with a central rope 11, the other end of the central rope 11 is fixed on the floating platform, earth-rock bags 6 are sleeved on the guiding steel wires 4, a pulling rope 5 is sleeved every 5 - 8 earth-rock bags 6, earth-rock bags 6 are also sleeved on the pulling rope 5, and the other end of the pulling rope 5 is fixed on the floating platform. Earth-rock bags 6 are continuously filled in the space between the floating platform 1 and the guiding steel wires 4 until the breach is plugged. Applying it to dike breach plugging does not require large equipment, has low construction costs, and good plugging effects. The water pressure of a section of the breach is concentrated between two central ropes, and it is difficult to find ropes that can withstand such a large liquid thrust, so it is not very practical.

[0009] In summary, there is an urgent need in this field for a breach plugging device that can avoid relying on large mechanical equipment for construction operations, automatically implement plugging, only require a small amount of human participation, be simple and practical in structure, and can efficiently plug dike breaches, which is a key technical problem urgently to be solved in the field of dike breaches. Summary of the Invention

[0010] Aiming at the defects existing in the above-mentioned prior art, the purpose of the present invention is to provide a parallel control method for a dam breach plugging device and a dam plugging method, so as to solve the technical problems of "avoiding relying on large mechanical equipment for construction operations, the device automatically implementing plugging, less human participation, being simple and practical in structure, and being able to efficiently plug dike breaches".

[0011] The purpose of the present invention is achieved as follows. A dam breach plugging device includes

[0012] A suspension rope mechanism is arranged across the breach on both sides of the dam, including a first suspension rope loop and a second suspension rope loop arranged in parallel, for transporting a loading mechanism between the breach and the dam;

[0013] A loading mechanism is arranged on the suspension rope mechanism, including a lifting mechanism, which is used to cooperate with the suspension rope mechanism to sequentially rotate between a loading and hovering state, a feeding state, a stacking and hovering state, and a returning state. In the stacking and hovering state, the lifting mechanism is used to send the thrown stone bags into the underwater of the breach to stack into a dam;

[0014] A stacking mechanism is arranged on the loading mechanism, including an adjuster and a load grab, for grasping, releasing the thrown stone bags and stacking them in a suitable position;

[0015] Parallel control, the parallel control is electrically connected to the suspension rope mechanism, the loading mechanism and the stacking mechanism, and is used to coordinate the loading mechanism and the stacking mechanism to complete the parallel stacking into a dam work.

[0016] Furthermore, the suspension rope mechanism includes two groups of suspension rope pile pairs, which are respectively rotatably provided with a first suspension rope ring and a second suspension rope ring, and the first suspension rope ring and the second suspension rope ring run in a constant speed direction through a driving mechanism.

[0017] Furthermore, the carrying mechanism also includes a gripping bar base, four elastic grippers are arranged at intervals in the length direction of the gripping bar base, and the first suspension rope ring and the second suspension rope ring are respectively passed through the four elastic grippers, so that the gripping bar base is perpendicular to the moving direction of the suspension rope; two suspension ropes moving in the same direction are grasped by two elastic grippers at the same time, and at the same time, the other two elastic grippers release the suspension ropes, so that the carrying mechanism is in a feeding state or a returning state.

[0018] Furthermore, the loosening and tightening gripper is a guiding and gripping mechanism, which includes a sleeve body, two guides arranged axially, a gripper arranged between the two guides, the gripper including an axially movable sleeve, at least three gripping fingers and a slide frame, the slide frame is provided with an inclined slide rail, the gripping fingers are slidably arranged on the inclined slide rail of the slide frame, the axially movable sleeve is threadedly matched with a nut sleeve, and the nut sleeve is connected to a servo motor.

[0019] Furthermore, it also includes a hovering aid for assisting the carrying mechanism to hover at a precise position; the hovering aid includes a hovering rope, a movable pulley, a fixed pulley, a rope storage roller and a hovering motor, the movable pulley is fixed to the gripping bar base of the carrying mechanism, the rope storage roller cooperates with the fixed pulley to be rotatably fixed to the dam, and the hovering rope is wound around the rope storage roller and passed between the fixed pulley and the movable pulley.

[0020] Furthermore, the load-carrying grab hook is connected to the adjuster, and the load-carrying grab hook is a hydraulic hook hand. The hydraulic hook hand includes a grab hook triangle, a grab hook and a hydraulic actuator. The hydraulic actuator is vertically arranged, and the grab hook end of the grab hook is rotatable and is symmetrically arranged on both sides of the hydraulic actuator with the left and right axes. The tail ends of at least two grab hooks are connected to the linkage block, and the hydraulic actuator is connected to the linkage block through a double-elbow connecting rod. The hydraulic actuator is used to simultaneously actuate multiple grab hooks on both sides so that they can switch between the release position and the hooking position.

[0021] A parallel control method for the dam breach plugging device is characterized by:

[0022] S1, initialize the queue structure

[0023] Parallel control includes running queues, and running status data includes carrier number I, status information, grabber status and maximum stacking position; carrier number II, status information, grabber status and maximum stacking position X max ; Initialize the running queue and store the running status data of one state offset into the running queue; stop signal stop=0; La=1; La is the stacking layer.

[0024] S2, maximum stacking position X max = L / 2, set the left minimum stacking position X of the current layermin1 , the right minimum stacking position X min2 ; L is the total running distance L;

[0025] S3. Execute the data status at the head of the queue: Every interval of time t, parallel control reads the data at the head of the running queue, and according to the data at the head of the queue, executes the status of the loading mechanism corresponding to the loading machine number until the status of the data at the head of the queue ends; when the current status of both loading mechanisms ends, the status of the data at the head of the queue ends; Execute the queue operation, take out the data at the head of the running queue, store it in the temporary structure B and at the same time store it at the end of the running queue;

[0026] S4: Determine whether this layer is completed: Read the data in the temporary structure B, and determine whether X max -X min1 = 0 for the loading mechanism I? And whether X max -X min2 = 0 for the loading mechanism II? If yes, La = La + 1, and execute step S2; otherwise, determine whether the stop signal stop = 0? If yes, then execute S2; if stop = 1, then execute S5.

[0027] S5: End.

[0028] A parallel control method for the dam breach blocking device described above

[0029] S1. Initialize the queue structure

[0030] The parallel control includes a left queue and a right queue; the left queue data includes the loading machine number I, status information, grab hook status, and maximum stacking position; the right queue data includes the loading machine number II, status information, grab hook status, and maximum stacking position Xmax; Initialize the left queue and the right queue, and store the left queue data and the right queue data into the left queue and the right queue respectively in the order of state switching; the stop signal STop = 0; La = 1; La is the stacking layer; the stacking step step = ST w , ST w is the width of the thrown stone bag.

[0031] S2. The maximum stacking position X max = L / 2, set the left minimum stacking position X min1 and the right minimum stacking position X min2 of the current layer; L is the total running distance of the suspension rope mechanism;

[0032] S3. Execute the data status at the head of the queue:

[0033] (1) Cyclic intermittent detection

[0034] Every interval of time t, parallel control reads the data at the head of the left queue and the right queue, and according to the data at the head of the queue,

[0035] Execute the status of the carrier mechanism of the corresponding carrier number;

[0036] If the left queue.status column = 1 and the right queue.status column = 1, the distance S between the two bearing mechanisms is intermittently and cyclically detected; when S is less than 2ST w , changing the state of one of the carrying mechanisms to hovering and waiting, until the state of the other carrying mechanism is returned, and then restoring the feeding state of one of the carrying mechanisms;

[0037] (2) Switching state: when receiving the end signal of the running state, the head data of the left and right queues are taken out and stored in the temporary storage structure B and at the end of the running queue A;

[0038] S4: Determine whether this layer is completed: read the data of temporary structure B, determine the X of the carrier number I max -X min1 = 0? And the X of the carrier number II max -X min2 =0?, La=La+1, execute step S2; if not, determine if the stop signal stop=0?, if yes, execute S2; if Stop=1, execute S5.

[0039] S5: End.

[0040] A method for quickly sealing a dam breach comprises the following steps:

[0041] S1. Set up an underwater hidden cofferdam in front of the breach;

[0042] Select the sub-prefabricated blocks of the cofferdam with appropriate height according to the water depth, and the top of the blind cofferdam should be within 1m from the water surface;

[0043] S2, Gravel Flat Bottom

[0044] The dam breach rapid dam-building device is used to quickly throw gravel to the bottom of the breach until a bottom plane is formed;

[0045] S3, Rapid Dam

[0046] Use the dam breach stacking device to quickly stack water to form a rectangular cross-section dam;

[0047] S4, laying the front prefabricated board, sealing the seams, and the rear prefabricated board

[0048] S5, top injection cement slurry

[0049] High-pressure cement slurry is injected from multiple grouting pipes at the top. The cement slurry pushes water out of the gravel dam from the bottom of the gravel dam body until the cement slurry gushes out from the bottom.

