Underwater riprapping equipment and underwater riprapping method

Abstract

The invention relates to the technical field of underwater riprapping, and provides underwater riprapping equipment and an underwater riprapping method.The underwater riprapping equipment comprises a supporting platform and a riprapping guide pipe, the riprapping guide pipe is arranged on the supporting platform and comprises a vertical part, an inclined part and a driving mechanism, and the axis of the vertical part is perpendicular to the supporting platform; the axis of the inclined part and the axis of the vertical part form an angle, the axis of the inclined part and the supporting platform form an angle, the vertical part and the inclined part can be adjusted in a telescopic mode, and the driving mechanism drives the vertical part and the inclined part to be adjusted in a telescopic mode. By means of the arrangement, when the position of the tail end of the riprap guide pipe is adjusted, the telescopic length of the inclined part is controlled firstly, then the telescopic length of the vertical part is controlled, only telescopic actions of the vertical part and the inclined part of the riprap guide pipe are involved, the angle of the vertical part and the angle of the inclined part do not need to be adjusted, and complex flowing phenomena such as eddy currents and turbulent currents are avoided; the resistance borne by the riprap guide pipe can be greatly reduced, and the regulation and control difficulty of the riprap guide pipe is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater stone throwing, and in particular to an underwater stone throwing equipment and an underwater stone throwing method. Background Art

[0002] Underwater stone throwing refers to a construction method in which artificial or natural stones such as rubble stones and pebbles are thrown by machinery or manually, and a structure meeting the design requirements is piled up in a specified underwater area to make it have a certain specific function. At present, it mainly uses a stone throwing pipe to transport stones to the target area underwater, and it is necessary to adjust the position of the end of the stone throwing pipe to throw stones to various positions of the target area.

[0003] In the related art, the stone throwing pipe is in a straight line shape, and the position of the end of the stone throwing pipe is adjusted by the telescopic length and the adjustment of the inclination angle of the stone throwing pipe. The water depth where the target area of stone throwing is located is relatively large, and most of the stone throwing pipe is underwater. When throwing stones to different positions of the target area, the adjustment processes of the telescopic length and the inclination angle of the stone throwing pipe are all carried out underwater. Especially when adjusting the inclination angle of the stone throwing pipe underwater, most positions of the stone throwing pipe are displaced underwater, and the displacement direction changes at all times, resulting in complex flow phenomena such as eddy currents and turbulent flows, causing the stone throwing pipe to be subjected to great resistance, with great difficulty in controlling the stone throwing pipe and poor operability.

[0004] Therefore, how to solve the problem of great difficulty in underwater control of the stone throwing pipe in the related art has become an important technical problem to be solved by those skilled in the art. Summary of the Invention

[0005] The present invention provides an underwater stone throwing equipment and an underwater stone throwing method to solve the defect of great difficulty in underwater control of the stone throwing pipe in the related art.

[0006] The present invention provides an underwater stone throwing equipment, including: A support platform; A stone throwing conduit, arranged on the support platform, the stone throwing conduit includes a vertical part, an inclined part connected to the vertical part, and a driving mechanism. The axis of the vertical part is perpendicular to the support platform, the axis of the inclined part is arranged at an angle with the axis of the vertical part, the axis of the inclined part is arranged at an angle with the support platform, the vertical part can be telescopically adjusted, the inclined part can be telescopically adjusted, and the driving mechanism is adapted to drive the vertical part to telescopically adjust and is also adapted to drive the inclined part to telescopically adjust.

[0007] According to an underwater stone throwing equipment provided by the present invention, the vertical part includes a plurality of first pipe fittings sleeved together in sequence, and a first limiting structure is arranged between any two adjacent first pipe fittings, and the first limiting structure is adapted to limit the separation of two adjacent first pipe fittings; The inclined portion includes multiple second pipe fittings sleeved together in sequence. A second limiting structure is provided between any two adjacent second pipe fittings, and the second limiting structure is adapted to limit the separation of two adjacent second pipe fittings. The second end of the innermost one of the multiple first pipe fittings is fixedly connected to the first end of the outermost one of the multiple second pipe fittings, and the first end of the outermost one of the multiple first pipe fittings is connected to the support platform; or, the second end of the outermost one of the multiple first pipe fittings is fixedly connected to the first end of the innermost one of the multiple second pipe fittings, and the first end of the innermost one of the multiple first pipe fittings is connected to the support platform.

[0008] According to an underwater stone throwing equipment provided by the present invention, among the multiple first pipe fittings, the one connected to the support platform is a first fixed pipe fitting, and the remaining first pipe fittings are first sliding pipe fittings; among each second pipe fitting, the one connected to the first pipe fitting is a second fixed pipe fitting, and the remaining second pipe fittings are second sliding pipe fittings; the driving mechanism includes: A fixed ring frame, fixedly arranged at the first end of the first fixed pipe fitting; A first driving member, arranged on the fixed ring frame. Each first sliding pipe fitting corresponds to a set of the first driving members, and the first driving member is adapted to drive the first sliding pipe fitting to reciprocally slide relative to the first fixed pipe fitting; A second driving member, arranged on the fixed ring frame. Each second sliding pipe fitting corresponds to a set of the second driving members, and the second driving member is adapted to drive the second sliding pipe fitting to reciprocally slide relative to the second fixed pipe fitting. Each of the first driving members and each of the second driving members are circumferentially spaced apart along the fixed ring frame.

[0009] According to an underwater stone throwing equipment provided by the present invention, the first driving member includes: A first winch, arranged on the fixed ring frame. A first fixed pulley is arranged on the fixed ring frame, and the towing rope of the first winch is wound around the first fixed pulley and then connected to the first sliding pipe fitting; The second driving member includes: A second winch, arranged on the fixed ring frame. A second fixed pulley is arranged on the fixed ring frame, and a third fixed pulley is arranged on one of the second end of the first fixed pipe fitting and the first end of the second fixed pipe fitting. The towing rope of the second winch is wound around the second fixed pulley and the third fixed pulley and then connected to the second sliding pipe fitting.

