設(shè)計(jì)背景：

常泰長(zhǎng)江大橋主墩基礎(chǔ)為新型防沖刷臺(tái)階式沉井，是國(guó)內(nèi)目前平面尺寸最大的水中沉井，沉井最大入土深度達(dá) 48m,須穿越硬塑黏士、密實(shí)砂層、黏士—密實(shí)砂互層。沉井基礎(chǔ)為鋼殼混凝土結(jié)構(gòu)，灌注井壁砼，井內(nèi)取士下沉。

根據(jù)項(xiàng)目需求，我們針對(duì)性的設(shè)計(jì)了—套沉井施工絞吸機(jī)器人方案，其中又包含了—套用于輔助作業(yè)的吊裝平臺(tái)。

Design background:

The foundation of the main pier of Changtai Yangtze River Bridge is a new type of anti scour stepped open caisson, which is the largest open caisson in China at present. The maximum depth of the open caisson is 48m. It must pass through hard plastic clay, dense sand layer and clay dense sand interbed. The foundation of the open caisson is of steel shell concrete structure, and the shaft wall is filled with concrete, and the sinking of the shaft is conducted.

According to the requirements of the project, we designed a set of winch suction robot scheme for open caisson construction, including a set of lifting platform for auxiliary operation.

突破短板

跨海深水大型橋梁建設(shè)是我國(guó)智慧港口與海洋工程建設(shè)中重大基礎(chǔ)工程。面向海洋強(qiáng)國(guó)戰(zhàn)略   需求，開展大型水下橋梁建設(shè)用淤泥清理技術(shù)研究，突破深水大型沉井清淤施工中的水下挖掘環(huán)境和態(tài)勢(shì) “看不清”、對(duì)井形和土層 “適應(yīng)差”、挖掘“不持續(xù)”、有盲點(diǎn)”等技術(shù)難題，著力解決“全井形、復(fù)雜底質(zhì)、能見度不良、不排水、下沉式、深水沉井施工作業(yè)的   數(shù)字化、 一體化清淤問題”。相比傳統(tǒng)技術(shù)，本設(shè)備在深水橋墩沉井清淤中具有明顯的高效性和精確性。是大型機(jī)器人成套裝備在我國(guó)橋梁清淤建設(shè)史上具有里程碑意義的工程應(yīng)用。隨著 “—帶—路” 國(guó)家戰(zhàn)略的推進(jìn)，本項(xiàng)目的市場(chǎng)前景廣闊。

Break through the short board

The construction of large-scale cross sea deep-water bridge is an important foundation project in the construction of smart port and ocean engineering in China. In order to meet the strategic needs of marine power, we should carry out research on sludge cleaning technology for large-scale underwater bridge construction, and break through the "unclear" environment and situation of underwater excavation in the dredging construction of large-scale open caisson in deep water, and the well shape and soil layer can not be seen clearly Technical problems such as "poor adaptation", "unsustainable excavation" and "blind spots" should be solved to solve  "digital and Integrated Dredging problems in the construction of full well shape, complex bottom material, poor visibility, undrained, sinking and deep-water open caisson construction". Compared with the traditional technology, this equipment has obvious efficiency and accuracy in dredging of deep-water pier caisson. It is a milestone engineering application in the history of bridge desilting in China. With the promotion of "Belt Road" national strategy, the market prospect of this project is broad.

甲板單元 Deck unit

應(yīng)用場(chǎng)景 Application scenarios

應(yīng)用場(chǎng)景 Application scenarios

常泰長(zhǎng)江大橋履帶式絞吸機(jī)器人施工

Construction of crawler type cutter suction robot for Changtai Yangtze River Bridge

設(shè)計(jì)優(yōu)勢(shì)

• 結(jié)構(gòu)緊湊、重量輕，機(jī)構(gòu)布詈合理，有足夠的維修空間，便于維護(hù)保養(yǎng)結(jié)構(gòu)空檔處設(shè)置安   全防護(hù)裝置；

• 裝卸車及拼拆裝吊的吊點(diǎn)吊耳設(shè)計(jì)合理且有明確標(biāo)識(shí)；

• 設(shè)備操作簡(jiǎn)單方便，行走通道通暢，安全可靠度高，關(guān)鍵部件具備耐腐蝕要求；

• 預(yù)留今后適應(yīng)性改造的忮術(shù)措施具有功能模塊完備性自檢功能 ；

• 設(shè)備充分利用搭載水下傳感器的方式進(jìn)行施工，在施工時(shí)不僅可以使用傳感器監(jiān)測(cè)周圍環(huán)   境，還可以利用傳感器數(shù)據(jù)實(shí)現(xiàn)自動(dòng)化施工作業(yè)；

