Foundation trench anti-sludge backfilling equipment and method for immersed tube tunnel construction

Abstract

The invention relates to foundation trench anti-sludge backfilling equipment and method for immersed tunnel construction, belongs to the technical field of subsea tunnel construction, and aims to solve the problems of poor accuracy and low efficiency of laying a grating on a slope in the prior art. The foundation trench anti-sludge backfilling equipment for immersed tube tunnel construction comprises a rail mechanism, a material guide mechanism, a positioning mechanism, a cutting mechanism, a first manipulator and a second manipulator, a moving seat is arranged on the track mechanism; the material guiding mechanism is used for guiding the sludge prevention assembly to a discharging position, and the sludge prevention assembly comprises an anchor rod and a grating roll; the positioning mechanism is used for positioning the anti-sludge assembly to a cutting position; the cutting mechanism is used for cutting the fixing belt at the cutting position; the first manipulator is used for grabbing the anchor rod from the release position to the anchoring position of the slope top and cutting the anchor rod to the slope top; and the second manipulator is used for laying the grating roll on the slope surface from the release position. According to the application, accurate and efficient laying of the grating on the foundation trench slope is realized.

Description

Technical Field

[0001] This application belongs to the field of submarine tunnel construction technology, and specifically relates to a device and method for backfilling silt in the foundation trench for immersed tunnel construction. Background Technology

[0002] During the construction of immersed tunnels, the slopes formed after the excavation of the foundation trench are exposed to water or complex geological environments for a long time. They are prone to backfilling and accumulating silt at the bottom of the foundation trench due to water erosion and geological disturbance. This not only affects the accurate installation of the immersed tubes, but may also cause safety hazards such as slope collapse.

[0003] In the construction of subsea tunnels, the installation of anti-siltation grids is a crucial step in ensuring tunnel stability and construction safety. Currently, the method for preventing siltation backfilling on the slope of the foundation trench often involves deploying grids from ships onto the slope and then securing them with anchor bolts. However, these procedures are limited by the underwater environment or the depth of the foundation trench, resulting in low efficiency and poor coordination between anchor bolt installation and grid placement. If existing anti-siltation grids are not installed perpendicular to the supporting structure, it can lead to uneven water flow distribution, increasing the risk of blockage and affecting the structural strength of the grids. This can also cause problems such as crossbar detachment after construction. Therefore, the insufficient precision in the grid installation of existing technologies leads to uneven water flow distribution, easy accumulation of sludge, and increased risk of blockage, making it difficult to meet the high efficiency and stability requirements for anti-siltation backfilling in immersed tunnel construction. Summary of the Invention

[0004] Based on the above analysis, the present invention aims to provide a silt-prevention backfilling device for foundation trenches in immersed tunnel construction, in order to solve the problems of poor accuracy and low efficiency in laying grids on slopes in the prior art to prevent silt from backfilling into the foundation trench.

[0005] The objective of this invention is achieved as follows: On the one hand, a silt-prevention backfilling device for foundation trenches in immersed tunnel construction is provided, comprising: The track mechanism extends along the length of the slope of the foundation trench, and a movable seat is provided on the track mechanism; The material guiding mechanism, connected to the movable seat, is configured to guide the anti-sludge assembly to the unloading position; the anti-sludge assembly includes an anchor bolt and a grid roll, the exposed end of the anchor bolt is connected to one end of the outermost grid of the grid roll by a connecting strip, and the side wall of the anchor bolt is connected to the outer grid of the grid roll by a fixing strip. A positioning mechanism is used to position the anti-siltation assembly at the cutting location; The cutting mechanism is used to cut the fixing strip at the cutting position; after the fixing strip is cut, the anchor bolt and the grid roll move to their respective release positions through the positioning mechanism, with the grid roll located on the side closer to the slope. The first robotic arm is used to grab the anchor bolt from the release position to the anchoring position at the top of the slope and insert the anchor bolt into the top of the slope. The second robotic arm, mounted on a movable seat, is used to lay the grid roll from the release position onto the slope surface.

[0006] Furthermore, the material guiding mechanism includes a material guiding rope, a material guiding component, and a material guiding bracket. The material guiding rope is connected to the ship on the water surface, the material guiding bracket is connected to the movable seat, and the material guiding component is connected to the material guiding bracket. The material guiding component is horizontally arranged, and the end of the material guiding component near the material guiding rope is bent at a predetermined angle and then extended. The material guiding rope is connected to the bent end of the material guiding component.

[0007] Furthermore, the positioning mechanism includes an arc-shaped track, a drive seat, a lifting seat, and a pusher. The arc-shaped track is connected to the movable seat via a fixed frame. The arc-shaped track is located diagonally below the side near the anchor rod. The drive seat is movably connected to the arc-shaped track, the lifting seat is connected to the drive seat, and the pusher is connected to the lifting seat.

