Underwater rock drilling and splitting integrated equipment and working method thereof

Abstract

The invention discloses underwater rock drilling and splitting integrated equipment and a working method thereof, and relates to the field of underwater rock breaking. The equipment comprises a bearing structure, a drilling unit, a splitting unit, a positioning and hole aligning system and a connecting rod; the drilling unit carries out drilling operation, the position of the drilling unit and the position of the splitting unit are rapidly switched on the same equipment through the station switching mechanism, the splitting unit can be aligned to the drilling position of the drilling unit, and the positioning and hole aligning system guarantees that a splitting rod is accurately inserted into a drilled hole. Through a non-blasting drilling and splitting mode, vibration / noise pollution is reduced, the environmental protection requirement is met, through a mode of switching the drilling unit and the splitting unit, continuous connection and splitting after drilling operation are promoted, the operation efficiency can be improved, and the time cost and the labor cost of frequent replacement of equipment are reduced; compact integrated design is adopted, the equipment size is reduced, the connecting rod is matched with the shipborne mechanical arm, depth adjustment is achieved, and the device is suitable for the narrow environment.

Description

Technical Field

[0001] The present invention relates to the field of underwater rock breaking, and in particular to an underwater rock drilling and splitting integrated device and a working method thereof. Background Art

[0002] In underwater construction of waterway engineering, river and lake regulation and marine engineering, pyrotechnic blasting methods or mechanical excavation with the help of ship machinery are usually used to meet the needs of excavation and cleaning of underwater hard bedrock or reefs. For example, underwater explosives are used to blast the rocks and then use dredgers to clean out the slag, backhoes or grab boats are used to use backhoes or grabs to excavate the rocks underwater, hydraulic breakers or milling equipment are used to crush the rocks and then excavate them, and cutter suction ships are used to crush the rocks and then suck out the slag.

[0003] The above solution can meet the needs of underwater rock excavation in ordinary working environments, but it has environmental restrictions and safety risks, poor adaptability to narrow working environments, and efficiency and cost bottlenecks.

[0004] For example, explosive blasting methods have significant adverse effects of vibration and noise, and are restricted or prohibited in work environments near rivers close to urban areas or where there are requirements for the protection of underwater rare fish and other animals;

[0005] Mechanical excavation methods such as backhoes, grab boats, hydraulic breakers or milling equipment have disadvantages such as low excavation efficiency for hard bedrock or reefs, high equipment wear and tear, high excavation costs, and severe noise impacts.

[0006] For example, the suction power of a cutter suction dredge is controlled by the size of the vessel. A small cutter suction dredge has insufficient suction capacity for hard rocks, while a large cutter suction dredge cannot adapt to narrow waterways or narrow working surfaces in terms of both navigation and suction operations.

[0007] Therefore, for special working environments such as rivers in densely populated areas, narrow working surfaces, high construction efficiency requirements, or the existence of underwater protected animals and plants, high environmental protection requirements, and the need to control noise and vibration effects, it is necessary to provide an efficient and reliable construction equipment. Summary of the Invention

[0008] In view of this, the present invention provides an underwater rock drilling and splitting integrated equipment and a working method thereof to solve the problems raised by the above background technology.

[0009] In a first aspect, the present invention provides an underwater rock drilling and splitting integrated device, comprising:

[0010] load-bearing structure;

[0011] a drilling unit mounted on the supporting structure;

[0012] A splitting unit is mounted on the supporting structure, and is spaced apart from the drilling unit. The splitting unit comprises a splitting rod, and the splitting rod is provided with a plurality of retractable plunger portions.

[0013] A positioning and hole alignment system includes a positioning pin and at least one auxiliary positioning device, wherein the positioning pin is adapted to abut and fix against the rock mass, and the auxiliary positioning device is relatively fixedly arranged on the supporting structure;

[0014] A workstation switching mechanism, wherein the bearing structure is arranged at a switching end of the workstation switching mechanism; the workstation switching mechanism is configured as a rotary switching mechanism or a translational switching mechanism; the rotary switching mechanism is used to drive the bearing structure to rotate so that the splitting unit can move to align with the drilling position of the drilling unit; the translational switching mechanism is used to drive the bearing structure to translate so that the splitting unit can move to align with the drilling position of the drilling unit;

[0015] and a connecting rod for connecting to a shipboard mechanical arm to adjust the underwater depth of the equipment.

[0016] Beneficial effects: The drilling operation is carried out by the drilling unit, and the splitting unit enters the position where the drilling is completed. The positions of the drilling unit and the splitting unit can be quickly switched on the same equipment through the workstation switching mechanism, so that the splitting unit can align with the drilling position of the drilling unit, and the positioning and hole alignment system ensures that the splitting rod is accurately inserted into the drill hole; through the non-blasting drilling and splitting method, vibration / noise pollution is reduced, and the environmental protection requirements of urban rivers and ecological protection areas are met. By switching between the drilling unit and the splitting unit, continuous connection and splitting are promoted after the drilling operation. This application is conducive to improving operation efficiency and reducing the time and labor costs of frequent equipment replacement; the positioning and hole alignment system can accurately position, ensure the accuracy of drilling and splitting, and reduce errors and repeated operations; the connecting rod is connected to the ship-borne mechanical arm to adjust the underwater depth, so that the equipment can adapt to different water depth operation requirements; this application adopts a compact integrated design to reduce the equipment volume, and the workstation switching mechanism realizes in-situ function conversion to avoid the movement of large equipment. The connecting rod is adapted to the ship-borne mechanical arm to achieve depth adjustment and adapt to narrow environments.