• 增加耐壓強(qiáng)度、提離設(shè)備可靠性，控制系統(tǒng)將預(yù)留網(wǎng)絡(luò)接口，實(shí)現(xiàn)遠(yuǎn)程監(jiān)控。

Design advantages

• compact structure, light weight, reasonable mechanism layout, sufficient maintenance space, easy maintenance, and safety protection device at the neutral position of the structure;

• the lifting point and lifting lug of loading and unloading vehicle and assembling / disassembling crane are designed reasonably and clearly marked;

• the equipment is simple and convenient to operate, the walking channel is unobstructed, the safety and reliability is high, and the key parts have corrosion resistance requirements;

• reserved technical measures for future adaptive transformation, with the function of functional module integrity self-test;

• the equipment makes full use of underwater sensors for construction. During construction, sensors can not only be used to monitor the surrounding environment, but also can be used to realize automatic construction;

• increase the withstand voltage strength and lift off equipment reliability. The control system will reserve network interface to realize remote monitoring.

整備質(zhì)量：5350*2650*3500mm(大臂未伸展尺寸）,大臂伸展后長(zhǎng)度為 7220mm,16500kg.

ROV weight and size:5350*2650*3500mm(Mainpulator no extended size) Mainpulator extended length 7220mm,16500kg.

材料結(jié)構(gòu)：本體所有結(jié)構(gòu)件，履帶，支重輪和驅(qū)動(dòng)輪，耐腐蝕,海水淡水中均可使用。Material Structure: All structural parts of the body, track, roller and driving wheel, corrosion-resistant, can be used in seawater and fresh water.

動(dòng)力系統(tǒng)：液壓系統(tǒng):功率 30kW,排量 71ml/r,額定工作壓力 25Mpa (兩套）；

Power system::The power of the hydraulic system is 30kW, the displacement is 71ml / R, and the rated working pressure is 25MPa (two sets);

觀測(cè)系統(tǒng)：8 組高清攝像頭，攪吸頭兩組，向前兩組，上面—組，左右后各—組， Inspection system：Eight groups of HD cameras, two groups of suction heads, two groups in front, one group in the top, one group in the left and one group in the back,

照明系統(tǒng)：8 組 50WLED 燈；

Lighting system：8 groups of 50W LED lamps;

纜控系統(tǒng)：設(shè)計(jì)拉力大于 3000Kg、設(shè)計(jì)收放電纜速度 0-5m/min、卷纜長(zhǎng)度：150m、卷筒直徑 1050mm;

Cable control system： The design tension more than 3000kg, the design speed of the cable is 0-5m / min, the length of the winding cable is 150m, and the diameter of the drum is 1050mm; 履帶底盤：工作水深:150m、行走速度：0-6m/min、行走杻矩 48000N.M、爬坡能力≤20°; Crawler chassis ： Working water depth, 150m, traveling speed: 0-6m / min, traveling moment, 48000N. M, climbing capacity ≤20 °;

作業(yè)能力：流量：350m3/h,揚(yáng)程：60m、工作深度：130m,排污口徑：200mm,通過顆粒直徑：

80mm,泵取高度 65m(水上）

Working ability：Flow: 350m3/ h, lift: 60m, working depth: 130m, blowdown diameter: 200mm, through-hole particles, 80mm, pump height: 65m (on water)

液壓絞吸頭：轉(zhuǎn)速：0-40r/min、轉(zhuǎn)扭 5000N.M，通過顆粒直徑：≤80mm、驅(qū)動(dòng)方式：液壓馬達(dá)；

Hydraulic twist suction head: rotating speed: 0-40r/min, rotating torque: 5000N.M, through particle diameter: ≤80mm, driving mode: hydraulic motor;

甲板單元：嵌入式主機(jī)，15 處理器，1T 硬盤，128GB SSD,19 寸高亮液晶顯示器，采用多屏幕控制中心，工業(yè)級(jí)控制手柄。

Deck unit：Embedded host, 15 processor, 1t hard disk, 128GB SSD, 19 inch high light LCD, multi screen control center, industrial level control handle

平臺(tái)尺寸：12000x9200x10500mm,重量：58T,起吊重量：16T+16T,起吊速度：9m/min Platform size:12000x920x10500mm, weight: 58T, lifting heavy halo: 16t + 16t, lifting speed: 9m/min.