[0008] Furthermore, the pusher has a triangular structure with two top corners and a apex; the bottom two corners of the pusher are provided with upwardly inclined baffles, and the apex of the pusher faces the guide material.

[0009] Furthermore, the cutting mechanism includes a cutting motor, a cutting frame, and a cutting blade. The cutting motor is located above the guide and connected to the movable base, and the cutting blade is connected to the drive end of the cutting motor through the cutting frame.

[0010] Furthermore, the cutting motor is connected to the moving seat via the cutting frame, and the anchor rod and the grid roll are respectively suspended on both sides of the guide component by the fixing belt, which is located on the upper surface of the guide component; when the anti-siltation assembly is in the cutting position, the cutting blade is exactly above the fixing belt.

[0011] Furthermore, the fixing bands include multiple fixing bands, which are spaced apart along the axial direction of the anchor rod; correspondingly, the cutting blades include multiple cutting blades, which are spaced apart along the axial direction of the anchor rod.

[0012] Furthermore, the second robotic arm includes a support frame, a lifting structure, a rotating seat, a direct drive seat, a support arm, an extension arm, a plug shaft, and a plug-in motor. The support frame is connected to the front end of the movable seat, the lifting structure is vertically connected to the support frame, the rotating seat is connected to the lifting structure, the direct drive seat is connected to the rotating seat, and the support arm is plugged into the direct drive seat. The direct drive seat can drive the support arm to move, and the support arm is located on the end face of the grid roll at the cutting position. The rotating seat can drive the direct drive seat to rotate, so that the support arm can move along the slope. The extension arm is connected to the support arm and extends downward. The extension arm is equipped with a plug-in motor, and the plug shaft is rotatably connected to the telescopic end of the plug-in motor for connecting the grid roll.

[0013] Furthermore, the scroll has a mating hole at the corresponding end to the insert shaft, a keyway is provided in the mating hole, and a key is provided on the side wall of the insert shaft. The insert shaft and the mating hole can be inserted together, and the key and the keyway are mated together.

[0014] Furthermore, the direct drive mount includes a direct drive motor and a mount body. The direct drive motor is connected to the mount body, and the support arm passes through a movable hole in the middle of the mount body. A groove communicating with the movable hole is provided on one side of the mount body. A direct drive gear is provided in the groove. The drive shaft of the direct drive motor passes through the groove and is connected to the direct drive gear. The direct drive gear meshes with the teeth on the side of the support arm, so that the direct drive gear drives the support arm to move within the movable hole.

[0015] Furthermore, a magnet is provided at the bottom of the mating hole, and a corresponding magnet is also provided at the end of the insertion shaft.

[0016] Furthermore, the first end of the movable seat is the first end in the moving direction of the movable seat, and the guide bracket, fixing frame, support frame and cutting frame are all set at the first end of the movable seat.

[0017] On the other hand, a method for backfilling the foundation trench for immersed tunnel construction to prevent siltation is also provided, which uses the aforementioned equipment for backfilling the foundation trench for immersed tunnel construction; the method includes the following steps: A track mechanism is laid along the slope length of the foundation trench. Anti-siltation assemblies are prefabricated on the ship on the water surface. The grid is rolled into a grid roll. The exposed end of the anchor rod is connected to one end of the outermost grid of the grid roll by a connecting belt. Then, the side wall of the anchor rod is connected to the outer grid of the grid roll by a fixing belt to complete the assembly of the anti-siltation assembly. The control unit moves the mobile seat along the track mechanism to the initial construction area of ​​the foundation trench slope, adjusts the position of the vessel on the water surface, and transports the anti-siltation assembly to the underwater via the material guiding mechanism. The anti-sludge assembly is guided to the unloading position by a material guiding mechanism; The positioning mechanism is activated, and its action fixes the anti-siltation assembly at the unloading position and places it at the cutting position. The cutting mechanism is activated to cut the anti-siltation assembly at the cutting position, cutting off the fixing strip between the anchor bolt and the grid roll. After the fixing strip is cut off, the positioning mechanism moves the anchor bolt and the grid roll to their respective release positions, so that the grid roll is located on the side closer to the slope and the anchor bolt is located on the side away from the slope. The first robotic arm is activated, grabbing the anchor bolt from the release position and moving it to the anchoring position at the top of the slope, where it is then inserted and fixed in place. The second robotic arm is activated, grabbing the grid roll from the release position and gradually laying it on the slope surface. After the construction of a single area is completed, the control mobile seat moves along the track mechanism towards the slope extension direction, and the water surface vessel moves synchronously with the material guiding mechanism; after moving to the next area, the above laying steps are repeated to continuously transport the anti-siltation assembly and complete the operation until the grid laying is completed in all areas of the entire foundation trench slope.

