WO2020252624A1 - Underwater topography 3d printer and construction method - Google Patents
Underwater topography 3d printer and construction method Download PDFInfo
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- WO2020252624A1 WO2020252624A1 PCT/CN2019/091534 CN2019091534W WO2020252624A1 WO 2020252624 A1 WO2020252624 A1 WO 2020252624A1 CN 2019091534 W CN2019091534 W CN 2019091534W WO 2020252624 A1 WO2020252624 A1 WO 2020252624A1
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- base frame
- underwater
- leveling
- hydraulic
- walking
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
- E05D15/00—Suspension arrangements for wings
- E05D15/06—Suspension arrangements for wings for wings sliding horizontally more or less in their own plane
- E05D15/10—Suspension arrangements for wings for wings sliding horizontally more or less in their own plane movable out of one plane into a second parallel plane
Definitions
- the invention relates to the technical field of underwater terrain measurement, in particular to an underwater terrain 3D printer and a construction control method.
- the announcement date is June 15, 2011.
- An underwater leveling machine measurement and positioning system was announced.
- the system includes a leveling ship measurement positioning system, a leveling machine measurement positioning system and a micro-processing unit. GPS, tilt sensor, position sensor, depth sounder and other equipment to accurately determine the plane position, elevation, horizontal attitude and actual elevation of the bed surface at the time of acceptance of the underwater leveler when it is working; at the same time realize the position and attitude of the leveling ship Positioning, and use the micro-processing unit to design and manage the work location, equipment data collection, real-time calculation, real-time display, limit overrun warning and alarm, data storage, data playback and other functions.
- the purpose of the present invention is to provide an underwater terrain 3D printer and a construction control method in view of the deficiencies of the prior art, provide safety guarantee for underwater construction, and effectively control the underwater leveling position, leveling elevation, etc. and the entire
- the precise displacement of the device and the realization of digital visualization provide technical support for underwater construction.
- no divers or very few divers can enter the water, which greatly reduces the safety risks of divers from the source.
- the technical solution adopted by the present invention is:
- An underwater terrain 3D printer including a base frame, a printer head, and an overwater control system.
- the printer head includes a mobile bridge frame. The printer head straddles the base frame and moves relative to the base frame through the mobile bridge frame. It is controlled by the water control system and performs printing and leveling actions in the base frame.
- the base frame is equipped with an underwater measurement positioning system and an automatic attitude adjustment system. The attitude automatic adjustment system is set on the base frame and is controlled by the water In the controlled hydraulic support device, the underwater measurement and positioning system communicates with the above-water control system through an underwater repeater.
- the base frame is a square frame formed by two mutually parallel base frame longitudinal beams and two mutually parallel base frame transverse beams fixedly connected and formed
- the hydraulic support device includes a plurality of hydraulic legs Two or more hydraulic legs are fixed on the outer side of each base frame longitudinal beam, and both ends of each base frame cross beam are provided with support platforms extending upward, and one end of the support platform is correspondingly provided with a water level Wire measuring rod;
- the underwater measurement and positioning system includes a GPS receiver, a pressure sensor, a stroke sensor and an attitude meter.
- the GPS receiver is arranged on the top of the measuring rod
- the stroke sensor is arranged on the hydraulic leg
- the pressure sensor It is arranged on the supporting platform
- the attitude indicator is arranged on one of the base frame beams
- the GPS receiver, pressure sensor, travel sensor and attitude indicator are all communicatively connected with an underwater repeater.
- the hydraulic support device includes 4 hydraulic outriggers, two hydraulic outriggers are fixed on the outer side of each of the base frame longitudinal beams, and the hydraulic outriggers include a supporting palm and a jack.
- the jack is connected with the supporting palm through a universal joint.
- two measuring rods are provided, and the two measuring rods are distributed on the same side of the base frame.
- the printer head further includes a water fabric bucket, a walking trolley, and a walking leveling bucket.
- the walking trolley is arranged on the mobile bridge and moves along the length of the mobile bridge.
- a moving space is provided in the longitudinal direction
- a through hole is provided in the vertical direction of the walking trolley, and a sleeve is connected to the top opening of the walking leveling bucket, and the sleeve passes through the moving space and communicates with the through hole.
- the holes are matched, and the protruding end of the sleeve on the through hole is connected to the water fabric bucket through a supply hose, and the water fabric bucket is set on the water surface auxiliary ship or floats on the water surface through its own floating body.
- the casing on the walking leveling bucket is welded into the through hole in the walking trolley to form a whole, and the walking leveling bucket has a hollow trapezoidal structure with an opening downward.
- the total length of the bottom of the walking leveling bucket is greater than the width of the mobile bridge frame, the walking leveling bucket is provided with an altimeter, and the altimeter is communicatively connected with the water control system.
- the movable wheels provided under the movable bridge are synchronously driven by a gear transmission mechanism
- the bottom of the trolley is provided with a plurality of walking wheels
- the movable bridge is provided with matching wheels
- the track the traveling trolley drives the traveling wheels to move synchronously on the track through the chain belt transmission mechanism.
- the attitude safety system includes a limiter and a limit sensor
- the base frame and the moving bridge frame are both square frames with joints
- the base frame The limiters are distributed at the joints of the joints and the joints on the movable bridge, and each limiter is provided with a corresponding limit sensor, and the limit sensor passes through the underwater relay
- the device communicates with the marine control system.
- the water control system includes a hydraulic station, a PLC controller, and a PC.
- the hydraulic station is connected to the hydraulic controller on the PLC controller by a high-pressure oil pipe with a quick connector.
- the machine is electrically connected with the PLC controller.
- a construction control method for an underwater terrain 3D printer includes the following steps:
- Leveling height The altimeter feedback signal to the PLC controller, and the actual height of the walking leveling bucket after printing and leveling is displayed through the PC to complete the entire printing process.
- the printer of the present invention transmits the data of each sensor to the PLC controller, and inputs the boundary conditions of the various construction conditions of the underwater terrain through the PC. After data analysis, the PLC controller issues instructions to the hydraulic control system, and the hydraulic legs do It can adjust the plane of the entire base frame and quickly realize the flexibility and controllability of the underwater base frame. Through remote digital integration, the device can adjust the leveling position, elevation, leveling thickness, and expected breakage. Data such as stone consumption can be transmitted to the PLC controller through wired or wireless technology, and displayed in real time through the PC to realize digital visualization and provide technical guarantee for underwater construction.
- the combination of limit sensors and limiters on the base frame and the mobile bridge is used as the safety system of the device to ensure that the safety of the base frame and the walking trolley on the mobile bridge can be effectively protected in the event of an accident or overload, and improve The safety and stability of the entire equipment.
- the base frame of the present invention can carry related work platforms weighing less than 40t for underwater work, with strong load-bearing capacity. Compared with conventional equipment, the base frame greatly reduces diving work, basically realizes that no divers or very few divers enter the water, greatly reduces the safety risks of divers from the source, and obtains the most direct underwater construction safety guarantee; Provide a stable working platform for underwater related equipment, which has considerable social and economic value.
- the water transportation equipment can quickly, conveniently and continuously provide construction materials; the feeding hose effectively buffers the vibration between the walking trolley and the water lining bucket, improving the stability and safety of the entire leveling equipment.
- the leveling position, elevation, leveling thickness, estimated crushed stone consumption and other data can be transmitted to PLC control through wired or wireless technology.
- the PC displays the digital visualization and provides technical support for underwater construction; the PC stores the data after the automatic balance of the base frame, such as leveling position, elevation, leveling thickness, expected gravel and other construction materials Through data analysis and calculation, the data such as the amount to be leveled and the expected amount of construction materials are obtained.
- the signal is transmitted to the PLC controller.
- the PLC controller issues instructions.
- the walking leveling bucket can quickly implement underwater continuous automatic leveling.
- the printing of construction materials such as sand, gravel, gravel and other materials has considerable social and economic value.
- Figure 1 is a schematic diagram of the structure of the underwater terrain 3D printer of the present invention.
- Figure 2 is a schematic diagram of the structure of the hydraulic leg in the underwater terrain 3D printer of the present invention.
- FIG. 3 is a schematic diagram of the structure of the printer head in the underwater terrain 3D printer of the present invention.
- Figure 4 is a schematic diagram of the structure of the mobile bridge in the present invention.
- Figure 5 is a schematic diagram of the structure of the walking trolley in the present invention.
- Figure 6 is a schematic structural view of the walking leveling bucket in the present invention.
- an underwater terrain 3D printer includes a base frame, a printer head 7 and a water control system 9.
- the printer head 7 includes a mobile bridge 75, and the printer head 7 spans the base through the mobile bridge 75.
- the printer head 7 is controlled by the water control system 9 and performs printing and leveling actions in the base frame.
- the base frame is equipped with an underwater measurement positioning system and an automatic attitude adjustment system.
- the automatic attitude adjustment system is The hydraulic support device is set on the base frame and controlled by the water control system 9, and the underwater measurement and positioning system communicates with the water control system 9 through the underwater repeater 10.
- the underwater repeater 10 used in the above embodiment is commercially available and is a signal regeneration amplifier that can be directly connected to the water control system 9 on the water level 15.
- the base frame is a square frame formed by two parallel base frame longitudinal beams 2 and two mutually parallel base frame beams 1 fixedly connected, and the hydraulic support device includes a plurality of hydraulic legs 3, Two or more hydraulic outriggers 3 are fixed on the outer side of each base frame longitudinal beam 2. Both ends of each base frame beam 1 are provided with support platforms extending upward, and the support platform is correspondingly provided with a measuring rod 6 with one end extending from the water level line 15 ;
- the underwater measurement and positioning system includes a GPS receiver 8, a pressure sensor 11, a travel sensor 5, and an attitude meter 4.