[0050] S6. After the cement in the gravel dam has solidified, remove the underwater blind cofferdam.

[0051] Further, S4 includes the following steps:

[0052] (1) Lay the front precast slabs. First, anchor multiple inclined guide rails at intervals in front of the gravel-packed dam. A step with an anchor hole is provided beside the bottom end of the inclined guide rail. The anchor rod is inserted into the anchor hole. During underwater operation, manually rotate the anchor rod head to screw the anchor rod into the ground, and the underground part of the anchor rod is at least 1 m; the front precast slabs slide down into the water bottom along the inclined guide rails through the guide rail grooves, and multiple front precast slabs slide into the water bottom side by side along the inclined guide rails. An I-shaped sealing strip is provided between adjacent front precast slabs.

[0053] (2) Lay the rear precast slabs. When the water level in the gravel-packed dam drops to a lower level, anchor multiple inclined guide rails at the rear side of the gravel-packed dam. Anchor holes are provided in the inclined guide rails. The anchor rod is inserted into the anchor hole, and use a rotating motor to drive the anchor rod head to screw the anchor rod into the ground. The underground part of the anchor rod is at least 1 m; the rear precast slabs slide down into the water bottom along the inclined guide rails through the guide rail grooves; multiple rear precast slabs slide into the water bottom side by side along the inclined guide rails. An I-shaped sealing strip is provided between adjacent front precast slabs.

[0054] (3) Lay the top precast slabs. Lay the top precast slabs on the top of the gravel-packed dam. An I-shaped sealing strip is provided between adjacent top precast slabs, and an I-shaped sealing strip at the corner is also provided between the top precast slabs and the front and rear precast slabs. Multiple grouting pipes are provided at the top of the adjacent part between the gravel-packed dam and the dam body.

[0055] A water dam breach plugging device, a parallel control method and a water dam plugging method thereof realize the sequential transformation of four states through the suspension rope mechanism cooperating with the bearing mechanism; the suspension rope mechanism and the bearing mechanism cooperate with the hovering assistance to realize the precise position hovering.

[0056] The two bearing mechanisms cooperate with the parallel algorithm to realize high-efficiency stacking, which is simple and practical and has practical value. Description of the Drawings

[0057] Figure 1 It is the top view of the suspension rope mechanism 10 of Embodiment 1 of a water dam breach plugging device of the present invention;

[0058] Figure 2 It is the front view of the load hook of Embodiment 1 of a water dam breach plugging device of the present invention in the hooked position;

[0059] Figure 3 It is the front view of the load hook of Embodiment 1 of a water dam breach plugging device of the present invention in the released position.

[0060] Figure 4 It is the front view of the stacking mechanism 30 of Embodiment 1 of a water dam breach plugging device of the present invention.

[0061] Figure 5The main cross-sectional view of the loosened state of the tightening and loosening gripper in Embodiment 1 of a dam breach plugging device of the present invention;

[0062] Figure 6 The main cross-sectional view of the tightened state of the tightening and loosening gripper in Embodiment 1 of a dam breach plugging device of the present invention;

[0063] Figure 7 The front view of the lifting mechanism in Embodiment 1 of a dam breach plugging device of the present invention;

[0064] Figure 8 The front view before pouring of the rapid dam breach plugging method in Embodiment 1 of a dam breach plugging device of the present invention.

[0065] Figure 9 The front view after pouring of the rapid dam breach plugging method in Embodiment 1 of a dam breach plugging device of the present invention.

[0066] Figure 10 The front view of the splicing of the front / rear precast slabs (the state where the I-shaped sealing strip is open) of the rapid dam breach plugging method in Embodiment 1 of a dam breach plugging device of the present invention.

[0067] Figure 11 The front view of the splicing of the front / rear precast slabs (the state where the I-shaped sealing strip is closed) of the rapid dam breach plugging method in Embodiment 1 of a dam breach plugging device of the present invention.

[0068] Figure 12 The front view of the splicing of the front / rear precast slabs and the top precast slab (the state where the I-shaped sealing strip is open) of the rapid dam breach plugging device in Embodiment 1 of a dam breach plugging device of the present invention.

[0069] Figure 13 The front view of the splicing of the front / rear precast slabs and the top precast slab (the state where the I-shaped sealing strip is closed) of the rapid dam breach plugging device in Embodiment 1 of a dam breach plugging device of the present invention.

[0070] Figure 14 The front view of the guiding and gripping mechanism 70 (open state) of the rapid dam breach plugging device in Embodiment 3 of a dam breach plugging device of the present invention.

[0071] Figure 15 The front view of the guiding and gripping mechanism 70 (closed state) of the rapid dam breach plugging device in Embodiment 3 of a dam breach plugging device of the present invention.

[0072] Figure 16 The front view of the suspension rope gripper 90 (open state) of the rapid dam breach plugging device in Embodiment 3 of a dam breach plugging device of the present invention.

[0073] Figure 17 The front view of the suspension rope gripper 90 (closed state) of the rapid dam breach plugging device in Embodiment 3 of a dam breach plugging device according to the present invention.

[0074] The reference numerals in the above figures:

[0075] 1 Dark cofferdam, 2 Inclined guide rail, 3 Anchor rod, 4 Grouting pipe, 5 I-shaped sealing strip, 6 Front precast slab, 7 Rear precast slab, 8 Top precast slab, 10 Suspension rope mechanism, 11 Pair of suspension rope piles, 12 Rotating pivot, 13 Driven pulley, 14 Rope driving device, 15 Driving motor, 16 First suspension rope loop, 17 Second suspension rope loop, 18 Suspension rope, 19 External meshing gear, 20 Bearing mechanism, 21 Lifting mechanism, 22 Gripping strip foundation, 23 Tightening gripper, 24 Anti-sway chain, 25 Sway chain roller, 30 Stacking mechanism, 31 Adjuster, 32 Load-carrying grab hook, 34 Normal fine adjustment, 35 Driving pulley, 36 Driven pulley, 37 Driving belt, 40 Hovering assistance, 41 Hovering rope, 42 Movable pulley, 43 Fixed pulley, 44 Rope storage roller, 45 Hovering motor, 46 Fixed pulley frame, 40.1 Left hovering assistance, 40.2 Right hovering assistance, 50 Hydraulic grab hand, 51 Grab hook triangle, 52 Grab hook, 53 Double elbow link, 54 Symmetrical actuation, 55 Linking block, 56 Short elbow rod, 57 Long elbow rod, 58 Elbow pin, 59 Chute, 60 Guide gripping mechanism, 61 Sleeve body, 62 Gripping device, 63 Guide, 64 Guide sphere, 65 Axially moving sliding sleeve, 66 Gripping finger, 67 Slideway frame, 68 Nut sleeve, 69 Servo motor, 70 Guide gripping mechanism, 71 Upper guide roller seat, 72 Lower guide roller seat, 73 Upper guide wheel, 74 U-shaped wall, 75 Guide seat pivot, 76 Lower guide wheel, 77 L-shaped lower seat, 78 Circular roller groove, 79 Arc groove, 80 Symmetrical opening and closing device, 81 Twisting link, 82 Rear elbow rod, 83 Front elbow rod, 84 Fixed shaft, 85 Horizontal guide groove, 86 Vertical guide groove, 87 First pivot, 88 Second pivot, 89 Third pivot, 90 Suspension rope gripper, 91 Driving gear, 92 Driven gear, 93 Clamping arm, 94 Semi-circular clamping groove. Detailed implementation manners

[0076] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings, but does not limit the scope of the present invention.

[0077] Embodiment 1

[0078] A dam breach parallel damming device, comprising

[0079] A suspension rope mechanism 10, which is arranged across the breach on both sides of the dam and includes a first suspension rope loop 16 and a second suspension rope loop 17 arranged in parallel and side by side, and is used for conveying a bearing mechanism 20 between the breach and the dam;

[0080] The carrying mechanism 20 is provided on the suspension rope mechanism 10 and includes a lifting mechanism 21, which is used to cooperate with the suspension rope mechanism 10 to switch between the loading hovering state, the feeding state, the stacking hovering state, and the returning state. In the stacking hovering state, the throwing stone bag W is sent into the underwater of the breach through the lifting mechanism 21 to stack into a dam.

[0081] The stacking mechanism 30 is provided on the carrying mechanism 20 and includes an adjuster 31 and a load-carrying grab hook 32, which are used to grab the throwing stone bag, release it, and stack it in a suitable position.