[0010] According to an underwater stone throwing equipment provided by the present invention, it further includes: The sliding support is configured to be reciprocally slidable along a target direction on the support platform. The stone-throwing conduit is disposed on the sliding support, and the plane where the stone-throwing conduit is located is perpendicular to the target direction; The driving device is adapted to drive the sliding support to reciprocally slide relative to the support platform; The aggregate area is adapted to store stones, and the aggregate area is located on the support platform; The conveying device is disposed on the support platform, and the conveying device is located between the aggregate area and the sliding support. The conveying device is adapted to convey the stones in the aggregate area to the stone-throwing conduit; The material receiving assembly is fixedly disposed on the fixed ring frame. The material receiving assembly is adapted to receive the stones from the conveying device and allow the stones to fall onto the stone-throwing conduit.

[0011] According to an underwater stone-throwing equipment provided by the present invention, a limiting device is provided between the sliding support and the support platform. The limiting device includes: A pair of first limiting portions are disposed on one of the support platform and the sliding support. Both of the pair of first limiting portions extend along the target direction, and the distribution direction of the pair of first limiting portions is perpendicular to the target direction; A pair of second limiting portions are disposed on the other of the support platform and the sliding support. Both of the pair of second limiting portions extend along the target direction, and the distribution direction of the pair of second limiting portions is perpendicular to the target direction. The pair of second limiting portions are located between the pair of first limiting portions. The first limiting portion and the second limiting portion are engaged with each other to limit the sliding support from moving away from the support platform and to limit the sliding direction of the sliding support from deviating from the target direction; The rolling elements are disposed between the first limiting portion and the second limiting portion, and at least one of the first limiting portion and the second limiting portion is in rolling contact with the rolling elements.

[0012] According to an underwater stone-throwing equipment provided by the present invention, the material receiving assembly includes: The first hopper is fixedly disposed on the fixed ring frame. A first weighing element and a first discharging hole are provided at the bottom of the first hopper. The first weighing element is adapted to weigh the mass of the stones in the first hopper. A first sealing plate and a third driving member are provided at the first discharging hole. The third driving member is adapted to drive the first sealing plate to switch between a closed position and an open position; The second hopper is located on one side of the first hopper close to the first pipe fitting. A second weighing element and a second blanking hole are provided at the bottom of the second hopper. The second weighing element is adapted to weigh the mass of the stones in the second hopper. A second sealing plate and a fourth driving member are provided at the second blanking hole, and the fourth driving member is adapted to drive the second sealing plate to switch between a closed position and an open position; The underwater stone pitching equipment further includes: A control device, and the driving device, the first driving member, the second driving member, the conveying device, the first weighing element, the second weighing element, the third driving member and the fourth driving member are all electrically connected to the control device.

[0013] An underwater stone pitching equipment according to the present invention further includes: An attitude adjustment device is arranged between the conveying device and the support platform. The attitude adjustment device includes a slewing mechanism and a pitching adjustment mechanism. The slewing mechanism is adapted to drive the conveying device to slewing relative to the support platform. The slewing axis of the conveying device relative to the support platform is perpendicular to the support platform. The pitching adjustment mechanism is adapted to adjust the pitching angle of the conveying device.

[0014] An underwater stone pitching equipment according to the present invention, the conveying device includes: A conveyor belt mechanism adapted to convey stones, and the conveying length of the conveyor belt mechanism is adjustable; A guard plate assembly is arranged on the side of the conveyor belt mechanism. The guard plate assembly is adapted to prevent the stones on the conveyor belt mechanism from slipping off from the side of the conveyor belt mechanism, and the size of the guard plate assembly in the conveying length direction of the conveyor belt mechanism is adjustable.

[0015] The present invention also provides an underwater stone pitching method based on the underwater stone pitching equipment as described above. The underwater stone pitching method includes: Dividing the target stone pitching area into multiple sub-areas, and the multiple sub-areas are distributed in rows and columns, and pitching stones to each sub-area in a preset order; Wherein, when the underwater stone pitching equipment further includes a sliding bracket capable of reciprocatingly sliding relative to the support platform in the target direction, pitching stones to each sub-area includes: Determining a first distance, a second distance and a third distance between the target sub-area and the support platform. The first distance is the distance between the target sub-area and the support platform in the target direction. The second distance is the distance between the target sub-area and the side of the vertical part of the stone pitching conduit away from the support platform in the direction perpendicular to the target direction and parallel to the support platform. The third distance is the distance between the target sub-area and the water surface; Control the sliding bracket to slide relative to the support platform according to the first distance; Control the telescopic adjustment of the inclined part of the stone-throwing conduit according to the second distance; Control the telescopic adjustment of the vertical part of the stone-throwing conduit according to the third distance and the length of the inclined part of the stone-throwing conduit.