[0018] Compared with the prior art, the equipment and method for backfilling silt in the foundation trench for immersed tunnel construction provided by the present invention has at least one of the following beneficial effects: 1. By setting up positioning mechanisms, cutting mechanisms, first robotic arms and second robotic arms, the anchor bolts and grid rolls can be laid out in one go, making the grid layout on the foundation trench slope more accurate and efficient.

[0019] 2. The anti-siltation assembly is deployed from a vessel on the sea surface. The assembly is then moved to the seabed via a guiding mechanism, which guides it to the unloading position. A positioning mechanism then positions the assembly at a cutting position. The cutting mechanism cuts the assembly at this position, specifically cutting the fixing band between the anchor bolt and the grid roll. This allows the anchor bolt and grid roll to move to their respective release positions via the positioning mechanism. Finally, a first robotic arm retrieves the anchor bolt from its release position and places it at the anchoring position at the top of the slope. A second robotic arm then lays the grid roll from its release position onto the slope surface, thus completing the precise installation and deployment of the anchor bolt and grid roll on the slope with high efficiency. Furthermore, this application continuously supplies the anti-siltation assembly to the seabed via the vessel and guiding mechanism, ensuring continuous material supply. After deploying in one area, the moving platform advances on the track mechanism, with the vessel following the guiding mechanism for continuous movement. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings. Figure 1 A schematic diagram of the overall structure of the anti-siltation backfilling equipment for the foundation trench in immersed tunnel construction provided by the present invention. Figure 1 ; Figure 2 A schematic diagram of the structure for installing a grid onto a slope, as provided by the present invention; Figure 3 A schematic diagram of the overall structure of the anti-siltation backfilling equipment for the foundation trench in immersed tunnel construction provided by the present invention. Figure 2 ; Figure 4 for Figure 3A partial structural diagram; Figure 5 for Figure 4 A magnified schematic diagram of the structure of part A in the diagram; Figure 6 for Figure 3 A magnified schematic diagram of the partial structure of B in the diagram; Figure 7 A schematic diagram of the overall structure of the anti-siltation backfilling equipment for the foundation trench in immersed tunnel construction provided by the present invention. Figure 3 ; Figure 8 for Figure 7 A magnified schematic diagram of the structure of C.

[0021] Figure label: 10. Track mechanism; 11. Inclined ramp; 12. Moving seat; 13. Guide rail; 14. Grille; 15. Reel; 20. Material guiding mechanism; 21. Anti-siltation assembly; 22. Anchor bolt; 23. Grating roll; 24. Connecting belt; 25. Fixing belt; 26. Strapping; 27. Material guiding rope; 28. Material guiding component; 29. ​​Material guiding bracket; 30. Positioning mechanism; 301. Arc-shaped track; 302. Drive seat; 303. Lifting seat; 304. Pushing mechanism; 305. Baffle plate; 306. Fixing frame; 40. Cutting mechanism; 401. Cutting motor; 402. Cutting frame; 403. Cutting blade; 50. Second robotic arm; 501. Support frame; 502. Lifting structure; 503. Rotating seat; 504. Direct drive seat; 5041. Direct drive motor; 5042. Seat body; 505. Support arm; 506. Extension arm; 507. Insert shaft; 508. Insert motor; 509. Docking hole. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. It should be noted that, unless otherwise specified, the implementation methods and features in the implementation methods of this application can be combined, separated, interchanged, and / or rearranged. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] In the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0024] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “(the)” are also intended to include the plural forms. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0025] Example

[0026] A specific embodiment of the present invention, such as Figures 1 to 8 As shown, a silt-prevention backfilling device for foundation trenches in immersed tunnel construction is disclosed, comprising: The track mechanism 10 extends along the length of the slope 11 of the foundation trench, and the track mechanism 10 is provided with a movable seat 12 that can move along the length of the slope 11. The material guiding mechanism 20 is connected to the movable seat 12 and can move synchronously with the movable seat 12. The material guiding mechanism 20 is used to guide the anti-sludge assembly 21 to the unloading position. The anti-sludge assembly 21 includes an anchor rod 22 and a wound grid roll 23. The exposed end of the anchor rod 22 is connected to one end of the outermost grid of the grid roll 23 through a connecting strap 24. The side wall of the anchor rod 22 is also connected to the outer grid of the grid roll 23 by a fixing strap 25. Positioning mechanism 30 is used to position the anti-silt assembly 21 at the cutting position; The cutting mechanism 40 is used to cut the fixing strip 25 between the anchor rod 22 and the grid roll 23 at the cutting position; wherein, after the fixing strip 25 is cut, the anchor rod 22 and the grid roll 23 are moved to their respective release positions by the positioning mechanism 30, with the grid roll 23 located on the side close to the slope 11. The first robotic arm is used to grab the anchor rod 22 from the release position to the anchoring position at the top of the slope 11, and insert the anchor rod 22 into the top of the slope 11. The second robotic arm 50, mounted on the movable seat 12, is used to lay the grid roll 23 from the release position onto the slope 11.