- the GPS receiver 8 is arranged on the top of the measuring rod 6, the travel sensor 5 is arranged on the hydraulic leg 3, and the pressure sensor 11 is arranged on the supporting platform, the attitude meter 4 is arranged on one of the base frame beams 1, and the GPS receiver 8, the pressure sensor 11, the travel sensor 5 and the attitude meter 4 are all communicatively connected with the underwater repeater 10.
- the pressure sensor 11 can measure the depth of the water; the special measuring rod 6 set on the supporting platform can extend the water surface to install the GPS receiver 8 to realize underwater positioning measurement; the stroke sensor 5 can measure the expansion and contraction of the hydraulic leg 3; the attitude meter 4. Measure the plane state of the base frame in real time; GPS receiver 8, pressure sensor 11, travel sensor 5 and attitude indicator 4 are all available on the market.
- the overall structure of the base frame is simple, the hydraulic legs 3 on the hydraulic support device are fixed on the base frame, and the entire base frame can be adjusted by the hydraulic jack 33 of the hydraulic legs 3 to achieve the level of the base frame. Leveling requirements for surfaces and different elevations.
- the base frame, the measuring rod 6 and the hydraulic support legs 3 are all steel structural parts, and they are welded to form a whole.
- the hydraulic support device includes 4 hydraulic outriggers 3, and two hydraulic outriggers 3 are fixed on the outer side of each base frame longitudinal beam 2.
- the hydraulic outriggers 3 include a supporting palm 30 and a jack.
- the joint 31 is connected to the supporting palm 30.
- the hydraulic outrigger 3 has an intelligent telescopic function, and the bottom is connected by a universal joint 31, which can support any terrain.
- two measuring rods 6 are provided, and the two measuring rods 6 are distributed on the same side of the base frame.
- one of the base frame longitudinal beams 2 is provided with a measuring rod 6 at the same time on the supporting platform extending at the connection point of the base frame cross beam 1 at both ends.
- the printer head 7 includes a movable bridge 75, a water fabric bucket 71, a traveling trolley 74, and a traveling leveling bucket 76.
- the movable bridge 75 spans the base frame and moves relative to the base frame.
- the traveling trolley 74 is arranged on the movable bridge 75 and runs along the The moving bridge 75 moves in the longitudinal direction, and a moving space 753 is provided along the length of the moving bridge 75, a through hole 740 is provided in the vertical direction of the traveling trolley 74, and a sleeve 760 is connected to the top opening of the traveling leveling bucket 76
- the sleeve 760 passes through the moving space 77 to match the through hole 740, and the protruding end of the sleeve 760 on the through hole 740 is connected to the water fabric bucket 71 through the supply hose 73.
- the printer head 7 also includes a water fabric bucket 71, a traveling trolley 74, and a traveling leveling bucket 76.
- the traveling trolley 74 is arranged on the movable bridge 75 and moves along the length of the movable bridge 75.
- the movable bridge 75 is provided with moving along its length.
- Space 77, the vertical direction of the walking trolley 74 is provided with a through hole 740, the top opening of the walking leveling bucket 76 is connected with a sleeve 760, which passes through the moving space 77 and matches the through hole 740
- the protruding end of the sleeve 760 on the through hole 740 is connected to the water fabric bucket 71 through the supply hose 73.
- the water fabric bucket 71 is set on the water surface auxiliary ship or floats on the water surface through its own floating body.
- the water control system 9 will measure and position the data, such as elevation, leveling position, elevation, leveling thickness, etc., and process the data to obtain the height to be leveled and the estimated amount of construction materials, and then transmit the signal to
- the PLC controller issues instructions
- the walking leveling bucket 76 can quickly implement underwater continuous automatic leveling, and print construction materials such as sand, gravel, gravel and other materials in all directions.
- the sleeve 760 and the supply hose 73, as well as the supply hose 73 and the water fabric hopper 71 are all connected by a flange 72.
- the supply hose 73 is used to effectively buffer the space between the walking trolley 74 and the water fabric hopper 71 The vibration makes the system safer and more stable.
- the sleeve 760 on the walking leveling bucket 76 is welded into the through hole 740 in the walking trolley 74 to form a whole, and the walking leveling bucket 76 has a hollow trapezoidal structure and opens downwards.
- the total length of the bottom of the walking leveling bucket 76 is greater than the width of the movable bridge 75.
- the walking leveling bucket 76 is provided with an altimeter 761, and the altimeter 761 is connected to the water control system 9 in communication.
- the open downward trapezoidal structure of the walking leveling bucket 76 ensures that the materials fall smoothly and can fill the uneven interior of the base frame well, and complete the leveling and printing of construction materials within the effective range.
- the altimeter can effectively measure the actual elevation of the walking leveling bucket.
- the altimeter used is a high-precision digital altimeter, with advanced sonar electronic technology, which can provide echo ranging for seabed and underwater targets, both in analog and digital
- the form of external output is widely used in the fixed height feedback of ROV/AUV, under-ice measurement and preliminary topographic mapping of shallow rivers, etc.
- the movable wheels 750 provided under the movable bridge 75 are synchronously driven by a gear transmission mechanism (not shown in the figure).
- the bottom of the traveling trolley 74 is provided with a plurality of traveling wheels 741.
- a track matched with the traveling wheels 741 is provided, and the traveling trolley 74 drives the traveling wheels 741 to move synchronously on the rails through a chain belt transmission mechanism (not shown in the figure).
- the chain belt transmission mechanism includes a walking motor, a walking reducer, a large sprocket and a small sprocket.
- the walking motor and the walking reducer are fixed on the body of the walking trolley 74.
- the input shaft of the walking reducer and the walking motor The output shaft is connected with the small sprocket coaxially, the large sprocket is coaxially connected with a set of driving wheels, and the large sprocket and the small sprocket are connected by a chain; the chain belt transmission mechanism also includes the outer side of the walking wheel As for the transmission chain, one driving wheel of the traveling trolley 74 and the adjacent driven wheel are connected by a transmission chain outside the traveling wheel.
- the driving method adopted when the movable bridge 75 moves on the base frame can also be driven by a chain belt transmission mechanism.
- the motor-driven reducer drives the sprocket chain to drive, and the movable wheel is driven by the traction force of the chain to the base frame to make the movable bridge 75 move forward and backward.
- the movable bridge 75 is a rectangular frame formed by connecting two parallel bridge beams 751 and two parallel bridge longitudinal beams 752.
- the bridge beam 751 is provided with a walking track, etc.
- Other methods on the market that can realize the synchronization of the walking trolley 74 and move steadily on the bridge beam 751 can meet the requirements of this application. No longer.
- the preferred implementation of this embodiment also includes an attitude safety system.
- the attitude safety system includes a limiter 13 and a limit sensor 12. Both the base frame and the moving bridge frame are square frames with joints. Limiters 13 are distributed at the joint and the joint on the movable bridge 75. Each limiter 13 is provided with a limit sensor 12 corresponding to the limit sensor 12, which communicates with the water control system 9 through the underwater repeater 10 connection. The setting of the limiter 13 and the limit sensor 12 ensures that the safety of the base frame, the mobile bridge 75 and the walking trolley 74 can be effectively protected in the event of an accident or overload, and the safety and stability are improved.
- the base frame since the base frame includes a base frame beam and a base frame longitudinal beam, the base frame longitudinal beam 2 has a track beam 14 matching the top surface of the base frame longitudinal beam 2, and the track beam 14 has a limit near the base frame beam 1.
- the positioner 13 is provided with a track beam 14 to facilitate the cross installation of the movable bridge 75.
- the track beam 14 is also a steel structure, which is welded to the base frame to form a whole.
- the movable bridge 75 is a rectangular frame formed by connecting two parallel bridge beams 751 and two parallel bridge longitudinal beams 752.
- the bridge beam 751 is provided with a walking track, and the stoppers are arranged at both ends of the walking track.
- the water control system 9 includes a hydraulic station, a PLC controller, and a PC.
- the hydraulic station is connected by a high-pressure oil pipe with a quick connector to the hydraulic controller on the PLC controller.
- the PC is connected to the PLC.
- the controller is electrically connected.
- the boundary conditions of the underwater terrain construction conditions are input to the PLC controller through the PC.
- the underwater repeater 10 transmits the signals sent by the various sensors to the PLC controller together.
- the PLC controller and the hydraulic controller on the PLC issue instructions. Each component completes the command action, and the PC inputs, records and saves each data.
- the construction control method of the underwater terrain 3D printer in this embodiment includes the following steps:
- Leveling height The altimeter 761 feeds back the signal to the PLC controller, and the PC displays the actual height of the walking leveling bucket after printing and leveling to complete the entire printing process.
- the working principle of this embodiment First, input the boundary conditions of each construction condition to the PLC controller through the PC. During work, when the construction condition is not good and uneven, the entire base frame is not in a vertical state, and is relayed underwater. The sensor transmits the data of each sensor to the PLC controller. The data is displayed by the display on the PC, and the water depth and inclination of the four pressure sensors 11 corresponding to the four support platforms on the leveling frame are known.
- the GPS receiver 8 on the computer displays the position and elevation of the entire base frame in real time, the four stroke sensors on the four hydraulic legs 3 feedback the initial stroke of the hydraulic jack 32, and the attitude meter 4 feeds back the current attitude of the base frame, after data analysis ,
- the PLC controller issues instructions to the hydraulic controller, the hydraulic controller adjusts the four hydraulic legs 3 on both sides of the base frame to lift into position, and the hydraulic legs are provided by the hydraulic station to provide hydraulic power to achieve the entire base frame in a flat state; After the base frame is in a horizontal state, the leveling position, elevation, leveling thickness and other data are transmitted to the PLC controller. After data analysis and calculation, the estimated height that needs to be leveled and the estimated amount of construction materials for filling the underwater terrain are calculated.
- the PLC controller gives instructions to the printer head.
- the construction material enters from the water fabric hopper 71, passes through the supply hose 73 to the walking leveling hopper 76 and enters the square frame of the base frame.
