Six-point truss-type sand pumping and lifting device for mattress laying vessel and use method

Abstract

The present invention relates to a six-point truss-type sand pumping and lifting device for a mattress laying vessel. The device comprises a support assembly and six working assemblies. The six working assemblies are all slidably connected to the support assembly. Each working assembly comprises a moving assembly, a sand pumping assembly, and a lifting assembly. The sand pumping assembly and the lifting assembly are both connected to the moving assembly, and thus move and work by means of the moving assembly. The support assembly comprises two main beams. Two ends of each main beam are respectively connected to one main frame support leg. Two auxiliary beams are connected between every left and right main frame support legs. The moving assembly is slidably connected to the two main beams. Each auxiliary beam is connected to a hydraulic pump station, a frequency converter cabinet, and a cab. The present invention minimizes the labor intensity of operators and labor costs, and can effectively improve medium precision control, safety performance, and construction efficiency in the construction process.

Description

Six-point truss type sand suction lifting device of a laying barge and a method of use TECHNICAL FIELD

[0001] The present application relates to a six-point truss type sand suction lifting device of a laying barge and a method of use. BACKGROUND

[0002] The laying barge is an engineering ship used for channel regulation and coastal protection engineering, which can hoist the concrete chain blocks and mortar transported by the barge through the lifting device and sand suction filling device arranged on the laying barge, and then transport the mortar to the laid arrangement, sand bag and sand rib, and finally deliver it to the seabed.

[0003] The existing laying barge chain block hoisting completely relies on manual experience for operation: two operators operate the bow and stern full-rotation cranes to hoist the concrete chain blocks, and the lifting position, placement position and hoisting process need to be observed by the operators at a long distance and remotely commanded by the workers on site through high-frequency communication tools, which has relatively high personnel cost, low efficiency and safety. During construction, the two cranes can only hoist two chain blocks, and the single cycle time from lifting the chain block to the lifting position and back to the lifting position is 6 minutes. During the hoisting process, the positions of the two crane arms need to be paid attention to prevent collision. The hoisted object shakes greatly, and the preset position cannot be accurately judged by human beings. The crane operator needs to adjust the crane arm and the rotating device to ensure the accurate placement of the chain block, which has relatively low hoisting efficiency and safety factor, and requires high operation proficiency and coordination of the operators and commanders.

[0004] The sand suction filling needs to be completed by manually operating different devices. The sand suction pump motor, cable, sand suction pump and ship end delivery pipeline, distribution box need to be connected, and then the sand suction pump is hoisted into the barge cabin. The preparation process before construction is complicated, the labor cost is high, the construction efficiency is low, the operator cannot directly observe the actual operation of the pump during start-up, and the safety value is relatively low. During the entire construction period, 6-7 workers need to continuously operate the water flushing nozzle to spray the barge cabin, and simultaneously adjust the position of the mud pump in real time to meet the concentration requirement of the mud pump. The demand for manual labor is large, which increases the labor cost, and the operators need to have certain work experience. During the entire operation process, the operators must be highly concentrated to prevent the concentration of the mortar being too high and the mud pump from overturning, which may cause production accidents.

[0005] The existing construction process of the laying barge requires a large number of manual shifts for operation. Due to the individual differences of the operators, there are problems such as emotionalization, fatigue, uneven level, different construction safety and efficiency, and many key parameter decisions rely too much on manual experience, which cannot effectively utilize the massive data accumulated during construction to provide data support for optimizing construction.

[0006] Therefore, the six-point truss sand suction lifting device of a laying barge and a method thereof are provided to solve the above problems. SUMMARY

[0007] The six-point truss sand suction lifting device of a laying barge and a method thereof are provided to overcome the existing defects, minimize the labor intensity and labor cost of the operator, and effectively improve the precision control, safety performance and construction efficiency in the construction process.

[0008] The technical scheme to achieve the above object is: a six-point truss sand suction lifting device of a laying barge, comprising a support assembly and six working assemblies; the six working assemblies are all slidingly connected to the support assembly;

[0009] The working assembly comprises a moving assembly, a sand suction assembly and a lifting assembly; the sand suction assembly and the lifting assembly are both connected to the moving assembly and move by the moving assembly.

[0010] Preferably, the support assembly comprises two main beams, one main frame leg is connected to each end of each main beam, a camera is installed on each main frame leg, two auxiliary beams are connected between the left and right main frame legs; the moving assembly is slidingly connected to the two main beams; the auxiliary beams are connected with a hydraulic pump station, a frequency conversion cabinet and a driver room.

[0011] Preferably, the moving assembly comprises a longitudinal walking beam and two longitudinal walking mechanisms, one longitudinal walking mechanism is connected to each end of the longitudinal walking beam, and the two longitudinal walking mechanisms are slidingly connected to the two main beams, respectively; a transverse walking mechanism is slidingly connected to the longitudinal walking beam, the lifting assembly is connected to the transverse walking mechanism; one extension assembly is connected to each end of the longitudinal walking beam.

[0012] Preferably, the extension assembly comprises a folding arm, one end of the folding arm is rotatably connected to the longitudinal walking beam, the other end of the folding arm is connected with a rope body on the end face, the other end of the rope body is connected with a folding arm winch, and the folding arm winch is arranged on the main beam; a limit switch and a camera are arranged at the front end of the folding arm.

