Marine 3D printing equipment and construction method thereof
By using marine 3D printing equipment to construct ice structures on the seabed using frozen copper pipes, the stability problem of seabed ice construction has been solved, achieving rapid and stable ice layer construction and structural uniformity.
Patent Information
- Application Number
- CN202511199550.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-26
- Publication Date
- 2025-11-07
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In the existing technology, there is a lack of suitable equipment for the construction of seabed ice structures, and the high thermal conductivity of seawater cannot guarantee the long-term stability of ice structures.
Using marine 3D printing equipment, a robotic arm moves frozen copper tubes on the seabed. The frozen copper tubes freeze seawater into ice, forming the building structure. The frozen copper tubes work in conjunction with cooling pipes to maintain a low temperature, ensuring uniform freezing of the ice layer and structural stability.
It enables the rapid construction of stable ice structures in complex seabed topography, reducing ice thickness deviation and cracking risk, mitigating eddy current erosion, and improving the long-term stability and stress balance of ice structures.
Smart Images
Figure CN120906174A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of ocean construction, in particular to a marine 3D printing device and a construction method thereof. BACKGROUND
[0002] Under the background of increasing attention to the global ocean, countries around the world have carried out a lot of work in the exploration of marine resources. The ocean covers 70% of the area of the world, and contains rich biological, rare metal, methane gas, oil and gas resources, but there are still a large number of locations. Establishing a special scientific research center on the seabed and carrying out related research on site can help better study marine biology and resources. However, although the traditional steel structure can meet the requirements of deep-sea water pressure and sealing, it is easy to be corroded by the harsh marine environment, which poses a huge hidden danger to the safety of the seabed building; although the concrete structure can resist the corrosion of seawater to a certain extent, it still has the problem of insufficient service life, and the potential cracks of the concrete make the safety of the seabed building risky.
[0003] Artificial freezing method is a construction method that freezes flowing water into ice with certain strength, which has good water stopping performance and certain strength, so it is widely used in the process of coal resource exploitation. Based on the characteristics of freezing method, seawater can be frozen into ice with certain strength, and the stress characteristics can be optimized through the design of arch-shaped structure, so that it can withstand the water pressure of the seabed, and finally build the ice-based building on the seabed. However, there is no related equipment for constructing special ice-based building on the seabed at present, and due to the high thermal conductivity of seawater, the long-term stability of the ice building cannot be guaranteed. SUMMARY
[0004] The problem to be solved by the present application is that the ice building has many problems when it is constructed.
[0005] Technical scheme: The marine 3D printing device comprises a printing assembly, a straightening assembly and a supporting assembly. The printing assembly comprises a mechanical arm, a supporting pipe fixed on the mechanical arm, a winding wheel fixed at the top end of the supporting pipe, and a freezing copper pipe and a cooling pipe sleeved outside the winding wheel.
[0006] The straightening assembly is arranged at the bottom of the supporting pipe and comprises a supporting plate fixed at the bottom of the supporting pipe, a gas cylinder fixed on the supporting plate, a supporting frame fixed at the output end of the gas cylinder, a main drive wheel arranged on the supporting frame, a vice drive wheel arranged below the main drive wheel, a fixing frame arranged on the vice drive wheel, and the fixing frame is fixed with the supporting plate.
[0007] Further, the device further comprises a connecting assembly arranged on the cooling pipe, which comprises a fixing sleeve fixed to the outside of the cooling pipe, a rotating sleeve rotatably connected to the outside of the fixing sleeve through a bearing, a connecting hole formed in the fixing sleeve, a fixing pipe fixed to one side of the rotating sleeve, and a movable pipe sleeved on the outside of the fixing pipe.
[0008] Further, one side of the rotating sleeve of the device is fixed with a connecting sleeve, and a rotating mechanism is arranged on the outside of the connecting sleeve.
[0009] Further, an electromagnet is fixed to one side of the movable pipe and the outside of the fixing pipe.
[0010] Further, a sealing ring is fixed to the inside of the movable pipe, and one side of the sealing ring is inclined.
[0011] Further, a guide wheel is fixed to one side of the main drive wheel and the auxiliary drive wheel.
[0012] Further, the length of the frozen copper pipe is -m, and the frozen copper pipes are connected by a chain.