[0016] The underwater stone-throwing equipment provided by the present invention includes a support platform and a stone-throwing conduit. The stone-throwing conduit is arranged on the support platform, and the support platform is used to support the stone-throwing conduit. The stone-throwing conduit includes a vertical part, an inclined part and a driving mechanism. The axis of the vertical part is perpendicular to the support platform, the axis of the inclined part is arranged at an angle with the axis of the vertical part, and the axis of the inclined part is arranged at an angle with the support platform. The inclined part is connected to the vertical part. The vertical part can be telescopically adjusted, the inclined part can be telescopically adjusted, the driving mechanism can drive the vertical part to be telescopically adjusted, and can also drive the inclined part to be telescopically adjusted. With such a setting, through the telescopic adjustment of the inclined part, the position of the end of the stone-throwing conduit in a plane parallel to the support platform can be adjusted, and the depth of the end of the stone-throwing conduit in the water can also be adjusted. Through the telescopic adjustment of the vertical part, the depth of the end of the stone-throwing conduit in the water can be further adjusted. When adjusting the position of the end of the stone-throwing conduit, first control the telescopic length of the inclined part, and then control the telescopic length of the vertical part. It only involves the telescopic actions of the vertical part and the inclined part of the stone-throwing conduit, without the need to adjust the angles of the vertical part and the inclined part, avoiding the formation of complex flow phenomena such as eddies and turbulence, which can greatly reduce the resistance received by the stone-throwing conduit, reduce the control difficulty of the stone-throwing conduit, and solve the problem of large underwater control difficulty existing in the stone-throwing pipe in the related technology. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 is the front view of the underwater stone-throwing equipment provided by the present invention.

[0019] Figure 2 is Figure 1 the enlarged view at I in

[0020] Figure 3 is the structural schematic diagram of the stone-throwing conduit provided by the present invention when both the vertical part and the inclined part are fully retracted.

[0021] Figure 4It is a schematic structural diagram of the driving mechanism and the fixed ring frame provided by the present invention.

[0022] Figure 5 It is a schematic structural diagram of the stone throwing conduit provided by the present invention when it is fully extended in both the vertical part and the inclined part.

[0023] Figure 6 It is a top view of the underwater stone throwing equipment provided by the present invention.

[0024] Figure 7 It is a schematic structural diagram of the slewing mechanism, the pitching adjustment mechanism and the conveying device provided by the present invention.

[0025] Figure 8 It is a schematic structural diagram of the guard plate assembly provided by the present invention.

[0026] Figure 9 It is a schematic structural diagram of the material receiving assembly when the first sealing plate is in the open position and the second sealing plate is in the closed position provided by the present invention.

[0027] Figure 10 It is a schematic structural diagram of the material receiving assembly when the first sealing plate is in the closed position and the second sealing plate is in the open position provided by the present invention.

[0028] Figure 11 It is a schematic diagram of the division of the target stone throwing area and the stone throwing sequence in the underwater stone throwing method provided by the present invention.

[0029] Figure 12 It is a schematic diagram of the dimension marking involved in the underwater stone throwing method provided by the present invention.

[0030] Reference numerals: 1, support platform; 2, vertical part; 3, inclined part; 4, first pipe fitting; 5, second pipe fitting; 6, first fixed pipe fitting; 7, first sliding pipe fitting; 8, second fixed pipe fitting; 9, second sliding pipe fitting; 10, fixed ring frame; 11, first winch; 12, first fixed pulley; 13, second winch; 14, second fixed pulley; 15, sliding bracket; 16, aggregate area; 17, conveying device; 18, material receiving assembly; 19, first limiting part; 20, second limiting part; 21, sub-region; 22, first hopper; 23, first sealing plate; 24, second hopper; 25, second sealing plate; 26, slewing mechanism; 27, pitching adjustment mechanism; 28, conveyor belt mechanism; 29, guard plate assembly; 30, target stone throwing area; 31, water surface; 32, guiding and anti-detachment structure. Detailed implementation manners

[0031] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts fall within the scope of protection of the present invention.

[0032] The following will describe the underwater stone-dropping equipment of the present invention in conjunction with Figures 1 to 12 Describe the underwater stone-dropping equipment of the present invention.

[0033] As Figures 1 to 12 shown, the underwater stone-dropping equipment provided by the embodiment of the present invention includes a support platform 1 and a stone-dropping conduit.

[0034] Specifically, the stone-dropping conduit is arranged on the support platform 1, and the support platform 1 is used to support the stone-dropping conduit.

[0035] The stone-dropping conduit includes a vertical part 2, an inclined part 3 and a driving mechanism. The axis of the vertical part 2 is perpendicular to the support platform 1, the axis of the inclined part 3 is arranged at an angle with the axis of the vertical part 2, and the axis of the inclined part 3 is arranged at an angle with the support platform 1.

[0036] The inclined part 3 is connected to the vertical part 2. The vertical part 2 can be telescopically adjusted, the inclined part 3 can be telescopically adjusted, the driving mechanism can drive the vertical part 2 to be telescopically adjusted, and can also drive the inclined part 3 to be telescopically adjusted.

[0037] With such a setting, through the telescopic adjustment of the inclined part 3, the position of the end of the stone-dropping conduit in the plane parallel to the support platform 1 can be adjusted, and the depth of the end of the stone-dropping conduit in the water can also be adjusted. Through the telescopic adjustment of the vertical part 2, the depth of the end of the stone-dropping conduit in the water can be further adjusted. When adjusting the position of the end of the stone-dropping conduit, first control the telescopic length of the inclined part 3, and then control the telescopic length of the vertical part 2. It only involves the telescopic actions of the vertical part 2 and the inclined part 3 of the stone-dropping conduit, without the need to adjust the angles of the vertical part 2 and the inclined part 3, avoiding the formation of complex flow phenomena such as eddies and turbulences, which can greatly reduce the resistance received by the stone-dropping conduit, reduce the difficulty of controlling the stone-dropping conduit, and solve the problem of large underwater control difficulty existing in the stone-dropping pipe in the related technology.

[0038] In the embodiment of the present invention, the vertical part 2 includes a plurality of first pipe fittings 4 sleeved together in sequence. A first limiting structure is arranged between any two adjacent first pipe fittings 4, and the first limiting structure can limit the separation of two adjacent first pipe fittings 4.

[0039] The inclined portion 3 includes a plurality of second pipe fittings 5 sleeved together in sequence. A second limiting structure is provided between any two adjacent second pipe fittings 5, and the second limiting structure can limit the separation of two adjacent second pipe fittings 5.