[0013] Preferably, the lifting assembly comprises a lifting mechanism, the lifting mechanism is connected to the transverse walking mechanism; an encoder and a weight sensor are arranged on the lifting mechanism.

[0014] Preferably, the sand suction assembly is connected to the side wall of one end of the longitudinal walking beam; the sand suction assembly comprises a mechanical arm, one end of the mechanical arm is rotatably connected to the longitudinal walking beam, a main arm oil cylinder is connected to one end of the mechanical arm close to the longitudinal walking beam, an auxiliary arm oil cylinder is connected to the middle of the mechanical arm, a water flushing nozzle oil cylinder and a sand suction pump are connected to the other end of the mechanical arm, the water flushing nozzle oil cylinder is connected with a water flushing nozzle, the sand suction pump is connected with a slurry pipe, a plurality of angle sensors are connected to the mechanical arm, and a pressure discharge sensor is connected to the outlet pipeline of the sand suction pump.

[0015] Preferably, the cab is provided with an operation console, a video monitoring display, a data acquisition alarm and control system display, a longitudinal walking mechanism stepless speed control handle, a lifting mechanism and a transverse walking mechanism stepless speed control handle, a walking mechanism single / multiple selection switch, a mechanical arm control handle, a folding arm control knob, a sand suction pump and water flushing pump starting speed control knob, and a water flushing nozzle control handle.

[0016] A use method of a six-point truss type sand suction hoisting device of a pipe-laying ship, comprising the following steps:

[0017] Concrete chain plate hoisting and lifting:

[0018] Step one: the transport ship loaded with concrete chain plates approaches the left side of the pipe-laying ship;

[0019] Step two: the operator places the two folding arms flat through the folding arm control knob, and the signal feedback of the limit switch is displayed on the data acquisition alarm and control system display during the lowering process to display the alarm and state, and the control system is automatically stopped for protection;

[0020] Step three: the operator controls the longitudinal walking beam and the transverse walking mechanism by operating the longitudinal walking mechanism stepless speed control handle, and moves the transverse walking mechanism to the upper side of the concrete chain plates of the transport ship; the travel, speed and real-time position during the movement are collected by the encoder, and the control system calculates and feeds back to the data acquisition alarm and control system display, so that the operator can observe the running state, speed and position information in real time, and when the longitudinal walking beam and the transverse walking mechanism approach the specified movement travel, the control system is pre-decelerated and stopped for protection by the encoder and the limit switch;

[0021] Step four; when the lifting mechanism reaches the target concrete chain piece position above the transport ship, the operator controls the lifting mechanism through the longitudinal walking mechanism stepless speed control handle, and the operator lowers the hook to a reasonable height by observing the encoder height information collected by the data acquisition alarm and control system display. After the mechanisms are in place, the operator records and saves the current longitudinal walking beam, transverse walking mechanism and lifting mechanism stroke and height through the data acquisition alarm and control system display interface operation;

[0022] Step five; when the hook on the lifting mechanism reaches the target height, the on-site workers hang the concrete chain piece ring on the hook. The operator can observe the real-time picture collected by the camera transmitted to the data acquisition alarm and control system display to ensure that all personnel are evacuated before proceeding to the next step;

[0023] Step six; while hanging the concrete chain piece, the operator can set the size and number of concrete chain pieces to be placed according to the actual arrangement through the data acquisition alarm and control system display. The system automatically arranges and displays the target position of the concrete chain piece to be transported to the ship according to the input parameters;

[0024] Step seven; the operator hoists the heavy object to a certain height through the longitudinal walking mechanism stepless speed control handle. When the concrete chain piece is off the ground, the data measured by the weight sensor is transmitted to the data acquisition alarm and control system display for the operator to observe. The control system judges the maximum speed of the transverse walking mechanism according to the design requirements and the data feedback by the weight sensor and limits it to prevent equipment failure and safety accidents caused by excessive speed;

[0025] Step eight; when the concrete chain piece is hoisted to a certain height, the operator can hoist the concrete chain piece to the target position in two ways:

[0026] I. The operator selects through the walking mechanism single-action / linked selection switch, selects linkage, and controls the longitudinal walking beam, the transverse walking mechanism and the lifting mechanism at the same time through the stepless speed control handle of the longitudinal walking mechanism and the stepless speed control handle of the transverse walking mechanism. The operator observes the real-time position and speed feedback collected by the encoder and the on-site situation monitored by the camera, and observes the real-time position of the concrete interlocking piece until it is lowered to the target position. After the concrete interlocking piece is lifted to the target position, the on-site worker unhook it. The operator determines whether it has been unhooked through the video monitoring display. After the worker retreats to a safe position, the operator reverses the original operation process to move the longitudinal walking beam, the transverse walking mechanism and the lifting mechanism to the barge target object lifting position. In the operation process, if the operator's unsafe behavior or mistake leads to the fact that the concrete interlocking piece does not move according to the target path and position or the equipment fails, the data acquisition alarm and control system display will alarm and protect through the feedback data or signals of the frequency conversion cabinet, the encoder and the limit switch to prevent safety accidents;