[0017] In some embodiments, the supporting structure is configured as a disc, and the positioning pin is fixedly disposed on the supporting structure;

[0018] The drilling unit and the splitting rod are symmetrically arranged in the diameter direction of the supporting structure, and the rotary switching mechanism is suitable for driving the supporting structure to rotate 180° circumferentially; or, the auxiliary positioning device is provided with one, and the drilling unit, splitting rod and auxiliary positioning device are arranged at the third point of the circumference of the supporting structure disk, and the rotary switching mechanism is suitable for driving the supporting structure to rotate 120° circumferentially.

[0019] Beneficial effects: The disc-shaped bearing structure design, combined with the rotary switching mechanism, can achieve fast and stable 180° or 120° rotation switching. It is easy to operate and accurately aligned, and can complete the workstation switching with the minimum rotation angle, shortening the operation cycle. The drilling unit and the splitting unit are symmetrically arranged or arranged at three equal points. They are fixed to the bearing structure by the positioning pin. The reference point remains unchanged during the rotation process, reducing repeated positioning errors, which is beneficial to the balance and stability of the equipment structure and reducing shaking and deviation during operation. The present application can maximize the function of the equipment within a limited working space, improve the flexibility and reliability of the operation, and is particularly suitable for underwater rock excavation operations in narrow waterways or narrow working surfaces.

[0020] In some embodiments, the supporting structure is configured to be in the shape of a cuboid, the positioning pin is fixedly disposed on the translational switching mechanism; and the drilling unit and the splitting rod are arranged in a straight line.

[0021] Benefits: The linear arrangement of the drilling and splitting units provides more direct force distribution, enhancing structural rigidity and making them suitable for use in ultra-hard rock. The positioning pins are fixed to the translational switching mechanism, maintaining the reference point during movement and reducing repositioning errors. The translational switching mechanism is suitable for long, linear drilling positions and ensures stability in deep-hole operations.

[0022] In some embodiments, the positioning and hole alignment system includes a first auxiliary positioning device and a second auxiliary positioning device, the first auxiliary positioning device is fixedly arranged at the top end of the splitting bar, and the second auxiliary positioning device is fixedly arranged on the supporting structure, and the first auxiliary positioning device and the second auxiliary positioning device are arranged on the same side of the supporting structure;

[0023] The first auxiliary positioning device and the second auxiliary positioning device are used to assist in positioning the holes, and the first auxiliary positioning device and the second auxiliary positioning device constitute a binocular positioning system.

[0024] Beneficial Effects: The redundant design of the first and second auxiliary positioning devices allows them to serve as mutual positioning checks. Furthermore, the first and second auxiliary positioning devices form a binocular positioning system, enabling three-dimensional spatial perception of the drill hole location and improving hole alignment accuracy. The first and second auxiliary positioning devices are arranged on the same side, facilitating data collection and processing, reducing signal interference, and improving positioning reliability. In complex underwater environments, this solution can precisely align the splitting rod with the drill hole, ensuring the effectiveness of the splitting operation and reducing the risk of failed or incomplete rock splitting due to inaccurate positioning.

[0025] In some embodiments, the first auxiliary positioning device and the second auxiliary positioning device are configured as at least one of a laser, a sonar, a multi-beam, and a visual sensor.

[0026] In some embodiments, the positioning and hole alignment process of the positioning and hole alignment system includes:

[0027] After drilling is completed, the binocular system records the coordinates of the hole position;

[0028] The station switching mechanism moves the splitting rod of the splitting unit and calculates the relative distance between the splitting rod and the drilling position in real time;

[0029] When the distance between the splitting rod and the drill hole is less than or equal to the distance threshold, the hole alignment accuracy is verified by the first auxiliary positioning device and the second auxiliary positioning device.

[0030] Beneficial Effects: The relative distance is continuously calculated during the splitting rod's movement, ensuring that hole alignment accuracy is less than or equal to the distance threshold, allowing for real-time dynamic calibration. This solution, through a three-step process of coordinate recording, real-time tracking, and threshold verification, improves motion accuracy, ensures alignment between the splitting rod and the drill hole, reduces the risk of adverse forces on the splitting unit, and contributes to the standardization and automation of hole alignment operations.

[0031] In some embodiments, the supporting structure and the station switching mechanism are respectively provided with a sealed waterproof shell; the sealed waterproof shell is made of metal, carbon fiber or high molecular polymer, and the seams of the sealed waterproof shell are sealed by a sealing material;

[0032] The thickness of the sealed waterproof shell is set to be ≥0.2mm.

[0033] Beneficial effects: The sealed waterproof casing can prevent damage to the internal structure and components of the equipment by underwater pressure, corrosive substances, etc., thereby improving the service life and reliability of the equipment. A variety of material options are available, and for metal, carbon fiber or high molecular polymer, the configuration can be optimized according to different operating environments and cost requirements. The sealing material seals the seams and stipulates that the casing thickness is ≥0.2mm, further enhancing the sealing and waterproof performance, ensuring the long-term stable operation of the equipment underwater and adapting to the operating requirements of different water depths and water quality conditions.