[0013] Further, the cooling pipe comprises a main pipe and an auxiliary pipe, and the main pipe and the auxiliary pipe are respectively arranged on both sides of the frozen copper pipe.
[0014] Further, a stabilizing frame is fixed to the support pipe, and the cooling pipe is movably connected in the stabilizing frame.
[0015] Further, the marine 3D printing construction method moves the mechanical arm to the specified position by the kayak, fixes the mechanical arm on the seabed, and connects the cooling pipe with the external cooling unit;
[0016] The support pipe is moved by the mechanical arm, and when the support pipe moves, the frozen copper pipe on the outside of the winding wheel is moved downward by the straightening assembly, and after moving out of the inside of the support pipe, it is straightened to be horizontal.
[0017] The straightened frozen copper pipe is laid on the path of the support pipe walking, and the guide wheel guides the cooling pipe to be laid on both sides of the frozen copper pipe.
[0018] At this time, the cooling pipe is connected with the frozen copper pipe through the connecting assembly, and cooling gas is transported into the frozen copper pipe through the cooling pipe, so that the temperature of the frozen copper pipe is lower than the freezing temperature of seawater.
[0019] At this time, the seawater is frozen into ice through the frozen copper pipe, and the frozen seawater is frozen in the shape of the laid frozen copper pipe, and at this time, the printing of the building structure can be completed.
[0020] The frozen copper pipe and the cooling pipe are frozen together after laying, and the cooling pipe continuously delivers cooling gas to the inside of the frozen copper pipe, so as to ensure that the building structure will not melt.
[0021] Beneficial effects: Compared with the prior art, the significant advantages of the present application are: when constructing an ice building, by laying the frozen copper pipe into a specified shape, and then freezing the surrounding seawater into ice by the frozen copper pipe, there is no need to precast ice modules or seabed templates, and the ice structure shape is directly "drawn" by the copper pipe layout, which is suitable for complex seabed topography.
[0022] The uniform heat dissipation of the frozen copper pipe can make the freezing speed of the surrounding seawater consistent, reduce the thickness deviation of the ice layer, make the ice layer density more uniform, make the stress distribution more balanced, reduce the cracking risk, and make the resistance distribution to ocean currents more regular, reducing vortex erosion.
[0023] The frozen copper pipe is remotely operated by a mechanical arm, which reduces the transportation and splicing time compared with precast module assembly, and the standardized frozen copper pipe can be quickly combined to adapt to different engineering scales. BRIEF DESCRIPTION OF DRAWINGS
[0024] Figure 1 It is a whole structure diagram of the marine 3D printing equipment;
[0025] Figure 2 It is a structure diagram of the straightening assembly of the marine 3D printing equipment;
[0026] Figure 3 It is a structure diagram of the winding wheel of the marine 3D printing equipment;
[0027] Figure 4 It is a structure diagram of the connecting assembly of the marine 3D printing equipment;
[0028] Figure 5 It is a structure diagram of the frozen pipe of the marine 3D printing equipment;
[0029] Figure 6 It is a structure diagram of the rotating roller and cutter of the marine 3D printing equipment.
[0030] In the figure: 100, printing assembly; 101, mechanical arm; 102, support pipe; 103, winding wheel; 104, frozen copper pipe; 105, cooling pipe; 105-3, main pipe 105-2, auxiliary pipe; 200, straightening assembly; 201, support plate; 202, air cylinder; 203, support frame; 204, main drive wheel; 205, auxiliary drive wheel; 206, fixed frame; 300, connecting assembly; 301, fixed sleeve; 105-1, air hole; 302, rotating sleeve; 301-1, connecting hole; 303, fixed pipe; 304, movable pipe; 305, connecting pipe; 306, connecting sleeve; 307, rotating mechanism; 308, detector; 309, electromagnet; 310, sealing ring; 207, guide wheel; 106, stabilizing frame; 107, cement injection pipe; 108, unwinding wheel; 109, rotating roller; 110, cutter. DETAILED DESCRIPTION
[0031] The technical solutions of the present application will be described in further detail below with reference to the accompanying drawings.
[0032] Secondly, the "one embodiment" or "embodiment" referred to herein can include specific features, structures or characteristics contained in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not refer to the same embodiment, nor is it an embodiment that is separate or alternative to other embodiments.