[0027] II. The operator selects the automatic mode through the data acquisition alarm and control system display, clicks to start automatic lifting, and the control system will automatically control the longitudinal walking beam, the transverse walking mechanism and the lifting mechanism according to the target position set in step six through the feedback information of each sensor to lift the concrete interlocking piece to the target position. After reaching the target position, the on-site worker unhook it. After unhooking is completed and the worker retreats to a safe point, the operator clicks the one-key return button through the interface again. The control system automatically returns each mechanism to the lifting position according to the lifting position and height recorded in step four to perform the next round of lifting;

[0028] Sand blasting operation:

[0029] Step one, start the hydraulic pump of the hydraulic pump station through the data acquisition alarm and control system display interface. The hydraulic pump station has a low liquid level, high oil temperature, oil pressure measurement sensor, and the signal is fed back to the data acquisition alarm and control system display interface to display data and alarm, and protected by the control system;

[0030] Step two, control the main arm cylinder and auxiliary arm cylinder on the multiple mechanical arms to lower the sand suction pump to the sand surface in the transport ship cabin through the mechanical arm control handle. The real-time angle measured by the angle sensor is fed back to the data acquisition alarm and control system display interface for display. The control system alarms and protects the maximum and minimum angles according to the design requirements of the mechanical arm to prevent damage to the equipment caused by human operation errors.

[0031] Step three, start the flushing pump by starting the speed knob of the flushing pump of the sand suction pump, and adjust to the required flow and discharge pressure, the water sprayed from the flushing nozzle is used to flush the sand surface, the flushing nozzle cylinder is adjusted by operating the flushing nozzle control handle, so that the flushing nozzle sprays to the required target position, and the sand surface is flushed to form a mortar pit;

[0032] Step four, the main arm cylinder and auxiliary arm cylinder are adjusted by operating the mechanical arm control handle, so that the suction inlet of the sand suction pump is lowered into the mortar pit;

[0033] Step five, the speed knob of the flushing pump of the sand suction pump is adjusted to the required speed, and the sand suction pump operates according to the speed set by the knob;

[0034] Step six, the sucked mortar is discharged into the sand bag or sand rib laid on the deck through the mud pipe, and the operator can observe the data displayed on the data acquisition alarm and control system interface through the feedback of the discharge pressure sensor, so as to judge whether the sand suction pump is in a suction empty or pump blockage state, and the output flow of the flushing pump is adjusted to control the output flow of the flushing pump, so that the mortar is kept at a certain concentration, and the surrounding sand is flushed to the suction inlet of the sand suction pump by adjusting the spraying position of the flushing nozzle;

[0035] Step seven, after the sand suction is completed, the mechanical arm is retracted to the original position in the reverse order of the above process, and the sanding operation is completed.

[0036] The six-point truss type sand suction and hoisting device of the laying ship has the advantages that the equipment hardware required by two different construction processes of hoisting and sand suction and filling is integrated in the six-point truss type sand suction and hoisting device, and is combined with a centralized monitoring, alarm, visual acquisition and automatic control system which can measure and display in real time. The position information, attitude, running state and construction data of each device during the hoisting and sand suction and filling of the interlocking block can be understood and accurately mastered by the operator in real time, the alarm and protection functions during the operation of the device are provided, the operator can control multiple devices for operation through the data monitoring and automatic control system, the labor intensity and labor cost of the operator are reduced to the maximum, and the accuracy control, safety performance and construction efficiency during the construction process are effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0037] Fig. 1 is a schematic view of the six-point truss type sand suction and hoisting device of the laying ship of the present application;

[0038] Fig. 2 is a motion detail view of the hoisting assembly of the present application;

[0039] Fig. 3 is a motion detail view of the sand suction assembly of the present application;

[0040] Fig. 4 is a schematic view of the driver's room of the present application;

[0041] Figure 5 is a top view of the six-point truss suction sand lifting device of the barge of the present application;

[0042] Figure 6 is an enlarged view of A in Figure 1.

[0043] In the figure: 1, main beam; 2, mechanical arm; 3, longitudinal walking mechanism; 4, lifting mechanism; 5, folding arm winch; 6, transverse walking mechanism; 7, main frame leg; 8, folding arm; 9, driver's room; 10, limit switch; 11, camera; 12, encoder; 13, hydraulic pump station; 14, auxiliary beam; 17, longitudinal walking beam; 18, frequency conversion cabinet; 19, weight sensor; 30, walking mechanism single / multiple selection switch; 31, video monitoring display; 32, data acquisition alarm and control system display; 33, longitudinal walking mechanism stepless speed control handle; 34, mechanical arm control handle; 35, folding arm control knob; 36, suction sand pump speed regulating knob; 37, water flushing nozzle control handle; 38, operation console; 39, lifting mechanism and transverse walking mechanism stepless speed control handle; 43, angle sensor; 44, discharge pressure sensor; 45, suction sand pump; 46, main arm oil cylinder; 47, auxiliary arm oil cylinder; 48, water flushing nozzle oil cylinder; 49, water flushing nozzle; 51, slurry pipe. DETAILED DESCRIPTION

[0044] The technical solutions of the present application will be described clearly and completely in combination with the drawings. In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying opposite importance.

[0045] The present application will be further described in combination with the drawings.