[0082] Parallel control, the parallel control is electrically connected to the suspension rope mechanism 10, the carrying mechanism 20, and the stacking mechanism 30, and is used to coordinate the carrying mechanism 20 and the stacking mechanism 30 to complete the parallel stacking into a dam work.

[0083] The suspension rope mechanism 10 includes two pairs of suspension rope piles 11, and the two pairs of suspension rope piles 11 are arranged in parallel side by side. The suspension rope piles 11 are anchored on the dams on both sides of the breach. The suspension rope pile pair 11 includes two fixed pivots 12. One of the fixed pivots 12 is rotatably provided with a rope driving device 14, and the other fixed pivot 12 is rotatably provided with a driven pulley 13; a first suspension rope loop 16 is arranged between the rope driving device 14 and the driven pulley 13 of a pair of suspension rope piles 11, and a second suspension rope loop 17 is arranged between the rope driving device 14 and the driven pulley 13 of the other pair of suspension rope piles 11. The rope driving device 14 is a speed reduction mechanism, and the speed reduction mechanism includes a central gear, a planetary gear, and a ring gear. A rope matching groove is provided outside the ring gear. A bushing is rotatably provided on the fixed pivot 12, the central gear and the driving pulley are fixedly arranged on the bushing, and the driving pulley is belt-drivenly connected to the driving motor 15. The first suspension rope loop 16 is fitted in the rope matching groove. The external meshing gears 19 of the rope driving device 14 of one pair of suspension rope piles 11 are meshed with the external meshing gears 19 of the rope driving device 14 of the other pair of suspension rope piles 11. After the speed is reduced by the above speed reduction mechanism, the ring gear drives the suspension rope 18. The driving motor 15 of a pair of suspension rope piles 11 rotates at a fixed speed to drive the central gear to rotate, and drives the first suspension rope loop 16 to rotate between the rope driving device 14 and the driven pulley 13 along the first rotation direction (such as the counterclockwise direction) through the speed reduction rotation; at the same time, through the transmission of the external meshing gears 19, it drives the speed reduction mechanism of the other pair of suspension rope piles 11 to drive the second suspension rope loop 17 to rotate along the second rotation direction (such as the clockwise direction); the first rotation direction and the second rotation direction are opposite, and the rotation speeds are equal. A driving friction force F is provided between the rope driving device 14 and the driven pulley 13 through a tensioning mechanism, which is sufficient to drive the suspension rope 18 to drive the two sets of carrying mechanisms 20 and the throwing stone bag W to move at a fixed speed. The suspension rope 18 is a wear-resistant thick rope, and the cross section is approximately circular. Preferably, it is a thick nylon rope or a steel wire rope, and the diameter can be 10 - 60mm.

[0084] The carrier mechanism 20 further includes a gripper strip base 22. At least four tension grippers 23 are arranged at intervals in the length direction of the gripper strip base 22. The first suspension rope loop 16 and the second suspension rope loop 17 are respectively threaded through the four tension grippers 23, so that the gripper strip base 22 is perpendicular to the moving direction of the suspension rope. By simultaneously gripping two suspension ropes moving in the same direction with two tension grippers 23, and at the same time, releasing the suspension ropes with the other two tension grippers 23, the carrier mechanism 20 moves together with the suspension ropes to be in the feeding state or the returning state. Both the feeding state and the returning state are the switching of the carrier mechanism 20 between the stacking position and the loading position. When reaching the stacking position or the loading position, the suspension ropes are simultaneously released by the four tension grippers 23, so that the carrier mechanism 20 is in stacking hover, loading hover or hover waiting. In any state, the suspension rope mechanism 10 is constantly running. Two carrier mechanisms 20 are simultaneously threaded on the suspension rope mechanism 10, which is convenient for rapid stacking with double efficiency. Preferably, each suspension rope 18 corresponds to two tension grippers 23 arranged front and back, with a total of eight tension grippers 23, as Figure 7 shown. The lifting mechanism 21 is a hoist that drives a lifting chain and a hook. Anti-sway chains 24 are respectively coupled to both sides of the chain. Swing chain rollers 25 are fixedly arranged below the carrier mechanisms 20 on both sides of the lifting chain. The anti-sway chains 24 are wound around the swing chain rollers 25, and the front ends are fixedly connected to the hook. The anti-sway chains 24 cannot bend in the direction perpendicular to the lifting chain and can be bent and wound in the direction of the lifting chain.

[0085] The loosening gripper 23 is a guide gripping mechanism 60, which includes a sleeve body 61. The sleeve body 61 is provided with two guides 63 in the axial front and back direction. A gripper 62 is provided between the two guides 63. The guide 63 includes at least three guide balls 64 rotatably provided on the annular frame at intervals. The gripper 62 includes an axial sliding sleeve 65, at least three gripping fingers 66 and a slide frame 67. The slide frame 67 is provided with an inclined slide rail. The gripping fingers 66 are slidably provided on the inclined slide rail of the slide frame 67. The rear end of the gripping fingers 66 is fixedly connected to the axial sliding sleeve 65. The axial sliding sleeve 65 is threadedly matched with a nut sleeve 68, and the nut sleeve 68 is connected to a servo motor 69. The nut sleeve 68 rotates forward and reversely to make the axial sliding sleeve 65 move forward and backward in the axial direction, driving the gripping fingers 66 to switch between the open position and the gripping position along the slide frame 67. In the open position, the multiple gripping fingers 66 simultaneously move radially outward to the right end of the inclined slide rail so that the diameter of the middle gripping hole is larger than the diameter of the suspension rope 18, corresponding to the loosening of the suspension rope by the loose grip 23; in the gripping position, the multiple gripping fingers 66 simultaneously move radially inward to the left end of the inclined slide rail so that the diameter of the middle gripping hole is less than or equal to the diameter of the suspension rope 18, corresponding to the gripping of the suspension rope by the loose grip 23. In this way, the bearing mechanism 20 can follow the movement of the suspension rope 18 by relying on the friction force of the loose grip 23. Since the guide grip mechanism 60 is a hole-shaped member, it needs to be inserted between the first suspension rope ring 16 and the second suspension rope ring 17 in advance before installation. The achievable method is: insert the two suspension ropes on site, and then fix the two suspension ropes head to tail to form the first suspension rope ring 16 and the second suspension rope ring 17.

[0086] It also includes a suspension aid 40, which is used to assist the carrying mechanism 20 to suspend at a certain precise position. The suspension aid 40 includes a suspension rope 41, a movable pulley 42, a fixed pulley 43, a rope storage roller 44 and a suspension motor 45. The movable pulley 42 is fixed to the gripper strip base 22 of the carrying mechanism 20, and other structures are fixedly installed on the side of the dam. The rope storage roller 44 is rotatably fixed to the dam, and the roller shaft of the rope storage roller 44 is connected to the suspension motor 45 through a coupling. The fixed pulley 43 is fixed above the rope storage roller 44 through a fixed pulley frame 46. The fixed pulley 44 is parallel to the axis of the rope storage roller 44 and the outer diameter is tangent to the same vertical plane. The axis position of the fixed pulley 44 is the length measurement starting point P0. The end of the suspension rope 41 is connected to the fixed hook below the movable pulley 42, and then the suspension rope 41 returns to the rope storage roller 44 through the fixed pulley 43 and the movable pulley 42. A left hovering aid 40.1 and a right hovering aid 40.2 are respectively installed on both sides of each supporting mechanism 20. Figure 1Taking the rotating direction shown as an example of the loading mechanism 20 on the right side, the feeding action of the loading mechanism 20 is realized as follows: The tightening grippers 23 of the outer suspension ropes 18 of the first suspension rope loop 16 and the second suspension rope loop 17 are tightened, the tightening grippers 23 of the middle suspension ropes are loosened, the hovering motor 45 of the left hovering assistant 40.1 drives the rope storage roller 44 to wind up the hovering rope, and the hovering motor 45 of the right hovering assistant 40.2 drives the rope storage roller 44 to wind and release the hovering rope at the same speed. When the loading mechanism 20 is in stacking hovering, loading hovering or hovering waiting, the hovering action of the loading mechanism 20 is realized as follows: All four tightening grippers are released, the hovering motors 45 of the left hovering assistant 40.1 and the right hovering assistant 40.2 stop rotating, the lengths of the hovering ropes on both sides remain unchanged, and although the four suspension ropes of the first suspension rope loop 16 and the second suspension rope loop 17 of the suspension rope mechanism 10 are still moving, the friction forces exerted by the two outer suspension ropes 18 on the corresponding two tightening grippers 23 are exactly equal to the friction forces exerted by the two inner suspension ropes on the corresponding two tightening grippers. With the limitation of the two hovering ropes 41 on both sides, the loading mechanism 20 remains stationary at the precise position. The hovering distance is only calculated in the feeding state, that is Figure 1 When the right loading mechanism 20 is in the feeding state in Figure 1 , the distance between the axis of the movable pulley 42 and the axis of the fixed pulley 43 of the right hovering assistant 40.2 is the hovering distance Lx. At this moment, the loading mechanism 20 precisely hovers at the hovering distance Lx. Similarly, the hovering distance of the loading mechanism 20 on the left side is the distance between the axis of the movable pulley 42 and the axis of the fixed pulley 43 of its left hovering assistant 40.1, which is the hovering distance.

