Walking type anti-scouring underwater 3D printing system

Abstract

The utility model belongs to the field of offshore wind power, and discloses a walking type anti-scouring underwater 3D printing system which comprises an underwater 3D printing device, an inner end leaning device, an inner end lifting and rotating device, an outer end lifting device and a walking supporting device. The inner end lifting and rotating device is used for driving the inner end leaning device to ascend and descend and rotate along the outer wall of the wind power foundation pile, the outer end lifting device is used for driving the outer end of the underwater 3D printing device to ascend and descend, and the walking supporting device is used for driving the outer end lifting device to walk. On the basis of underwater 3D printing anti-scouring, anti-scouring structures of various shapes can be completed according to various field scanning conditions, engineering operation can be completed simply and rapidly, after being printed on the periphery of an offshore wind turbine pile foundation, the anti-scouring structure is tightly attached to the surface of a seabed, the possibility of scour ocean current forming is reduced, and the better anti-turbulent-flow effect is achieved; the protection effect is enhanced.

Description

Technical Field

[0001] The utility model relates to the field of offshore wind power, in particular to a walking anti-scour underwater 3D printing system. Background Art

[0002] The marine environment is more complex than that on land. Complex conditions such as wind, waves and currents often work together to cause local scouring of the wind turbine foundation, changing the mechanical characteristics of the soil, thereby affecting the stability of the offshore wind turbine and the bearing capacity of the foundation. In severe cases, it may even lead to instability and collapse.

[0003] At present, there are many anti-scour measures for offshore wind power single pile foundations, mainly including riprap accumulation, sand compaction, bionic grass control, reserved scour length, silt solidification soil filling, etc. These methods have many differences in structural principles and construction, and need to be applied in different sea areas in combination with their own characteristics. In engineering, they are often used in combination according to actual conditions to achieve the purpose of comprehensive control. However, the above measures have various disadvantages in actual application, the construction plan is relatively complicated, and the economic benefits are low. Utility Model Content

[0004] The purpose of the utility model is to provide a walking anti-scouring underwater 3D printing system to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A walking anti-scour underwater 3D printing system, comprising:

[0007] An underwater 3D printing device, the underwater 3D printing device is used to print an anti-scour structure in a scour pit;

[0008] An inner end leaning device, the inner end leaning device is connected to the inner end of the underwater 3D printing device and is clamped on the wind power foundation pile;

[0009] An inner end lifting and rotating device, which is arranged on the wind power foundation pile and connected to the inner end leaning device, and is used to drive the inner end leaning device to lift and rotate along the outer wall of the wind power foundation pile;

[0010] An outer end lifting device, which is connected to the outer end of the underwater 3D printing device and is used to drive the outer end of the underwater 3D printing device to rise and fall; and

[0011] A walking support device is arranged at the bottom of the outer end lifting device and is used to drive the outer end lifting device to walk.

[0012] Furthermore, the underwater 3D printing device includes a printing mobile platform, a large nozzle and a small nozzle, and the printing mobile platform is used to drive the large nozzle and the small nozzle to move in three axes.

[0013] Furthermore, the inner end leaning device is an automatic clamping claw device.

[0014] Furthermore, a horizontal telescopic device is arranged between the underwater 3D printing device and the inner end leaning device and / or the outer end lifting device.

[0015] Furthermore, the inner end lifting and rotating device includes a fixed unit, a rotating unit and a lifting unit. The fixed unit is fixedly installed on the wind power foundation pile, and is used to install the rotating unit and the lifting unit. The rotating unit is used to drive the inner end leaning device to rotate along the outer wall of the wind power foundation pile, and the lifting unit is used to drive the inner end leaning device to lift and lower.

[0016] Furthermore, the fixed unit includes a fixed seat and an annular gear plate arranged on the fixed seat, the annular gear plate is coaxially arranged with the wind power foundation pile, the rotating unit includes a rotating sleeve, a gear and a motor, the rotating sleeve is coaxially arranged with the wind power foundation pile, and the rotating sleeve is rotatably sleeved on the fixed seat, the motor is arranged on the rotating sleeve, the gear and the motor are transmission-coordinated and meshed with the annular gear plate; the lifting unit includes a first crane arranged on the rotating sleeve and a first lifting rope connected to the first crane, and the lower end of the first lifting rope is connected to the inner end leaning device.

