CN-117587880-B - Underwater reef cleaning device of high-frequency breaking hammer and construction method thereof

CN117587880BCN 117587880 BCN117587880 BCN 117587880BCN-117587880-B

Abstract

The invention provides an underwater reef cleaning device of a high-frequency breaking hammer and a construction method thereof, comprising a vehicle body main body, an extending arm and a movable arm, wherein the vehicle body main body is provided with a plurality of vehicle body space sensing and positioning devices, the movable arm is provided with a movable arm posture monitoring device, the arm is provided with an arm posture monitoring device, and the top of the arm is provided with an arm positioning device floating on the water surface. The automatic processing control system and various sensing sensors solve the inconvenience of underwater tracking measurement operation in the construction process, and compared with the mode that underwater measurement is carried out after the first reef cleaning is completed and shallow points are processed in the conventional method, the method realizes the integration of underwater reef cleaning construction and tracking measurement, provides quality assurance measures for high-frequency breaking hammer underwater rock drilling construction, realizes the optimization of the underwater reef cleaning process and is suitable for popularization and use.

Inventors

HU XIAOWU
YE ZHIKUN
WANG ZHIMIN
LIU SHIYU
Fu ru
SHAO JIANDONG
WANG SHENGSHENG
DU XING
FENG XIANDAO
CHENG MAOLIN
WANG HUI
WANG CHENGFU
ZHU ZHIGANG
YUAN YING
WANG JIAHAO
LIU YU

Assignees

中交武汉港湾工程设计研究院有限公司

Dates

Publication Date: 20260512
Application Date: 20231130

Claims (7)

1. The underwater reef cleaning device of the high-frequency breaking hammer is characterized by comprising a vehicle body main body (1), an arm (8) and a movable arm (9), wherein a plurality of vehicle body space sensing and positioning devices (4) are arranged on the vehicle body main body (1), a movable arm posture monitoring device (3) is arranged on the movable arm (9), an arm posture monitoring device (2) is arranged on the arm (8), and an arm positioning device (5) floating on the water surface is arranged at the top of the arm (8); The cantilever positioning device (5) comprises a cradle head (501), wherein a small permanent magnet (503) and a plurality of floating plates (506) are arranged at the bottom of the cradle head (501), a universal ball seat (502) is arranged at the bottom of the cradle head (501), a rotating universal ball (504) is arranged on the universal ball seat (502), and the universal ball (504) is connected with the cantilever (8) through a lead (505); The magnetic force direction of the small permanent magnet (503) is consistent with that of the magnetic force level meter (13); A transparent cover (508) is arranged on the universal ball seat (502), a marking line (5081) is arranged on the transparent cover (508), a pointer (5041) is arranged on the universal ball (504), and a liquid (5042) and a magnetic ball (509) are arranged in the universal ball (504); The density of the liquid (5042) is the same as that of the magnetic balls (509); the bottom of the cradle head (501) is provided with a wire box (510) and a cradle head processor (511), a wire (505) is wound on a rotating shaft (801), the rotating shaft (801) is rotationally connected with the wire box (510), and the wire box (510) is arranged on an extension arm (8).
2. The underwater reef cleaning device of the high-frequency breaking hammer is characterized in that vehicle body space sensing and positioning devices (4) are arranged on two sides of a vehicle body main body (1), the vehicle body space sensing and positioning devices (4) are GNNS receivers, an automatic processing control system (6) is arranged on the vehicle body main body (1), and a magnetic force level meter (13) is arranged on the vehicle body main body (1).
3. The underwater reef cleaning device of the high-frequency breaking hammer according to claim 1, wherein a plurality of movable arm oil cylinders (10) are arranged between the main body (1) and the movable arm (9), the arm (8) is rotationally connected with the movable arm (9), a plurality of arm extending oil cylinders (11) are arranged between the arm (8) and the movable arm (9), and a rotating shaft (801) is arranged on the arm (8).
4. The underwater reef cleaning device of the high-frequency breaking hammer is characterized in that a rotary high-frequency breaking hammer (7) is arranged at one end of an extending arm (8), a bucket oil cylinder (12) is arranged between the high-frequency breaking hammer (7) and the extending arm (8), and a bucket oil cylinder hydraulic monitoring device (14) is arranged on the bucket oil cylinder (12).
5. The underwater reef cleaning device of the high-frequency breaking hammer according to claim 1, wherein the arm-extending posture monitoring device (2) comprises a monitoring spherical shell (201), a second identification line (2011) is arranged on the monitoring spherical shell (201), a second liquid (202) is arranged in the monitoring spherical shell (201), and air bubbles (203) and second magnetic balls (204) are arranged on the second liquid (202); The second magnetic sphere (204) is the same density as the second liquid (202); the second magnetic sphere (204) is used to measure the horizontal deflection angle and the bubble (203) is used to measure the vertical deflection angle.
6. The underwater reef cleaning device of the high-frequency breaking hammer according to claim 1, wherein the boom posture monitoring device (2) and the movable arm posture monitoring device (3) have the same structure.
7. A construction method of an underwater reef cleaning device of a high-frequency breaking hammer, which adopts the underwater reef cleaning device of the high-frequency breaking hammer according to any one of claims 1 to 6, and the method comprises the following steps: S1, measuring underwater topography, and dividing a region needing reef cleaning construction into grids by referring to underwater measurement results; S2, the equipment reaches a reef construction grid starting point, and underwater measurement data are input into an automatic processing control system (6); s3, driving the movable arm (9) and the extension arm (8), and lowering the high-frequency breaking hammer (7) until the high-frequency breaking hammer is in contact with the rock stratum through reading confirmation of a bucket cylinder hydraulic monitoring device (14); S4, the automatic processing control system (6) performs back calculation of underwater elevation information according to gesture information and space coordinate information fed back by each sensor after the high-frequency breaking hammer (7) bottoms out, and combines calibration of underwater measurement data, and after calibration, the vehicle body space perception positioning device (4) establishes a three-dimensional coordinate system according to the actual position and elevation of a water area where equipment is located; s5, starting a body main body (1), starting rock breaking work by a high-frequency breaking hammer, monitoring the positions of a pointer (5041) and a magnetic ball (509) in real time by a camera on an arm stretching positioning device (5), transmitting image signals to a holder processor (511), controlling a holder (501) by the arm stretching positioning device (5) so that the pointer (5041) is positioned at the center of a marking line (5081), and determining the height of an arm (8) through the rotation circle number of a motor (507); S6, determining a deflection angle in the vertical direction by the air bubble (203) of the arm stretching posture monitoring device (2), and determining a deflection angle in the horizontal direction by the second magnetic ball (204) of the arm stretching posture monitoring device (2); S7, real-time data fed back by the vehicle body space sensing and positioning device (4), the arm stretching and positioning device (5), the arm posture monitoring device (3) and the arm stretching posture monitoring device (2) are transmitted to an automatic processing control system (6), and information of the rotation angle of the vehicle body main body (1), the stretching angle of the movable arm (9) and the stretching angle and the stretching height which need to be adjusted is fed back to a display after calculation and analysis by the automatic processing control system (6); S8, performing reef cleaning operation on the body main body (1) in the corresponding grid area, and storing and recording the underwater original elevation of each drilling point by the automatic processing control system (6) and checking whether the underwater elevation of the earlier stage operation area is qualified or not by contacting the corresponding drilling point with a high-frequency breaking hammer (7) at intervals; And S9, after the reef cleaning of the grid area is completed, the display area of the display of the automatic processing control system (6) is completed, and the display area is transferred to the next area at the moment to repeat S3-S8 until the reef cleaning is completed.