[0033] Embodiment 1
[0034] Reference Figures 1-3 For the first embodiment of the present application, the embodiment provides a marine 3D printing device and its construction method, the marine 3D printing device and its construction method comprising a printing assembly 100, comprising a mechanical arm 101, the mechanical arm 101 having sufficient length to complete the printing of the building, the mechanical arm 101 being fixed with a support pipe 102, the support pipe 102 being fixed with a winding wheel 103 at the top end, the winding wheel 103 being sleeved with a frozen copper pipe 104 and a cooling pipe 105 on the outside, the frozen copper pipe 104 extending downward from the inside of the support pipe 102 and penetrating out from the bottom of the support pipe 102, the frozen copper pipe 104 being of sectional structure, the length of each group being about 10 meters, and the two adjacent frozen copper pipes 104 being connected by a chain.
[0035] The mechanical arm 101 drives the support pipe 102 to move along the track of the building to be constructed, while the frozen copper pipe 104 continuously moves outward from the support pipe 102 and is laid in the specified position. The frozen copper pipe 104 serves as the skeleton of the building, and when the temperature of the frozen copper pipe 104 drops to a level that can freeze seawater, the seawater is frozen into a building wall, thereby completing the construction of the building. Thus, there is no need for prefabricated ice modules or a seabed template. The frozen copper pipe 104 directly "draws" the shape of the ice structure, which is suitable for complex seabed topography. The uniform heat dissipation of the frozen copper pipe can make the freezing speed of the surrounding seawater consistent, reduce the thickness deviation of the ice layer, make the ice layer density more uniform, and reduce the cracking risk. The stress distribution is more regular, and the vortex erosion is reduced.
[0036] The cooling pipe 105 includes a main pipe 105-3 and a secondary pipe 105-2, which are located on both sides of the frozen copper pipe 104, and are connected with an external cooling unit.
[0037] When the frozen copper pipe 104 is laid, the main pipe 105-3 and the secondary pipe 105-2 are simultaneously laid on both sides of the frozen copper pipe 104 and are in communication with the inside of the frozen copper pipe 104. At this time, the cooling unit is used to transport cooling gas such as liquid nitrogen into the main pipe 105-3, and the gas is transported into the frozen copper pipe 104 through the main pipe 105-3. In this way, the temperature of the frozen copper pipe 104 can be reduced, and the cooling gas in the frozen copper pipe 104 can be returned to the secondary pipe 105-2. In this way, the cooling gas can circulate in the frozen copper pipe 104, thereby ensuring that the frozen copper pipe 104 remains in a low-temperature state.
[0038] The cement injection pipe 107 is fixed to one side of the support pipe 102 near the bottom end, and the cement injection pipe 107 is in the shape of a U and has two injection ports at the bottom. The cement injection pipe 107 is connected with an external cement pumping device through a conveying pipeline. During the arrangement of the cooling pipe 105, the cement injection pipe 107 continuously sprays quick-drying cement outward. When the ice wall is formed, a thin layer of concrete wall is formed on both sides of the ice wall. The thin layer of concrete wall can protect the ice wall from direct contact with seawater, thereby avoiding the situation that the seawater absorbs a large amount of heat, resulting in a low freezing efficiency, a small thickness of the ice wall, and a large energy consumption. In addition, the ice wall is easily affected by seawater, has an irregular shape, and has a poor stress effect.
[0039] The support pipe 102 is fixed with a unwinding wheel 108 on one side, the unwinding wheel 108 is wound with a metal wire on the outside, two rotating rollers 109 are arranged below the unwinding wheel 108, the rotating rollers 109 are fixed with the support pipe 102 through a mounting frame, a rotating driving part is arranged on the rotating rollers 109, the metal wire extends from between the two rotating rollers 109, when the rotating rollers 109 rotate, the metal wire will be moved downward, and in the moving process of the support pipe 102, the metal wire will be laid at the bottom of the cooling pipe 105, the heat exchange effect of the ice building can be improved by laying the metal wire, the same effect of the heat exchange fin can be formed, and the strength of the ice wall can be improved.