- the moving wheel under the moving bridge 75 acts as a gear transmission mechanism. Moving along the base frame beam 1 or the base frame longitudinal beam 2 synchronously, the walking trolley 74 and the walking leveling bucket 76 form a whole, and the traveling wheels 741 of the walking trolley 74 are driven by the chain belt transmission mechanism to move synchronously, and the moving bridge is on the base frame.
- the moving trajectory line of the upper part and the moving trajectory of the walking leveling bucket on the moving bridge are always vertical.
- the moving bridge reciprocates on the base frame, and the walking trolley drives the walking leveling bucket to reciprocate in the moving bridge, and the walking leveling bucket 76 Move in all directions within the effective range of the base frame and complete the underwater leveling printing.
- the altimeter on the walking leveling bucket is transmitted to the PLC controller through data, and the actual elevation of the walking leveling bucket is displayed by the PC;
- the limit sensor 12 feeds back the signal to the underwater repeater 10 and then transmits it to the PLC controller.
- the PLC controller issues instructions.
- the limiter 13 can effectively protect the safety of the entire device and improve safety. Sex and stability.
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Abstract
An underwater topography 3D printer and a construction control method. The printer comprises a base frame, a printing head (7) and an above-water control system (9). The printing head (7) comprises a movable bridge frame (75) which enables the printing head (7) to span across and move relative to the base frame. The printing head (7) is operated and controlled by the above-water control system (9) and performs printing and leveling operations in the base frame. An underwater measuring and positioning system and an automatic orientation adjustment system are disposed on the base frame. The automatic orientation adjustment system is a hydraulic support apparatus disposed on the base frame and is controlled by the above-water control system (9). The underwater measuring and positioning system is communicatively connected to the above-water control system (9) by means of an underwater relay (10). The printer can perform leveling and printing operations on construction materials in any direction within the effective range of the base frame so as to provide technical support for underwater constructions.
Description
本发明涉及水下地形测量技术领域,特别是一种水下地形3D打印机及施工控制方法。The invention relates to the technical field of underwater terrain measurement, in particular to an underwater terrain 3D printer and a construction control method.
水下地形测量技术中,当前施工的多条沉管法隧道在沉管控制过程中都是使用传统的水下整平***,靠大量潜水员进人水下,通过人工铺设整平导轨、人工填补碎石进行水下整平。通过水下人工整平虽然一次投入成本低、但是劳动强度大、安全风险大、施工效率低,无法保障水下施工安全。当前基架搭载平台需要人工调整,由于人工水下作业,受到水深压力的限制,人工作业困难,潜水整平的有效作业时间短,作业效率低,且劳动强度大,不能有效精确的进行测量定位,费时费力。In the underwater topographic survey technology, many immersed tube tunnels currently under construction use traditional underwater leveling systems in the immersed tube control process, relying on a large number of divers to enter the water, and manually laying and leveling guide rails and filling The gravel is leveled underwater. Although the one-time input cost is low through underwater artificial leveling, the labor intensity is high, the safety risk is high, and the construction efficiency is low, which cannot guarantee the safety of underwater construction. The current base frame carrying platform requires manual adjustment. Due to manual underwater operation, it is limited by water depth pressure, manual operation is difficult, the effective operation time of diving leveling is short, the operation efficiency is low, and the labor intensity is high, and the measurement cannot be effectively and accurately measured. Positioning is time-consuming and laborious.
因此,当前亟需通过水下自动整平装备技术解决靠大量潜水员进人水下,通过人工铺设整平导轨、人工填补碎石进行水下整平等问题,特别是应用在隧道工程、重力式码头工程及其他需要基础处理的海洋工程领域上。Therefore, there is an urgent need for underwater automatic leveling equipment technology to solve the problem of relying on a large number of divers to enter the water, manually laying leveling rails, and manually filling gravel for underwater leveling, especially in tunnel engineering and gravity wharf Engineering and other marine engineering fields that require basic treatment.
中国实用新型专利CN201867196U,公告日为2011年06月15日公告了一种水下整平机测量定位***,该***包括整平船测量定位***、整平机测量定位***和微处理单元,通过GPS、倾斜传感器、位置传感器、测深仪等设备,精确确定水下整平机工作时的平面位置、高程、水平姿态以及验收时的基床面实际高程;同时实现整平船的位置和姿态定位,并通过微处理单元进行作业区位的设计与管理、设备数据的采集、实时计算、实时显示、限差超限预警报警、数据存放、数据回放等功能。Chinese utility model patent CN201867196U. The announcement date is June 15, 2011. An underwater leveling machine measurement and positioning system was announced. The system includes a leveling ship measurement positioning system, a leveling machine measurement positioning system and a micro-processing unit. GPS, tilt sensor, position sensor, depth sounder and other equipment to accurately determine the plane position, elevation, horizontal attitude and actual elevation of the bed surface at the time of acceptance of the underwater leveler when it is working; at the same time realize the position and attitude of the leveling ship Positioning, and use the micro-processing unit to design and manage the work location, equipment data collection, real-time calculation, real-time display, limit overrun warning and alarm, data storage, data playback and other functions.
发明内容Summary of the invention
本发明的目的在于:针对现有技术的不足,提供的一种水下地形3D打印机及施工控制方法,为水下施工提供安全保障,同时有效控制水下整平位置、整平标高等以及整个装置的精确位移,实现数字可视化,为水下施工提供了技术保障,同时实现潜水员无人或极少潜水员进入水下,从源头上大大降低了潜水员的安全风险。The purpose of the present invention is to provide an underwater terrain 3D printer and a construction control method in view of the deficiencies of the prior art, provide safety guarantee for underwater construction, and effectively control the underwater leveling position, leveling elevation, etc. and the entire The precise displacement of the device and the realization of digital visualization provide technical support for underwater construction. At the same time, no divers or very few divers can enter the water, which greatly reduces the safety risks of divers from the source.
为解决上述技术问题,本发明采用的技术方案是:In order to solve the above technical problems, the technical solution adopted by the present invention is:
一种水下地形3D打印机,包括基架、打印机头和水上控制***,所述打印机头包括移动桥架,该打印机头通过移动桥架横跨在基架上并相对于基架移动,所述打印机头由水上控制***操控并在基架内作打印整平动作,所述基架上设有水下测量定位***和姿态自动调整***,所述姿态自动调整***为设在基架上由水上控制***控制的液压支撑装置,所述水下测量定位***通过水下中继器与所述水上控制***通信连接。An underwater terrain 3D printer, including a base frame, a printer head, and an overwater control system. The printer head includes a mobile bridge frame. The printer head straddles the base frame and moves relative to the base frame through the mobile bridge frame. It is controlled by the water control system and performs printing and leveling actions in the base frame. The base frame is equipped with an underwater measurement positioning system and an automatic attitude adjustment system. The attitude automatic adjustment system is set on the base frame and is controlled by the water In the controlled hydraulic support device, the underwater measurement and positioning system communicates with the above-water control system through an underwater repeater.
作为本发明的优选技术方案,所述基架是由两个相互平行的基架纵梁和两个相互平行的基架横梁固定连接形成的方形框架,所述液压支撑装置包括多个液压支腿,每个所述基架纵 梁外侧固定两个以上所述液压支腿,每个所述基架横梁的两端均向上延伸设有支承台,所述支承台上对应设有一端伸出水位线的测量杆;As a preferred technical solution of the present invention, the base frame is a square frame formed by two mutually parallel base frame longitudinal beams and two mutually parallel base frame transverse beams fixedly connected and formed, and the hydraulic support device includes a plurality of hydraulic legs Two or more hydraulic legs are fixed on the outer side of each base frame longitudinal beam, and both ends of each base frame cross beam are provided with support platforms extending upward, and one end of the support platform is correspondingly provided with a water level Wire measuring rod;
所述水下测量定位***包括GPS接收机、压力传感器、行程传感器和姿态仪,所述GPS接收机设在测量杆的顶部,所述行程传感器设在所述液压支腿上,所述压力传感器设在所述支承台上,所述姿态仪设在其中一个所述基架横梁上,所述GPS接收机、压力传感器、行程传感器和姿态仪均与水下中继器通信连接。The underwater measurement and positioning system includes a GPS receiver, a pressure sensor, a stroke sensor and an attitude meter. The GPS receiver is arranged on the top of the measuring rod, the stroke sensor is arranged on the hydraulic leg, and the pressure sensor It is arranged on the supporting platform, the attitude indicator is arranged on one of the base frame beams, and the GPS receiver, pressure sensor, travel sensor and attitude indicator are all communicatively connected with an underwater repeater.
作为本发明的优选技术方案,所述液压支撑装置包括4个液压支腿,每个所述基架纵梁外侧固定两个所述液压支腿,所述液压支腿包括支撑掌和千斤顶,所述千斤顶通过万向节与支撑掌连接。As a preferred technical solution of the present invention, the hydraulic support device includes 4 hydraulic outriggers, two hydraulic outriggers are fixed on the outer side of each of the base frame longitudinal beams, and the hydraulic outriggers include a supporting palm and a jack. The jack is connected with the supporting palm through a universal joint.
作为本发明的优选技术方案,设有两个所述测量杆,两个所述测量杆分布在基架的同一侧。As a preferred technical solution of the present invention, two measuring rods are provided, and the two measuring rods are distributed on the same side of the base frame.