[0040] With such a setting, the telescopic stability and reliability of the stone-throwing conduit can be ensured.

[0041] In some embodiments, among the plurality of first pipe fittings 4, the second end of the innermost one is fixedly connected to the first end of the outermost one among the plurality of second pipe fittings 5, and the first end of the outermost one is connected to the support platform 1. Refer to Figure 5 .

[0042] In other embodiments, among the plurality of first pipe fittings 4, the second end of the outermost one is fixedly connected to the first end of the innermost one among the plurality of second pipe fittings 5, and the first end of the innermost one is connected to the support platform 1.

[0043] For the convenience of description, it is now stipulated that among the plurality of first pipe fittings 4, the one connected to the support platform 1 is the first fixed pipe fitting 6, and the remaining first pipe fittings 4 are the first sliding pipe fittings 7. Among each second pipe fitting 5, the one connected to the first pipe fitting 4 is the second fixed pipe fitting 8, and the remaining second pipe fittings 5 are the second sliding pipe fittings 9.

[0044] The driving mechanism includes a fixed ring frame 10, a first driving member and a second driving member.

[0045] The fixed ring frame 10 is fixedly arranged at the first end of the first fixed pipe fitting 6, and the first driving member and the second driving member are both arranged on the fixed ring frame 10. Each first sliding pipe fitting 7 corresponds to a group of first driving members, and the first driving member is used to drive the first sliding pipe fitting 7 to reciprocate relative to the first fixed pipe fitting 6. Correspondingly, each second sliding pipe fitting 9 corresponds to a group of second driving members, and the second driving member is used to drive the second sliding pipe fitting 9 to reciprocate relative to the second fixed pipe fitting 8.

[0046] With such a setting, each stage of telescoping of the vertical portion 2 can be controlled separately, and each stage of telescoping of the inclined portion 3 can be controlled separately, and the control precision of the end position of the stone-throwing conduit is higher.

[0047] Each group of first driving members includes at least two first driving members, and the respective first driving members are evenly distributed along the circumferential direction of the fixed ring frame 10. Specifically, each group of first driving members includes two first driving members, and the two first driving members of each group are rotationally symmetrically distributed at 180 degrees with respect to the central axis of the vertical portion 2.

[0048] Each group of second driving members includes at least two second driving members, and the respective second driving members are evenly distributed along the circumferential direction of the fixed ring frame 10. Specifically, each group of second driving members includes two second driving members, and the two second driving members of each group are rotationally symmetrically distributed at 180 degrees with respect to the central axis of the vertical portion 2.

[0049] The above-mentioned respective first driving members and respective second driving members are spaced apart along the circumferential direction of the fixed ring frame 10, and there is a spacing between any two adjacent ones along the circumferential direction of the fixed ring frame 10, which can avoid interference problems between the respective first driving members, between the respective second driving members, and between the first driving member and the second driving member.

[0050] In the embodiment of the present invention, the first driving member includes a first winch 11, and the first winch 11 is arranged on the fixed ring frame 10. A first fixed pulley 12 is arranged on the fixed ring frame 10, and the towing rope of the first winch 11 is connected to the first sliding pipe fitting 7 after passing around the first fixed pulley 12. The first fixed pulley 12 guides the towing rope of the first winch 11. When the first winch 11 winds or releases the towing rope, it can drive the corresponding first sliding pipe fitting 7 to slide relative to the first fixed pipe fitting 6. The second fixed pipe fitting 8 will slide synchronously relative to the first fixed pipe fitting 6 along with the first sliding pipe fitting 7 connected thereto.

[0051] Similarly, the second driving member includes a second winch 13, and the second winch 13 is arranged on the fixed ring frame 10. A second fixed pulley 14 is arranged on the fixed ring frame 10. A third fixed pulley is arranged on one of the second end of the first fixed pipe fitting 6 and the first end of the second fixed pipe fitting 8. The towing rope of the second winch 13 is connected to the second sliding pipe fitting 9 after passing around the second fixed pulley 14 and the third fixed pulley. The second fixed pulley 14 and the third fixed pulley guide the towing rope of the second winch 13. When the second winch 13 winds or releases the towing rope, it can drive the corresponding second sliding pipe fitting 9 to slide relative to the second fixed pipe fitting 8.

[0052] In the embodiment of the present invention, the underwater stone throwing equipment further includes a sliding bracket 15, a driving device, an aggregate area 16, a conveying device 17, and a material receiving assembly 18.

[0053] The sliding bracket 15 is arranged on the support platform 1, and the sliding bracket 15 can reciprocally slide along the target direction. The driving device can drive the sliding bracket 15 to reciprocally slide relative to the support platform 1.

[0054] The stone throwing conduit is arranged on the sliding bracket 15. When the sliding bracket 15 reciprocally slides relative to the support platform 1, it can drive the stone throwing conduit to reciprocally slide relative to the support platform 1, so as to adjust the position of the stone throwing conduit along the target direction.

[0055] The plane where the rock-throwing conduit is located is perpendicular to the target direction. By moving the sliding bracket 15 relative to the support platform 1, the position of the end of the rock-throwing conduit can be adjusted along the target direction. By adjusting the telescopic part 3 of the inclined part of the rock-throwing conduit, the position of the end of the rock-throwing conduit can be adjusted along a direction parallel to the support platform 1 and perpendicular to the target direction. By adjusting the telescopic part 2 of the vertical part of the rock-throwing conduit, the position of the end of the rock-throwing conduit can be adjusted along a direction perpendicular to the support platform 1.