[0027] In practice, the anti-siltation assembly 21 is deployed from a vessel on the sea surface. The assembly 21 is moved to the seabed via a guiding mechanism 20, which then guides it to the unloading position. Next, a positioning mechanism 30 positions the assembly 21 to a cutting position. Subsequently, a cutting mechanism 40 cuts the assembly 21 at the cutting position, specifically cutting the fixing band 25 between the anchor bolt 22 and the grid roll 23. This allows the anchor bolt 22 and the grid roll 23 to move to their respective release positions via the positioning mechanism 30. Finally, a first robotic arm retrieves the anchor bolt 22 from its release position to its anchoring position at the top of the slope 11 and inserts it into the slope. A second robotic arm 50 then lays the grid roll 23 from its release position onto the slope 11. This completes the installation and deployment of the anchor bolt 22 and the grid roll on the slope 11. The anti-siltation assembly 21 is continuously moved to the seabed by the ship and the material guiding mechanism 20, achieving continuous material supply. After one area is laid, the moving seat 12 moves forward on the track mechanism 10, and the ship follows the material guiding mechanism 20 to move to the next area for continued laying, thus achieving continuous movement and continuous laying operations. The positioning mechanism 30, cutting mechanism 40, first manipulator and second manipulator 50 enable the one-time deployment of anchor bolts 22 and grid rolls 23, making grid laying fast, efficient and more precise.

[0028] Compared to existing construction methods that involve first laying the geogrid and then driving the anchor bolts 22 into it on the slope 11, in this embodiment, the anchor bolts 22 are laid simultaneously with the geogrid. The anchor bolts 22 are not driven into the geogrid, thus avoiding damage. The exposed end of the anchor bolt 22 is connected to one end of the outermost layer of the geogrid roll 23 via a connecting strap 24. This allows the anchor bolt 22 to be inserted into the seabed by a first robotic arm and then further inserted into the seabed by a stamping device. The portion of the anchor bolt 22 exposed in the seawater is then connected to the connecting strap 24. Simultaneously, after the geogrid is laid on the slope 11, the connecting strap 24 connects to the top end of the geogrid, and the anchor bolts 22 secure the geogrid. (Reference) Figure 2 The diagram shows a schematic of the slope 11 after the grid 14 is laid.

[0029] In this embodiment, the track mechanism 10 includes guide rails 13 and a base frame arranged along the length of the base groove. The guide rails 13 can be coated with a seawater corrosion resistant material. Two guide rails 13 are included, and a movable seat 12 is movably connected to both guide rails 13. The movable seat 12 has a built-in motor and drive wheels, which can move on the guide rails 13. The movable seat 12 in this application adopts prior art.

[0030] In this embodiment, the anchor bolt 22 and the grid roll 23 are assembled on the ship. The connecting belt 24 is the connecting structure after the anchor bolt 22 and the grid are installed on the seabed. The fixing belt 25 is the temporary fixing structure when transporting the anchor bolt 22 and the grid roll 23.

[0031] In this embodiment, the first robotic arm can use existing equipment. The first robotic arm can identify and install the anchor bolt 22 through a visual recognition system. The first robotic arm can be hoisted to the side of the movable seat 12 using another hoisting structure, or it can be installed at the front end of the movable seat 12 using an installation structure. To balance the weight and tilt of the movable seat 12, a counterweight can be installed at the rear end of the movable seat 12 or at the lighter end of the movable seat 12 to maintain the balance of the movable seat 12.

[0032] In some optional embodiments, the material guiding mechanism 20 includes a material guiding rope 27, a material guiding component 28, and a material guiding bracket 29. The material guiding rope 27 is connected to a ship on the water surface, the material guiding bracket 29 is connected to the movable seat 12, and the material guiding component 28 is connected to the material guiding bracket 29. The material guiding component 28 is horizontally positioned, and one end of the material guiding component 28 near the material guiding rope 27 is bent at a predetermined angle and then extended. The bent end of the material guiding rope 27 is connected to the bent end of the material guiding component 28. The predetermined bending angle and the extended length after bending of the material guiding component 28 can be selected and set according to actual conditions.

[0033] Furthermore, a strapping strap 26 is also provided at the bottom of the connecting strap 24. After the anchor bolt 22 and the grid roll 23 are placed on the guide rope 27, the strapping strap 26 is looped onto the guide rope 27, so that the anchor bolt 22 and the grid roll 23 will not detach from the guide rope 27 after placement. The guide rope 27 can be made of steel wire rope. The steel wire rope is hoisted by the connecting and lifting equipment on the ship, ensuring that the steel wire rope is in an upward angle. Although the steel wire rope may be bent, it will not affect the material guiding of the guide rope 27. A winch can also be set up, with a manipulator connected to the winch rope. The manipulator clamps the anti-siltation assembly 21 to assist in the descent of the anti-siltation assembly 21. For example, if the anti-siltation assembly 21 gets stuck, the manipulator can lift the anti-siltation assembly 21 upward and then release it, so that the anti-siltation assembly 21 falls smoothly onto the guide component 28. The angle between the bent end of the guide component 28 and the horizontal plane is an acute angle, further preventing the anti-siltation assembly 21 from getting stuck. Due to the weight of the grid roll 23 and the anchor bolt 22, they move in close contact and downwards on the guide rope 27 and guide member 28. This provides a basis for the subsequent separation step.