作为本发明的优选技术方案,所述打印机头还包括水面料斗、行走小车和行走整平斗,所述行走小车设在移动桥架上并沿着移动桥架长度方向移动,所述移动桥架内沿着其长度方向设有移动空间,所述行走小车的竖直方向设有贯通孔,所述行走整平斗的顶部开孔处连接有套管,该套管穿过所述移动空间与所述贯通孔匹配,所述套管在所述贯通孔上的伸出端通过供料软管与所述水面料斗连接,所述水面料斗设在水面辅助船舶上或通过自身浮体浮游在水面上。As a preferred technical solution of the present invention, the printer head further includes a water fabric bucket, a walking trolley, and a walking leveling bucket. The walking trolley is arranged on the mobile bridge and moves along the length of the mobile bridge. A moving space is provided in the longitudinal direction, a through hole is provided in the vertical direction of the walking trolley, and a sleeve is connected to the top opening of the walking leveling bucket, and the sleeve passes through the moving space and communicates with the through hole. The holes are matched, and the protruding end of the sleeve on the through hole is connected to the water fabric bucket through a supply hose, and the water fabric bucket is set on the water surface auxiliary ship or floats on the water surface through its own floating body.
作为本发明的优选技术方案,所述行走整平斗上的套管焊接在所述行走小车内的贯通孔内形成一个整体,所述行走整平斗为内部中空的梯形结构且敞口向下,所述行走整平斗的底部总长大于移动桥架的宽度,所述行走整平斗上设有高度计,所述高度计与水上控制***通信连接。As a preferred technical solution of the present invention, the casing on the walking leveling bucket is welded into the through hole in the walking trolley to form a whole, and the walking leveling bucket has a hollow trapezoidal structure with an opening downward. , The total length of the bottom of the walking leveling bucket is greater than the width of the mobile bridge frame, the walking leveling bucket is provided with an altimeter, and the altimeter is communicatively connected with the water control system.
作为本发明的优选技术方案,所述移动桥架下方设有的移动轮通过齿轮传动机构同步驱动,所述行走小车的车底设有多个行走轮,所述移动桥架上设有行走轮匹配的轨道,所述行走小车通过链带传动机构驱动行走轮在所述轨道上同步移动。As a preferred technical solution of the present invention, the movable wheels provided under the movable bridge are synchronously driven by a gear transmission mechanism, the bottom of the trolley is provided with a plurality of walking wheels, and the movable bridge is provided with matching wheels The track, the traveling trolley drives the traveling wheels to move synchronously on the track through the chain belt transmission mechanism.
作为本发明的优选技术方案,还包括姿态安全***,所述姿态安全***包括限位器和限位传感器,所述基架和所述移动桥架均为具有接合处的方形框架,所述基架的接合处和所述移动桥架上的接合处均分布所述限位器,每一所述限位器上对应设有一个所述限位传感器,所述限位传感器通过所述水下中继器与水上控制***通信连接。As a preferred technical solution of the present invention, it also includes an attitude safety system, the attitude safety system includes a limiter and a limit sensor, the base frame and the moving bridge frame are both square frames with joints, and the base frame The limiters are distributed at the joints of the joints and the joints on the movable bridge, and each limiter is provided with a corresponding limit sensor, and the limit sensor passes through the underwater relay The device communicates with the marine control system.
作为本发明的优选技术方案,所述水上控制***包括液压站、PLC控制器和PC机,所述液压站由带有快速接头的高压油管与PLC控制器上的液压控制器连接,所述PC机与所述PLC控制器电性连接。As a preferred technical solution of the present invention, the water control system includes a hydraulic station, a PLC controller, and a PC. The hydraulic station is connected to the hydraulic controller on the PLC controller by a high-pressure oil pipe with a quick connector. The machine is electrically connected with the PLC controller.
一种水下地形3D打印机的施工控制方法,包括以下步骤:A construction control method for an underwater terrain 3D printer includes the following steps:
1)实时监控基架状态:通过GPS接收机、压力传感器、行程传感器和姿态仪反馈信号至水下中继器,水下中继器传输信号至PLC控制器,最后通过PC机读取基架在水下的精确定位、整平标高、整平厚度和平面状态的实测数据;1) Real-time monitoring of the base frame status: feedback signals to the underwater repeater through GPS receiver, pressure sensor, stroke sensor and attitude meter, the underwater repeater transmits the signal to the PLC controller, and finally reads the base frame through the PC Measured data of precise positioning underwater, leveling elevation, leveling thickness and plane state;
2)数据处理:通过PC机输入水下地形施工工况的边界条件给PLC控制器,结合步骤1)实测数据,经过数据分析,PLC控制器传输信号至液压控制器,液压控制器对姿态自动调整***发出动作指令;2) Data processing: Input the boundary conditions of the underwater terrain construction conditions to the PLC controller through the PC, combine the measured data in step 1), after data analysis, the PLC controller transmits the signal to the hydraulic controller, and the hydraulic controller automatically controls the attitude The adjustment system issues an action command;
3)姿态调整:液压支腿上的行程传感器接收到步骤2)的动作指令信息,基架上的所有液压支腿对该动作指令作相应的伸缩动作,使得基架在水下达到水平状态;3) Posture adjustment: The stroke sensor on the hydraulic outrigger receives the action command information of step 2), and all the hydraulic outriggers on the base frame make corresponding telescopic actions to the action command, so that the base frame reaches a horizontal state underwater;
4)打印整平:基架达到水平状态后,将整平位置、标高、整平厚度的数据传输给PLC控制器,经过数据分析计算得到整平高度和施工材料总量,由PLC控制器对打印机头发出动作指令,对移动桥架以及行走小车发出牵引信号,施工材料进入水面料斗直达行走整平斗,行走整平斗在基架内全方位精准位移,完成水下整平打印动作;4) Printing and leveling: After the base frame reaches the horizontal state, the data of leveling position, elevation, and leveling thickness are transmitted to the PLC controller. After data analysis and calculation, the leveling height and the total amount of construction materials are obtained, and the PLC controller will The printer sends out an action command to send a traction signal to the mobile bridge frame and the walking trolley. The construction materials enter the water fabric bucket directly to the walking leveling bucket, and the walking leveling bucket is accurately displaced in all directions in the base frame to complete the underwater leveling and printing action;
5)整平高度:高度计反馈信号至PLC控制器,通过PC机显示行走整平斗在打印整平后的实际高度,完成整个打印过程。5) Leveling height: The altimeter feedback signal to the PLC controller, and the actual height of the walking leveling bucket after printing and leveling is displayed through the PC to complete the entire printing process.
综上所述,由于采用了上述技术方案,本发明的有益效果是:In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:
1.本发明打印机将各传感器的数据传输至PLC控制器,通过PC机输入水下地形各施工工况的边界条件,经数据分析后,PLC控制器对液压控制***发出指令,液压支腿做出准确的伸缩动作,从而达到对整个基架平面的调整,快速实现水下基架的灵活性和可控性;该装置通过远程数字集成,将整平位置、标高、整平厚度、预计碎石用量等数据可以通过有线或无线技术将参数传输到PLC控制器,并通过PC机实时显示,实现数字可视化,为水下施工提供了技术保障。1. The printer of the present invention transmits the data of each sensor to the PLC controller, and inputs the boundary conditions of the various construction conditions of the underwater terrain through the PC. After data analysis, the PLC controller issues instructions to the hydraulic control system, and the hydraulic legs do It can adjust the plane of the entire base frame and quickly realize the flexibility and controllability of the underwater base frame. Through remote digital integration, the device can adjust the leveling position, elevation, leveling thickness, and expected breakage. Data such as stone consumption can be transmitted to the PLC controller through wired or wireless technology, and displayed in real time through the PC to realize digital visualization and provide technical guarantee for underwater construction.
2.本发明中基架上以及移动桥架上的限位传感器以及限位器的组合作为本装置的安全***,确保发生意外或过载时能有效保护基架和移动桥架上行走小车的安全,提高整个设备的安全性和稳定性。2. In the present invention, the combination of limit sensors and limiters on the base frame and the mobile bridge is used as the safety system of the device to ensure that the safety of the base frame and the walking trolley on the mobile bridge can be effectively protected in the event of an accident or overload, and improve The safety and stability of the entire equipment.
3.本发明基架上可搭载小于40t重的相关工作平台进行水下工作,承重能力强。该基架与常规设备相比大大减少了潜水工作,基本实现潜水员无人或极少潜水员进入水下,从源头上大大降低了潜水员的安全风险,获得最直接的水下施工安全保障;同时可为水下相关设备提供稳定的工作平台,具有相当可观的社会经济价值。3. The base frame of the present invention can carry related work platforms weighing less than 40t for underwater work, with strong load-bearing capacity. Compared with conventional equipment, the base frame greatly reduces diving work, basically realizes that no divers or very few divers enter the water, greatly reduces the safety risks of divers from the source, and obtains the most direct underwater construction safety guarantee; Provide a stable working platform for underwater related equipment, which has considerable social and economic value.
4.通过水面料斗,水上运输设备能快速、便捷、连续提供施工材料;供料软管有效缓冲了行走小车和水面料斗之间的震动,提高整个整平设备的稳定性和安全性。4. Through the water lining bucket, the water transportation equipment can quickly, conveniently and continuously provide construction materials; the feeding hose effectively buffers the vibration between the walking trolley and the water lining bucket, improving the stability and safety of the entire leveling equipment.
5.通过远程数字集成,基于水下自动整平基架的整平功能上,将整平位置、标高、整平厚度、预计碎石用量等数据可以通过有线或无线技术将参数传输到PLC控制器,由PC机显示,实现数字可视化,为水下施工提供了技术保障;PC机内存储基架自动平衡后的数据,如 整平位置、标高、整平厚度、预计碎石等施工材料的用量等数据,经过数据分析计算得出需要整平的高度以及预计施工材料的用量,信号传输至PLC控制器,PLC控制器发出指令,行走整平斗可快速实施水下连续自动整平,全方位对施工材料如砂石、碎石、砾石等材料的打印,具有相当可观的社会经济价值。5. Through remote digital integration, based on the leveling function of the underwater automatic leveling base frame, the leveling position, elevation, leveling thickness, estimated crushed stone consumption and other data can be transmitted to PLC control through wired or wireless technology. The PC displays the digital visualization and provides technical support for underwater construction; the PC stores the data after the automatic balance of the base frame, such as leveling position, elevation, leveling thickness, expected gravel and other construction materials Through data analysis and calculation, the data such as the amount to be leveled and the expected amount of construction materials are obtained. The signal is transmitted to the PLC controller. The PLC controller issues instructions. The walking leveling bucket can quickly implement underwater continuous automatic leveling. The printing of construction materials such as sand, gravel, gravel and other materials has considerable social and economic value.