[0087] The adjuster 31 is a normal fine adjustment 34. The normal fine adjustment can adjust the position of the load grab 32 along the direction perpendicular to the suspension rope 16, so as to accurately stack the thrown stone bag W to the appropriate position. The normal fine adjustment 34 includes a driving pulley 35, a driven pulley 36 and a driving belt 37. The load grab 32 is fixedly connected to the driving belt 37 through a connecting sleeve.

[0088] The load-carrying grapple 32 is a hydraulic grapple 50, which includes a grapple triangle 51, at least two grapples 52 and a symmetric actuator 54. The symmetric actuator 54 is vertically arranged, and the grapple end of the grapple 52 is rotatable around a self-rotating pivot. A plurality of grapples 52 are symmetrically arranged on both sides of the symmetric actuator 54 for simultaneously actuating the grapples 52 on both sides to switch between a release position and a hooked position. The symmetric actuator 54 is connected to the grapple 52 through a double elbow link 53 and a linkage block 55. The linkage block 55 is simultaneously hinged to two grapples 52. The double elbow link 55 includes a short elbow rod 56 and a long elbow rod 57 that are end-to-end hinged through an elbow pin 58. The short elbow rod 56 is hinged to the piston end of the symmetric actuator 54, and the long elbow rod 57 is hinged to the linkage block 55. The grapple triangle 51 is symmetrically provided with chutes 59 on both sides of the symmetric actuator 54, and the elbow pin 58 is slidably arranged in the chutes 59. When the piston of the symmetric actuator 54 reaches the retraction limit, the elbow pin 58 is located at the bottom end of the chute 59, and the long elbow rod 57 causes the linkage block 55 to be located at the outermost side, thereby driving the grapple 52 to rotate around the self-rotating pivot to the hooked position, as Figure 2 shown. When the piston of the symmetric actuator 54 reaches the extension limit, the elbow pin 58 is located at the top end of the chute 59, and the long elbow rod 57 causes the linkage block 55 to be located at the innermost side, thereby driving the grapple 52 to rotate around the self-rotating pivot to the release position, as Figure 3 shown.

[0089] The following is a description of the method for the dam breach parallel stacking device to perform offset parallel stacking.

[0090] The distance between the axes of the fixed pulleys for the hovering assistance on both sides is the total running distance L of the suspension rope mechanism 10, and the two loading mechanisms 20 each operate in the distance space. When the loading mechanism 20 adjusts its position by advancing and retreating at the center of the breach, in order to prevent interference between the two loading mechanisms 20, the control of offset parallelism needs to be realized. The specific implementation method is introduced as follows:

[0091] The parallel control includes a running queue. The running state data includes the loader number I, status information, grapple status, and maximum stacking position; the loader number II, status information, grapple status, and maximum stacking position Xmax. The loader numbers are 1 and 2, representing the loading mechanism I and the loading mechanism II respectively. The status information: 0, 1, 2, 3, representing loading hover, feeding, stacking hover, and returning respectively. The grapple status is 0 and 1, 0 represents release, and 1 represents grasping. The stacking position can be set, and the initial values of the maximum stacking positions corresponding to the loading mechanisms I and II can be defaulted to The minimum stacking position of the two loading mechanisms is the distance from the edge of the breach to the axis of the corresponding fixed pulley on that side. Since the side of the breach is an inclined plane, the minimum stacking position of each layer is different. Therefore, this minimum stacking position can be modified and set. For the stacking of the current layer, every time a fixed width of stacking is completed, the maximum stacking position is reduced by one step, and the step step = ST w ,STw is the width of the catapult stone bag W. When the maximum stacking position decreases to equal the minimum stacking position, the stacking of this layer ends, and it is reassigned to the maximum stacking position, and the minimum stacking position X of the next layer is modified. min Then, the stacking of the next layer is carried out.

[0092] Both loading mechanisms 20 operate in a cycle of loading hovering state, feeding state, stacking hovering state, and returning state. The operating states of the two loading mechanisms 20 operate in parallel with one state missed, which is called misaligned parallel operation.

[0093] Assume that the width and length of the catapult stone bag W are both STw = 1m. The loading mechanisms I and II are simply referred to as machine 1 and machine 2. The two sets of operating data are staggered by one state and form an entry to be stored in the queue structure. For example, the breach width is 100m, the maximum stacking position is 50m, and after measurement, the left and right minimum stacking positions X min1、 X min2 are both 5m. The data at the head of the queue always represents the current operating states of the two loading mechanisms 20. When the stacking hovering ends, the loading hovering distance can be optionally reduced by 1m. Only the stacking position in the stacking hovering state is meaningful for reference.

[0094] The initialized operating queue stored is as follows:

[0095] 1, 0, 0, 50; 2, 3, 0, 50 - Machine 1 is in loading hovering state, and machine 2 is in returning state

[0096] 1, 1, 1, 50; 2, 0, 0, 50 - Machine 1 is in feeding state, and machine 2 is in loading hovering state

[0097] 1, 2, 1, 50; 2, 1, 1, 50 - Machine 1 is in stacking hovering state, and machine 2 is in feeding state

[0098] 1, 3, 0, 50; 2, 2, 1, 50 - Machine 1 is in returning state, and machine 2 is in stacking hovering state

[0099] Start to execute, read the data at the head of the operating queue, and execute the actions. After the data at the head of the queue is executed, the data at the head of the queue is taken out and stored at the end of the queue, becoming:

[0100] 1, 1, 1, 50; 2, 0, 0, 50 - Machine 1 is in feeding state, and machine 2 is in loading hovering state

[0101] 1, 2, 1, 50; 2, 1, 1, 50 - Machine 1 is in stacking hovering state, and machine 2 is in feeding state

[0102] 1, 3, 0, 50; 2, 2, 1, 50 - Machine 1 is in returning state, and machine 2 is in stacking hovering state

[0103] 1, 0, 0, 50; 2, 3, 0, 50 - Machine 1 is in loading hovering state, and machine 2 is in returning state.

[0104] Read the data at the head of the operation queue and execute the action. After the data at the head of the queue is executed, the data at the head of the queue is taken out and stored at the end of the queue, becoming:

[0105] 1, 2, 1, 50; 2, 1, 1, 50 - Stacker of No. 1 machine hovers, No. 2 machine feeds

[0106] 1, 3, 0, 50; 2, 2, 1, 50 - No. 1 machine returns, stacker of No. 2 machine hovers

[0107] 1, 0, 0, 50; 2, 3, 0, 50 - Loader of No. 1 machine hovers, No. 2 machine returns

[0108] 1, 1, 1, 50; 2, 0, 0, 50 - No. 1 machine feeds, loader of No. 2 machine hovers.

[0109] Read the data at the head of the operation queue and execute the action. After the data at the head of the queue is executed, since the stacker hovering of No. 1 machine ends, optionally modify the stacker hovering distance to 50 - 1 = 49, then take out the data at the head of the queue and store it at the end of the queue, becoming:

[0110] 1, 3, 0, 50; 2, 2, 1, 50 - No. 1 machine returns, stacker of No. 2 machine hovers

[0111] 1, 0, 0, 50; 2, 3, 0, 50 - Loader of No. 1 machine hovers, No. 2 machine returns

[0112] 1, 1, 1, 50; 2, 0, 0, 50 - No. 1 machine feeds, loader of No. 2 machine hovers;

[0113] 1, 2, 1, 49; 2, 1, 1, 50 - Stacker of No. 1 machine hovers, No. 2 machine feeds.

[0114] Read the data at the head of the operation queue and execute the action. After the data at the head of the queue is executed, since the stacker hovering of Carrier Mechanism II ends, optionally modify the stacker hovering distance to 50 - 1 = 49, then take out the data at the head of the queue and store it at the end of the queue, becoming:

[0115] 1, 0, 0, 50; 2, 3, 0, 50 - Loader of No. 1 machine hovers, No. 2 machine returns

[0116] 1, 1, 1, 50; 2, 0, 0, 50 - No. 1 machine feeds, loader of No. 2 machine hovers;

[0117] 1, 2, 1, 49; 2, 1, 1, 50 - Stacker of No. 1 machine hovers, No. 2 machine feeds

[0118] 1, 3, 0, 50; 2, 2, 1, 49 - No. 1 machine returns, stacker of No. 2 machine hovers.