[0056] When adjusting the position of the end of the rock-throwing conduit according to the target rock-throwing position, the position of the rock-throwing conduit can be adjusted along the target direction first, then the inclined part 3 of the rock-throwing conduit can be adjusted along a direction parallel to the support platform 1 and perpendicular to the target direction, and finally the vertical part 2 of the rock-throwing conduit can be adjusted along a direction perpendicular to the support platform 1.

[0057] The aggregate area 16 is located on the support platform 1 and is used for storing stones. The conveying device 17 is arranged on the support platform 1. The conveying device 17 is located between the aggregate area 16 and the sliding bracket 15. The conveying device 17 can convey the stones in the aggregate area 16 to the rock-throwing conduit. The material receiving assembly 18 is fixedly arranged on the fixed ring frame 10. The material receiving assembly 18 is used for receiving the stones of the conveying device 17 and allowing the stones to fall into the rock-throwing conduit.

[0058] The aggregate area 16 can be a groove arranged on the support platform 1. A conveyor belt device can be selected as the above-mentioned conveying device 17. The end of the conveyor belt device extends to the bottom of the aggregate area 16. In the specific use process, a machine such as an excavator can be used to transport stones to the aggregate area 16. The stones falling into the aggregate area 16 will fall to the end of the conveyor belt device. As the conveyor belt device runs, the stones are gradually conveyed to the material receiving assembly 18 and enter the rock-throwing conduit.

[0059] In this embodiment, a limiting device is arranged between the sliding bracket 15 and the support platform 1. The limiting device includes a pair of first limiting parts 19 and a pair of second limiting parts 20.

[0060] A pair of first limiting parts 19 are arranged on one of the support platform 1 and the sliding bracket 15. The pair of first limiting parts 19 both extend along the target direction. The distribution direction of the pair of first limiting parts 19 is perpendicular to the target direction.

[0061] A pair of second limiting parts 20 are arranged on the other of the support platform 1 and the sliding bracket 15. The pair of second limiting parts 20 both extend along the target direction. The distribution direction of the pair of second limiting parts 20 is perpendicular to the target direction.

[0062] A pair of second limiting parts 20 are located between a pair of first limiting parts 19, and the first limiting parts 19 are buckled with the second limiting parts 20. Through the interaction between the first limiting parts 19 and the second limiting parts 20, the sliding bracket 15 can be restricted from moving away from the support platform 1, and the sliding direction of the sliding bracket 15 can be restricted from deviating from the target direction. That is to say, the limiting device can bear the overturning moment, prevent the sliding bracket 15 from tipping relative to the support platform 1, and ensure the stability of the sliding bracket 15 and the stone throwing conduit.

[0063] In a specific embodiment, the cross-sections of the first limiting parts 19 and the second limiting parts 20 can both be set to be "L"-shaped, the setting directions of the pair of first limiting parts 19 are opposite, and the setting directions of the pair of second limiting parts 20 are opposite. The relative positions when the first limiting parts 19 are buckled with the second limiting parts 20 are as Figure 2 shown.

[0064] The above-mentioned rolling elements are arranged between the first limiting parts 19 and the second limiting parts 20, and at least one of the first limiting parts 19 and the second limiting parts 20 is in rolling contact with the rolling elements. With such a setting, the resistance when the first limiting parts 19 and the second limiting parts 20 slide relative to each other can be reduced, and the wear of the first limiting parts 19 and the second limiting parts 20 can be reduced.

[0065] Specifically, the surface of the first limiting part 19 facing the second limiting part 20 and parallel to the support platform 1 can be in rolling contact with the rolling elements, and the surface of the second limiting part 20 facing the first limiting part 19 and parallel to the support platform 1 can be in rolling contact with the rolling elements.

[0066] In the embodiment of the present invention, the material receiving assembly 18 includes a first hopper 22 and a second hopper 24.

[0067] The first hopper 22 is fixedly arranged on the fixed ring frame 10, and a first weighing element and a first blanking hole are arranged at the bottom of the first hopper 22. The first weighing element is used to weigh the mass of the stones in the first hopper 22.

[0068] A first sealing plate 23 and a third driving member are arranged at the first blanking hole. The first sealing plate 23 is movably arranged at the first blanking hole, and the first sealing plate 23 can be switched between a closed position and an open position. The third driving member is used to drive the first sealing plate 23 to switch between the closed position and the open position.

[0069] When the first sealing plate 23 is switched to the closed position, the outflow of the stones in the first hopper 22 can be restricted. When the first sealing plate 23 is switched to the open position, the stones in the first hopper 22 can be allowed to flow out.

[0070] The first sealing plate 23 can switch positions by rotating, and the third driving member can be a rotary motor or an electric motor, or can also be a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0071] The second hopper 24 is located on one side of the first hopper 22 close to the first pipe fitting 4. Referring to Figure 9 and Figure 10 , the first hopper 22 is located inside the second hopper 24. When the first sealing plate 23 of the first hopper 22 is switched to the open position, the stones in the first hopper 22 will fall into the inside of the second hopper 24.

[0072] A second weighing element and a second discharging hole are provided at the bottom of the second hopper 24. The second weighing element is used to weigh the mass of the stones in the second hopper 24.

[0073] A second sealing plate 25 and a fourth driving member are provided at the second discharging hole. The second sealing plate 25 is movably arranged at the second discharging hole, and the second sealing plate 25 can be switched between a closed position and an open position. The fourth driving member is used to drive the second sealing plate 25 to switch between the closed position and the open position.

[0074] When the second sealing plate 25 is switched to the closed position, the outflow of the stones in the second hopper 24 can be restricted. When the second sealing plate 25 is switched to the open position, the stones in the second hopper 24 can be allowed to flow out.