图1是本发明水下地形3D打印机的结构示意图;Figure 1 is a schematic diagram of the structure of the underwater terrain 3D printer of the present invention;
图2是本发明水下地形3D打印机中液压支腿的结构示意图;Figure 2 is a schematic diagram of the structure of the hydraulic leg in the underwater terrain 3D printer of the present invention;
图3为本发明水下地形3D打印机中打印机头的结构示意图;3 is a schematic diagram of the structure of the printer head in the underwater terrain 3D printer of the present invention;
图4为本发明中移动桥架的结构示意图;Figure 4 is a schematic diagram of the structure of the mobile bridge in the present invention;
图5为本发明中行走小车的结构示意图;Figure 5 is a schematic diagram of the structure of the walking trolley in the present invention;
图6为本发明中行走整平斗的结构示意图;Figure 6 is a schematic structural view of the walking leveling bucket in the present invention;
图中,1-基架横梁,2-基架纵梁,3-液压支腿,30-支撑掌,31-万向节,32-液压千斤顶,4-姿态仪,5-行程传感器,6-测量杆,7-打印机头,71-水面料斗,72-法兰盘,73-供料软管,74-行走小车,740-贯通孔,741-行走轮,75-移动桥架,750-移动轮,751-桥架横梁,752-桥架纵梁,76-行走整平斗,760-套管,761-高度计,77-移动空间,8-GPS接收机,9-水上控制***,10-水下中继器,11-压力传感器,12-限位传感器,13-限位器,14-轨道梁,15-水位线。In the figure, 1-base frame beam, 2-base frame longitudinal beam, 3-hydraulic outrigger, 30-support palm, 31-universal joint, 32-hydraulic jack, 4-attitude instrument, 5-stroke sensor, 6 Measuring rod, 7-printer head, 71-water fabric bucket, 72-flange, 73-supply hose, 74-traveling trolley, 740-through hole, 741-traveling wheel, 75-moving bridge, 750-moving wheel , 751- bridge beam, 752- bridge longitudinal beam, 76- walking leveling bucket, 760- casing, 761- altimeter, 77- mobile space, 8-GPS receiver, 9-water control system, 10-underwater Relay, 11-pressure sensor, 12-limit sensor, 13-limiter, 14-track beam, 15-water line.
下面结合附图对本发明的具体实施方式作进一步说明。在此需要说明的是,对于这些实施方式的说明用于帮助理解本发明,但并不构成对本发明的限定。此外,下面所描述的本发明各个实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互组合。The specific embodiments of the present invention will be further described below in conjunction with the drawings. It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation to the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
如图1至图6所示,一种水下地形3D打印机,包括基架、打印机头7和水上控制***9,打印机头7包括移动桥架75,该打印机头7通过移动桥架75横跨在基架上并相对于基架移动,打印机头7由水上控制***9操控并在基架内作打印整平动作,基架上设有水下测量定位***和姿态自动调整***,姿态自动调整***为设在基架上由水上控制***控制9的液压支撑装置,水下测量定位***通过水下中继器10与水上控制***9通信连接。As shown in Figures 1 to 6, an underwater terrain 3D printer includes a base frame, a printer head 7 and a water control system 9. The printer head 7 includes a mobile bridge 75, and the printer head 7 spans the base through the mobile bridge 75. On the frame and move relative to the base frame, the printer head 7 is controlled by the water control system 9 and performs printing and leveling actions in the base frame. The base frame is equipped with an underwater measurement positioning system and an automatic attitude adjustment system. The automatic attitude adjustment system is The hydraulic support device is set on the base frame and controlled by the water control system 9, and the underwater measurement and positioning system communicates with the water control system 9 through the underwater repeater 10.
上述实施方式中采用的水下中继器10,市面上可采购得到,是一种信号再生放大器,可直接连接到水位线15上的水上控制***9。The underwater repeater 10 used in the above embodiment is commercially available and is a signal regeneration amplifier that can be directly connected to the water control system 9 on the water level 15.
本实施例的优选实施方式,基架是由两个相互平行的基架纵梁2和两个相互平行的基架横梁1固定连接形成的方形框架,液压支撑装置包括多个液压支腿3,每个基架纵梁2外侧固定两个以上液压支腿3,每个基架横梁1的两端均向上延伸设有支承台,支承台上对应设有一端伸出水位线15的测量杆6;In the preferred implementation of this embodiment, the base frame is a square frame formed by two parallel base frame longitudinal beams 2 and two mutually parallel base frame beams 1 fixedly connected, and the hydraulic support device includes a plurality of hydraulic legs 3, Two or more hydraulic outriggers 3 are fixed on the outer side of each base frame longitudinal beam 2. Both ends of each base frame beam 1 are provided with support platforms extending upward, and the support platform is correspondingly provided with a measuring rod 6 with one end extending from the water level line 15 ;
水下测量定位***包括GPS接收机8、压力传感器11、行程传感器5和姿态仪4,GPS 接收机8设在测量杆6的顶部,行程传感器5设在所述液压支腿3上,压力传感器11设在所述支承台上,姿态仪4设在其中一个基架横梁1上,GPS接收机8、压力传感器11、行程传感器5和姿态仪4均与水下中继器10通信连接。压力传感器11,可测量水深;支承台上设置的专用测量杆6,可伸出水面安装GPS接收机8,实现水下定位测量;行程传感器5,可测量液压支腿3的伸缩量;姿态仪4,实时测定基架的平面状态;GPS接收机8、压力传感器11、行程传感器5和姿态仪4在市面上均可采购得到。The underwater measurement and positioning system includes a GPS receiver 8, a pressure sensor 11, a travel sensor 5, and an attitude meter 4. The GPS receiver 8 is arranged on the top of the measuring rod 6, the travel sensor 5 is arranged on the hydraulic leg 3, and the pressure sensor 11 is arranged on the supporting platform, the attitude meter 4 is arranged on one of the base frame beams 1, and the GPS receiver 8, the pressure sensor 11, the travel sensor 5 and the attitude meter 4 are all communicatively connected with the underwater repeater 10. The pressure sensor 11 can measure the depth of the water; the special measuring rod 6 set on the supporting platform can extend the water surface to install the GPS receiver 8 to realize underwater positioning measurement; the stroke sensor 5 can measure the expansion and contraction of the hydraulic leg 3; the attitude meter 4. Measure the plane state of the base frame in real time; GPS receiver 8, pressure sensor 11, travel sensor 5 and attitude indicator 4 are all available on the market.
上述结构中,基架整体结构简单,液压支撑装置上的液压支腿3固定在基架上,整个基架可通过液压支腿3的液压千斤顶33实现基架水平面的平面调整,从而达到不同坡面、不同标高的整平要求。其中,基架、测量杆6和液压支腿3均为钢结构件,它们之间通过焊接形成一个整体。In the above structure, the overall structure of the base frame is simple, the hydraulic legs 3 on the hydraulic support device are fixed on the base frame, and the entire base frame can be adjusted by the hydraulic jack 33 of the hydraulic legs 3 to achieve the level of the base frame. Leveling requirements for surfaces and different elevations. Among them, the base frame, the measuring rod 6 and the hydraulic support legs 3 are all steel structural parts, and they are welded to form a whole.
本实施例的优选实施方式,液压支撑装置包括4个液压支腿3,每个基架纵梁2外侧固定两个液压支腿3,液压支腿3包括支撑掌30和千斤顶,千斤顶通过万向节31与支撑掌30连接。液压支腿3具有智能化伸缩功能,底部由万向节31连接,可实现任意地形的支撑。In the preferred embodiment of this embodiment, the hydraulic support device includes 4 hydraulic outriggers 3, and two hydraulic outriggers 3 are fixed on the outer side of each base frame longitudinal beam 2. The hydraulic outriggers 3 include a supporting palm 30 and a jack. The joint 31 is connected to the supporting palm 30. The hydraulic outrigger 3 has an intelligent telescopic function, and the bottom is connected by a universal joint 31, which can support any terrain.
本实施例的优选实施方式,设有两个所述测量杆6,两个所述测量杆6分布在基架的同一侧。例如其中一个基架纵梁2两端与基架横梁1连接处延伸的支承台上同时设置测量杆6。In a preferred implementation of this embodiment, two measuring rods 6 are provided, and the two measuring rods 6 are distributed on the same side of the base frame. For example, one of the base frame longitudinal beams 2 is provided with a measuring rod 6 at the same time on the supporting platform extending at the connection point of the base frame cross beam 1 at both ends.
打印机头7包括移动桥架75、水面料斗71、行走小车74和行走整平斗76,移动桥架75横跨在基架上并相对于基架移动,行走小车74设在移动桥架75上并沿着移动桥架75长度方向移动,移动桥架75内沿着其长度方向设有移动空间753,行走小车74的竖直方向设有贯通孔740,行走整平斗76的顶部开孔处连接有套管760,该套管760穿过移动空间77与所述贯通孔740匹配,套管760在贯通孔740上的伸出端通过供料软管73与水面料斗71连接。The printer head 7 includes a movable bridge 75, a water fabric bucket 71, a traveling trolley 74, and a traveling leveling bucket 76. The movable bridge 75 spans the base frame and moves relative to the base frame. The traveling trolley 74 is arranged on the movable bridge 75 and runs along the The moving bridge 75 moves in the longitudinal direction, and a moving space 753 is provided along the length of the moving bridge 75, a through hole 740 is provided in the vertical direction of the traveling trolley 74, and a sleeve 760 is connected to the top opening of the traveling leveling bucket 76 The sleeve 760 passes through the moving space 77 to match the through hole 740, and the protruding end of the sleeve 760 on the through hole 740 is connected to the water fabric bucket 71 through the supply hose 73.