[0119] Because the duration of the states of stacking hovering, returning, delivering, and loading hovering is different, the dam breach parallel dam stacking device is provided with a remote controller, and the end of the loading hovering state can be issued by the "loading end" button; the end of the stacking hovering state can be issued by the "stacking end" button, and both the return and delivery can be automatically issued by the rangefinder on the fixed pulley side when the real-time distance measurement is equal to the current maximum stacking position, and the parallel control can be recognized and converted to the next state according to the end of the state. Only when the current state of the bearing mechanism I ends and the current state of the bearing mechanism II ends, is it time to switch to the next state. Although this slightly reduces the efficiency, it can be automatically executed and absolutely no interference under unmanned control. The actions that require human participation are: during the loading hovering period, aim the grab hook at the throwing stone bag and operate the load grab hook 32 at the hooking position to grab the throwing stone bag W; during the stacking hovering period, adjust the position of the load grab hook 32 according to the video returned by the probe, and operate the load grab hook 32 at the release position to drop the throwing stone bag after determining the position. Other actions are automatically performed by the dam breach device.

[0120] A staggered parallel control method for a dam breach dam stacking device, comprising:

[0121] S1, initialize the queue structure

[0122] Initialize the running queue and store the running status data of the state shifted by one into the running queue A; stop signal STop = 0; La = 1; La is the stacking layer; stacking stride w = ST w ,ST w The width of the stone bag.

[0123] S2, maximum stacking position X max = L / 2, set the left minimum stacking position X of the current layer min1 , right minimum stacking position X min2 ; L is the total running distance L;

[0124] S3, execute the head of the queue data status: every interval time t 隔 , parallel control reads the head data of the running queue A once, and executes the state of the carrier mechanism 20 of the corresponding carrier number according to the head data, until the state of the head data ends; when the current states of the two carrier mechanisms 20 are both ended, the state of the head data ends; executes the queue operation, the running queue takes out the head data, stores it in the temporary storage structure B and stores it in the tail of the running queue at the same time;

[0125] In the same stacking hovering position, the principle is to adjust the width first and then the length. That is, no matter the load-bearing mechanism I or II, when executing the stacking hovering state, the next package can continue to be stacked at the position without changing the current Xmax according to the needs until the dam width is met; the maximum hovering position X of the corresponding load-bearing mechanism can also be selected. maxReduce the width of a thrown stone bag W, that is, X max = X max - ST w .

[0126] S4: Determine whether this layer is completed: Read the data of the temporary storage structure B, and determine whether the X of the loading mechanism I max - X min1 = 0? And whether the X of the loading mechanism II max - X min2 = 0? Yes, La = La + 1, execute step S2 (that is, only when the dam bodies of both loading mechanisms are stacked to complete this layer, can the next layer be stacked); No, then determine whether the stop signal stop = 0?, yes, then execute S2; if stop = 1, then execute S5.

[0127] S5: End.

[0128] Furthermore, if an abnormality occurs in any of steps S2, S3, and S4, stop = 1.

[0129] Through actual tests, for a dam with a 50m breach, a thrown stone dam with a height of 3m and a width of 4m is piled up. Using this parallel control method, compared with a dam breach plugging device that only uses one loading mechanism 20 to transport thrown stone bags from one direction inward, the dam piling efficiency is increased by at least 40%. That is, not only parallel delivery is proposed, but also the control implementation of parallel control is given, which has beneficial technical effects.

[0130] A method for quickly plugging a dam breach includes the following steps:

[0131] S1. Set an underwater hidden cofferdam 1 in front of the inner side of the breach;

[0132] Select precast blocks of the cofferdam with appropriate heights according to the water depth, and the top of the hidden cofferdam is within 1m from the water surface. The function of the cofferdam is to reduce the water flow velocity and water flow rate at the breach, which is beneficial to quickly piling the dam. Any form of cofferdam in the prior art can be used for this part.

[0133] S2. Gravel flat bottom

[0134] Use the above-mentioned dam breach plugging device to quickly throw gravel to the bottom of the breach until a bottom plane is built.

[0135] S3. Quickly pile the dam

[0136] Use the above-mentioned dam breach plugging device to quickly stack gravel bags to form a dam with a rectangular cross-section. The above-mentioned dam breach plugging device doubles the efficiency due to simultaneous two-way conveying and adjustable stacking positions, and quickly stacks a gravel bag dam with a trapezoidal cross-section. At this moment, the gravel bag dam can allow a small amount of water to pass through, but its designed width and height can obviously withstand the pressure of the water inside the dam without being pushed down. For example, with a width of 4m and a height of 2m, the dam will not be washed away by the lateral outward water flow pressure.

[0137] S4. Lay the precast slab before, seal the joints, and lay the precast slab after

[0138] (1) Lay the precast slab before. First, anchor multiple inclined guide rails 2 at intervals on the front side of the gravel bag dam. There are steps with anchor holes beside the bottom ends of the inclined guide rails 2. The anchor rods 3 are inserted into the anchor holes. During underwater operation, manually rotate the anchor rod head to screw the anchor rod into the ground. The underground part of the anchor rod is at least 1m. On one side surface of the front precast slab 6, there are two parallel guide rail grooves, which cooperate with the inclined guide rails and slide down along the inclined guide rails into the water bottom. Multiple front precast slabs are arranged side by side and slide into the water bottom along the inclined guide rails. A sealing strip is arranged at the bottom of the front precast slab and abuts against the bottom plane through the sealing strip. An I-shaped sealing strip 5 is arranged between adjacent front precast slabs. When sliding in, the T-shaped wing plates of the sealing strip are open. After sliding in, manually press the T-shaped wing plates into the sealing grooves of the front precast slabs underwater to seal the joints between the front precast slabs. The convex strips of the T-shaped wing plates at the joints are pressed into the grooves on the surface of the front precast slabs to prevent lateral water flow from entering between the sealing strip and the precast slab. When all the front precast slabs are laid, the gravel bag dam blocks the breach water flow through the front precast slabs on the front side, causing the water level inside the gravel bag dam to drop rapidly and flow out.

[0139] (2) Lay the precast slab after. When the water level inside the gravel bag dam drops to a lower level, anchor multiple inclined guide rails on the rear side of the gravel bag dam. There are anchor holes in the inclined guide rails. The anchor rods are inserted into the anchor holes. Use a rotary motor to drive the anchor rod head to screw the anchor rod into the ground. The underground part of the anchor rod is at least 1m. On one side surface of the rear precast slab 7, there are two parallel guide rail grooves, which cooperate with the inclined guide rails and slide down along the inclined guide rails into the water bottom. Multiple rear precast slabs are arranged side by side and slide into the water bottom along the inclined guide rails. A sealing strip is arranged at the bottom of the rear precast slab and abuts against the bottom plane through the sealing strip. An I-shaped sealing strip 5 is arranged between adjacent rear precast slabs to seal the joints between the front precast slabs.

[0140] (3) Lay the top precast slab 8. Lay the top precast slab on the top of the gravel bag dam. An I-shaped sealing strip 5 is arranged between adjacent top precast slabs. An I-shaped sealing strip 5 with corners is also arranged between the top precast slab and the front and rear precast slabs. Multiple grouting pipes 4 are arranged at the top of the adjacent part between the gravel bag dam and the dam body.

[0141] S5. Inject cement slurry from the top

[0142] High-pressure cement slurry is injected from multiple grouting pipes 4 at the top. The cement slurry pushes water from the bottom of the gravel dam body to the gravel dam until the cement slurry fills the entire gravel dam body. The sign is that the injection pressure of the cement slurry suddenly increases and emerges from between the bottom of the precast slab and the bottom plane.

[0143] S6. After the cement in the gravel dam body solidifies, remove the underwater blind cofferdam.

[0144] The technical concept of the above-mentioned dam construction is as follows: ① Set up an arc-shaped hidden cofferdam before the breach to reduce the velocity and flow of the breach water; ② Use the dam sealing device to transport wire mesh bags filled with gravel to quickly pile up the dam, and the gravel dam itself can pass water; ③ First introduce the divided front prefabricated panels on the front slope of the dam body through the inclined guide rail (due to the support of the I-shaped sealing strip 5, there is no need to caulk the seam. At this moment, the water level in the dam body suddenly drops to close to the bottom of the dam), and introduce the divided rear prefabricated panels on the rear slope of the dam body; ④ Lay the top plate; ⑥ Inject cement slurry, and the high-pressure cement squeezes the residual water in the dam body from the bottom plane and the prefabricated panels until it is full. The realization of the above-mentioned dam construction mainly relies on the rapid and efficient dam piling of the dam piling device.