[0034] In some embodiments, the device is provided in plurality, and the plurality of devices are arranged in a single direction, and the spacing G between adjacent devices when arranged in a row satisfies the following conditions:

[0035]

[0036] Where P is the splitting force of the splitting rod, d is the tensile strength of the rock, e is the elastic modulus of the rock, and f is the shear strength of the rock. η is the underwater working condition reduction coefficient for splitting, ω is the water depth of the target working environment, W is the maximum working water depth, and g is the splitting distance reduction coefficient at the maximum working water depth, 0.1≤g≤0.2.

[0037] Beneficial Effects: By calculating the spacing between equipment in a row and comprehensively considering factors such as the splitting force of the splitting bars, rock properties, and the underwater working condition reduction factor, a rational equipment layout can be achieved, improving overall operational efficiency. By optimizing the spacing between multiple equipment, the splitting capacity of each device can be fully utilized, reducing rock residue and duplicated work. This solution can effectively organize multiple equipment to work together in large-scale underwater rock excavation operations, forming an efficient construction line and reducing project costs and construction time.

[0038] In some embodiments, the connecting rod is hinged to the shipboard mechanical arm to adjust the pitch angle of the equipment.

[0039] Beneficial Effects: By articulating the connecting rod with the shipboard robotic arm, the device's pitch angle can be flexibly adjusted through the arm, better adapting to rock surfaces of varying slopes and angles, improving operational adaptability and flexibility. Furthermore, the arm can control the splitting direction and force, enhancing the effectiveness and quality of rock splitting. This solution maintains excellent operation even in complex terrain and irregular rock distribution, expanding the device's application areas and demonstrating superior practicality in real-world projects.

[0040] In a second aspect, the present invention provides a method for operating an integrated underwater rock drilling and splitting device, comprising the following steps:

[0041] S1. Fix the device by the positioning pin against the rock mass;

[0042] S2. Drive the drilling unit on the supporting structure to align with the target rock and drill, and reset after drilling;

[0043] S3. The splitting rod of the splitting unit is moved by the station switching mechanism to the drilling position, and the hole is adjusted by the auxiliary positioning device;

[0044] S4. The splitting unit on the driving support structure is extended into the drill hole and extended from the plunger portion to split the rock.

[0045] Beneficial effects: Through the standardized process of positioning, drilling, switching, and splitting, the equipment is constructed in steps, and there is no need for repeated positioning for drilling and splitting operations. This working method replaces blasting with pressure splitting, and integrated design replaces multi-device step-by-step construction, effectively improving construction efficiency. The equipment can adapt to narrow environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 A three-dimensional diagram of one of the exemplary embodiments of the device according to the present invention;

[0048] Figure 2 A top view of one exemplary embodiment of a device according to an embodiment of the present invention;

[0049] Figure 3 A three-dimensional diagram of a second exemplary embodiment of a device according to an embodiment of the present invention;

[0050] Figure 4 A top view of a second exemplary embodiment of a device according to an embodiment of the present invention;

[0051] Figure 5 Schematic diagram of the structure of a splitting unit in a device according to an embodiment of the present invention;

[0052] Figure 6 A first working flow diagram of a device rotating and switching stations according to an embodiment of the present invention;

[0053] Figure 7 A second working flow diagram of the equipment rotation switching station according to an embodiment of the present invention;

[0054] Figure 8 This is a schematic diagram of the operation of multiple devices rotating and switching stations to split in rows according to an embodiment of the present invention;

[0055] Figure 9 A three-dimensional diagram of a third exemplary embodiment of a device according to an embodiment of the present invention;

[0056] Figure 10 A top view of a third exemplary embodiment of a device according to an embodiment of the present invention;

[0057] Figure 11 A first working flow diagram of equipment translation switching stations according to an embodiment of the present invention;

[0058] Figure 12 A second working flow diagram of the device translation switching station according to an embodiment of the present invention;

[0059] Figure 13 This is a schematic diagram of the operation of multiple devices in an embodiment of the present invention, wherein the devices are shifted to switch positions for splitting in rows;

[0060] Description of reference numerals:

[0061] 1. Bearing structure; 2. Drilling unit; 3. Splitting unit; 301. Splitting rod; 302. Plunger; 401. Positioning pin; 402. First auxiliary positioning device; 403. Second auxiliary positioning device; 5. Workstation switching mechanism; 6. Connecting rod; 7. Rock mass; 701. Rock block. DETAILED DESCRIPTION

[0062] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0063] The following combination Figures 1 to 13 , describing embodiments of the present invention.

[0064] Example 1

[0065] According to an embodiment of the present invention, this embodiment provides an underwater rock drilling and splitting integrated equipment, which has an integrated equipment of underwater automatic drilling, positioning and splitting, and hydraulic splitting. Specifically, Figure 1 As shown, the equipment includes a supporting structure 1, a drilling unit 2, a splitting unit 3, a positioning and drilling system, a workstation switching mechanism 5, and a connecting rod 6. The supporting structure 1 provides the installation and connection area, the drilling unit 2 performs the drilling operation, the splitting unit 3 enters the drilling position to perform pressure splitting, the positioning and drilling system provides positioning and position verification, and the connecting rod 6 is used to connect to the shipboard robotic arm to adjust the underwater depth of the equipment.

[0066] In this embodiment, the drilling unit 2 includes a drill, a drill rod, and a drill bit; the drilling unit 2 and the splitting unit 3 are spaced apart and respectively installed on the supporting structure 1 .