打印机头7还包括水面料斗71、行走小车74和行走整平斗76,行走小车74设在移动桥架75上并沿着移动桥架75长度方向移动,移动桥架75内沿着其长度方向设有移动空间77,行走小车74的竖直方向设有贯通孔740,行走整平斗76的顶部开孔处连接有套管760,该套管760穿过所述移动空间77与所述贯通孔740匹配,套管760在所述贯通孔740上的伸出端通过供料软管73与水面料斗71连接,水面料斗71设在水面辅助船舶上或通过自身浮体浮游在水面上。The printer head 7 also includes a water fabric bucket 71, a traveling trolley 74, and a traveling leveling bucket 76. The traveling trolley 74 is arranged on the movable bridge 75 and moves along the length of the movable bridge 75. The movable bridge 75 is provided with moving along its length. Space 77, the vertical direction of the walking trolley 74 is provided with a through hole 740, the top opening of the walking leveling bucket 76 is connected with a sleeve 760, which passes through the moving space 77 and matches the through hole 740 The protruding end of the sleeve 760 on the through hole 740 is connected to the water fabric bucket 71 through the supply hose 73. The water fabric bucket 71 is set on the water surface auxiliary ship or floats on the water surface through its own floating body.
上述结构,水上控制***9将测量定位得到的数据,如标高、整平位置、标高、整平厚度等数据,经过中处理器处理得到需要整平的高度以及预计施工材料的用量,信号传输至PLC控制器,PLC控制器发出指令,行走整平斗76可快速实施水下连续自动整平,全方位对施工材料如砂石、碎石、砾石等材料的打印。另外,套管760与供料软管73以及供料软管73与水面料斗71之间均通过法兰盘72进行连接,采用供料软管73有效缓冲了行走小车74和水面料斗71之间的震动,***更安全更稳定。With the above structure, the water control system 9 will measure and position the data, such as elevation, leveling position, elevation, leveling thickness, etc., and process the data to obtain the height to be leveled and the estimated amount of construction materials, and then transmit the signal to The PLC controller, the PLC controller issues instructions, and the walking leveling bucket 76 can quickly implement underwater continuous automatic leveling, and print construction materials such as sand, gravel, gravel and other materials in all directions. In addition, the sleeve 760 and the supply hose 73, as well as the supply hose 73 and the water fabric hopper 71 are all connected by a flange 72. The supply hose 73 is used to effectively buffer the space between the walking trolley 74 and the water fabric hopper 71 The vibration makes the system safer and more stable.
本实施例的优选实施方式,行走整平斗76上的套管760焊接在行走小车74内的贯通孔740内形成一个整体,行走整平斗76为内部中空的梯形结构且敞口向下,行走整平斗76的底部总长大于移动桥架75的宽度,行走整平斗76上设有高度计761,高度计761与水上控 制***9通信连接。行走整平斗76敞口向下梯形结构保证物料顺利下落并能很好的填满基架内不平整的内部,并在有效范围内完成施工材料的整平打印。高度计可有效测量行走整平斗的实际标高,采用的高度计为一种高精度数字高度计,具有先进的声纳电子技术,能提供对海底和水下目标的回声测距,以模拟和数字两种形式对外输出,广泛应用于ROV/AUV的定高反馈、冰下测量和浅水河流地形初步测绘等方面。In the preferred implementation of this embodiment, the sleeve 760 on the walking leveling bucket 76 is welded into the through hole 740 in the walking trolley 74 to form a whole, and the walking leveling bucket 76 has a hollow trapezoidal structure and opens downwards. The total length of the bottom of the walking leveling bucket 76 is greater than the width of the movable bridge 75. The walking leveling bucket 76 is provided with an altimeter 761, and the altimeter 761 is connected to the water control system 9 in communication. The open downward trapezoidal structure of the walking leveling bucket 76 ensures that the materials fall smoothly and can fill the uneven interior of the base frame well, and complete the leveling and printing of construction materials within the effective range. The altimeter can effectively measure the actual elevation of the walking leveling bucket. The altimeter used is a high-precision digital altimeter, with advanced sonar electronic technology, which can provide echo ranging for seabed and underwater targets, both in analog and digital The form of external output is widely used in the fixed height feedback of ROV/AUV, under-ice measurement and preliminary topographic mapping of shallow rivers, etc.
本实施例的优选实施方式,移动桥架75下方设有的移动轮750通过齿轮传动机构(图中未示)同步驱动,行走小车74的车底设有多个行走轮741,所述移动桥架上设有行走轮741匹配的轨道,行走小车74通过链带传动机构(图中未示)驱动行走轮741在所述轨道上同步移动。上述结构中,链带传动机构包括行走电机、行走减速机、大链轮和小链轮,所述行走电机和行走减速机固定在行走小车74车体上,行走减速机的输入轴与行走电机的输出轴连接,输出轴与小链轮同轴连接,大链轮与一组主动行走轮同轴连接,大链轮与小链轮之间通过链条连接;链带传动机构还包括行走轮外侧传动链条,行走小车74的一个主动行走轮与相邻的从动行走轮之间通过行走轮外侧传动链条连接。In the preferred implementation of this embodiment, the movable wheels 750 provided under the movable bridge 75 are synchronously driven by a gear transmission mechanism (not shown in the figure). The bottom of the traveling trolley 74 is provided with a plurality of traveling wheels 741. A track matched with the traveling wheels 741 is provided, and the traveling trolley 74 drives the traveling wheels 741 to move synchronously on the rails through a chain belt transmission mechanism (not shown in the figure). In the above structure, the chain belt transmission mechanism includes a walking motor, a walking reducer, a large sprocket and a small sprocket. The walking motor and the walking reducer are fixed on the body of the walking trolley 74. The input shaft of the walking reducer and the walking motor The output shaft is connected with the small sprocket coaxially, the large sprocket is coaxially connected with a set of driving wheels, and the large sprocket and the small sprocket are connected by a chain; the chain belt transmission mechanism also includes the outer side of the walking wheel As for the transmission chain, one driving wheel of the traveling trolley 74 and the adjacent driven wheel are connected by a transmission chain outside the traveling wheel.
市面上只要能实现同步移动的齿轮传动机构均能满足本申请的要求,另外移动桥架75在基架上移动时采用的驱动方式除了齿轮传动机构也可以采用链带传动机构驱动,移动桥架75由电机驱动减速机带动链轮链条驱动,依靠链条对基架的牵引力驱动移动轮使移动桥架75前进和后退。As long as the gear transmission mechanism that can realize synchronous movement on the market can meet the requirements of this application, in addition to the gear transmission mechanism, the driving method adopted when the movable bridge 75 moves on the base frame can also be driven by a chain belt transmission mechanism. The motor-driven reducer drives the sprocket chain to drive, and the movable wheel is driven by the traction force of the chain to the base frame to make the movable bridge 75 move forward and backward.
其他,移动桥架75由两个相互平行的桥架横梁751和两个相互平行的桥架纵梁752连接组成的矩形框架。为了让行走小车74在既定的范围内移动,桥架横梁751上设有行走轨道等,市面上其他方式能实现行走小车74同步且在桥架横梁751上稳步移动均可满足本申请的要求,在此不再赘述。In addition, the movable bridge 75 is a rectangular frame formed by connecting two parallel bridge beams 751 and two parallel bridge longitudinal beams 752. In order to allow the walking trolley 74 to move within a predetermined range, the bridge beam 751 is provided with a walking track, etc. Other methods on the market that can realize the synchronization of the walking trolley 74 and move steadily on the bridge beam 751 can meet the requirements of this application. No longer.
本实施例的优选实施方式,还包括姿态安全***,姿态安全***包括限位器13和限位传感器12,所述基架和所述移动桥架均为具有接合处的方形框架,基架上的接合处和移动桥架75上的接合处均分布限位器13,每一限位器13上对应设有一个限位传感器12,限位传感器12通过水下中继器10与水上控制***9通信连接。限位器13和限位传感器12的设置,确保在发生意外或过载时能有效保护基架和移动桥架75以及行走小车74的安全,提高安全性和稳定性。The preferred implementation of this embodiment also includes an attitude safety system. The attitude safety system includes a limiter 13 and a limit sensor 12. Both the base frame and the moving bridge frame are square frames with joints. Limiters 13 are distributed at the joint and the joint on the movable bridge 75. Each limiter 13 is provided with a limit sensor 12 corresponding to the limit sensor 12, which communicates with the water control system 9 through the underwater repeater 10 connection. The setting of the limiter 13 and the limit sensor 12 ensures that the safety of the base frame, the mobile bridge 75 and the walking trolley 74 can be effectively protected in the event of an accident or overload, and the safety and stability are improved.
上述结构中,由于基架包括基架横梁和基架纵梁,基架纵梁2上具有与基架纵梁2顶面匹配的轨道梁14,轨道梁14上靠近基架横梁1处设有限位器13,设有的轨道梁14便于移动桥架75横跨安装。轨道梁14也为钢结构件,它与基架焊接形成一个整体。移动桥架75由两个相互平行的桥架横梁751和两个相互平行的桥架纵梁752连接组成的矩形框架。桥架横梁751上设有行走轨道,限位器设在行走轨道的两端。In the above structure, since the base frame includes a base frame beam and a base frame longitudinal beam, the base frame longitudinal beam 2 has a track beam 14 matching the top surface of the base frame longitudinal beam 2, and the track beam 14 has a limit near the base frame beam 1. The positioner 13 is provided with a track beam 14 to facilitate the cross installation of the movable bridge 75. The track beam 14 is also a steel structure, which is welded to the base frame to form a whole. The movable bridge 75 is a rectangular frame formed by connecting two parallel bridge beams 751 and two parallel bridge longitudinal beams 752. The bridge beam 751 is provided with a walking track, and the stoppers are arranged at both ends of the walking track.