[0075] The second sealing plate 25 can switch positions by rotation. The fourth driving member can be a rotary motor or an electric motor, and can also be a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0076] When conveying stones to the stone throwing conduit, control the second sealing plate 25 to be in the closed position and the first sealing plate 23 to be in the open position. The stones conveyed by the conveying device 17 enter the second hopper 24 after passing through the first discharging hole of the first hopper 22. The second discharging hole of the second hopper 24 is in a closed state, and the stones gather in the second hopper 24. The second weighing element real-time detects the mass of the stones in the second hopper 24. When the mass of the stones in the second hopper 24 reaches the first preset value, control the first sealing plate 23 to switch to the closed position and the second sealing plate 25 to switch to the open position. The stones conveyed by the conveying device 17 gather in the first hopper 22, and the stones in the second hopper 24 fall into the stone throwing conduit. After all the stones in the second hopper 24 have fallen into the stone throwing conduit, control the second sealing plate 25 to switch to the closed position and the first sealing plate 23 to switch to the open position, so that the stones in the first hopper 22 gather into the second hopper 24 until the mass of the stones in the second hopper 24 reaches the second preset value, and then switch the positions of the first sealing plate 23 and the second sealing plate 25 again. The above first preset value and the second preset value can be the same or different.

[0077] With such a setting, through the cooperation of the first hopper 22 and the second hopper 24, the quantitative throwing of stones is realized, and the underwater stone throwing is more accurate.

[0078] When the first sealing plate 23 is in the closed position, the first weighing element detects in real time the mass of the stone material in the first hopper 22. When the mass of the stone material in the first hopper 22 reaches the third preset value and the stone material in the second hopper 24 has not all fallen into the stone throwing conduit yet, the conveying device 17 can be controlled to stop conveying first.

[0079] In the embodiment of the present invention, the underwater stone throwing equipment further includes a control device, and the driving device, the first driving member, the second driving member, the conveying device 17, the first weighing element, the second weighing element, the third driving member and the fourth driving member are all electrically connected to the control device. In this way, the automatic control of the underwater stone throwing equipment can be realized.

[0080] In this embodiment, the underwater stone throwing equipment further includes an attitude adjustment device. The attitude adjustment device is arranged between the conveying device 17 and the support platform 1, and the attitude adjustment device can adjust the attitude of the conveying device 17.

[0081] The attitude adjustment device includes a slewing mechanism 26 and a pitching adjustment mechanism 27.

[0082] The slewing mechanism 26 is used to drive the conveying device 17 to slewing relative to the support platform 1. The slewing axis of the conveying device 17 relative to the support platform 1 is perpendicular to the support platform 1. When the conveying device 17 slews relative to the support platform 1, the conveying direction of the conveying device 17 will also change accordingly. When the sliding bracket 15 drives the stone throwing conduit to slide along the target direction, according to the position of the stone throwing conduit, the slewing angle of the conveying device 17 is adjusted so that the end of the conveying device 17 is located above the receiving assembly 18.

[0083] The pitching adjustment mechanism 27 is used to adjust the pitching angle of the conveying device 17. When the pitching angle of the conveying device 17 changes, the distance between the end of the conveying device 17 and the slewing axis of the conveying device 17 relative to the support platform 1 will also change. When only adjusting the slewing angle of the conveying device 17 cannot make the end of the conveying device 17 located above the receiving assembly 18, the pitching angle of the conveying device 17 can be adjusted simultaneously.

[0084] The slewing mechanism 26 includes a slewing bearing and a fifth driving member. The fixed part of the slewing bearing is relatively fixed to the support platform 1, and the slewing part of the slewing bearing is used to be connected to the conveying device 17. The slewing part of the slewing bearing can be driven by the fifth driving member to rotate relative to the fixed part, so that the conveying device 17 slews relative to the support platform 1. The fifth driving member can be a slewing motor or an electric motor.

[0085] For the pitching adjustment mechanism 27, the conveying device 17 can be rotatably connected to the rotating part of the slewing support, and the rotation axis of the conveying device 17 relative to the rotating part of the slewing support is arranged horizontally. The pitching adjustment mechanism 27 includes a sixth driving member for driving the conveying device 17 to rotate relative to the rotating part of the slewing support. The sixth driving member can be a slewing motor or an electric motor, or can also be a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0086] In the embodiment of the present invention, the conveying device 17 includes a conveyor belt mechanism 28 and a guard plate assembly 29.

[0087] The conveyor belt mechanism 28 is used for conveying stones, and the conveying length of the conveyor belt mechanism 28 is adjustable. When adjusting the position of the end of the conveying device 17 relative to the receiving component 18, the adjustment of the slewing angle of the conveying device 17, the pitching adjustment of the conveying device 17 and the adjustment of the conveying length of the conveyor belt mechanism 28 can be combined at the same time, which improves the flexibility of the position adjustment of the end of the conveying device 17 and improves the adaptability of the positions of the receiving component 18 and the stone throwing conduit.

[0088] The guard plate assembly 29 is arranged on the side of the conveyor belt mechanism 28, and the guard plate assembly 29 is used for restricting the stones on the conveyor belt mechanism 28 from sliding off from the side of the conveyor belt mechanism 28 to ensure that the stones can be smoothly conveyed to the receiving component 18.

[0089] The size of the guard plate assembly 29 in the conveying length direction of the conveyor belt mechanism 28 is adjustable to adapt to the adjustment of the conveying length of the conveyor belt mechanism 28.

[0090] The guard plate assembly 29 is arranged in a multi-section telescopic structural form, and a guiding and anti-disengagement structure 32 is arranged between two adjacent sections, refer to Figure 8 .

[0091] On the other hand, the present invention also provides an underwater stone throwing method for the underwater stone throwing equipment provided in any one of the above embodiments. The underwater stone throwing method described below can be mutually referred to the underwater stone throwing equipment described above.