[0034] In some alternative embodiments, the robotic arm on the winch can be withdrawn after the anti-sludge assembly 21 is in place. Simultaneously, a third robotic arm is also provided on one side of the guide 28. This third robotic arm is either independently mounted or connected to the movable base 12. After the anti-sludge assembly 21 moves onto the guide 28, the third robotic arm clamps and moves the anti-sludge assembly 21 to a predetermined position on the guide 28. Existing robotic arms can be used for both the winch and the third robotic arm.

[0035] In some alternative embodiments, the positioning mechanism 30 includes an arc-shaped track 301, a drive seat 302, a lifting seat 303, and a triangular pusher 304. The bottom two corners of the pusher 304 are provided with inclined baffles 305. The arc-shaped track 301 is connected to the movable seat 12 through a fixed frame 306. The arc-shaped track 301 is located on the side closer to the anchor rod 22 and slightly below it. The drive seat 302 is movably connected to the arc-shaped track 301. The lifting seat 303 is connected to the drive seat 302. The pusher 304 is connected to the lifting seat 303. The apex of the pusher 304 faces the guide member 28.

[0036] In this embodiment, the drive seat 302 moves on the arc-shaped track 301. After the anchor rod 22 and the grid roll 23 move to the unloading position, due to the pre-set configuration, the anchor rod 22 and the grid roll 23 are positioned on the side of the guide member 28, corresponding to their respective installation positions. At this time, the drive seat 302 drives the lifting seat 303 and the pusher 304 to move. The visual recognition system identifies the gap between the anchor rod 22 and the grid roll 23. Then, the lifting seat 303 lifts and lowers, driving the pusher 304 to push into the gap, separating the anchor rod 22 and the grid roll 23. The anchor rod 22 and the grid roll 23 are respectively located on two opposite inclined surfaces of the pusher 304, thus positioning the anchor rod 22 and the grid roll 23 at the cutting position.

[0037] In this embodiment, the arc-shaped track 301 is located on the same side as the anchor rod 22 and diagonally below it. This is because the weight of a roll of grid laid corresponding to the length of the slope 11 in this embodiment is greater than the weight of the anchor rod 22, causing the grid roll 23 to be closer to the bottom of the guide member 28 than the anchor rod 22, and the position of the gap will be inclined to one side of the anchor rod 22. This arrangement can save the installation distance and space of the arc-shaped track 301 and avoid structural interference. In this embodiment, the drive seat 302 has a built-in drive motor, and the drive seat 302 adopts existing equipment. The lifting seat 303 is a lifting motor.

[0038] In some optional embodiments, the cutting mechanism 40 includes a cutting motor 401, a cutting frame 402, and a cutting blade 403. The cutting motor 401 is positioned above the guide member 28. The cutting frame 402 is connected to the drive end of the cutting motor 401. The cutting blade 403 is connected to the cutting frame 402. The cutting motor 401 is connected to the movable seat 12 via the cutting frame. The anchor rod 22 and the grid roll 23 are respectively suspended on both sides of the guide member 28 by fixing straps 25. The fixing straps 25 are located on the upper surface of the guide member 28. When the anti-sludge assembly 21 is in the cutting position, the cutting blade 403 is exactly above the fixing straps 25. The cutting motor 401 controls the cutting blade 403 to move downward, so that the cutting blade 403 presses against the guide member 28, thereby cutting the fixing straps 25 on the guide member 28.

[0039] In one alternative embodiment, the fixing band 25 includes a plurality of fixing bands 25, which are spaced apart along the axial direction of the anchor rod 22; correspondingly, the cutting blade 403 includes a plurality of cutting blades 403, which are spaced apart along the axial direction of the anchor rod 22.

[0040] In this embodiment, due to the addition of the strapping 26, a cutting groove is provided in the middle of the guide 28. The cutting blade 403 can be inserted into the cutting groove to completely cut the strapping 26, thus separating the anchor rod 22 and the grid roll 23. After separation, part of the connecting strap 24 is wrapped around the anchor rod 22. Therefore, after the connector of the connecting strap 24 on the anchor rod 22 is located below the anchor rod 22, one end of the outer grid of the grid roll 23 is also located below the grid roll 23. After the anchor rod 22 and the grid roll 23 separate, the anchor rod 22 rolls along the inclined surface of the pusher 304, releasing the wrapped connecting strap 24, and the grid roll 23 releases part of the grid. Alternatively, part of the connecting strap 24 can also be wrapped around the grid roll 23 to increase the storage length of the connecting strap 24.