Description

Underwater reef cleaning device of high-frequency breaking hammer and construction method thereof Technical Field The invention relates to the field of underwater reef cleaning, in particular to an underwater reef cleaning device of a high-frequency breaking hammer and a construction method thereof. Background At present, in the engineering construction of China, the reef clearing method is mostly a blasting method, a heavy hammer rock drilling method and a high-frequency breaking hammer rock drilling method. The underwater blasting has large influence on the surrounding water environment, high construction safety risk, low reef clearing precision of the heavy hammer rock drilling method, easy falling and loss of the heavy hammer, certain obstruction on the construction efficiency, low safety risk of the high-frequency breaking hammer rock drilling method, basically no influence on the aquatic environment, no falling and loss of equipment and the like. However, the high-frequency breaking hammer underwater reef cleaning operation is carried out by depending on experience and technology of operators, a GPS cannot be installed in water, the breaking hammer is not accurately positioned, the actual elevation of an underwater rock mass cannot be detected, the positioning perception of the three-dimensional space position cannot be realized, the economical efficiency and the reef cleaning efficiency are low, meanwhile, when underwater measurement is carried out in the earlier stage of the reef cleaning operation, the underwater silt is easy to influence, the measurement result is caused to deviate, and therefore, the high-frequency breaking hammer underwater reef cleaning device and the construction method thereof are provided for solving the problems. Chinese patent document CN 114960535A describes an underwater high-frequency breaking hammer extension arm positioning device and a positioning reef cleaning method, but the method has the following defects that 1, positioning sensing of a three-dimensional space position cannot be realized, 2, effective adjustment cannot be carried out along with water level change, and 3, the practical elevation of an underwater rock mass cannot be detected, the use is limited, and improvement is needed. Disclosure of Invention The invention aims to solve the technical problems that the underwater reef cleaning device of the high-frequency breaking hammer and the construction method thereof are provided, the problems that the high-frequency breaking hammer is inaccurate in positioning, the actual elevation of an underwater rock mass cannot be detected, the positioning sensing of the three-dimensional space position cannot be realized, the economy and reef cleaning efficiency are low, and the underwater silt is easily influenced when underwater measurement is carried out in the earlier stage of reef cleaning operation, so that the deviation of the measurement result is caused are solved. In order to solve the technical problems, the underwater reef cleaning device of the high-frequency breaking hammer and the construction method thereof comprise a vehicle body main body, an extension arm and a movable arm, wherein a plurality of vehicle body space sensing and positioning devices are arranged on the vehicle body main body, a movable arm posture monitoring device is arranged on the movable arm, an extension arm posture monitoring device is arranged on the extension arm, and an extension arm positioning device floating on the water surface is arranged at the top of the extension arm. In the preferred scheme, the automobile body main part both sides are equipped with automobile body space perception positioner, and automobile body space perception positioner is GNNS receiver, is equipped with automated processing control system on the automobile body main part, is equipped with the permanent magnet on the automobile body main part. In the preferred scheme, a plurality of boom cylinders are arranged between the main body and the boom, the boom is rotationally connected with the boom, a plurality of boom cylinders are arranged between the boom and the boom, and a rotating shaft is arranged on the boom. In the preferred scheme, one end of the arm is provided with a rotary high-frequency breaking hammer, a bucket oil cylinder is arranged between the high-frequency breaking hammer and the arm, and a bucket oil cylinder hydraulic monitoring device is arranged on the bucket oil cylinder. In the preferred scheme, the cantilever positioning device comprises a cradle head, wherein a small permanent magnet and a plurality of floating plates are arranged at the bottom of the cradle head, a universal ball seat is arranged at the bottom of the cradle head, a rotating universal ball is arranged on the universal ball seat, and the universal ball is connected with the cantilever through a wire; The magnetic force direction of the small permanent magnet is consistent with that of the permanent magnet.