[0040] A cutter 110 is arranged on one side of the rotating roller 109, a linear driving mechanism is arranged on the cutter 110, and the cutter 110 can cut the metal wire.
[0041] The straightening assembly 200 is arranged at the bottom of the support pipe 102 and includes a support plate 201 fixed at the bottom of the support pipe 102, a cylinder 202 fixed on the support plate 201, a support frame 203 fixed at the output end of the cylinder 202, and a main driving wheel 204 arranged on the support frame 203.
[0042] The three groups of main driving wheels 204 are in a separate state, can be driven to move up and down by the three cylinders 202, and when the interface of the frozen copper pipe 104 moves to the position of the main driving wheel 204, one main driving wheel 204 can move up to separate from the interface of the frozen copper pipe 104, so that the interface of the frozen copper pipe 104 will not be stuck between the main driving wheel 204 and the auxiliary driving wheel 205.
[0043] The auxiliary driving wheel 205 is arranged below the main driving wheel 204, the number of the auxiliary driving wheel 205 is three, and the auxiliary driving wheel 205 is arranged below the three main driving wheels 204, a fixing frame 206 is arranged on the auxiliary driving wheel 205, the three auxiliary driving wheels 205 are connected and positioned through the fixing frame 206, and the fixing frame 206 is fixed with the support plate 201.
[0044] The driving mechanism not shown in the figure is arranged on the main driving wheel 204 and the auxiliary driving wheel 205, when the main driving wheel 204 and the auxiliary driving wheel 205 rotate, the frozen copper pipe 104 can be driven to move downward, and after the frozen copper pipe 104 moves out of the support pipe 102, the frozen copper pipe 104 can be straightened to be horizontal and laid in a specified position.
[0045] Embodiment 2
[0046] Reference Figure 4 and Figure 5 This is the second embodiment of the application, and this embodiment is based on the previous embodiment.
[0047] Specifically, the connecting assembly 300 is arranged on the cooling pipe 105, the number of the connecting assembly 300 corresponds to the number of the frozen copper pipe 104, the end of each frozen copper pipe 104 is provided with a corresponding connecting assembly 300, and the connecting assembly 300 is used for connecting the frozen copper pipe 104 and the cooling pipe 105. The connecting assembly 300 is arranged at a corresponding position on the main pipe 105-3 and the auxiliary pipe 105-2.
[0048] The fixing sleeve 301 is fixed to the outside of the cooling pipe 105, the air hole 105-1 is arranged on the cooling pipe 105, the cooling pipe 105 is in communication with the fixing sleeve 301 through the air hole 105-1, the rotating sleeve 302 is rotatably connected to the outside of the fixing sleeve 301 in a bearing mode, the connecting position of the rotating sleeve 302 and the fixing sleeve 301 is sealed, the connecting hole 301-1 is arranged on the fixing sleeve 301, the fixing sleeve 301 is in communication with the rotating sleeve 302 through the connecting hole 301-1, the fixing pipe 303 is fixed to one side of the rotating sleeve 302, the fixing pipe 303 is in communication with the rotating sleeve 302, the movable pipe 304 is arranged on the outside of the fixing pipe 303, and the connecting pipe 305 is fixed to the frozen copper pipe 104.
[0049] After the cooling pipe 105 and the frozen copper pipe 104 are laid, the movable pipe 304 is coaxial with the connecting pipe 305, at this time, the movable pipe 304 moves outward of the connecting pipe 305 and is sleeved on the outside of the connecting pipe 305, so that the cooling pipe 105 and the frozen copper pipe 104 are in communication.
[0050] The movable pipe 304, the fixing pipe 303 and the connecting pipe 305 are processed by high-precision processing equipment, so that there is no leakage when the three are connected.
[0051] Specifically, the connecting sleeve 306 is fixed to one side of the rotating sleeve 302, the rotating mechanism 307 is arranged on the outside of the connecting sleeve 306, the rotating mechanism 307 is composed of a worm wheel, a worm and a driving motor, can drive the fixing sleeve 301 and the rotating sleeve 302 to rotate, and the rotating mechanism 307 is fixed to the fixing sleeve 301 through the connecting rod.