[0046] As shown in Figures 1-6, a six-point truss suction sand lifting device of a barge, comprising a support assembly and six working assemblies; the six working assemblies are all slidingly connected to the support assembly; the working assembly comprises a moving assembly, a suction sand assembly and a lifting assembly; the suction sand assembly and the lifting assembly are both connected to the moving assembly and move the working assembly through the moving assembly.

[0047] Specifically, the support assembly comprises two main beams 1, each end of each main beam 1 is connected with a main frame leg 7, two auxiliary beams 14 are connected between each left and right main frame leg 7; a camera 11 is mounted on each main frame leg; a mobile assembly is slidingly connected on the two main beams 1; a hydraulic pump station 13, a frequency conversion cabinet 18 and a driver's cabin 9 are connected on the auxiliary beam 14.

[0048] Specifically, the mobile assembly comprises a longitudinal walking beam 17 and two groups of longitudinal walking mechanisms 3, each end of the longitudinal walking beam 17 is connected with a group of longitudinal walking mechanisms 3, and the two groups of longitudinal walking mechanisms 3 are slidingly connected on the two main beams 1; a transverse walking mechanism 6 is slidingly connected on the longitudinal walking beam 17, a lifting assembly is connected on the transverse walking mechanism 6; each end of the longitudinal walking beam 17 is connected with a group of extension assemblies. The extension assembly comprises a folding arm 8, one end of the folding arm 8 is rotationally connected with the longitudinal walking beam 17, and the other end of the folding arm 8 is connected with a rope body in the upper end face, the other end of the rope body is connected with a folding arm winch 5, and the folding arm winch 5 is arranged on the main beam 1; a limit switch 10 and a camera 11 are arranged on the front end of the folding arm 8.

[0049] Specifically, the longitudinal walking beam 17 is driven to walk longitudinally by the longitudinal walking mechanism 3, the folding arms 8 are mounted on the two sides of the longitudinal walking beam 17, when construction work is performed, the two folding arms 8 can be retracted and extended by the folding arm winch 5, the transverse mechanism 6 is connected with the walking beam 17 through a pulley and a rack, the transverse walking mechanism 6 can be made to walk under the walking beam 17 and the two sides of the folding arms that have been retracted by an actuator; the lifting mechanism 4 is mounted below the transverse walking mechanism 6, and the lifting mechanism 4 is used for hoisting the concrete chain block.

[0050] Specifically, the lifting assembly comprises a lifting mechanism 4, and the lifting mechanism 4 is connected with the transverse walking mechanism 6; an encoder 12 and a weight sensor 19 are arranged on the lifting mechanism 4.

[0051] Specifically, the sand suction assembly is connected on the side wall of one end of the longitudinal walking beam 17; the sand suction assembly comprises a mechanical arm 2, one end of the mechanical arm 2 is rotationally connected with the longitudinal walking beam 17, a main arm oil cylinder 46 is connected to one end of the mechanical arm 2 close to the longitudinal walking beam 17, an auxiliary arm oil cylinder 47 is connected to the middle of the mechanical arm 2, a water flushing nozzle oil cylinder 48 and a sand suction pump 45 are connected to the other end of the mechanical arm 2, and a water flushing nozzle 49 is connected to the water flushing nozzle oil cylinder 48; the sand suction pump 45 is connected with a sludge pipe 51; a plurality of angle sensors 43 are connected to the mechanical arm 2; a pressure discharge sensor 44 is connected to the outlet pipeline of the sand suction pump 45.

[0052] Specifically, the mechanical arm 2 is installed on the left side of the longitudinal walking beam 17, the action of the mechanical arm 2 is controlled by the main arm oil cylinder 46 and the auxiliary arm oil cylinder 47 to perform the extension and retraction action, the water flushing nozzle oil cylinder 48 is installed at the end of the auxiliary arm, the water flushing nozzle 49 is controlled to perform the extension and retraction by the oil cylinder, and all the hydraulic oil cylinders are powered by the hydraulic pump station 13; the slurry pipes 51 are installed on both sides of the mechanical arm and extend to the middle of the walking beam 17 through the side of the walking beam; the sand suction pump 45 is connected to the end of the mechanical arm through the steel wire rope and the shackle, and is placed into the cabin of the transport ship by adjusting the mechanical arm.

[0053] Specifically, the driver's cabin 9 is provided with the operation console 38, the video monitoring display 31, the data acquisition alarm and control system display 32, the longitudinal walking mechanism stepless speed control handle 33, the lifting mechanism and the transverse walking mechanism stepless speed control handle 39, the walking mechanism single action / linked action selection switch 30, the mechanical arm control handle 34, the folding arm control knob 35, the sand suction pump speed control knob 36 and the water flushing nozzle control handle 37.

[0054] Specifically, the operation console 38 is installed in the driver's cabin 9, and the visual acquisition system display 31 is installed on the operation console; the actual situation of the transport ship and the working area is observed by the camera 11 installed at the end of the left folding arm.

[0055] Specifically, the alarm, the measured data, the equipment operation parameter display and the control system display 38 are installed on the right side of the operation console 9; the system collects the limit switch 10 signals of the folding arm 8, the transverse walking mechanism 6 and the longitudinal walking mechanism 17 on both sides for alarm and stop protection; the encoder 12 is used to measure the specific position information of each walking mechanism; the pressure sensor 44 and the angle sensor 43 are used to monitor and alarm the running state and the posture of the main arm and the auxiliary arm of the mechanical arm 2 and the sand suction pump in real time; the weight sensor 19 is used to monitor the weight of the hoisted object in real time and feed back to the control system; and the control system limits the speed of the above mechanisms according to the data fed back by the weight sensor.