[0067] In this embodiment, if Figure 5 As shown, the splitting unit 3 includes a splitting rod 301 and a plunger portion 302. The splitting rod 301 is provided with a plurality of plungers 302, each of which is telescopically provided on the splitting rod 301. The splitting unit 3 can be specifically provided as a hydraulic splitting machine.

[0068] In this embodiment, the positioning and hole alignment system includes a positioning pin 401 and one or more auxiliary positioning devices. The positioning pin 401 is suitable for abutting and fixing with the rock mass 7 , and the auxiliary positioning device is relatively fixedly arranged on the bearing structure 1 .

[0069] In this embodiment, the bearing structure 1 is driven by a switching end of a station switching mechanism 5. The station switching mechanism 5 is used to switch the relative positions of the drilling unit 2 and the splitting unit 3 on the bearing structure 1. After the drilling unit 2 completes the drilling operation, the station switching mechanism 5 drives the bearing structure 1 to move the splitting unit 3 to the drilling position.

[0070] The equipment provided in this embodiment is characterized in that the drilling unit 2 performs the drilling operation, and the splitting unit 3 enters the position to complete the drilling. The positions of the drilling unit 2 and the splitting unit 3 can be quickly switched on the same equipment through the workstation switching mechanism 5, so that the splitting unit 3 can align with the drilling position of the drilling unit 2, and the positioning and hole alignment system ensures that the splitting rod 301 is accurately inserted into the drill hole; through the non-blasting drilling and splitting method, vibration / noise pollution is reduced, and the environmental protection requirements of urban rivers and ecological protection areas are met.

[0071] By switching between the drilling unit 2 and the splitting unit 3, the drilling operation is followed by continuous splitting. This application is beneficial to improving operating efficiency and reducing the time and labor costs of frequent equipment replacement. The positioning hole system can accurately locate the hole to ensure the accuracy of drilling and splitting, reducing errors and repeated operations. The connecting rod 6 is connected to the ship-borne mechanical arm to adjust the underwater depth, so that the equipment can adapt to the needs of operations at different water depths.

[0072] This solution adopts a compact integrated design to reduce the size of the equipment. The workstation switching mechanism 5 realizes in-situ function conversion to avoid the movement of large equipment. The connecting rod 6 is adapted to the ship-borne mechanical arm to achieve depth adjustment and adapt to narrow environments.

[0073] In some embodiments, the positioning and hole alignment system includes a first auxiliary positioning device 402 and a second auxiliary positioning device 403, the first auxiliary positioning device 402 is fixedly set at the top end of the splitting rod 301, and the second auxiliary positioning device 403 is fixedly set on the supporting structure 1, and the first auxiliary positioning device 402 and the second auxiliary positioning device 403 are set on the same side of the supporting structure 1; the first auxiliary positioning device 402 and the second auxiliary positioning device 403 are used to assist in positioning and hole alignment, and the first auxiliary positioning device 402 and the second auxiliary positioning device 403 constitute a binocular positioning system.

[0074] The first auxiliary positioning device 402 and the second auxiliary positioning device 403 are redundantly designed, serving as mutual positioning checks. Together, the first auxiliary positioning device 402 and the second auxiliary positioning device 403 form a binocular positioning system, enabling three-dimensional spatial perception of the drill hole location and improving hole alignment accuracy. The first auxiliary positioning device 402 and the second auxiliary positioning device 403 are arranged on the same side, facilitating data collection and processing, reducing signal interference, and improving the reliability of positioning and hole alignment. In complex underwater environments, this solution can precisely align the splitting rod 301 with the drill hole location, ensuring the effectiveness of the splitting operation and reducing the risk of failed or incomplete rock splitting due to inaccurate positioning.

[0075] In some embodiments, the first auxiliary positioning device 402 and the second auxiliary positioning device 403 are configured as at least one of a laser, a sonar, a multi-beam, and a visual sensor.

[0076] The positioning and hole-tracking system adopts a variety of positioning perception technologies, such as laser, sonar, multi-beam, and visual sensors, which can adapt to different underwater environments and operating conditions, and improve the adaptability and robustness of the positioning and hole-tracking system; different technologies can complement and verify each other to improve positioning accuracy and reliability.

[0077] In some embodiments, the positioning and hole alignment process of the positioning and hole alignment system includes:

[0078] After drilling is completed, the binocular system records the coordinates of the hole position;

[0079] The station switching mechanism 5 moves the splitting rod 301 of the splitting unit 3 and calculates the relative distance between the splitting rod 301 and the drilling position in real time;

[0080] When the distance between the splitting rod 301 and the drill hole is less than or equal to the distance threshold, the hole alignment accuracy is verified by the first auxiliary positioning device 402 and the second auxiliary positioning device 403 .

[0081] By continuously calculating the relative distance during the movement of the splitting rod 301, the hole alignment accuracy is ensured to be less than or equal to the distance threshold, thus performing real-time dynamic calibration. This solution, through a three-step process of coordinate recording, real-time tracking, and threshold verification, improves motion accuracy, ensures the alignment of the splitting rod 301 with the drill hole, reduces the risk of adverse force on the splitting unit 3, and promotes the standardization and automation of hole alignment operations.