[0052] After the cooling pipe 105 and the frozen copper pipe 104 are laid, if the movable pipe 304 and the connecting pipe 305 are angularly misaligned, the fixing sleeve 301 and the rotating sleeve 302 can be driven to rotate by the rotating mechanism 307, and the movable pipe 304 is aligned with the connecting pipe 305 by the rotating sleeve 302.
[0053] Specifically, the movable tube 304 is fixed with a detector 308, which is used to detect the angle state of the movable tube 304 and the connecting tube 305. The outer side of one side of the movable tube 304 and the fixed tube 303 is fixed with an electromagnet 309. When the movable tube 304 is aligned with the connecting tube 305, the two electromagnets 309 are powered on to generate repulsion, thereby pushing the movable tube 304 to move outwardly to the connecting tube 305.
[0054] Specifically, the inner side of the movable tube 304 is fixed with a sealing ring 310, and one side of the sealing ring 310 is inclined. The sealing ring 310 can further increase the sealing property between the movable tube 304 and the connecting tube 305.
[0055] Embodiment 3
[0056] Reference Figures 1-5 For the third embodiment of the application, the embodiment is based on the previous two embodiments.
[0057] Specifically, one side of the main drive wheel 204 and the auxiliary drive wheel 205 is fixed with a guide wheel 207. The two guide wheels 207 rotate with the main drive wheel 204 and the auxiliary drive wheel 205, which is used to drive the cooling pipe 105 to move and guide the cooling pipe 105.
[0058] Specifically, the support tube 102 is fixed with a stabilizing frame 106, and the cooling pipe 105 is movably connected in the stabilizing frame 106. The stabilizing frame 106 has a plurality of straight lines fixed on the support tube 102, and is used to position the cooling pipe 105 to avoid winding on the outer side of the support tube 102.
[0059] In use, the mechanical arm 101 is moved to a specified position by the kayak, and the mechanical arm 101 is fixed on the seabed, and then the cooling pipe 105 is connected with the external cooling unit.
[0060] The support tube 102 is moved by the mechanical arm 101. When the support tube 102 moves, the main drive wheel 204 and the auxiliary drive wheel 205 rotate to drive the frozen copper pipe 104 to move downward, and after the frozen copper pipe 104 moves out of the support tube 102, it is straightened to a horizontal state. The straightened frozen copper pipe 104 is laid on the path of the support tube 102, and the guide wheel 207 guides the cooling pipe 105 to be laid on both sides of the frozen copper pipe 104.
[0061] At the same time, after the cooling pipe 105 and the frozen copper pipe 104 are laid, the movable tube 304 is coaxial with the connecting tube 305. At this time, the two electromagnets 309 are powered on to generate repulsion, which pushes the movable tube 304 to move outwardly to the connecting tube 305 and is sleeved on the outer side of the connecting tube 305, so as to communicate the cooling pipe 105 and the frozen copper pipe 104.
[0062] At this time, the cooling gas is delivered into the frozen copper pipe 104 through the cooling pipe 105, so that the temperature of the frozen copper pipe 104 is lower than the condensation temperature of seawater. When the temperature of the frozen copper pipe 104 drops to a temperature at which seawater can be frozen, the seawater can be condensed into a building wall, thereby completing the construction of the building. In this way, the ice structure shape can be directly "drawn" by the layout of the frozen copper pipe 104 without the need for prefabricated ice modules or a seabed template. The frozen copper pipe is uniformly cooled, which can make the freezing speed of the surrounding seawater consistent, reduce the thickness deviation of the ice layer, make the density of the ice layer more uniform, and make the stress distribution more balanced, thereby reducing the risk of cracking and making the resistance distribution to ocean currents more regular and reducing vortex erosion.
[0063] After the laying is completed, the frozen copper pipe 104 and the cooling pipe 105 are solidified together, and the main pipe 105-3 continuously delivers cooling gas into the inside of the frozen copper pipe 104. At the same time, the cooling gas in the inside of the frozen copper pipe 104 is returned to the auxiliary pipe 105-2. In this way, the cooling gas can circulate in the frozen copper pipe 104, thereby ensuring that the frozen copper pipe 104 can continuously remain in a low-temperature state.