[0056] Specifically, the transverse walking mechanism 6 can be steplessly speed controlled by the longitudinal walking mechanism stepless speed control handle 33 above the operation table; the longitudinal walking mechanism 3 and the lifting mechanism 4 can be controlled by the lifting mechanism and the transverse walking mechanism stepless speed control handle 39; the start and speed control of the sand suction pump 45 can be operated by the sand suction pump speed control knob 36; the main arm oil cylinder 46, the auxiliary arm oil cylinder 47 and the water flushing nozzle oil cylinder 48 of the mechanical arm 2 can be controlled by the mechanical arm control handle 34 and the water flushing nozzle control handle 37; the folding arm 8 can be controlled to be folded and unfolded by the control knob 35; and all the signal acquisition and control signal transmission are transmitted to the frequency converter 18 through the cable or the industrial wireless remote control receiver and then transmitted to the internal control system of the driver's cabin 9 by the frequency converter.

[0057] The six-point truss type sand suction lifting device of the laying ship integrates the equipment hardware required by the lifting and hoisting and the sand suction and filling two different construction processes in the six-point truss type sand suction lifting device, and is combined with a centralized monitoring, alarm, visual acquisition and automatic control system capable of real-time measurement and display. The position information, attitude, running condition and construction required data of each device during the lifting and hoisting and the sand suction and filling construction of the chain block can be understood and accurately mastered by the operator in real time, the alarm and protection functions during the equipment operation are provided, the operator can control multiple devices for operation through the data monitoring and automatic control system, the labor intensity and labor cost of the operator are reduced to the maximum, and the accuracy control, safety performance and construction efficiency in the construction process can be effectively improved.

[0058] A use method of a six-point truss type sand suction lifting device of a laying ship, comprising the following steps:

[0059] Lifting and hoisting of the concrete chain block:

[0060] Step one: the transport ship loaded with the concrete chain block is docked to the left side of the laying ship;

[0061] Step two: the operator places the two side folding arms 8 flat through the folding arm control knob 35, the signal feedback of the limit switch 10 is fed back to the data acquisition alarm and control system display 32 to display the alarm and state during the lowering process, and the automatic stop protection is taken through the control system;

[0062] Step three: the operator controls the six longitudinal walking beams 17 and the transverse walking mechanism 6 through the longitudinal walking mechanism stepless speed control handle 33, and moves the transverse walking mechanism 6 to the upper side of the concrete chain block of the transport ship; the travel, speed and real-time position during the movement are collected through the encoder 12, and then are calculated and fed back to the data acquisition alarm and control system display 32 through the control system, so that the operator can observe the running state, speed and position information in real time, and the control system performs pre-deceleration and stop protection through the encoder 12 and the limit switch 10 when the longitudinal walking beam 17 and the transverse walking mechanism 6 approach the specified action travel;

[0063] Step four: when the lifting mechanism 4 reaches the position above the target concrete chain block of the transport ship, the lifting mechanism 4 is operated through the longitudinal walking mechanism stepless speed control handle 33, the operator lowers the lifting hook to a reasonable height by observing the height information of the encoder 12 collected by the data acquisition alarm and control system display 32, and records and saves the travel and height of the current longitudinal walking beam 17, transverse walking mechanism 6 and lifting mechanism 4 through the interface operation of the data acquisition alarm and control system display 32 after each mechanism is in place;

[0064] Step five; when the hook on the lifting mechanism 4 reaches the target height, the concrete chain piece is hung on the hook by the on-site workers, and the operator can observe the real-time picture collected by the camera 11 transmitted to the data acquisition alarm and control system display 32, ensuring that all personnel are evacuated before the next step operation;

[0065] Step six; while the concrete chain piece is hung, the operator can set the size and the number of concrete chain pieces to be placed according to the actual arrangement through the data acquisition alarm and control system display 32, and the system automatically arranges and displays the target position of the concrete chain piece to be transported above the arrangement already laid on the ship according to the input parameters;

[0066] Step seven; the operator hoists the weight to a certain height by the stepless speed control handle 33 of the longitudinal walking mechanism, and when the concrete chain piece leaves the ground, the data measured by the weight sensor 19 is transmitted to the data acquisition alarm and control system display 32 for the operator to observe, and the control system judges the maximum speed of the transverse walking mechanism 6 that can walk and limits it according to the design requirements and the data feedback by the weight sensor 19, to prevent equipment failure and safety accidents caused by excessive speed;

[0067] Step eight; when the concrete chain piece is hoisted to a certain height, the operator can hoist the concrete chain piece to the target position by two ways:

[0068] I. The operator selects through the walking mechanism single / dual selection switch 30, selects dual operation, and controls the six longitudinal walking beams 17, the transverse walking mechanism 6 and the lifting mechanism 4 at the same time through the longitudinal walking mechanism stepless speed control handle 33 and the lifting mechanism and transverse walking mechanism stepless speed control handle 39, and the operator observes the real-time position and speed feedback of the encoder 12 to the data acquisition alarm and control system display 32 and the on-site situation monitored by the camera 11 transmitted to the video monitoring display 31 to observe the real-time position of the concrete chain piece, until it is placed at the set target position; After the concrete chain piece is hoisted to the target position, the on-site workers unhook it, the operator determines whether it has been unhooked through the video monitoring display 31, the workers move to the safe position after the operator reverses the original operation process to move the longitudinal walking beam 17, the transverse walking mechanism 6 and the lifting mechanism 4 to the barge target object lifting position, and in the operation process, if the operator's unsafe behavior or mistake leads to that the concrete chain piece does not move according to the target path and position or the equipment fails, the data acquisition alarm and control system display 32 will alarm and protect through the data or signals feedback by the frequency conversion cabinet 18, the encoders 12 and the limit switches 10, to prevent safety accidents;

[0069] II. The operator selects the automatic mode through the interface of the data acquisition alarm and control system display 32, clicks the one-key automatic hoisting, and the control system automatically controls the longitudinal walking beam 17, the transverse walking mechanism 6 and the lifting mechanism 4 according to the target position set in step six through the feedback information of each sensor to hoist the concrete link to the target position. After reaching the target position, the on-site worker unhooked it. After unhooking is completed and the worker retreats to the safety point, the operator clicks the one-key return button through the interface, and the control system automatically returns each mechanism to the lifting position according to the lifting position and height recorded in step four to perform the next round of hoisting;

[0070] Sand blasting operation:

[0071] Step one, start the hydraulic pump of the hydraulic pump station 13 through the interface of the data acquisition alarm and control system display 32. The hydraulic pump station 13 has a low liquid level, high oil temperature, oil pressure measurement sensor, and the signal is fed back to the data acquisition alarm and control system display 32 interface to display data and alarm, and protected by the control system;

[0072] Step two, control the main arm cylinder 46 and auxiliary arm cylinder 47 on the multi-arm 2 through the mechanical arm control handle 34 to lower the sand suction pump 45 to the sand surface in the cabin of the transport ship. The real-time angle measured by the angle sensor 43 is fed back to the data acquisition alarm and control system display 32 interface to display, and the control system alarms and protects the maximum and minimum angle according to the design requirements of the mechanical arm to prevent damage to the equipment due to human operation errors.

[0073] Step three, start the flushing pump through the sand suction pump speed knob 36, and adjust to the required flow and discharge pressure. After the water is sprayed from the flushing nozzle 49, it is used to flush the sand surface. Adjust the flushing nozzle cylinder 48 through the flushing nozzle control handle 37 to make the flushing nozzle 49 spray to the target position, and flush the sand surface to form a mortar pit.

[0074] Step four, adjust the main arm cylinder 46 and auxiliary arm cylinder 47 to lower the suction port of the sand suction pump 45 into the mortar pit through the mechanical arm control handle 34.

[0075] Step five, adjust the sand suction pump speed knob 36 to the required speed, and the sand suction pump 45 runs according to the speed set by the knob;

[0076] Step six, the suction mortar is discharged through the mud pipe 51 into the sand bag or sand rib laid on the deck. During the sand suction process, the operator can observe the interface data fed back by the discharge pressure sensor 44 to the data acquisition alarm and control system display 32, and determine whether the sand suction pump 45 is in a suction empty or pump block state according to the discharge pressure display value. When the sand suction pump 45 is in a suction empty or pump block state during the sand suction process, the output flow of the water flushing pump can be adjusted by adjusting the sand suction pump speed knob 36 to control the output flow of the water flushing pump, so that the mortar can be kept at a certain concentration, and the sand around the suction port of the sand suction pump 45 can be flushed to the suction port by adjusting the position of the water flushing nozzle 49. The suction port of the sand suction pump 45 can be adjusted by adjusting the main arm oil cylinder 46 and the auxiliary arm oil cylinder 47 to ensure the normal operation of the sand suction pump 45. When the amount of sand at the position of the suction port of the sand suction pump 45 is too small, the position of the suction port of the sand suction pump 45 can be adjusted by adjusting the main arm oil cylinder 46, the auxiliary arm oil cylinder 47 and the longitudinal walking mechanism 3 of the hoisting device to ensure the efficiency of the sand suction pump. The sand around the suction port can be flushed to the suction port in real time by adjusting the water flushing nozzle 49 during the sand suction process. The mechanical arm 2, the suction port of the sand suction pump 45 and the scanning position of the water flushing nozzle 49 can be observed in real time by the data acquisition alarm and control system display 32, and the operator can control the above-mentioned equipment according to the observed real-time monitoring picture.

[0077] Step seven, after the sand suction and setting, the mechanical arm 2 is retracted to the original position according to the reverse operation of the above process to complete the sanding operation.

[0078] The six-point truss type sand suction hoisting device of the laying ship can simultaneously lift six concrete chain links by one operation of two operators according to the demand, thereby increasing the lifting efficiency and saving labor cost. The six mechanical arms can be simultaneously controlled by two operators according to the demand, the mud pump can be remotely controlled, the efficiency of sand suction and flushing is improved, and the labor cost is saved. The operator can observe the site situation in real time through the visual acquisition system, thereby reducing the labor cost and improving the safety factor. The control precision of the equipment is improved through the measurement and display system, thereby preventing accidents caused by operation errors and equipment failures, and improving the safety factor from the essential safety. The six truss type hoisting devices can be automatically lifted by the control system, and accurate lifting can be realized according to the preset position.