[0092] As Figure 11 and Figure 12 shown, in the underwater stone throwing method provided by the embodiment of the present invention, the target stone throwing area 30 needs to be divided into a plurality of sub-areas 21, and the plurality of sub-areas 21 are arranged in rows and columns, and stones are thrown into each sub-area 21 in a preset order. The preset order refers to Figure 11 , when throwing stones into each sub-area 21 in the preset order shown in Figure 11 , the movement track of the end of the stone throwing conduit is a meandering shape.

[0093] Each sub-area 21 corresponds to a certain mass of stones, and when throwing stones into each sub-area 21, the mass of the stones can be controlled as required.

[0094] When the underwater stone throwing equipment further includes a sliding support 15 that can reciprocally slide relative to the support platform 1 in the target direction, the steps of throwing stones into each sub-region 21 include steps 110 to 140.

[0095] Step 110: Determine the first distance, second distance, and third distance between the target sub-region and the support platform. The first distance is the distance between the target sub-region and the support platform in the target direction. The second distance is the distance between the target sub-region and the side of the vertical portion of the stone throwing conduit away from the support platform in the direction perpendicular to the target direction and parallel to the support platform. The third distance is the distance between the target sub-region and the water surface.

[0096] Step 120: Control the sliding of the sliding support relative to the support platform according to the first distance.

[0097] Step 130: Control the telescopic adjustment of the inclined portion of the stone throwing conduit according to the second distance.

[0098] Step 140: Control the telescopic adjustment of the vertical portion of the stone throwing conduit according to the third distance and the length of the inclined portion of the stone throwing conduit.

[0099] Refer to Figure 12 , the third distance is H, and the second distance is L. When the vertical portion 2 of the stone throwing conduit contracts to the shortest length, the distance between the lower end of the vertical portion 2 and the water surface 31 is A. When the inclined portion 3 of the stone throwing conduit contracts to the shortest length, the distance between the two ends of the inclined portion 3 along the axis direction of the vertical portion 2 is B, and the angle between the axis of the inclined portion 3 and the axis of the vertical portion 2 is α.

[0100] Then, the projected dimension of the length that the inclined portion 3 needs to extend in the direction perpendicular to the support platform 1 is , and the length dimension that the inclined portion 3 needs to extend is . According to Control the telescopic adjustment of the inclined portion 3.

[0101] Furthermore, it can be determined that the length dimension that the vertical portion 2 needs to extend is X = H - B - C - A. Control the telescopic adjustment of the vertical portion 2 according to X.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater rock throwing equipment, characterized in that, Including: A support platform (1); A stone-throwing conduit, which is arranged on the support platform (1). The stone-throwing conduit includes a vertical portion (2), an inclined portion (3) connected to the vertical portion (2), and a driving mechanism. The axis of the vertical portion (2) is perpendicular to the support platform (1). The axis of the inclined portion (3) is arranged at an angle with the axis of the vertical portion (2), and the axis of the inclined portion (3) is arranged at an angle with the support platform (1). The vertical portion (2) can be telescopically adjusted, the inclined portion (3) can be telescopically adjusted, the driving mechanism is suitable for driving the vertical portion (2) to be telescopically adjusted, and is suitable for driving the inclined portion (3) to be telescopically adjusted.

2. The underwater stone-dropping equipment according to claim 1, wherein, The vertical portion (2) includes a plurality of first pipe fittings (4) sleeved together in sequence. A first limiting structure is arranged between any two adjacent first pipe fittings (4). The first limiting structure is suitable for restricting the separation of two adjacent first pipe fittings (4); The inclined portion (3) includes a plurality of second pipe fittings (5) sleeved together in sequence. A second limiting structure is arranged between any two adjacent second pipe fittings (5). The second limiting structure is suitable for restricting the separation of two adjacent second pipe fittings (5); The second end of the innermost one of the plurality of first pipe fittings (4) is fixedly connected to the first end of the outermost one of the plurality of second pipe fittings (5). The first end of the outermost one of the plurality of first pipe fittings (4) is connected to the support platform (1); or, the second end of the outermost one of the plurality of first pipe fittings (4) is fixedly connected to the first end of the innermost one of the plurality of second pipe fittings (5), and the first end of the innermost one of the plurality of first pipe fittings (4) is connected to the support platform (1).

3. The underwater stone throwing equipment according to claim 2, characterized in that, Among the plurality of first pipe fittings (4), the one connected to the support platform (1) is a first fixed pipe fitting (6), and the remaining first pipe fittings (4) are first sliding pipe fittings (7); among each of the second pipe fittings (5), the one connected to the first pipe fitting (4) is a second fixed pipe fitting (8), and the remaining second pipe fittings (5) are second sliding pipe fittings (9); the driving mechanism includes: A fixed ring frame (10), which is fixedly arranged at the first end of the first fixed pipe fitting (6); A first driving member, which is arranged on the fixed ring frame (10). Each first sliding pipe fitting (7) corresponds to a set of the first driving members. The first driving member is suitable for driving the first sliding pipe fitting (7) to reciprocate relative to the first fixed pipe fitting (6); A second driving member, which is arranged on the fixed ring frame (10). Each second sliding pipe fitting (9) corresponds to a set of the second driving members. The second driving member is suitable for driving the second sliding pipe fitting (9) to reciprocate relative to the second fixed pipe fitting (8). Each of the first driving members and each of the second driving members are circumferentially spaced apart along the fixed ring frame (10).

4. The underwater stone-dropping equipment according to claim 3, characterized in that, The first driving member includes: The first winch (11) is arranged on the fixed ring frame (10). A first fixed pulley (12) is arranged on the fixed ring frame (10). The towing rope of the first winch (11) bypasses the first fixed pulley (12) and then is connected to the first sliding pipe fitting (7). The second driving member includes: The second winch (13) is arranged on the fixed ring frame (10). A second fixed pulley (14) is arranged on the fixed ring frame (10). A third fixed pulley is arranged at one of the second end of the first fixed pipe fitting (6) and the first end of the second fixed pipe fitting (8). The towing rope of the second winch (13) bypasses the second fixed pulley (14) and the third fixed pulley and then is connected to the second sliding pipe fitting (9).