[0082] In some embodiments, the supporting structure 1 and the workstation switching mechanism 5 are respectively configured with a sealed waterproof shell; the material of the sealed waterproof shell is metal, carbon fiber or polymer, and the seams of the sealed waterproof shell are sealed by sealing material; the thickness of the sealed waterproof shell is set to ≥0.2mm.

[0083] The sealed and waterproof casing prevents damage to the internal structure and components of the equipment from underwater pressure, corrosive substances, etc., thereby increasing the service life and reliability of the equipment. A variety of material options are available, and for metal, carbon fiber or high molecular polymer, the configuration can be optimized according to different operating environments and cost requirements. The sealing material seals the seams and stipulates that the casing thickness ≥ 0.2mm, further enhancing the sealing and waterproof performance, ensuring the long-term stable operation of the equipment underwater and adapting to the operating requirements of different water depths and water quality conditions.

[0084] About equipment waterproof design rules:

[0085] Since the equipment is used completely underwater and may operate in deep water environments such as 20m, the equipment as a whole and each component must have deep water waterproof capabilities. The specific design includes:

[0086] Equipment structures and parts that operate underwater should be classified as either waterproof or water-sensitive based on whether they can come into contact with water. For example, core electric drive components, electronic processors, and underwater power lines are waterproof; robotic arm joints and gears that move underwater are water-sensitive. Waterproof parts should meet IPX8 or higher standards, while parts that can come into contact with water may require minimal or no waterproofing.

[0087] The waterproof parts of the equipment, such as the core electric drive components, electronic processors and other live parts should be set in the bearing structure 1 and the workstation switching mechanism 5.

[0088] The load-bearing structure 1 and the workstation switching mechanism 5 should use a complete and well-sealed thick shell made of materials such as metal, carbon fiber, and polymer; the joints or flexible connections of the load-bearing structure 1 and the workstation switching mechanism 5 should be sealed underwater with high-performance sealing materials such as rubber, polymer, etc.

[0089] For power lines, they should be wrapped with high-performance insulating, waterproof and pressure-resistant flexible materials, and the joints should be sealed. Specific materials include but are not limited to thick rubber, high molecular polymers, etc.

[0090] About the design rules of equipment water pressure resistance:

[0091] The equipment as a whole should be able to withstand water pressure, and the specific water pressure resistance should be determined according to the rated working water depth. For example, equipment with a rated working water depth of 20m should be able to withstand water pressure of more than 0.2MPa.

[0092] To achieve the equipment's overall water pressure resistance, the specific materials, thicknesses, and other design parameters for the equipment's outer shell, pipeline sheathing, and seals should be calculated based on the corresponding water pressure values ​​for the equipment's rated underwater operating depth. This should then be determined based on material properties and verified through actual underwater testing. For example, if the equipment's load-bearing structure 1 is to utilize a steel disc-shaped outer shell and needs to meet the requirements of underwater operations at a depth of 20m, then based on the steel's material properties and the corresponding water pressure of 0.2MPa at a depth of 20m, it can be calculated that the shell thickness must be at least 0.2mm to withstand the 0.2MPa external pressure. Therefore, the designed outer shell thickness of the load-bearing structure 1 should be at least 0.2mm.

[0093] The device provided in this embodiment, when working underwater, uses the detection function of the auxiliary positioning device to drive the hole alignment operation of the splitting rod 301 through the movement of the bearing structure 1.

[0094] Taking the use of laser sensors in auxiliary positioning devices to form a binocular positioning system as an example, the first auxiliary positioning device 402, such as a laser sensor deployed at the top of the splitting rod 301, can be used to detect drilling, and at the same time, together with the second auxiliary positioning device 403, such as a laser sensor deployed on the supporting structure 1, a binocular positioning system is formed with spatial detection and perception capabilities.

[0095] The hole alignment process of the equipment is as follows:

[0096] After the drilling is completed and the drilling rig is lifted and recovered, the first auxiliary positioning device 402 and the second auxiliary positioning device 403 start to operate, and first locate and record the drilling position through laser sensor data.

[0097] The workstation switching structure acts to cause the bearing structure 1 to move, and the first auxiliary positioning device 402 and the second auxiliary positioning device 403 continue to operate to calculate the relative distance between the splitting rod 301 and the drill hole.

[0098] When the relative distance between the splitting bar 301 and the drill hole is approximately zero, the movement of the supporting structure 1 can be suspended. At this point, the drill hole is detected vertically downward primarily by the first auxiliary positioning device 402, i.e., a laser sensor deployed at the top of the plunger-type splitting bar 301. Based on the drill hole depth and detection parameters, as well as the detection parameters of the second auxiliary positioning device 403, it is further accurately determined whether the plunger-type splitting bar 301 has completed hole positioning.

[0099] If the parameters of the laser sensors of the first auxiliary positioning device 402 and the second auxiliary positioning device 403 indicate that the plunger-type splitting rod 301 is accurately aligned with the hole, the next splitting process can proceed. If it is not accurately aligned, the position relative to the drilled hole determines whether the movement of the supporting structure 1 is excessive or insufficient. Based on this determination, the rotation or translation of the supporting structure 1 is fine-tuned until the hole is accurately aligned, and the next splitting process can proceed.

[0100] In some embodiments, the connecting rod 6 is articulated with an onboard robotic arm to adjust the device's pitch angle. This articulation allows for flexible adjustment of the device's pitch angle, better adapting to rock surfaces of varying slopes and angles, improving operational adaptability and flexibility. Furthermore, the onboard robotic arm can control the splitting direction and force, enhancing the effectiveness and quality of rock splitting. This solution maintains excellent operational performance even in complex terrain and irregular rock distribution, expanding the device's application areas and demonstrating superior practicality in practical engineering projects.