[0145] Example 2

[0146] The staggered parallel behavior is changed to avoid collision and increase the casting efficiency. The other structures are the same as those in Example 1.

[0147] A parallel control method for the dam breach plugging device,

[0148] S1, initialize the queue structure

[0149] Parallel control includes left queue and right queue; left queue data includes carrier number I, status information, grabber status and maximum stacking position; right queue data includes carrier number II, status information, grabber status and maximum stacking position Xmax; initialize left queue and right queue, store left queue data and right queue data into left queue and right queue in sequence according to state switching order; stop signal STop=0; La=1, La is stacking layer; stacking step step=ST w ,ST w The width of the stone bag.

[0150] S2, maximum stacking position X max = L / 2, set the left minimum stacking position X of the current layer min1 , right minimum stacking position X min2 ;

[0151] S3, the data status of the execution queue head:

[0152] (1) Cycle intermittent detection

[0153] Each interval time t 隔, The head data of the left queue and the right queue are read in parallel control, and according to the head data, the state of the loading mechanism 20 corresponding to the loading machine number is executed;

[0154] Among them, at the same stacking hovering position, the principle is width first and then length. That is, regardless of loading mechanisms I and II, when executing the stacking hovering state, the current X can be adjusted as needed without changing it max , The next package continues to be stacked at this position until the width of the dam body is satisfied; Optionally, the maximum hovering position X of the corresponding loading mechanism can be reduced by the width of a throwing stone package W, that is, X max = X max = X max -ST w .

[0155] Judgment and collision avoidance: If loading mechanism I sends and loading mechanism II sends, that is, left queue.status information = 1 and right queue.status information = 1, the distance S between the two loading mechanisms 20 is intermittently and cyclically detected; when S is less than 2ST w , Change the state of loading mechanism I to hovering and waiting until the state of loading mechanism II is returned, then restore the sending state of loading mechanism I;

[0156] (2) Switch the state. When receiving the signal indicating the end of the running state, take out the head data of the left and right queues, store it in the temporary structure B and at the same time store it in the tails of the left and right queues respectively;

[0157] S4: Determine whether the stacking of this layer is completed: Read the data of the temporary structure B, whether loading mechanism I is completed, X max -X min1 = 0? And whether loading mechanism II is completed, X max -X min2 = 0? Yes, La = La + 1, execute step S2 (that is, only when both loading mechanisms 20 have completed the stacking of this layer can the next layer be stacked); No, then judge whether the stop signal stop = 0?, yes, then execute S2; if stop = 1, then execute S5.

[0158] S5: End.

[0159] The improvement of this embodiment is that the misalignment of the running states of the two loading mechanisms is not strictly limited, and each runs independently at its own pace. Considering the perspective of avoiding collisions, when the two loading mechanisms are both in the sending state, they may collide and interfere. In this case, the distance between them is strictly detected. When the distance is less than 2W, change the loading machine number I to hovering and waiting until the state of loading machine number II becomes returning, then restore the sending state of loading machine number I. After actual measurement, compared with the dam breach plugging device with only one loading mechanism, the stacking efficiency of this embodiment is increased by at least 80%, achieving truly high efficiency.

[0160] Example 3

[0161] The improved guiding and gripping mechanism 60 is of a clamping and mounting structure, which is convenient for installation. Other structures are the same as those in Embodiments 1 and 2.

[0162] A dam breach plugging device as described above,

[0163] comprises a guiding and gripping mechanism 70. The bearing mechanism 20 is provided with at least four guiding and gripping mechanisms 70 arranged side by side corresponding to the suspension rope mechanism 10. Each guiding and gripping mechanism 70 is arranged on the bearing mechanism 20 at intervals corresponding to one suspension rope 18. The guiding and gripping mechanism 70 includes an upper guide roller seat 71, and two lower guide roller seats 72 are rotatably arranged on both sides of the upper guide roller seat 71. The upper guide roller seat 71 includes a U-shaped wall 74, and an upper guide wheel 73 is rotatably arranged inside the U-shaped wall. The upper guide wheel 73 is provided with a circular roller groove 78 for clamping the suspension rope 18. When the circular roller groove 78 abuts against the suspension rope 18, the central axis O-O of the circular roller groove 78 coincides with the central axis of the suspension rope 18. The U-shaped wall 74 is symmetrically and pivotally connected to two lower guide roller seats 72 through a guide seat pivot 75 with the central axis O-O as the axis of symmetry. The central axes O1-O1 and O2-O2 of the two guide seat pivots 75 and the central axis O-O of the circular roller groove 78 are located in the same plane π, and the distance D1 between the central axis O1-O1 and the central axis O-O is equal to the distance D2 between the central axis O2-O2 and the central axis O-O. The two lower guide roller seats 72 include a lower guide wheel 76 and an L-shaped lower seat 77. The lower guide wheel 76 is provided with an arc groove 79. The diameter of the arc groove 79 is equal to the diameter of the circular roller groove 78 and is 1 / 4 of the arc part at the same time. The lower guide wheel 76 is rotatably arranged on the L-shaped lower seat 77 with the pivot perpendicular to one side plate.

[0164] It further includes a symmetric opener 80 for simultaneously driving the two lower guide seats 72 to switch between an open position and a closed position. In the open position, it is suitable for simultaneously installing the guiding and gripping mechanism 70 on four suspension ropes 18. In the closed position, the arc grooves of the two lower guide wheels 76 form a lower semi-circular arc symmetrical to the plane π, and the suspension rope 18 is clamped in the circular guide hole facing the upper semi-circular arc, so that the multiple guiding and gripping mechanisms 70 roll and support on the corresponding suspension ropes 18 simultaneously.

[0165] The symmetric opener 80 is symmetrically arranged in the vertical plane π passing through the central axis O-O 1 , and the symmetric opener 80 includes a torsion link 81, two rear elbow rods 82 and two front elbow rods 83. One end of the torsion link 81 is hinged to a fixed shaft 84, and the other end is hinged to the two rear elbow rods 82 through a first pivot 87. The two rear elbow rods 82 are respectively hinged to the front elbow rods 83 through a second pivot 88. The other ends of the front elbow rods 83 are fixedly connected perpendicularly to the corresponding side plates of the L-shaped lower seat 77.

[0166] The torsion link 81 includes a central cam, an upper link, and a lower link. The central cam is rotatably provided on the third pivot 89, and the third pivot 89 is connected to the drive motor through a coupling. The central cam is axisymmetric about the third pivot 89, and the upper link and the lower link are respectively hinged on both sides through hinge pins. The other end of the lower link is hinged to connect two rear elbow rods 82. The other end of the upper link is hinged to the fixed pivot 89, and the fixed pivot 89 is located in the vertical plane π 1 .

[0167] It further includes a transverse guide groove 85 parallel to the plane π and a longitudinal guide groove 86 perpendicular to the plane π passing through the central axis O-O. Two second pivots 88 are respectively slidably provided in the transverse guide groove 85. The first pivot 87 and the third pivot 89 are respectively slidably provided in the longitudinal guide groove 86.

[0168] When the central cam of the torsion link 81 rotates to the horizontal position, the third pivot 89 moves up by the lifting distance L 1 , and the first pivot 87 moves vertically up by 2L 1 , so that the second pivot 88 moves from the right limit position to the vertical plane π 1 and moves to the left limit position, causing the lower guide seat 72 to rotate outward by an angle α around the guide seat pivot 75, where 10° ≤ α ≤ 30°. At this moment, the symmetric opener 80 causes the two lower guide seats to rotate symmetrically to the open positions on both sides of the suspension rope. The horizontal position is that the two hinge pins and the third pivot 89 are jointly located in the same horizontal plane perpendicular to the vertical plane π 1 . When the central cam rotates to the vertical position, the third pivot 89 moves down by the lifting distance L 1 , and the first pivot 87 moves vertically down by 2L 1 , the second pivot 88 moves from the left limit position to the right limit position. At this moment, the rear elbow rod 82 is perpendicular to the front elbow rod 83, and the symmetric opener 80 causes the two lower guide seats 72 to rotate symmetrically to the closed position. The vertical position is that the two hinge pins and the third pivot 89 are jointly located in the vertical plane π 1 .