[0079] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents. The modification or replacement does not change the essence of the corresponding technical solution from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A six-point truss suction dredging device of a trailing suction hopper dredger, characterized in that, It comprises a support assembly and six working assemblies; the six working assemblies are all slidingly connected to the support assembly; The working assembly comprises a moving assembly, a sand suction assembly and a lifting assembly; the sand suction assembly and the lifting assembly are both connected to the moving assembly and move by the moving assembly.

2. The six-point truss suction dredge of claim 1, wherein, The support assembly comprises two main beams (1), the ends of each main beam (1) are connected to a main frame leg (7), two auxiliary beams (14) are connected between each left and right main frame leg (7), and a camera (11) is installed on each main frame leg; the moving assembly is slidingly connected to the two main beams (1); the auxiliary beam (14) is connected with a hydraulic pump station (13), a frequency conversion cabinet (18) and a driver's room (9).

3. The six-point truss suction dredge of claim 2, wherein, The moving assembly comprises a longitudinal walking beam (17) and two sets of longitudinal walking mechanisms (3), the ends of the longitudinal walking beam (17) are connected to a set of longitudinal walking mechanisms (3) respectively, and the two sets of longitudinal walking mechanisms (3) are slidingly connected to the two main beams (1) respectively; the longitudinal walking beam (17) is slidingly connected with a transverse walking mechanism (6), the transverse walking mechanism (6) is connected with the lifting assembly; the ends of the longitudinal walking beam (17) are connected to a set of extension assemblies respectively.

4. The six-point truss suction dredge of claim 3, wherein, The extension assembly comprises a folding arm (8), one end of the folding arm (8) is rotationally connected to the longitudinal walking beam (17), the other end of the folding arm (8) is connected to a rope body on the end face, the other end of the rope body is connected to a folding arm winch (5), and the folding arm winch (5) is arranged on the main beam (1); the front end of the folding arm (8) is provided with a limit switch (10) and a camera (11).

5. The six-pont truss suction dredge of claim 3, wherein, The lifting assembly comprises a lifting mechanism (4), which is connected to the transverse walking mechanism (6); the lifting mechanism (4) is provided with an encoder (12) and a weight sensor (19).

6. The six-pont truss suction dredge of claim 5, wherein, The sand suction assembly is connected to the side wall of one end of the longitudinal walking beam (17); the sand suction assembly comprises a mechanical arm (2), one end of the mechanical arm (2) is rotationally connected to the longitudinal walking beam (17), a main arm oil cylinder (46) is connected to one end of the mechanical arm (2) close to the longitudinal walking beam (17), an auxiliary arm oil cylinder (47) is connected to the middle of the mechanical arm (2), a water flushing nozzle oil cylinder (48) and a sand suction pump (45) are connected to the other end of the mechanical arm (2), and a water flushing nozzle (49) is connected to the water flushing nozzle oil cylinder (48); the sand suction pump (45) is connected with a mud pipe (51); a plurality of angle sensors (43) are connected to the mechanical arm (2); a discharge pressure sensor (44) is connected to the outlet pipeline of the sand suction pump (45).

7. The six-pont truss suction dredge of claim 2, wherein, The driver's cabin (9) is respectively provided with an operation console (38), a video monitoring display (31), a data acquisition alarm and control system display (32), a longitudinal walking mechanism stepless speed control handle (33), a lifting mechanism and transverse walking mechanism stepless speed control handle (39), a walking mechanism single / dual selection switch (30), a mechanical arm control handle (34), a folding arm control knob (35), a sand suction pump speed control knob (36) and a water jet control handle (37).