[0041] In some alternative embodiments, the second robotic arm 50 includes a support frame 501, a lifting structure 502, a rotating seat 503, a direct drive seat 504, a support arm 505, an extension arm 506, a shaft 507, and a connecting motor 508. The support frame 501 is connected to the first end of the movable seat 12. The lifting structure 502 is vertically connected to the support frame 501. The rotating seat 503 is connected to the lifting structure 502. The direct drive seat 504 is connected to the rotating seat 503. The support arm 505 is inserted into the direct drive seat 504, and the direct drive seat 504 can drive the support arm 505 to move. The support arm 505 is located on the grid roll 23 in the cutting position. On the end face, the rotating seat 503 can drive the direct drive seat 504 to rotate, so that the support arm 505 can move along the slope surface of the slope 11. The extension arm 506 is connected to the support arm 505 and extends downward. The plug-in motor 508 is connected to the extension arm 506. The plug shaft 507 is rotatably connected to the telescopic end of the plug-in motor 508. The grid roll 23 has a roll 15. The corresponding ends of the roll 15 and the plug shaft 507 are provided with docking holes 509. The docking holes 509 are provided with keyways. The side wall of the plug shaft 507 is provided with a key. The plug shaft 507 and the docking holes 509 can be plugged together, and the key and the keyway are engaged together. The lifting structure 502 is a lifting motor. The rotating seat 503 adopts existing equipment. The lifting structure 502 is set vertically and can be lifted vertically. The rotating seat 503 is set perpendicular to the axial direction of the anchor rod 22.

[0042] In this embodiment, after the anchor bolt 22 and the grid roll 23 are separated, they fall onto the baffles 305 on both sides of the pusher 304. The lifting structure 502 drives the support arm 505 to rise and fall to the corresponding position of the roll 15 of the grid roll 23. The direct drive seat 504 drives the support arm 505 to extend and retract toward the grid roll 23, so that the insertion shaft 507 corresponds to the docking hole 509. At this time, the insertion motor 508 is controlled to extend and retract, so that the insertion shaft 507 is inserted into the docking hole 509. After the insertion is completed, the lifting structure 502 and the rotating seat 503 move together, and at the same time, the direct drive seat 504 drives the support arm 505 to extend toward the slope 11, so that the grid roll 23 is placed on the slope surface of the slope 11 and laid on the slope surface of the slope 11. Since the grid is in contact with the slope surface of the slope 11 during the grid laying process, as long as the initial laying direction of the grid is accurate, the friction between the grid and the slope surface makes it difficult for the grid to be laid crooked during the subsequent laying process. Anchor bolts 22 are installed first, followed by the installation of the grid. After installation, the connecting strap 24 is positioned above or rests on the movable seat 12. After the movable seat 12 moves, the connecting strap 24 is positioned on the guide rail 13. The guide rail 13 can be removed in sections later. It is important to note that the connecting strap 24 must be positioned below the guide component 28 to avoid interference with the components. If multiple connecting straps 24 are used, they are not wrapped around the anchor bolts 22. When multiple connecting straps 24 are used, they are all installed on the exposed end of the anchor bolt 22 after installation. Multiple connecting straps 24 can be connected at the middle and sides of the grid end. If only one connecting strap 24 is used, it is connected at the middle of the grid end. Compared to directly driving the anchor bolts 22 into the grid, this method avoids damage to the grid.

[0043] During setup, the length of the connecting strip 24 can be calculated so that after the anchor rod 22 is installed, the end of the grid located at the top of the slope extends slightly beyond the top of the slope. This effectively prevents silt from being backfilled into the foundation trench.

[0044] The direct drive mount 504 includes a direct drive motor 5041 and a mount 5042. The direct drive motor 5041 is connected to the mount 5042. The support arm 505 passes through a movable hole in the middle of the mount 5042. A groove is provided on one side of the mount 5042, which communicates with the movable hole. A direct drive gear is provided in the groove. The drive shaft of the direct drive motor 5041 passes through the groove and is connected to the direct drive gear. The direct drive gear meshes with teeth on the side of the support arm 505, causing the direct drive gear to drive the support arm 505 to move within the movable hole. In this embodiment, the direct drive motor 5041 directly drives the support arm 505 to move.

[0045] In some alternative embodiments, a magnet is provided at the bottom of the mating hole 509, and a corresponding magnet is also provided at the end of the insertion shaft 507. With this arrangement, the insertion shaft 507 is not easily separated from the mating hole 509 during the initial laying of the grid.