[0169] It further includes a suspension rope clamp 90, and the suspension rope clamp 90 is provided between the two guide gripping mechanisms 70. The suspension rope clamp 90 includes a driving gear 91 and a driven gear 92 that are symmetrically provided on both sides of the vertical plane π 1 and are externally meshed. The driving gear 91 is connected to the drive motor through a coupling. The driving gear 91 is fixedly connected to the clamping arm 93 through a rotating shaft, and the driven gear 92 is fixedly connected to the clamping arm 93 through a rotating shaft. The two clamping arms 93 clamp the suspension rope 18 through the semi-circular clamping grooves 94. The rotation of the driving gear 91 drives the driven gear 92 to rotate towards each other, driving the two clamping arms 93 to switch between the open position and the closed position. In the open position, the two semi-circular clamping grooves 94 symmetrically move away from the suspension rope 18, corresponding to the release of the suspension rope by the guide gripping mechanism 70; in the closed position, the two semi-circular clamping grooves 95 are in the vertical plane π 1Clamp the suspension rope 18 symmetrically on both sides, corresponding to the guide gripping mechanism 70 gripping the suspension rope.

[0170] In the closed position, the above-mentioned guide gripping mechanism 70 is designed to apply a clamping force symmetrically on both sides of the suspension rope 18, so that the upper guide wheel and the two lower guide wheel roller grooves are clamped on the suspension rope 18 in a facing manner, which is conducive to rolling and guiding along the suspension rope 18 horizontally. The suspension rope clamp 90 also applies a clamping force symmetrically on both sides of the suspension rope 18, which is conducive to clamping the suspension rope without skewing, and facilitates the forward thrust of the suspension rope 18 to be perpendicular to the bearing mechanism 20 to drive it to move forward.

[0171] The above-mentioned guide gripping mechanism 70 enables the suspension ropes not to be connected end to end on site, and the suspension ropes can be permanently fixedly connected into a loop. After the suspension rope mechanism 10 is installed, the guide gripping mechanism 70 is in the open position. The bearing mechanism 20 is erected on the four suspension ropes 18 on site, so that each upper guide wheel rolls and supports on each suspension rope 18, and then the guide gripping mechanism 70 is switched to the closed position, and the bearing mechanism 20 is installed. During use, only the suspension rope clamp 90 is between the open position and the closed position to switch between gripping the suspension rope and releasing the suspension rope. Compared with the guide gripping mechanism 60 in Embodiment 1, the above-mentioned guide gripping mechanism 70 is simple and fast to install on site, and its simplicity will not cause errors due to panic, which is convenient to use.

[0172] Principle description:

[0173] (1) The suspension rope mechanism 10 cooperates with the bearing mechanism 20 to realize the sequential transformation of four states.

[0174] The suspension rope mechanism 10 provides the first and second suspension rope loops 16 and 17 with the same speed and opposite directions through the drive mechanism. The two outer suspension ropes move along the positive X-axis direction, and the two inner suspension ropes move along the opposite negative X-axis direction. When the bearing mechanism 20 simultaneously grasps the two outer suspension ropes or the two inner suspension ropes, the bearing mechanism 20 becomes the feeding state or the returning state; when both bearing mechanisms 20 completely release the connection with the suspension ropes, the bearing mechanism 20 becomes the loading hover, stacking hover or hover waiting. In short, it can fully meet all the states of automatically feeding the thrown stone bags from the dam beside the breach into the breach for stacking.

[0175] (2) The suspension rope mechanism 10, the bearing mechanism 20 cooperate with the hover assist 40 to realize precise position hovering.

[0176] When the bearing mechanism 20 is in one of the loading hover, stacking hover or hover waiting, theoretically, the frictional force exerted on the bearing mechanism 20 by the two outer suspension ropes along the positive X-axis direction is equal to the frictional force exerted on the bearing mechanism 20 by the two inner suspension ropes along the negative X-axis direction. However, due to the gravitational action of the bearing mechanism 20 and the thrown stone bags, the first and second suspension rope loops 16 and 17 are in a V shape, not a straight line in theory. Therefore, through the action of the suspension ropes tightened on both sides, the bearing mechanism 20 can accurately hover at any position.

[0177] (3) The two loading mechanisms 20 cooperate with a parallel algorithm to achieve high-efficiency stacking.

[0178] There are two loading mechanisms 20 that reciprocate within their respective half-routes at the same time, and interference may occur at the middle position. To achieve automatic and efficient operation, a parallel algorithm must be designed to avoid interference at the middle position in order to achieve the purpose of automatic operation. Thus, there are a dislocation parallel algorithm and a collision avoidance parallel algorithm, which avoid the possibility of interference between the two loading mechanisms 20 from different perspectives. The concept of the dislocation parallel algorithm is to solidify the dislocation operating state in a queue and strictly operate according to the data at the head of the queue, so that it is never possible for the two loading mechanisms 20 to be fed in at the same time. The concept of the collision avoidance parallel algorithm is that the two loading mechanisms 20 operate at their own rhythms. For each state, it is judged whether the two loading mechanisms 20 are in the feeding state at the same time. If so, the distance between the two loading mechanisms 20 is detected, and one loading mechanism is immediately made to hover and wait until the state of the other loading mechanism is to return, and then the current state is restored. In this way, interference is avoided.

[0179] (4) The guiding and gripping mechanism applies force along the axis of the suspension rope, or applies force symmetrically on both sides of the axis of the suspension rope and is directly opposite to the rolling support, facilitating the transmission of the driving force along the direction of the suspension rope.

[0180] The guiding and gripping mechanism 60 is of the threading type. When installing the loading mechanism 20, it is necessary to thread it onto the suspension rope in advance, and then fixedly connect the two ends of the suspension rope on-site to form the first suspension rope loop 16 and the second suspension rope loop 17, which is rather troublesome. The direction of the clamping force moves the axially moving sliding sleeve 65 along the axis of the suspension rope, so that the gripping fingers 66 symmetrically abut against the suspension rope along the inclined guide rail of the axis, and applying force along the axis direction ensures that the loading mechanism 20 follows or hovers perpendicular to the axis direction of the suspension rope 18.

[0181] The guiding and gripping mechanism 70 is of the symmetrically opening type. In the open position, the upper guide wheels are respectively rolling supported on the four suspension ropes 18, and then the guiding and gripping mechanism 70 is switched to the closed position, and the suspension ropes 18 are exactly rolling supported directly opposite by the upper guide wheels and the two lower guide wheels, making it very easy to install the loading mechanism 20. At the same time, for the rolling positioning of the suspension rope 18, three guide wheels and three arc grooves are adopted. The semi-circular arc groove of the upper guide wheel abuts, and the arc grooves of the two lower guide wheels open and close. When closed, they form a lower semi-circular arc groove directly opposite to the circular roller groove 78 of the upper guide wheel. The direction of the clamping force is symmetrically clamped relative to the axis of the suspension rope, so that the axes of the upper and lower guide wheels are vertically and directly opposite to the suspension rope 18 in the space perpendicular to the axis of the suspension rope. The direction of the clamping force is applied to clamp the suspension rope symmetrically on both sides of the axis of the suspension rope, making it easier to ensure that the loading mechanism 20 follows or hovers perpendicular to the axis direction of the suspension rope 18.

[0182] A dam breach plugging device, a parallel control method and a dam plugging method thereof, through the suspension rope mechanism 10 cooperating with the bearing mechanism 20, realize the sequential transformation of four states; the suspension rope mechanism 10, the bearing mechanism 20 cooperate with the hovering assistance 40 to realize precise position hovering; the two bearing mechanisms 20 cooperate with the parallel algorithm to realize high-efficiency stacking, which is simple and practical and has practical value.

Claims

1. A dam breach plugging device, characterized in that: include A suspension rope mechanism (10) is arranged on both sides of the embankment across the breach, and comprises a first suspension rope ring (16) and a second suspension rope ring (17) arranged in parallel and juxtaposed, and is used to transport a bearing mechanism (20) between the breach and the embankment; The carrying mechanism (20) is arranged on the suspension rope mechanism (10), and comprises a lifting mechanism (21), which is used to cooperate with the suspension rope mechanism (10) to sequentially rotate between a loading hovering state, a delivery state, a stacking hovering state and a return state. In the stacking hovering state, the lifting mechanism (21) is used to deliver the thrown stone bag W into the breach underwater to stack it into a dam; The stacking mechanism (30) is arranged on the carrying mechanism (20), and comprises an adjuster (31) and a load-carrying hook (32), and is used for grabbing and releasing the thrown stone bags and stacking them at a suitable position; Parallel control, wherein the parallel control electrically connects the suspension rope mechanism (10), the bearing mechanism (20) and the stacking mechanism (30) and is used to coordinate the bearing mechanism (20) and the stacking mechanism (30) to complete the parallel stacking dam forming work.