[0101] In one embodiment, the shipborne robotic arm is configured as a hydraulic robotic arm having a plurality of hydraulic mechanical joints, and the mechanical transmission end of the hydraulic robotic arm can act on the connecting rod to perform three-dimensional movement to adjust the position of the entire equipment.

[0102] Example 2

[0103] This embodiment provides a working method of an underwater rock drilling and splitting integrated device, comprising the following steps:

[0104] S1. The positioning pin 401 abuts against the rock mass 7 to fix the device;

[0105] S2. The drilling unit 2 on the driving bearing structure 1 is aligned with the target rock for drilling and reset after drilling;

[0106] S3. The splitting rod 301 of the splitting unit 3 is moved by the station switching mechanism 5 to the drilling position, and the hole is adjusted by the auxiliary positioning device;

[0107] S4. The splitting unit 3 on the supporting structure 1 is driven into the borehole and extended from the plunger portion 302 to split the rock.

[0108] Through the standardized process of positioning, drilling, switching, and splitting, the equipment performs construction operations in steps, and there is no need for repeated positioning for drilling and splitting operations. This working method replaces blasting with pressure splitting and replaces the step-by-step construction of multiple devices with integrated design, effectively improving construction efficiency. The equipment can adapt to narrow environments.

[0109] Example 3

[0110] In the equipment provided in this embodiment, the workstation switching mechanism 5 is specifically configured as a rotary switching mechanism; the rotary switching mechanism is used to drive the supporting structure 1 to rotate, so that the splitting unit 3 can move to align with the drilling position of the drilling unit 2.

[0111] In this embodiment, the supporting structure 1 is configured to be disc-shaped, and the positioning pins 401 are fixedly disposed on the supporting structure 1 .

[0112] Figure 1 and Figure 2An exemplary arrangement of an apparatus employing a rotary switching mechanism is shown; the drilling unit 2 and the splitting rod 301 are symmetrically arranged in the diameter direction of the supporting structure 1, and the rotary switching mechanism is suitable for driving the supporting structure 1 to rotate 180° circumferentially to switch the relative positions of the drilling unit 2 and the splitting rod 301 after drilling is completed.

[0113] Specifically, the drilling unit 2 and the splitting unit 3 are arranged in a symmetrical two-point form on the disc-shaped supporting structure 1. The drilling unit 2 and the splitting unit 3 are on both sides of the axis of the supporting structure 1, and the center of the drilling unit 2, the center of the splitting unit 3 and the center of the supporting structure 1 are located on the same straight line; after the hole is formed, the positioning operation method is that the disc-shaped supporting structure 1 is rotated 180° along the central axis so that the splitting rod 301 can be moved above the drill hole to realize the hole operation.

[0114] In one embodiment, Figure 1 For example, the workstation switching mechanism 5 and the supporting structure 1 are integrated into a disc-shaped structure.

[0115] Figure 3 and Figure 4 Another exemplary arrangement of equipment using a rotary switching mechanism is shown; an auxiliary positioning device is provided, and the drilling unit 2, the splitting rod 301 and the auxiliary positioning device are arranged at the three equal points of the circumference of the supporting structure 1 disk, and the rotary switching mechanism is suitable for driving the supporting structure 1 to rotate 120° circumferentially to switch the relative positions of the drilling unit 2 and the splitting rod 301 after drilling is completed.

[0116] Specifically, the drilling unit 2, splitting rod 301, and an auxiliary positioning device are arranged symmetrically at three points on the disc-shaped support structure 1. The layout principle is that the drilling unit 2, splitting rod 301, and auxiliary positioning device are located at three symmetrical points on the disc-shaped support structure 1, with the center of the drill rig, the center of the splitting rod 301, and the center of the auxiliary positioning device all located on the trisection line of the disc with the center of the disc-shaped support structure 1 as the base point. After drilling, the disc-shaped support structure 1 is rotated 120 degrees along its center to allow the splitting rod 301 to move above the drill hole, completing the hole alignment operation.

[0117] Of course, other devices may be arranged on the disc-shaped supporting structure 1 so as to be arranged symmetrically at four points or five points on the disc-shaped supporting structure 1 .

[0118] The equipment provided in this embodiment adopts a disc-shaped bearing structure 1 design, and cooperates with a rotary switching mechanism to achieve fast and stable 180° or 120° rotation switching. It is easy to operate and accurately aligned, and can complete the workstation switching with the minimum rotation angle, shortening the operation cycle. The drilling unit 2 and the splitting unit 3 are symmetrically arranged or arranged at three equal points, and are fixed to the bearing structure 1 by the positioning pin 401. The reference point remains unchanged during the rotation process, reducing repeated positioning errors, which is beneficial to the balance and stability of the equipment structure and reducing shaking and deviation during the operation. The present application can maximize the function of the equipment within a limited working space, improve the flexibility and reliability of the operation, and is particularly suitable for underwater rock excavation operations in narrow waterways or narrow working surfaces.