[0046] In some optional embodiments, the first end of the movable seat 12 is the first end in the moving direction of the movable seat 12, and the guide bracket 29, fixing frame 306, support frame 501, and cutting frame are all set at the first end of the movable seat 12. Through the above arrangement, when the connecting belt 24 is unfolded, the movable seat 12 will not interfere with the connecting belt 24 during movement, ensuring the installation of the anti-sludge assembly 21. Simultaneously, this application only sets one second robotic arm 50, located at the first end of the movable seat 12, similarly avoiding interference with the connecting belt 24. As long as the tail end of the movable seat 12 in this application does not have an installation structure, interference with the connecting belt 24 can be avoided. It should be noted that the docking and position recognition of each structure in this application can all be performed using existing sensors, improving the overall stability of the equipment and reducing costs.

[0047] This application also provides a method for backfilling silt in the foundation trench for immersed tunnel construction, employing equipment for backfilling silt in the foundation trench for immersed tunnel construction. Specifically, the method for backfilling silt in the foundation trench for immersed tunnel construction includes the following steps: A track mechanism 10 is laid along the length of the slope 11 of the foundation trench. A silt-proof assembly 21 is prefabricated on the ship on the water surface. The assembly is wound into a grid roll 23. The exposed end of the anchor rod 22 is connected to one end of the outermost grid of the grid roll 23 by a connecting belt 24. The side wall of the anchor rod 22 is then connected to the outer grid of the grid roll 23 by a fixing belt 25, thus completing the assembly of the silt-proof assembly. The control mobile seat 12 moves along the track mechanism 10 to the initial construction area of ​​the slope 11 on the foundation trench, adjusts the position of the ship on the water surface, and allows the anti-siltation assembly 21 to be transported underwater through the material guiding mechanism 20; The anti-siltation assembly 21 is guided to the unloading position by the material guiding mechanism 20; The positioning mechanism 30 is activated, and the positioning mechanism 30 fixes the anti-siltation assembly 21 at the unloading position and places it at the cutting position. The cutting mechanism 40 is activated, and the cutting mechanism 40 cuts the anti-silt assembly 21 at the cutting position, cutting off the fixing strip 25 between the anchor rod 22 and the grid roll 23; after the fixing strip 25 is cut off, the positioning mechanism 30 drives the anchor rod 22 and the grid roll 23 to their respective release positions, so that the grid roll 23 is located on the side closer to the slope 11, and the anchor rod 22 is located on the side away from the slope 11. The first robotic arm is activated, grabs the anchor rod 22 from the release position, moves the anchor rod 22 to the anchoring position at the top of the slope 11, and fixes the anchor rod 22 to the top of the slope 11; the second robotic arm 50 is activated, grabs the grid roll 23 from the release position, and gradually lays the grid roll 23 on the slope surface of the slope 11. After the construction of a single area is completed, the control mobile seat 12 moves along the track mechanism 10 towards the slope 11, and the water surface vessel moves synchronously with the material guiding mechanism 20. After moving to the next area, the above laying steps are repeated to continuously transport the anti-siltation assembly 21 and complete the operation until all areas on the slope 11 of the entire foundation trench are covered with grid.

[0048] The above specific embodiments further illustrate the purpose, technical solution and beneficial effects of this application. It should be understood that the above are only specific embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A backfilling device for preventing siltation in the foundation trench during immersed tunnel construction, characterized in that, include: A track mechanism is arranged to extend along the length of the slope of the foundation trench, and a movable seat is provided on the track mechanism; A material guiding mechanism, connected to the movable seat, is configured to guide the anti-sludge assembly to the unloading position; the anti-sludge assembly includes an anchor bolt and a grid roll, the exposed end of the anchor bolt is connected to one end of the outermost grid of the grid roll by a connecting strap, and the sidewall of the anchor bolt is connected to the outer grid of the grid roll by a fixing strap; A positioning mechanism is used to position the anti-siltation assembly at the cutting position; A cutting mechanism is used to cut the fixing strip at the cutting position; After the fixing band is cut, the anchor bolt and the grid roll move to their respective release positions via the positioning mechanism, with the grid roll located on the side closer to the slope. The first robotic arm is used to grab the anchor rod from the release position to the anchoring position at the top of the slope and insert the anchor rod into the top of the slope. The second robotic arm, mounted on the movable seat, is used to lay the grid roll from the release position onto the slope surface.

2. The anti-siltation backfilling equipment for immersed tunnel construction as described in claim 1, characterized in that, The material guiding mechanism includes a material guiding rope, a material guiding component, and a material guiding bracket. The material guiding rope is connected to a ship on the water surface, the material guiding bracket is connected to the movable seat, and the material guiding component is connected to the material guiding bracket. The guide component is horizontally positioned, and one end of the guide component near the guide rope is bent at a predetermined angle and then extended. The guide rope is connected to the bent end of the guide component.