8. A method of using a six-point truss suction dredge of a hopper dredger, characterized in that, Comprising the steps of: Concrete chain piece hoisting and lifting: Step one: the transport ship loaded with concrete chain pieces is docked to the left side of the laying ship; Step two: the operator places the two folding arms (8) flat by means of the folding arm control knob (35), and during the lowering process, the signal feedback of the limit switch (11) is displayed on the data acquisition alarm and control system display (32) to display the alarm and state, and the control system automatically stops to protect; Step three: the operator operates the longitudinal walking mechanism stepless speed control handle (33) to control the six longitudinal walking beams (17) and the transverse walking mechanism (6) at the same time, and moves the transverse walking mechanism (6) to the position directly above the concrete chain pieces of the transport ship; the travel, speed and real-time position during the movement are collected by the encoder (12), and after calculation by the control system, the feedback is fed back to the data acquisition alarm and control system display (32), so that the operator can observe the running state, speed and position information in real time, and when the longitudinal walking beam (17) and the transverse walking mechanism (6) approach the specified travel, the control system slows down and stops through the encoder (12) and the limit switch (11) to protect; Step four: when the lifting mechanism (4) reaches the position above the target concrete chain piece on the transport ship, the lifting mechanism (4) is operated by the longitudinal walking mechanism stepless speed control handle (33), the operator lowers the hook to a reasonable height by observing the height information collected by the encoder (12) on the data acquisition alarm and control system display (32), and after the mechanisms are in place, the operator records and saves the travel and height of the current longitudinal walking beam (17), transverse walking mechanism (6) and lifting mechanism (4) by operating the data acquisition alarm and control system display (32) interface; Step five: when the hook on the lifting mechanism (4) reaches the target height, the workers on site hang the concrete chain piece ring on the hook, and the operator can observe the real-time picture collected by the camera (11) transmitted to the data acquisition alarm and control system display (32) to ensure that all personnel are evacuated before the next operation; Step six: while hanging the concrete chain piece, the operator can set the size and the number of concrete chain pieces to be placed according to the actual arrangement size and the number of concrete chain pieces to be placed by the data acquisition alarm and control system display (32), and the system automatically arranges the example according to the input parameters and displays the target position of the concrete chain piece to be transported to the ship above the arrangement. Step seven; operator through the longitudinal walking mechanism stepless speed control handle (33) to a certain height, when the concrete chain piece off the ground, weight sensor (19) measured data transmission to the data acquisition alarm and control system display (32) for the operator to observe, the control system according to the design requirements and weight sensor (19) feedback data to determine the maximum speed of the horizontal walking mechanism (6) can walk and limit, prevent too fast speed caused by equipment failure and safety accidents; Step eight; when the concrete chain piece to a certain height, the operator can realize the concrete chain piece hoisting to the target position by two ways: One, the operator selects through walking mechanism single / dual selection switch (30), when selecting linkage, the operator can control 6 longitudinal walking beam (17), horizontal walking mechanism (6) and lifting mechanism (4) at the same time through the longitudinal walking mechanism stepless speed control handle (33) and lifting mechanism and horizontal walking mechanism stepless speed control handle (39), the operator observes the real-time position and speed feedback of each position encoder (12) to the data acquisition alarm and control system display (32) and the on-site situation monitored by the camera (11) to the video monitoring display (31), observes the real-time position of the concrete chain piece, until it is placed in the set target position; after the concrete chain piece is hoisted to the target position, the on-site worker unhooked it, the operator determined whether it has been unhooked through the video monitoring display (31), after the worker removed to the safe position, the operator reversed the original operation process to move the longitudinal walking beam (17), horizontal walking mechanism (6) and lifting mechanism (4) to the barge target object lifting position, in the operation process, due to the unsafe behavior or mistake of the operator, the data acquisition alarm and control system display (32) will alarm and protect through the feedback data or signal of the frequency conversion cabinet (18), each encoder (12) and each limit switch (11), to prevent safety accidents; Two, the operator selects automatic mode through the data acquisition alarm and control system display (32) interface, clicks to start automatic hoisting, the control system will automatically control the longitudinal walking beam (17), horizontal walking mechanism (6) and lifting mechanism (4) according to the target position set in step six through the feedback information of each sensor to hoist the concrete chain piece to the target position, after reaching the target position, the on-site worker unhooked it; After the unhooking is completed and the worker removes to the safe point, the operator clicks the one-key return button through the interface again, the control system automatically returns each mechanism to the lifting position according to the lifting position and height recorded in step four, and performs the next round of hoisting; Sandblasting operation: Step one, start the hydraulic pump station (13) through the interface of the data acquisition alarm and control system display (32), the hydraulic pump station (13) has low liquid level, high oil temperature, oil pressure measurement sensor, and the signal is fed back to the data acquisition alarm and control system display (32) interface to display data and alarm, and the control system is protected; Step two, control the main arm cylinder (46) and auxiliary arm cylinder (47) on the multi-arm (2) through the operation of the mechanical arm control handle (34) to lower the sand suction pump (45) to the sand surface in the cabin of the transport ship, the real-time angle measured by the angle sensor (43) is fed back to the data acquisition alarm and control system display (32) interface, the control system alarms and protects the maximum and minimum angle according to the design requirements of the mechanical arm, which can prevent damage to the equipment caused by human operation errors; Step three, start the flushing pump through the sand suction pump speed knob (36), and adjust to the required flow and discharge pressure, the water is sprayed from the flushing nozzle (49) to flush the sand surface, and the flushing nozzle oil cylinder (48) is adjusted through the operation of the flushing nozzle control handle (37), so that the flushing nozzle (49) sprays to the required target position, and a mortar pit is formed on the sand surface; Step four, adjust the main arm cylinder (46) and auxiliary arm cylinder (47) through the operation of the mechanical arm control handle (34) to lower the suction port of the sand suction pump (45) into the mortar pit; Step five, adjust the sand suction pump speed knob (36) to the required speed, and the sand suction pump (45) runs according to the speed set by the knob; Step six, the sucked sand is discharged into the sand bag or sand rib laid on the deck through the mud pipe (51), and the operator can observe the data fed back to the data acquisition alarm and control system display (32) interface by the discharge pressure sensor (44) during the sand suction process, and the discharge pressure display value can be used to judge whether the sand suction pump (45) is empty or blocked, and the output flow of the flushing pump can be adjusted during the sand suction process to control the output flow of the flushing pump, so that the mortar maintains a certain concentration, and the sand around the sand suction pump (45) is flushed to the suction port of the sand suction pump (45); Step seven, after the sand suction is completed, the mechanical arm (2) is retracted to the original position according to the above process in reverse to complete the sanding operation.

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