履带式绞吸机器人 / Crawler Cutter-suction ROV

设计背景：

常泰长江大桥主墩基础为新型防冲刷台阶式沉井，是国内目前平面尺寸最大的水中沉井，沉井最大入土深度达 48m,须穿越硬塑黏士、密实砂层、黏士—密实砂互层。沉井基础为钢壳混凝土结构，灌注井壁砼，井内取士下沉。

根据项目需求，我们针对性的设计了—套沉井施工绞吸机器人方案，其中又包含了—套用于辅助作业的吊装平台。

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

跨海深水大型桥梁建设是我国智慧港口与海洋工程建设中重大基础工程。面向海洋强国战略   需求，开展大型水下桥梁建设用淤泥清理技术研究，突破深水大型沉井清淤施工中的水下挖掘环境和态势 “看不清”、对井形和土层 “适应差”、挖掘“不持续”、有盲点”等技术难题，着力解决“全井形、复杂底质、能见度不良、不排水、下沉式、深水沉井施工作业的   数字化、 一体化清淤问题”。相比传统技术，本设备在深水桥墩沉井清淤中具有明显的高效性和精确性。是大型机器人成套装备在我国桥梁清淤建设史上具有里程碑意义的工程应用。随着 “—带—路” 国家战略的推进，本项目的市场前景广阔。

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.

甲板单元 Deck unit

应用场景 Application scenarios

应用场景 Application scenarios

常泰长江大桥履带式绞吸机器人施工

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

设计优势

• 结构紧凑、重量轻，机构布詈合理，有足够的维修空间，便于维护保养结构空档处设置安   全防护装置；

• 装卸车及拼拆装吊的吊点吊耳设计合理且有明确标识；

• 设备操作简单方便，行走通道通畅，安全可靠度高，关键部件具备耐腐蚀要求；

• 预留今后适应性改造的忮术措施具有功能模块完备性自检功能 ；

• 设备充分利用搭载水下传感器的方式进行施工，在施工时不仅可以使用传感器监测周围环   境，还可以利用传感器数据实现自动化施工作业；

• 增加耐压强度、提离设备可靠性，控制系统将预留网络接口，实现远程监控。

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.

整备质量：5350*2650*3500mm(大臂未伸展尺寸）,大臂伸展后长度为 7220mm,16500kg.

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

材料结构：本体所有结构件，履带，支重轮和驱动轮，耐腐蚀,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.

动力系统：液压系统:功率 30kW,排量 71ml/r,额定工作压力 25Mpa (两套）；

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

观测系统：8 组高清摄像头，搅吸头两组，向前两组，上面—组，左右后各—组， 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,

照明系统：8 组 50WLED 灯；

Lighting system：8 groups of 50W LED lamps;

缆控系统：设计拉力大于 3000Kg、设计收放电缆速度 0-5m/min、卷缆长度：150m、卷筒直径 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; 履带底盘：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 °;

作业能力：流量：350m3/h,扬程：60m、工作深度：130m,排污口径：200mm,通过颗粒直径：

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)

液压绞吸头：转速：0-40r/min、转扭 5000N.M，通过颗粒直径：≤80mm、驱动方式：液压马达；

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

甲板单元：嵌入式主机，15 处理器，1T 硬盘，128GB SSD,19 寸高亮液晶显示器，采用多屏幕控制中心，工业级控制手柄。

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

平台尺寸：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.