3. The anti-siltation backfilling equipment for immersed tunnel construction as described in claim 2, characterized in that, The positioning mechanism includes an arc-shaped track, a drive seat, a lifting seat, and a pusher. The arc-shaped track is connected to the movable seat via a fixed frame. The arc-shaped track is located diagonally below the side near the anchor rod. The drive seat is movably connected to the arc-shaped track. The lifting seat is connected to the drive seat. The pusher is connected to the lifting seat.

4. The anti-siltation backfilling equipment for immersed tunnel construction as described in claim 3, characterized in that, The pusher has a triangular structure, with two upward-sloping baffles at the bottom corners, and the top corner of the pusher faces the guide.

5. The anti-siltation backfilling equipment for foundation trenches in immersed tunnel construction according to claim 2, characterized in that, The cutting mechanism includes a cutting motor, a cutting frame, and a cutting blade. The cutting motor is located above the material guide and connected to the movable base. The cutting blade is connected to the drive end of the cutting motor through the cutting frame.

6. The anti-siltation backfilling equipment for immersed tunnel construction as described in claim 5, characterized in that, The anchor bolt and the grid roll are respectively suspended on both sides of the material guide by the fixing strap, which is located on the upper surface of the material guide; when the anti-siltation assembly is in the cutting position, the cutting blade is located directly above the fixing strap.

7. The anti-siltation backfilling equipment for immersed tunnel construction as described in claim 6, characterized in that, The number of fixing straps and cutting blades is multiple, and the multiple fixing straps and multiple cutting blades are arranged at intervals along the axial direction of the anchor rod.

8. The anti-siltation backfilling equipment for immersed tunnel construction as described in claim 1, characterized in that, The second robotic arm includes a support frame, a lifting structure, a rotating seat, a direct drive seat, a support arm, an extension arm, a plug shaft, and a plug-in motor. The support frame is connected to the first end of the movable seat. The lifting structure is vertically connected to the support frame. The rotating seat is connected to the lifting structure. The direct drive seat is connected to the rotating seat. The support arm is plugged into the direct drive seat. The direct drive seat can drive the support arm to move. The support arm is located on the end face of the grid roll at the cutting position. The rotating seat can drive the direct drive seat to rotate, so that the support arm can move along the slope. The extension arm is connected to the support arm and extends downward. The extension arm is equipped with a plug-in motor. The plug shaft is rotatably connected to the telescopic end of the plug-in motor for connecting the roll of the grid roll.

9. The anti-siltation backfilling equipment for foundation trenches in immersed tunnel construction according to claim 8, characterized in that, The direct drive mount includes a direct drive motor and a mount body. The direct drive motor is connected to the mount body. The support arm passes through a movable hole in the middle of the mount body. A groove communicating with the movable hole is provided on one side of the mount body. A direct drive gear is provided in the groove. The drive shaft of the direct drive motor passes through the groove and is connected to the direct drive gear. The direct drive gear meshes with teeth on the side of the support arm, so that the direct drive gear drives the support arm to move within the movable hole.

10. A method for backfilling the foundation trench for immersed tunnel construction to prevent siltation, characterized in that, The method employs the anti-siltation backfilling equipment for immersed tunnel construction as described in any one of claims 1 to 9; the method includes the following steps: A track mechanism is laid along the slope length of the foundation trench. Anti-siltation assemblies are prefabricated on the ship on the water surface. The grid is rolled into a grid roll. The exposed end of the anchor rod is connected to one end of the outermost grid of the grid roll by a connecting belt. Then, the side wall of the anchor rod is connected to the outer grid of the grid roll by a fixing belt to complete the assembly of the anti-siltation assembly. The control unit moves the mobile seat along the track mechanism to the initial construction area of ​​the slope, adjusts the position of the vessel on the water surface, and transports the anti-siltation assembly to the underwater via the material guiding mechanism. The anti-sludge assembly is guided to the unloading position by a material guiding mechanism; The positioning mechanism is activated, and its action fixes the anti-siltation assembly at the unloading position and places it at the cutting position. The cutting mechanism is activated to cut the anti-siltation assembly at the cutting position, cutting off the fixing strip between the anchor bolt and the grid roll. After the fixing strip is cut off, the positioning mechanism moves the anchor bolt and the grid roll to their respective release positions, so that the grid roll is located on the side closer to the slope and the anchor bolt is located on the side away from the slope. The first robotic arm is activated, grabbing the anchor bolt from the release position and moving it to the anchoring position at the top of the slope, where it is then inserted and fixed in place. The second robotic arm is activated, grabbing the grid roll from the release position and gradually laying it on the slope surface. After the construction of a single area is completed, the control mobile seat moves along the track mechanism in the direction of the slope extension, and the water vessel moves synchronously with the material guiding mechanism; after moving to the next area, the above laying steps are repeated to continuously transport the anti-siltation assembly and complete the operation until the entire slope is covered with grid.

Images