[0119] In this embodiment, the drilling unit 2 and the splitting unit 3 are supported by the disc-shaped supporting structure 1 and formed in a horizontal form; the drilling unit 2 and the splitting unit 3 can be moved up and down by relying on the disc-shaped supporting structure 1 through a moving mechanism, and the moving mechanism is usually electrically driven.

[0120] The positioning pin 401 is fixed at the center of the disc-shaped supporting structure 1 and has a fixed length, and does not need to be changed or moved during operation.

[0121] The disc-shaped supporting structure 1 can be automatically rotated according to the control signal through the workstation switching mechanism 5 to complete the positioning and hole alignment of the splitting rod 301 after drilling.

[0122] The first auxiliary positioning device 402 and the second auxiliary positioning device 403 together form a binocular positioning system for accurate underwater positioning of the splitting rod 301 after drilling.

[0123] A first auxiliary positioning device 402 is positioned at the top of the plunger-type splitting rod 301 and is used to detect the drilled hole and assist in rotational positioning and alignment. A second auxiliary positioning device 403 is positioned on the disc-shaped support structure 1 and is used to detect the drilled hole and assist in rotational positioning and alignment. Both the first and second auxiliary positioning devices 402 and 403 can be configured with sensors including, but not limited to, sonar, laser, multi-beam, and visual sensors, and can also include a parameter processor for detecting parameters, enabling parameter analysis.

[0124] The connecting rod 6 is combined with the ship-borne mechanical arm to enable the equipment to work underwater, adapt to working environments at different water depths, and freely adjust the working surface as the water depth changes.

[0125] The connecting rod 6 and the positioning pin 401 are arranged relative to each other on the disc-shaped supporting structure 1, and are used to connect the equipment to the ship-borne robotic arm, so that the equipment can be put on board and extended underwater with the help of the ship-borne robotic arm to carry out operations at different depths underwater to complete drilling and splitting of underwater rocks.

[0126] About the hole alignment process:

[0127] Step 1: The equipment uses the drilling unit 2 to perform drilling. After the drilling operation is completed, the drilling unit 2 is lifted and retracted;

[0128] Step 2: The first auxiliary positioning device 402 and the second auxiliary positioning device 403 locate and record the drilling position through binocular detection analysis;

[0129] Step 3: By rotating the supporting structure 1, the first auxiliary positioning device 402 and the second auxiliary positioning device 403 detect and analyze the relative distance between the splitting rod 301 and the drill hole;

[0130] Step 4: When the relative distance between the splitting rod 301 and the drill hole is close to 0, the rotation of the supporting structure 1 is paused and precise hole analysis is performed;

[0131] Step 5: If it is determined that the hole is not accurately aligned, fine-tune the support structure 1 forward and backward until the hole is accurately aligned; if it is determined that the hole is accurately aligned, complete the precise hole alignment process of the equipment.

[0132] like Figure 6 and Figure 7 As shown, the working process of the rotary underwater rock drilling and splitting integrated equipment is shown:

[0133] Figure 6 From left to right, the device faces the plane of the split rock mass 7, and the positioning pin 401 is pressed against the rock mass 7 and fixed relative to the rock mass 7; the drilling unit 2 moves downward relative to the disc-shaped supporting structure 1, and the drill bit drills the hole; after the drilling unit 2 completes the drilling, it moves upward relative to the disc-shaped supporting structure 1 and is pulled out;

[0134] Figure 7 From left to right, the disc-shaped supporting structure 1 rotates until the plunger-type splitting rod 301 reaches above the drilling position. During this process, the first auxiliary positioning device 402 and the sensor positioning information of the first auxiliary positioning device 402 are used to assist the rotation positioning to achieve precise hole alignment; the plunger-type splitting rod 301 moves downward relative to the disc-shaped supporting structure 1 and extends into the drilling position; the splitting rod 301 extends the plunger to split the rock block 701 and is then pulled out, completing the drilling and splitting process.

[0135] It should be noted that for splitting of rocks, a free-falling surface needs to be formed in the splitting direction in advance in order to complete the splitting.

[0136] In a specific embodiment, see Figure 8 Multiple devices are provided, and the multiple devices are arranged in a single direction. When used side by side, they can be used to carry out large-scale splitting work in rows, enabling efficient and large-scale splitting of underwater rocks. The connecting rods 6 of the multiple devices are connected to the ship's onboard mechanical arm.

[0137] Example 4

[0138] In the equipment provided in this embodiment, the workstation switching mechanism 5 is configured as a translational switching mechanism; the translational switching mechanism is used to drive the bearing structure 1 to translate, so that the splitting unit 3 can move to align with the drilling position of the drilling unit 2.

[0139] In this embodiment, the supporting structure 1 is configured to be in the shape of a cuboid, the positioning pin 401 is fixedly disposed on the translational switching mechanism, and the drilling unit 2 and the splitting rod 301 are arranged in a straight line.

[0140] Figure 9 and Figure 10 An exemplary arrangement of a device using a translational switching mechanism is shown;

[0141] The equipment provided in this embodiment features a linear arrangement of the drilling unit 2 and splitting unit 3, which provides more direct force distribution and enhances structural rigidity, making it suitable for use in ultra-hard rock conditions. The positioning pin 401 is fixedly connected to the translational switching mechanism, maintaining a constant reference point during movement and reducing repositioning errors. The translational switching mechanism is suitable for long, linear drilling positions and ensures stability in deep-hole operations.