Claims
1. A marine 3D printing apparatus, characterized by: The utility model relates to a printing equipment and construction method thereof, and belongs to the field of printing equipment. The printing equipment comprises a printing assembly (100), a straightening assembly (200) and a connecting assembly (300). The printing assembly (100) comprises a mechanical arm (101), a support pipe (102) fixed on the mechanical arm (101), a winding wheel (103) fixed at the top end of the support pipe (102), a frozen copper pipe (104) and a cooling pipe (105) sleeved outside the winding wheel (103).
2. The marine 3D printing apparatus of claim 1, wherein: The straightening assembly (200) is arranged at the bottom of the support pipe (102) and comprises a support plate (201) fixed at the bottom of the support pipe (102), an air cylinder (202) fixed on the support plate (201), a support frame (203) fixed at the output end of the air cylinder (202), a main drive wheel (204) arranged on the support frame (203), a vice drive wheel (205) arranged below the main drive wheel (204), and a fixing frame (206) arranged on the vice drive wheel (205) and fixed with the support plate (201).
3. The marine 3D printing apparatus of claim 2, wherein: The connecting assembly (300) is arranged on the cooling pipe (105) and comprises a fixing sleeve (301) fixed outside the cooling pipe (105), a ventilation hole (105-1) formed in the cooling pipe (105), a rotating sleeve (302) rotatably connected to the outside of the fixing sleeve (301) through a bearing, a connecting hole (301-1) formed in the fixing sleeve (301), a fixing pipe (303) fixed on one side of the rotating sleeve (302), an active pipe (304) sleeved outside the fixing pipe (303), and a connecting pipe (305) fixed on the frozen copper pipe (104).
4. The marine 3D printing apparatus of claim 2 or 3, characterized in that: One side of the rotating sleeve (302) is fixed with a connecting sleeve (306), and the connecting sleeve (306) is provided with a rotating mechanism (307) outside.
5. The marine 3D printing apparatus of claim 4, wherein: An electromagnet (309) is fixed on one side of the active pipe (304) and the outside of the fixing pipe (303).
6. The marine 3D printing apparatus of claim 5, wherein: A sealing ring (310) is fixed inside the active pipe (304), and one side of the sealing ring (310) is inclined.
7. The marine 3D printing apparatus of claim 5 or 6, characterized in that: A guide wheel (207) is fixed on one side of the main drive wheel (204) and the vice drive wheel (205).
8. The marine 3D printing apparatus of claim 7, wherein: The length of the frozen copper pipe (104) is 9-10 meters, and the frozen copper pipes (104) are connected through a chain.
9. The marine 3D printing apparatus of claim 8, wherein: The cooling pipe (105) comprises a main pipe (105-3) and a vice pipe (105-2), and the main pipe (105-3) and the vice pipe (105-2) are respectively arranged on both sides of the frozen copper pipe (104).
10. A method of marine 3D printing construction, characterized by: A stabilizing frame (106) is fixed on the support pipe (102), and the cooling pipe (105) is movably connected in the stabilizing frame (106). The construction method comprises the following steps: The mechanical arm (101) is moved to a designated position by a kayak, the mechanical arm (101) is fixed on the seabed, and then the cooling pipe (105) is connected with an external cooling unit. The support pipe (102) is moved by the mechanical arm (101), and when the support pipe (102) is moving, the frozen copper pipe (104) outside the winding wheel (103) is moved downward by the straightening assembly (200), and after moving out of the inside of the support pipe (102), it is straightened to be in a horizontal state; The straightened frozen copper pipe (104) is laid on the path of the support pipe (102) walking, and the guide wheel (207) guides the cooling pipe (105) to be laid on both sides of the frozen copper pipe (104); At this time, the cooling pipe (105) is connected with the frozen copper pipe (104) through the connecting assembly (300), and cooling gas is transported into the frozen copper pipe (104) through the cooling pipe (105), so that the temperature of the frozen copper pipe (104) is lower than the freezing temperature of seawater; At this time, the seawater is frozen into ice through the frozen copper pipe (104), and the frozen seawater is frozen in the shape of the frozen copper pipe (104), and at this time, the printing of the building structure can be completed; The frozen copper pipe (104) and the cooling pipe (105) are frozen together after laying, and the cooling pipe (105) continuously transports cooling gas into the inside of the frozen copper pipe (104), so that the building structure will not melt.