本实施例的优选实施方式,水上控制***9包括液压站、PLC控制器和PC机,液压站由带有快速接头的高压油管与PLC控制器上的液压控制器连接,PC机与所述PLC控制器电性连接。通过PC机输入水下地形施工工况的边界条件给PLC控制器,水下中继器10将各个 传感器发出的信号一同传输至PLC控制器,PLC控制器以及PLC上的液压控制器发出指令,各个元器件完成指令动作,PC机对各个数据进行输入、记录和保存。In a preferred implementation of this embodiment, the water control system 9 includes a hydraulic station, a PLC controller, and a PC. The hydraulic station is connected by a high-pressure oil pipe with a quick connector to the hydraulic controller on the PLC controller. The PC is connected to the PLC. The controller is electrically connected. The boundary conditions of the underwater terrain construction conditions are input to the PLC controller through the PC. The underwater repeater 10 transmits the signals sent by the various sensors to the PLC controller together. The PLC controller and the hydraulic controller on the PLC issue instructions. Each component completes the command action, and the PC inputs, records and saves each data.
本实施例水下地形3D打印机的施工控制方法,包括以下步骤:The construction control method of the underwater terrain 3D printer in this embodiment includes the following steps:
1)实时监控基架状态:通过GPS接收机8、压力传感器11、行程传感器5和姿态仪4反馈信号至水下中继器10,水下中继器10传输信号至PLC控制器,最后通过PC机读取基架在水下的精确定位、整平标高、整平厚度和平面状态的实测数据;1) Real-time monitoring of the status of the base frame: feedback signals to the underwater repeater 10 through the GPS receiver 8, pressure sensor 11, stroke sensor 5 and attitude indicator 4, and the underwater repeater 10 transmits the signal to the PLC controller, and finally passes The PC reads the actual measurement data of the precise positioning, leveling elevation, leveling thickness and plane state of the base frame under water;
2)数据处理:通过PC机输入水下地形施工工况的边界条件给PLC控制器,结合步骤1)实测数据,经过数据分析,PLC控制器传输信号至液压控制器,液压控制器对姿态自动调整***发出动作指令;2) Data processing: Input the boundary conditions of the underwater terrain construction conditions to the PLC controller through the PC, combine the measured data in step 1), after data analysis, the PLC controller transmits the signal to the hydraulic controller, and the hydraulic controller automatically controls the attitude The adjustment system issues an action command;
3)姿态调整:液压支腿3上的行程传感器5接收到步骤2)的动作指令信息,基架上的所有液压支腿3对该动作指令作相应的伸缩动作,使得基架在水下达到水平状态;3) Posture adjustment: The stroke sensor 5 on the hydraulic outrigger 3 receives the action instruction information of step 2), and all the hydraulic outriggers 3 on the base frame make corresponding telescopic actions to the action instruction, so that the base frame reaches underwater Level state
4)打印整平:基架达到水平状态后,将整平位置、标高、整平厚度的数据传输给PLC控制器,经过数据分析计算得到整平高度和施工材料总量,由PLC控制器对打印机头7发出动作指令,对移动桥架75以及行走小车74发出牵引信号,施工材料进入水面料斗71直达行走整平斗76,行走整平斗76在基架内全方位精准位移,完成水下整平打印动作;4) Printing and leveling: After the base frame reaches the horizontal state, the data of leveling position, elevation, and leveling thickness are transmitted to the PLC controller. After data analysis and calculation, the leveling height and the total amount of construction materials are obtained, and the PLC controller will The printer head 7 issues an action command to send a traction signal to the mobile bridge 75 and the walking trolley 74. The construction material enters the water fabric bucket 71 directly to the walking leveling bucket 76, and the walking leveling bucket 76 accurately moves in all directions in the base frame to complete the underwater finishing. Flat printing action;
5)整平高度:高度计761反馈信号至PLC控制器,通过PC机显示行走整平斗在打印整平后的实际高度,完成整个打印过程。5) Leveling height: The altimeter 761 feeds back the signal to the PLC controller, and the PC displays the actual height of the walking leveling bucket after printing and leveling to complete the entire printing process.
本实施例的工作原理:首先通过PC机输入各施工工况的边界条件给PLC控制器,工作时,当施工工况不好出现不平整时,整个基架不在垂直状态,通过水下中继器将各个传感器的数据传输至PLC控制器,该数据通过PC机上的显示器显示,得知整平框架上的四个支承台对应的四个压力传感器11反馈的水深以及倾斜度、同时测量杆6上的GPS接收机8实时显示整个基架的位置以及高程、四个液压支腿3上的四个行程传感器5反馈液压千斤顶32的初始行程、姿态仪4反馈当前基架的姿态,经过数据分析,PLC控制器下发指令给液压控制器,液压控制器调节基架两侧的四个液压支腿3升降到位,液压支腿由液压站提供液压动力,实现整个基架的达到平整状态;其次,基架处于水平状态后,将整平位置、标高、整平厚度等数据传输给PLC控制器,经过数据分析计算得出需要整平的预计高度以及填平水下地形预计施工材料的用量,由PLC控制器对打印机头发出指令,施工材料从水面料斗71进入,通过供料软管73到达行走整平斗76进入基架的方形框架内,移动桥架75下移动轮在齿轮传动机构的作用下沿着基架横梁1或基架纵梁2同步移动,行走小车74与行走整平斗76形成一个整体,由链带传动机构驱动行走小车74的行走轮741同步移动,移动桥架在基架上的移动轨迹线与行走整平斗在移动桥架上的移动轨迹线始终保持垂直,移动桥架在基架上往复运动、行走小车带动行走整平斗在移动桥架内做往复运动,行走整平斗76在基架的有效范围内全方位移动并完成水下整平打印,打印完成后,行走整平斗上的高度计通过数据传输至PLC控制器,通过PC机显示行走整平斗的实际标高;最后,当出现过载或发生意外,限位传感器12反馈信号至水下中继器10进而传输至PLC控制器,PLC控制器下发指令,限位器13能有效 保护整个装置的安全,提高安全性和稳定性。The working principle of this embodiment: First, input the boundary conditions of each construction condition to the PLC controller through the PC. During work, when the construction condition is not good and uneven, the entire base frame is not in a vertical state, and is relayed underwater. The sensor transmits the data of each sensor to the PLC controller. The data is displayed by the display on the PC, and the water depth and inclination of the four pressure sensors 11 corresponding to the four support platforms on the leveling frame are known. The GPS receiver 8 on the computer displays the position and elevation of the entire base frame in real time, the four stroke sensors on the four hydraulic legs 3 feedback the initial stroke of the hydraulic jack 32, and the attitude meter 4 feeds back the current attitude of the base frame, after data analysis , The PLC controller issues instructions to the hydraulic controller, the hydraulic controller adjusts the four hydraulic legs 3 on both sides of the base frame to lift into position, and the hydraulic legs are provided by the hydraulic station to provide hydraulic power to achieve the entire base frame in a flat state; After the base frame is in a horizontal state, the leveling position, elevation, leveling thickness and other data are transmitted to the PLC controller. After data analysis and calculation, the estimated height that needs to be leveled and the estimated amount of construction materials for filling the underwater terrain are calculated. The PLC controller gives instructions to the printer head. The construction material enters from the water fabric hopper 71, passes through the supply hose 73 to the walking leveling hopper 76 and enters the square frame of the base frame. The moving wheel under the moving bridge 75 acts as a gear transmission mechanism. Moving along the base frame beam 1 or the base frame longitudinal beam 2 synchronously, the walking trolley 74 and the walking leveling bucket 76 form a whole, and the traveling wheels 741 of the walking trolley 74 are driven by the chain belt transmission mechanism to move synchronously, and the moving bridge is on the base frame. The moving trajectory line of the upper part and the moving trajectory of the walking leveling bucket on the moving bridge are always vertical. The moving bridge reciprocates on the base frame, and the walking trolley drives the walking leveling bucket to reciprocate in the moving bridge, and the walking leveling bucket 76 Move in all directions within the effective range of the base frame and complete the underwater leveling printing. After the printing is completed, the altimeter on the walking leveling bucket is transmitted to the PLC controller through data, and the actual elevation of the walking leveling bucket is displayed by the PC; Finally, when an overload occurs or an accident occurs, the limit sensor 12 feeds back the signal to the underwater repeater 10 and then transmits it to the PLC controller. The PLC controller issues instructions. The limiter 13 can effectively protect the safety of the entire device and improve safety. Sex and stability.
以上结合附图对本发明的实施方式作了详细说明,但本发明不限于所描述的实施方式。对于本领域的技术人员而言,在不脱离本发明原理和精神的情况下,对这些实施方式进行多种变化、修改、替换和变型,仍落入本发明的保护范围内。The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, without departing from the principle and spirit of the present invention, various changes, modifications, substitutions and modifications to these embodiments still fall within the protection scope of the present invention.
Claims (10)
- 一种水下地形3D打印机,其特征在于:包括基架、打印机头和水上控制***,所述打印机头包括移动桥架,该打印机头通过移动桥架横跨在基架上并相对于基架移动,所述打印机头由水上控制***操控并在基架内作打印整平动作,所述基架上设有水下测量定位***和姿态自动调整***,所述姿态自动调整***为设在基架上由水上控制***控制的液压支撑装置,所述水下测量定位***通过水下中继器与所述水上控制***通信连接。An underwater terrain 3D printer, which is characterized in that it comprises a base frame, a printer head, and a water control system. The printer head includes a mobile bridge frame. The printer head spans the base frame and moves relative to the base frame through the mobile bridge frame. The printer head is controlled by the water control system and performs printing and leveling actions in the base frame. The base frame is provided with an underwater measurement positioning system and an automatic attitude adjustment system, and the attitude automatic adjustment system is set on the base frame A hydraulic support device controlled by a water control system, and the underwater measurement and positioning system communicates with the water control system via an underwater repeater.