5. The underwater rock-dropping equipment according to claim 3, characterized in that, It further includes: The sliding bracket (15) is arranged on the support platform (1) so as to be able to reciprocally slide along the target direction. The stone throwing conduit is arranged on the sliding bracket (15). The plane where the stone throwing conduit is located is perpendicular to the target direction. The driving device is adapted to drive the sliding bracket (15) to reciprocally slide relative to the support platform (1). The aggregate area (16) is adapted to store stones. The aggregate area (16) is located on the support platform (1). The conveying device (17) is arranged on the support platform (1). The conveying device (17) is located between the aggregate area (16) and the sliding bracket (15). The conveying device (17) is adapted to convey the stones in the aggregate area (16) to the stone throwing conduit. The material receiving assembly (18) is fixedly arranged on the fixed ring frame (10). The material receiving assembly (18) is adapted to receive the stones of the conveying device (17) and allow the stones to fall onto the stone throwing conduit.

6. The underwater stone-dropping equipment according to claim 5, characterized in that, A limiting device is arranged between the sliding bracket (15) and the support platform (1). The limiting device includes: A pair of first limiting parts (19) are arranged on one of the support platform (1) and the sliding bracket (15). Both of the pair of first limiting parts (19) extend along the target direction. The distribution direction of the pair of first limiting parts (19) is perpendicular to the target direction. A pair of second limiting parts (20) are arranged on the other of the support platform (1) and the sliding bracket (15). Both of the pair of second limiting parts (20) extend along the target direction. The distribution direction of the pair of second limiting parts (20) is perpendicular to the target direction. The pair of second limiting parts (20) are located between the pair of first limiting parts (19). The first limiting part (19) and the second limiting part (20) are buckled together to limit the sliding bracket (15) from moving away from the support platform (1) and limit the sliding direction of the sliding bracket (15) from deviating from the target direction. The rolling body is arranged between the first limiting part (19) and the second limiting part (20). At least one of the first limiting part (19) and the second limiting part (20) is in rolling contact with the rolling body.

7. The underwater rock-dropping equipment according to claim 5, characterized in that, The material receiving assembly (18) includes: The first hopper (22) is fixedly arranged on the fixed ring frame (10). A first weighing element and a first blanking hole are arranged at the bottom of the first hopper (22). The first weighing element is adapted to weigh the mass of the stone material in the first hopper (22). A first sealing plate (23) and a third driving member are arranged at the first blanking hole. The third driving member is adapted to drive the first sealing plate (23) to switch between a closed position and an open position. The second hopper (24) is located on one side of the first hopper (22) close to the first pipe fitting (4). A second weighing element and a second blanking hole are arranged at the bottom of the second hopper (24). The second weighing element is adapted to weigh the mass of the stone material in the second hopper (24). A second sealing plate (25) and a fourth driving member are arranged at the second blanking hole. The fourth driving member is adapted to drive the second sealing plate (25) to switch between a closed position and an open position. The underwater stone pitching equipment further includes: A control device. The driving device, the first driving member, the second driving member, the conveying device (17), the first weighing element, the second weighing element, the third driving member and the fourth driving member are all electrically connected to the control device.

8. The underwater stone throwing equipment according to claim 5, characterized in that, It further includes: An attitude adjustment device is arranged between the conveying device (17) and the support platform (1). The attitude adjustment device includes a slewing mechanism (26) and a pitching adjustment mechanism (27). The slewing mechanism (26) is adapted to drive the conveying device (17) to slewing relative to the support platform (1). The slewing axis of the conveying device (17) relative to the support platform (1) is perpendicular to the support platform (1). The pitching adjustment mechanism (27) is adapted to adjust the pitching angle of the conveying device (17).

9. The underwater stone throwing equipment according to claim 5, characterized in that, The conveying device (17) includes: A conveyor belt mechanism (28) adapted to convey stone materials, and the conveying length of the conveyor belt mechanism (28) is adjustable. A guard plate assembly (29) is arranged on the side of the conveyor belt mechanism (28). The guard plate assembly (29) is adapted to prevent the stone materials on the conveyor belt mechanism (28) from sliding off from the side of the conveyor belt mechanism (28), and the dimension of the guard plate assembly (29) in the conveying length direction of the conveyor belt mechanism (28) is adjustable.

10. An underwater stone pitching method, characterized in that, Based on the underwater stone pitching equipment according to any one of claims 1 to 9, the underwater stone pitching method includes: Dividing the target stone pitching area into multiple sub-areas. The multiple sub-areas are distributed in rows and columns, and stone materials are pitched to each sub-area in a preset order. Wherein, when the underwater stone pitching equipment further includes a sliding bracket capable of reciprocatingly sliding relative to the support platform in the target direction, pitching stone materials to each sub-area includes: Determine a first distance, a second distance, and a third distance between the target sub-region and the support platform. The first distance is the distance between the target sub-region and the support platform along the target direction. The second distance is the distance of the target sub-region from the side of the vertical portion of the stone-throwing conduit away from the support platform along a direction perpendicular to the target direction and parallel to the support platform. The third distance is the distance of the target sub-region from the water surface; Control the sliding support to slide relative to the support platform according to the first distance; Control the telescopic adjustment of the inclined portion of the stone-throwing conduit according to the second distance; Control the telescopic adjustment of the vertical portion of the stone-throwing conduit according to the third distance and the length of the inclined portion of the stone-throwing conduit.

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