[0017] Furthermore, the outer end lifting device includes a fixed sleeve, a lifting leg that slides up and down with the fixed sleeve, and a lifting mechanism connected between the two. The fixed sleeve is connected to the underwater 3D printing device, the lifting leg is connected to the walking support device, and the lifting mechanism is used to drive the lifting leg to lift and lower relative to the fixed sleeve.

[0018] Furthermore, the walking support device is a crawler device.

[0019] Compared with the prior art, the beneficial effects of the utility model are:

[0020] 1) The utility model is based on underwater 3D printing anti-scour, and can complete anti-scour structures of various shapes according to various on-site scanning conditions, and can complete engineering operations simply and quickly. After printing around the offshore wind turbine pile foundation, it fits closely with the seabed surface, reducing the possibility of scour current formation, playing a better role in anti-disturbance, and enhancing the protection effect;

[0021] 2) The utility model is based on an underwater 3D printing device, which can determine the structure to be printed and calculate the required raw materials by scanning the seabed in advance. Compared with traditional anti-scouring measures such as riprap accumulation, sand compaction, and bionic grass management, underwater 3D printing concrete can use materials accurately and reduce costs;

[0022] 3) The utility model prints sequentially around the offshore wind power piles, which greatly improves the underwater construction efficiency. The combination of automation and underwater operations greatly improves the working environment of offshore construction personnel;

[0023] 4) The utility model has the functions of circular movement, lateral extension and contraction, and can adapt to various underwater operations in sea areas. The printing system has a wide range of applications and strong versatility;

[0024] 5) The utility model has strong ability to resist ocean currents and is not easy to capsize underwater. The balance adjustment compensation device and the inner end leaning device 2 maintain the stability of the device throughout the whole process, with high safety and long service life;

[0025] 6) The utility model uses multiple independent nozzles to work in a division of labor, which greatly improves the printing quality and speed, shortens the time of underwater construction, and reduces the construction period. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the use status of a walking anti-scour underwater 3D printing system of the utility model.

[0027] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0028] Figure 3 for Figure 1 Enlarged view of point B in the middle.

[0029] Figure 4 This is a schematic diagram of the connection structure between the inner end leaning device and the wind power foundation pile in a walking anti-scour underwater 3D printing system of the utility model.

[0030] Figure 5 This is a schematic diagram of the communication relationship of a walking anti-scour underwater 3D printing system of the utility model.

[0031] Figure 6 This is a schematic diagram of the printing area division of the scouring pit during the construction of the utility model.

[0032] Figure 7 It is a schematic diagram of the printing path of a single printing area of ​​the utility model.

[0033] In the figure: underwater 3D printing device 1, printing mobile platform 100, large nozzle 101, small nozzle 102, inner end leaning device 2, inner end lifting and rotating device 3, fixed seat 300, annular gear plate 301, rotating sleeve 302, gear 303, motor 304, first crane 305, first lifting rope 306, outer end lifting device 4, fixed sleeve 400, lifting leg 401, lifting mechanism 402, walking support device 5, horizontal telescopic device 6, wind power foundation pile 8, scour pit 9, anti-scour structure 10, balance adjustment and compensation device 11, feed pipe 12, control terminal 13, printing area 14, edge anti-scour structure 1400, internal anti-scour structure 1401. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] See also Figure 1-Figure 4 A walking anti-scour underwater 3D printing system includes an underwater 3D printing device 1, an inner end leaning device 2, an inner end lifting and rotating device 3, an outer end lifting device 4, a balance adjustment and compensation device 11 and a walking support device 5. The underwater 3D printing device 1 is used to print an anti-scour structure 10 in a scour pit 9. The inner end leaning device 2 is connected to the inner end of the underwater 3D printing device 1 and is clamped on a wind power foundation pile 8. The inner end lifting and rotating device 3 is arranged on the wind power foundation pile 8 and is connected to the inner end leaning device 2 to drive the inner end leaning device 2 to rise and fall and rotate along the outer wall of the wind power foundation pile 8. The end lifting device 4 is connected to the outer end of the underwater 3D printing device 1, which is used to drive the outer end of the underwater 3D printing device 1 to lift and lower. The balance adjustment and compensation device 11 is arranged at the bottom of the outer end lifting device 4. The walking support device 5 is arranged at the bottom of the balance adjustment and compensation device 11. The walking support device 5 is a crawler device, which is used to drive the outer end lifting device 4 to walk. The balance adjustment and compensation device 11 is used to adjust the balance of the outer end lifting device 4. The balance adjustment and compensation device 11 is equipped with a camera, and the printing situation is detected by the camera. The camera can also be installed on the underwater 3D printing device 1 or the walking support device 5. The balance adjustment and compensation device 11 is a well-known technology, which can refer to patents such as CN115837963B, CN111959704A, and CN109733530B. Waterproof treatment is adopted when it is used. Among them, the "inner end" refers to the end close to the wind power foundation pile 8, and the "outer end" refers to the end facing away from the wind power foundation pile 8.