- 根据权利要求1所述的一种水下地形3D打印机,其特征在于:所述基架是由两个相互平行的基架纵梁和两个相互平行的基架横梁固定连接形成的方形框架,所述液压支撑装置包括多个液压支腿,每个所述基架纵梁外侧固定两个以上所述液压支腿,每个所述基架横梁的两端均向上延伸设有支承台,所述支承台上对应设有一端伸出水位线的测量杆;The underwater terrain 3D printer according to claim 1, wherein the base frame is a square frame formed by two mutually parallel base frame longitudinal beams and two mutually parallel base frame beams fixedly connected. The hydraulic supporting device includes a plurality of hydraulic supporting legs, and two or more hydraulic supporting legs are fixed on the outer side of each base frame longitudinal beam, and the two ends of each base frame cross beam are provided with supporting platforms extending upward. The supporting table is correspondingly provided with a measuring rod with one end extending out of the water level line;所述水下测量定位***包括GPS接收机、压力传感器、行程传感器和姿态仪,所述GPS接收机设在测量杆的顶部,所述行程传感器设在所述液压支腿上,所述压力传感器设在所述支承台上,所述姿态仪设在其中一个所述基架横梁上,所述GPS接收机、压力传感器、行程传感器和姿态仪均与水下中继器通信连接。The underwater measurement and positioning system includes a GPS receiver, a pressure sensor, a stroke sensor and an attitude meter. The GPS receiver is arranged on the top of the measuring rod, the stroke sensor is arranged on the hydraulic leg, and the pressure sensor It is arranged on the supporting platform, the attitude indicator is arranged on one of the base frame beams, and the GPS receiver, pressure sensor, travel sensor and attitude indicator are all communicatively connected with an underwater repeater.
- 根据权利要求2所述的一种水下地形3D打印机,其特征在于:所述液压支撑装置包括4个液压支腿,每个所述基架纵梁外侧固定两个所述液压支腿,所述液压支腿包括支撑掌和千斤顶,所述千斤顶通过万向节与支撑掌连接。An underwater terrain 3D printer according to claim 2, characterized in that: the hydraulic support device comprises 4 hydraulic outriggers, and two hydraulic outriggers are fixed on the outer side of each of the base frame longitudinal beams, so The hydraulic outrigger includes a supporting palm and a jack, and the jack is connected to the supporting palm through a universal joint.
- 根据权利要求2所述的一种水下地形3D打印机,其特征在于:设有两个所述测量杆,两个所述测量杆分布在基架的同一侧。The underwater terrain 3D printer according to claim 2, wherein there are two measuring rods, and the two measuring rods are distributed on the same side of the base frame.
- 根据权利要求1所述的一种水下地形3D打印机,其特征在于:所述打印机头还包括水面料斗、行走小车和行走整平斗,所述行走小车设在移动桥架上并沿着移动桥架长度方向移动,所述移动桥架内沿着其长度方向设有移动空间,所述行走小车的竖直方向设有贯通孔,所述行走整平斗的顶部开孔处连接有套管,该套管穿过所述移动空间与所述贯通孔匹配,所述套管在所述贯通孔上的伸出端通过供料软管与所述水面料斗连接,所述水面料斗设在水面辅助船舶上或通过自身浮体浮游在水面上。The underwater terrain 3D printer according to claim 1, characterized in that: the printer head further comprises a water fabric bucket, a walking trolley and a walking leveling bucket, the walking trolley is arranged on the moving bridge and runs along the moving bridge. Moving in the longitudinal direction, the moving bridge is provided with a moving space along its length, the walking trolley is provided with a through hole in the vertical direction, and the top opening of the walking leveling bucket is connected with a sleeve. The pipe passes through the moving space to match the through hole, the extension end of the sleeve on the through hole is connected to the water lining bucket through a supply hose, and the water lining bucket is set on the water surface auxiliary ship Or float on the water through its own floating body.
- 根据权利要求5所述的一种水下地形3D打印机,其特征在于:所述行走整平斗上的套管焊接在所述行走小车内的贯通孔内形成一个整体,所述行走整平斗为内部中空的梯形结构且敞口向下,沿着移动桥架的移动方向,所述行走整平斗的长度大于移动桥架的宽度,所述行走整平斗上设有高度计,所述高度计通过水下中继器与所述水上控制***通信连接。An underwater terrain 3D printer according to claim 5, wherein the sleeve on the walking leveling bucket is welded into the through hole in the walking trolley to form a whole, and the walking leveling bucket It is a hollow trapezoidal structure with an opening downward, along the moving direction of the moving bridge, the length of the walking leveling bucket is greater than the width of the moving bridge, the walking leveling bucket is provided with an altimeter, and the altimeter passes water The lower repeater is in communication connection with the maritime control system.
- 根据权利要求5所述的一种水下地形3D打印机,其特征在于:所述移动桥架下方设有的移动轮通过齿轮传动机构同步驱动,所述行走小车的车底设有多个行走轮,所述移动桥架上设有行走轮匹配的轨道,所述行走小车通过链带传动机构驱动行走轮在所述轨道上同步移动。An underwater terrain 3D printer according to claim 5, characterized in that: the moving wheels provided under the moving bridge frame are synchronously driven by a gear transmission mechanism, and the bottom of the walking trolley is provided with a plurality of walking wheels, The moving bridge frame is provided with a track matched with traveling wheels, and the traveling trolley drives the traveling wheels to move synchronously on the track through a chain belt transmission mechanism.
- 根据权利要求1所述的一种水下地形3D打印机,其特征在于:还包括姿态安全***,所述姿态安全***包括限位器和限位传感器,所述基架和所述移动桥架均为具有接合处的方 形框架,所述基架的接合处和所述移动桥架上的接合处均分布所述限位器,每一所述限位器上对应设有一个所述限位传感器,所述限位传感器通过所述水下中继器与水上控制***通信连接。The underwater terrain 3D printer according to claim 1, characterized in that it further comprises an attitude safety system, the attitude safety system comprises a limiter and a limit sensor, the base frame and the mobile bridge frame are both A square frame with joints, the stoppers are distributed at the joints of the base frame and the joints on the moving bridge, each of the stoppers is provided with a corresponding limit sensor, so The limit sensor communicates with the marine control system through the underwater repeater.
- 根据权利要求1所述的一种水下地形3D打印机,其特征在于:所述水上控制***包括液压站、PLC控制器和PC机,所述液压站由带有快速接头的高压油管与PLC控制器上的液压控制器连接,所述PC机与所述PLC控制器电性连接。The underwater terrain 3D printer according to claim 1, wherein the water control system includes a hydraulic station, a PLC controller and a PC, and the hydraulic station is controlled by a high-pressure oil pipe with a quick connector and a PLC. The hydraulic controller on the device is connected, and the PC is electrically connected with the PLC controller.
- 一种如权利要求1至9中任一项所述的一种水下地形3D打印机的施工控制方法,其特征在于包括以下步骤:A construction control method for an underwater terrain 3D printer according to any one of claims 1 to 9, characterized by comprising the following steps:1)实时监控基架状态:通过GPS接收机、压力传感器、行程传感器和姿态仪反馈信号至水下中继器,水下中继器传输信号至PLC控制器,最后通过PC机读取基架在水下的精确定位、整平标高、整平厚度和平面状态的实测数据;1) Real-time monitoring of the base frame status: feedback signals to the underwater repeater through GPS receiver, pressure sensor, stroke sensor and attitude meter, the underwater repeater transmits the signal to the PLC controller, and finally reads the base frame through the PC Measured data of precise positioning underwater, leveling elevation, leveling thickness and plane state;2)数据处理:通过PC机输入水下地形施工工况的边界条件给PLC控制器,结合步骤1)实测数据,经过数据分析,PLC控制器传输信号至液压控制器,液压控制器对姿态自动调整***发出动作指令;2) Data processing: Input the boundary conditions of the underwater terrain construction conditions to the PLC controller through the PC, combine the measured data in step 1), after data analysis, the PLC controller transmits the signal to the hydraulic controller, and the hydraulic controller automatically controls the attitude The adjustment system issues an action command;3)姿态调整:液压支腿上的行程传感器接收到步骤2)的动作指令信息,基架上的所有液压支腿对该动作指令作相应的伸缩动作,使得基架在水下达到水平状态;3) Posture adjustment: The stroke sensor on the hydraulic outrigger receives the action command information of step 2), and all the hydraulic outriggers on the base frame make corresponding telescopic actions to the action command, so that the base frame reaches a horizontal state underwater;4)打印整平:基架达到水平状态后,将整平位置、标高、整平厚度的数据传输给PLC控制器,经过数据分析计算得到整平高度和施工材料总量,由PLC控制器对打印机头发出动作指令,对移动桥架以及行走小车发出牵引信号,施工材料进入水面料斗直达行走整平斗,行走整平斗在基架内全方位精准位移,完成水下整平打印动作;4) Printing and leveling: After the base frame reaches the horizontal state, the data of leveling position, elevation, and leveling thickness are transmitted to the PLC controller. After data analysis and calculation, the leveling height and the total amount of construction materials are obtained, and the PLC controller will The printer sends out an action command to send a traction signal to the mobile bridge frame and the walking trolley. The construction materials enter the water fabric bucket directly to the walking leveling bucket, and the walking leveling bucket is accurately displaced in all directions in the base frame to complete the underwater leveling and printing action;5)整平高度:高度计反馈信号至PLC控制器,通过PC机显示行走整平斗在打印整平后的实际高度,完成整个打印过程。5) Leveling height: The altimeter feedback signal to the PLC controller, and the actual height of the walking leveling bucket after printing and leveling is displayed through the PC to complete the entire printing process.
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