2. The dam breach sealing device according to claim 1, characterized in that: The suspension rope mechanism (10) comprises two groups of suspension rope pile pairs (11), each of which is rotatably provided with a first suspension rope ring (16) and a second suspension rope ring (17). The first suspension rope ring (16) and the second suspension rope ring (17) run in opposite directions at a constant speed through a driving mechanism.

3. The dam breach sealing device according to claim 2, characterized in that: The carrying mechanism (20) further comprises a gripper bar base (22), wherein four elastic grippers (23) are arranged at intervals in the length direction of the gripper bar base (22), and the first suspension rope ring (16) and the second suspension rope ring (17) are respectively inserted into the four elastic grippers (23), so that the gripper bar base (22) is perpendicular to the moving direction of the suspension rope; two suspension ropes moving in the same direction are gripped simultaneously by two elastic grippers (23), and at the same time, the other two elastic grippers (23) loosen the suspension ropes, so that the carrying mechanism (20) is in a feeding state or a returning state.

4. The dam breach plugging device according to claim 3, characterized in that: The loosening and tightening gripper (23) is a guide gripping mechanism (60), which includes a sleeve body (61), two guides (63) arranged along the axial direction, a gripper (62) arranged between the two guides (63), the gripper (62) including an axially movable sleeve (65), at least three gripping fingers (66) and a slide frame (67), the slide frame (67) being provided with an inclined slide rail, the gripping fingers (66) being slidably arranged on the inclined slide rail of the slide frame (67), the axially movable sleeve (65) being threadedly matched with a nut sleeve (68), and the nut sleeve (68) being connected to a servo motor (69).

5. The dam breach sealing device according to claim 4, characterized in that: The invention also comprises a suspension aid (40) for assisting the carrying mechanism (20) to suspend at a precise position; the suspension aid (40) comprises a suspension rope (41), a movable pulley (42), a fixed pulley (43), a rope storage roller (44) and a suspension motor (45); the movable pulley (42) is fixedly arranged on the gripping bar base (22) of the carrying mechanism (20); the rope storage roller (44) cooperates with the fixed pulley (43) to be rotatably fixed on the dam; the suspension rope (41) is wound around the rope storage roller (44) and passed between the fixed pulley (43) and the movable pulley (42).

6. The dam breach sealing device according to claim 1, characterized in that: The load-carrying grab hook (32) is connected to the adjuster (31). The load-carrying grab hook (32) is a hydraulic hook hand (50). The hydraulic hook hand (50) comprises a grab hook triangle (51), a grab hook (52) and a symmetrical actuator (54). The symmetrical actuator (54) is vertically arranged. The grab hook end of the grab hook (52) is rotatable and is symmetrically arranged on both sides of the symmetrical actuator (54) about the left and right axes. The tail ends of at least two grab hooks (52) are connected to a linkage block (55). The symmetrical actuator (54) is connected to the linkage block (55) through a double elbow connecting rod (53). The symmetrical actuator is used to simultaneously actuate multiple grab hooks (52) on both sides so that they can switch between a release position and a hooking position.

7. A parallel control method for a dam breach plugging device according to any one of claims 1 to 5, characterized in that: S1, initialize the queue structure Parallel control includes running queues, and running status data includes carrier number I, status information, grabber status and maximum stacking position; carrier number II, status information, grabber status and maximum stacking position X max ; Initialize the running queue A, and store the running status data of the offset state into the running queue A; stop signal stop = 0; La = 1; La is the stacking layer; stacking stride w = ST w ,ST w The width of the stone bag. S2, maximum stacking position X max = L / 2, set the left minimum stacking position X of the current layer min1 , right minimum stacking position X min2 ; L is the total running distance of the suspension rope mechanism; S3, execute the head data status: every interval time t 隔 , parallel control reads the head data of the running queue once, executes the state of the carrier mechanism (20) of the corresponding carrier number according to the head data, until the state of the head data ends; when the current states of the two carrier mechanisms (20) are both ended, the state of the head data ends; executes the queue operation, the running queue takes out the head data, stores it in the temporary storage structure B and stores it in the tail of the running queue A at the same time; S4: Determine whether this layer is completed: read the data of temporary structure B, determine the X of the carrier number I max -X min1 = 0? And the X of the carrier number II max -X min2 =0?, La=La+1, execute step S2; if not, determine if the stop signal stop=0?, if yes, execute S2; if Stop=1, execute S5. S5: End.

8. A parallel control method for a dam breach plugging device according to any one of claims 1 to 5, characterized in that: S1, initialize the queue structure The parallel control includes a left queue and a right queue; the left queue data includes the carrier number I, status information, grabber status and maximum stacking position, corresponding to the operating status of the carrier mechanism I; The right queue data includes the carrier number II, status information, hook status and maximum stacking position Xmax, corresponding to the operating status of the carrier II; initialize the left queue and the right queue, and store the left queue data and the right queue data in the left queue and the right queue respectively according to the state switching sequence; stop signal stop = 0; La = 1; La is the stacking layer; stacking step step = ST w ,ST w The width of the stone bag. S2, maximum stacking position X max = L / 2, set the left minimum stacking position X of the current layer min 1. Right minimum stacking position X min2 ; L is the total running distance of the suspension rope mechanism; S3, the data status of the execution queue head: (1) Cycle intermittent detection Each interval time t 隔 , parallel control reads the head data of the left queue and the right queue once, and executes the state of the carrier mechanism (20) of the corresponding carrier number according to the head data; (2) If the left queue.status column = 1 and the right queue.status column = 1, the distance S between the two supporting mechanisms (20) is detected intermittently and cyclically; when S is less than 2ST w , change the state of the carrying mechanism I to hovering and waiting, until the state of the carrying mechanism II is returned, and then restore the feeding state of the carrying mechanism I; (3) Switching state: when receiving the end signal of the running state, the head data of the left and right queues are taken out and stored in the temporary storage structure B and stored in the tail of the left and right queues respectively; S4: Determine whether the layer is completed: read the data of temporary structure B, X max -X min 1=0? And X max -X min2 =0?, yes, La=La+1, execute step S2; no, determine if the stop signal stop=0?, yes, execute S2; if stop=1, execute S5. S5: End.

9. A method for quickly sealing a dam breach, characterized in that: The following steps are involved: S1. Set up an underwater hidden cofferdam in front of the breach; Select the sub-prefabricated blocks of the cofferdam with appropriate height according to the water depth, and the top of the blind cofferdam should be within one meter from the water surface; S2, Gravel Flat Bottom The dam breach rapid dam-building device is used to quickly throw gravel to the bottom of the breach until a bottom plane is formed; S3, Rapid Dam Rapidly stacking the dam breach stacking device as described in claims 1 to 5 to form a rectangular cross-section dam; S4. Lay the front precast slab, rear precast slab and top precast slab S5, top injection cement slurry High-pressure cement slurry is injected from multiple grouting pipes at the top. The cement slurry pushes water out of the gravel dam from the bottom of the gravel dam body until the cement slurry gushes out from the bottom. S6. After the cement in the gravel dam has solidified, remove the underwater blind cofferdam.

10. The method for rapid sealing of dam breach according to claim 9, characterized in that: S4 includes the following steps: (1) Laying the front precast plate, first anchoring multiple inclined guide rails (2) at intervals on the front side of the gravel dam, setting a step with an anchor hole next to the bottom of the inclined guide rail (2), inserting the anchor rod (3) into the anchor hole, and manually rotating the anchor rod head to screw the anchor rod into the ground during underwater operations, with the underground part of the anchor rod at least one meter; the front precast plate (6) cooperates with the inclined guide rail through the guide rail groove and slides down along the inclined guide rail to the bottom of the water, and multiple front precast plates slide side by side along the inclined guide rail to the bottom of the water, and an I-shaped sealing strip (5) is provided between adjacent front precast plates; (2) After laying the rear precast plate, when the water level in the gravel dam drops to a lower level, multiple inclined guide rails are anchored on the rear side of the gravel dam, with anchor holes provided in the inclined guide rails, anchor rods are inserted into the anchor holes, and the anchor rod heads are driven by a rotating motor to screw the anchor rods into the ground, with the underground part of the anchor rods at least one meter; the rear precast plate (7) cooperates with the inclined guide rails through the guide rail grooves and slides down along the inclined guide rails into the water bottom; multiple rear precast plates slide side by side along the inclined guide rails into the water bottom, and an I-shaped sealing strip is provided between adjacent front precast plates; (3) Laying the top precast plate (8), laying the top precast plate on the top of the gravel dam, setting I-shaped sealing strips (5) between adjacent top precast plates, setting I-shaped sealing strips (5) at the corners between the top precast plate and the front and rear precast plates, and setting a plurality of grouting pipes (4) at the top of the adjacent portion of the gravel dam and the dam body.

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