[0036] Continue reading Figure 1The structure of the underwater 3D printing device 1 is a well-known technology, which includes a printing mobile platform 100, a large nozzle 101 and two small nozzles 102. The printing mobile platform 100 is used to drive the large nozzle 101 and the small nozzle 102 to move in three axes. The printing flow rate of the large nozzle 101 per unit time is greater than the printing flow rate of the small nozzle 102. The large nozzle 101 is suitable for printing a larger area, and the small nozzle 102 is suitable for printing a smaller area.

[0037] Continue reading Figure 1 A horizontal telescopic device 6 is provided between the underwater 3D printing device 1 and the inner end leaning device 2. The horizontal telescopic device 6 is preferably a hydraulic telescopic cylinder, and can also be an electric telescopic cylinder. The horizontal telescopic device 6 can adjust the radial distance between the underwater 3D printing device 1 and the wind power foundation pile 8.

[0038] In addition, the horizontal telescopic device 6 can also be arranged between the outer end lifting device 4 and the underwater 3D printing device 1.

[0039] Continue reading Figure 2 The inner end lifting and rotating device 3 includes a fixed unit, a rotating unit and a lifting unit. The fixed unit is fixedly installed on the wind power foundation pile, and is used to install the rotating unit and the lifting unit. The rotating unit is used to drive the inner end leaning device 2 to rotate along the outer wall of the wind power foundation pile 8, and the lifting unit is used to drive the inner end leaning device 2 to rise and fall.

[0040] Specifically, the fixed unit includes a fixed seat 300 and an annular gear plate 301 arranged on the fixed seat 300. The fixed seat 300 is fixedly installed on the upper end of the wind power foundation pile 8, or is designed to be a clamping structure and is tightly clamped on the wind power foundation pile 8. The annular gear plate 301 is coaxially arranged with the wind power foundation pile 8. The rotating unit includes a rotating sleeve 302, a gear 303 and a motor 304. The rotating sleeve 302 is a clamping structure, which is coaxially arranged with the wind power foundation pile 8 and is rotatably sleeved on the fixed seat 300. The rotating sleeve 302 and the fixed seat 300 can be rotatably connected through structures such as pulleys or annular guide rails. The motor 304 is fixedly installed on the rotating sleeve 302, and the gear 303 cooperates with the motor 304 in transmission and meshes with the annular gear plate 301. The lifting unit includes a first hoist 305 disposed on the rotating sleeve 302 and a first hoist rope 306 connected to the first hoist 305 . The lower end of the first hoist rope 306 is connected to the inner end leaning device 2 .

[0041] When the inner end leaning device 2 needs to be driven to rotate, the motor 304 drives the gear 303 to rotate, and the gear 303 drives the entire rotating unit to rotate along the toothed plate 301. When the inner end leaning device 2 needs to be driven to rise or fall, the first hoist 305 drives the inner end leaning device 2 to rise or fall by retracting and releasing the first hoisting rope 306.

[0042] Continue reading Figure 3The outer end lifting device 4 includes a fixed sleeve 400, a lifting leg 401 slidably inserted on the fixed sleeve 400, and a lifting mechanism 402 connected therebetween. The fixed sleeve 400 is connected to the underwater 3D printing device 1, and the lifting leg 401 is connected to the balance adjustment and compensation device 11. The lifting mechanism 402 is used to drive the lifting leg 401 to move up and down relative to the fixed sleeve 400. There are multiple lifting mechanisms 402 that are evenly distributed. The lifting mechanism 402 is preferably a hydraulic cylinder, and an electric cylinder or the like can also be used.

[0043] Continue reading Figure 4 The inner end leaning device 2 is an automatic clamping device, which can be an electric device or a hydraulic drive device. The inner wall of the clamping claw of the inner end leaning device 2 can be provided with a plurality of horizontal pulleys, which are in contact with the wind power foundation through the pulleys, so that when the inner end leaning device 2 holds the wind power foundation pile 8 tightly, the inner end leaning device 2 can also rotate on the wind power foundation pile 8. The wheel surface of the pulley is preferably made of rubber to avoid damaging the surface of the wind power foundation pile.

[0044] Furthermore, the walking anti-scour underwater 3D printing system also includes a construction ship, a stirring device and a feed pipe 12. The stirring device is arranged on the construction ship, and is used to stir the underwater 3D printing material. The upper end of the feed pipe 12 is connected to the stirring device, and the lower end is connected to the underwater 3D printing device 1. There are two feed pipes 12, which are respectively used to feed the large nozzle 101 and the small nozzle 102. A second crane is also arranged on the construction ship, and the second crane is connected to the underwater 3D printing device 1 through a second lifting rope, and the underwater 3D printing device 1 is dropped into the water through a second motor.

[0045] Continue reading Figure 5 The walking anti-scour underwater 3D printing system also includes a control terminal 13, which is an electronic device with operation function, display function, information processing function, and wireless communication function. The control terminal 13 is connected to the underwater 3D printing device 1, the balance adjustment and compensation device 11, the horizontal telescopic device 6, and the inner end leaning device 2 through a waterproof cable or a wireless communication module. The control terminal 13 is connected to the motor 304, the lifting mechanism 402, and the first crane 305 through a wireless transmission unit.

[0046] The printing process of the utility model includes:

[0047] Step 1, perform preliminary preparation work, including: before the underwater 3D printing device 1 is hoisted into the water, it is necessary to scan the seabed environment, such as the depth of the scour pit, the diameter of the foundation pile, etc., and then specifically design the anti-scour structure 10 to be printed.

[0048] Step 2, before launching, assemble the inner end leaning device 2, the horizontal telescopic device 6, the underwater 3D printing device 1, the outer end lifting device 4, the balance adjustment compensation device 11, and the walking support device 5 together. And install the inner end lifting and rotating device 3 on the wind power foundation pile 8. The installation of the inner end lifting and rotating device 3 includes: first assemble the fixed unit and the rotating unit separately on land, and then install the fixed unit on the wind power foundation pile 8 underwater, specifically, install the fixed seat 300 on the wind power foundation pile 8, and then install the rotating unit on the fixed seat 300, specifically, install the rotating sleeve 302 on the fixed seat 300, so that the gear 303 is meshed with the annular gear plate 301. The underwater installation connection is operated by a diving robot and a diver.

[0049] Step 3, hoist the inner end leaning device 2, the horizontal telescopic device 6, the underwater 3D printing device 1, the outer end lifting device 4, the balance adjustment and compensation device 11, and the walking support device 5 into the water, support the walking support device 5 on the seabed, and connect the inner end leaning device 2 with the first lifting rope 306 of the inner end lifting and rotating device 3.

[0050] Step 4: Print the anti-scour structure 10 in the scour pit 9 by using the underwater 3D printing device 1.

[0051] like Figure 6 As shown, during printing, the scour pit 9 is divided into a plurality of fan-shaped printing areas 14 in a circular order, and the anti-scour structure 10 is printed and filled in each printing area 14 in turn by the underwater 3D printing device 1, as shown in FIG. Figure 7 As shown, for each printing area 14, the underwater 3D printing device 1 first prints an edge anti-scour structure 1400 along the edge of the printing area through a small nozzle 102, and then prints an internal anti-scour structure 1401 in a serpentine manner in the middle of the printing area 14 through a large nozzle 101.

[0052] In the printing area 14, the movement of the nozzle is controlled by the printing mobile platform 100. If the underwater 3D printing device 1 needs to move in a larger range, it is controlled jointly by the inner end leaning device 2, the outer end lifting device 4, the balance adjustment compensation device 11, the walking support device 5, the inner end lifting and rotating device 3, and the horizontal telescopic device 6.

[0053] When the underwater 3D printing device 1 needs to be lifted or lowered, the inner end leaning device 2 first releases the wind power foundation pile 8, and then the first crane 305 drives the inner end leaning device 2 to be lifted or lowered, and at the same time, the lifting mechanism 402 in the outer end lifting device 4 drives the fixed sleeve 400 to be lifted or lowered, so that the inner and outer ends of the underwater 3D printing device 1 are lifted or lowered synchronously to maintain balance. After the lifting action is completed, the inner end leaning device 2 holds the wind power foundation pile 8 again.

[0054] When the underwater 3D printing device 1 needs to move radially along the wind power foundation pile 8, the inner end leaning device 2 always holds the wind power foundation pile 8 tightly, controls the walking support device 5 to move toward or away from the wind power foundation pile 8, and the horizontal telescopic device 6 is telescoped at the same time.

[0055] When the underwater 3D printing device 1 needs to move circumferentially, the inner end leaning device 2 first slightly loosens the wind power foundation pile 8, and then controls the walking support device 5 to move circumferentially along the wind power foundation pile 8. After the movement is completed, the inner end leaning device 2 hugs the wind power foundation pile 8 again.

[0056] It should be noted that the underwater 3D printing material is underwater 3D printing concrete material, which is a well-known technology in the field of underwater 3D printing. Please refer to patents such as CN110723949A, CN117700176A, and CN116675502A.

[0057] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A walking anti-scour underwater 3D printing system, characterized in that: include: An underwater 3D printing device, the underwater 3D printing device is used to print an anti-scour structure in a scour pit; An inner end leaning device, the inner end leaning device is connected to the inner end of the underwater 3D printing device and is clamped on the wind power foundation pile; An inner end lifting and rotating device, which is arranged on the wind power foundation pile and connected to the inner end leaning device, and is used to drive the inner end leaning device to lift and rotate along the outer wall of the wind power foundation pile; An outer end lifting device, which is connected to the outer end of the underwater 3D printing device and is used to drive the outer end of the underwater 3D printing device to rise and fall; as well as A walking support device is arranged at the bottom of the outer end lifting device and is used to drive the outer end lifting device to walk.

2. A walking anti-scour underwater 3D printing system according to claim 1, characterized in that: The underwater 3D printing device comprises a printing mobile platform, a large nozzle and a small nozzle, and the printing mobile platform is used to drive the large nozzle and the small nozzle to move in three axes.

3. The walking anti-scour underwater 3D printing system according to claim 1, characterized in that: The inner end leaning device is an automatic clamping claw device.

4. The walking anti-scour underwater 3D printing system according to claim 1, characterized in that: A horizontal telescopic device is arranged between the underwater 3D printing device and the inner end leaning device and / or the outer end lifting device.

5. The walking anti-scour underwater 3D printing system according to claim 1, characterized in that: The inner end lifting and rotating device includes a fixed unit, a rotating unit and a lifting unit. The fixed unit is fixedly installed on the wind power foundation pile, and is used to install the rotating unit and the lifting unit. The rotating unit is used to drive the inner end leaning device to rotate along the outer wall of the wind power foundation pile, and the lifting unit is used to drive the inner end leaning device to rise and fall.

6. The walking anti-scour underwater 3D printing system according to claim 5, characterized in that: The fixing unit includes a fixing seat and an annular gear plate arranged on the fixing seat, and the annular gear plate is coaxially arranged with the wind power foundation pile. The rotating unit includes a rotating sleeve, a gear and a motor. The rotating sleeve is coaxially arranged with the wind power foundation pile, and its rotating sleeve is arranged on the fixing seat. The motor is arranged on the rotating sleeve, and the gear cooperates with the motor and meshes with the annular gear plate. The lifting unit includes a first crane arranged on the rotating sleeve and a first lifting rope connected to the first crane, and the lower end of the first lifting rope is connected to the inner end leaning device.

7. The walking anti-scour underwater 3D printing system according to claim 1, characterized in that: The outer end lifting device includes a fixed sleeve, a lifting leg that slides up and down with the fixed sleeve, and a lifting mechanism connected between the two. The fixed sleeve is connected to the underwater 3D printing device, the lifting leg is connected to the walking support device, and the lifting mechanism is used to drive the lifting leg to lift and lower relative to the fixed sleeve.

8. The walking anti-scour underwater 3D printing system according to claim 1, characterized in that: The walking support device is a crawler device.

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