[0142] The device provided in this embodiment adopts a rectangular parallelepiped bearing structure 1 design, which is combined with a rotary switching mechanism to achieve fast and stable linear switching, easy operation and precise alignment.

[0143] In this embodiment, the drilling unit 2 and the splitting unit 3 are supported by the disc-shaped supporting structure 1 and formed in a horizontal form; the drilling unit 2 and the splitting unit 3 can be moved up and down by relying on the rectangular supporting structure 1 through a moving mechanism, and the moving mechanism is usually electrically driven.

[0144] The positioning pin 401 is fixed on the translation switching mechanism and has a fixed length. It does not need to change or move during operation, but will move parallel to the rectangular support structure 1 as the translation switching mechanism moves parallel to the rectangular support structure 1.

[0145] The rectangular parallelepiped supporting structure 1 can be moved in parallel by the motor switch configured between the rectangular parallelepiped supporting structure 1 and the translational switching mechanism, thereby automatically completing the positioning and hole alignment of the splitting rod 301 after drilling.

[0146] The first auxiliary positioning device 402 and the second auxiliary positioning device 403 together form a binocular positioning system for accurate underwater positioning of the splitting rod 301 after drilling.

[0147] A first auxiliary positioning device 402 is positioned at the top of the plunger-type splitting rod 301 and is used to detect the drilled hole and assist in rotational positioning and alignment. A second auxiliary positioning device 403 is positioned on the rectangular support structure 1 and is used to detect the drilled hole and assist in rotational positioning and alignment. Both the first and second auxiliary positioning devices 402 and 403 can be equipped with sensors including, but not limited to, sonar, laser, multi-beam, and visual sensors, and can also include a parameter processor for detecting parameters, enabling parameter analysis.

[0148] Connecting rod 6, combined with the shipboard robotic arm, enables the device to operate underwater, adapt to varying water depths, and freely adjust the working surface as the water depth changes. Specifically, connecting rod 6 and positioning pin 401 are arranged opposite each other on the translational switching mechanism, used to connect the device to the shipboard robotic arm. This allows the device to be transported aboard and, with the help of the shipboard robotic arm, to operate underwater at various depths, completing drilling and splitting operations in underwater rock.

[0149] In this embodiment, during operation, the translational switching mechanism of the device does not move relative to the rock mass 7, while the rectangular parallelepiped supporting structure 1 moves parallel to the rock mass 7 during drilling.

[0150] About the hole alignment process:

[0151] Step 1: The equipment uses the drilling unit 2 to perform drilling. After the drilling operation is completed, the drilling unit 2 is lifted and retracted;

[0152] Step 2: The first auxiliary positioning device 402 and the second auxiliary positioning device 403 locate and record the drilling position through binocular detection analysis;

[0153] Step 3: The first auxiliary positioning device 402 and the second auxiliary positioning device 403 detect and analyze the relative distance between the splitting rod 301 and the drill hole by translating the supporting structure 1;

[0154] Step 4: When the relative distance between the splitting rod 301 and the drill hole is close to 0, the movement of the supporting structure 1 is suspended and precise hole analysis is performed;

[0155] Step 5: If it is determined that the hole is not accurately aligned, fine-tune the support structure 1 forward and backward until the hole is accurately aligned; if it is determined that the hole is accurately aligned, complete the precise hole alignment process of the equipment.

[0156] For the working process of rotary underwater rock drilling and splitting integrated equipment, such as Figure 11 and Figure 12 As shown:

[0157] Figure 11From left to right, the device faces the plane of the split rock mass 7, and the positioning pin 401 is pressed against the rock mass 7 and fixed relative to the rock mass 7; the drilling unit moves downward relative to the rectangular support structure 1, and the drill bit drills a hole; after the drilling unit completes the drilling, it moves upward relative to the rectangular support structure 1 and is pulled out;

[0158] Figure 12 From left to right, the rectangular supporting structure 1 translates relative to the translation switching mechanism until the plunger-type splitting rod 301 reaches above the drilling position. During this process, the sensor positioning information of the first auxiliary positioning device 402 and the second auxiliary positioning device 403 is used to assist in the movement and positioning to achieve precise hole alignment; the plunger-type splitting rod 301 moves downward relative to the rectangular supporting structure 1 and extends into the drilling position; the splitting rod 301 extends the plunger to split the rock block 701 and is then pulled out, completing the drilling and splitting process.

[0159] It should be noted that for splitting of rocks, a free-falling surface needs to be formed in the splitting direction in advance in order to complete the splitting.

[0160] In a specific embodiment, see Figure 13 Multiple devices are provided, and the multiple devices are arranged in a single direction. When used side by side, they can be used to carry out large-scale splitting work in rows, enabling efficient and large-scale splitting of underwater rocks. The connecting rods 6 of the multiple devices are connected to the ship's onboard mechanical arm.

[0161] Example 5

[0162] In the device provided in this embodiment, when multiple devices are arranged in a row, the distance G between adjacent devices satisfies the following conditions:

[0163]

[0164] Wherein, P is the splitting force of the splitting rod 301, d is the tensile strength of the rock, e is the elastic modulus of the rock, and f is the shear strength of the rock; η is the underwater working condition reduction coefficient of splitting, ω is the water depth of the target working environment, W is the maximum working water depth, and g is the splitting distance reduction coefficient at the maximum working water depth, 0.1≤g≤0.2.

[0165] Specifically, P refers to the splitting force parameter of the splitting rod 301, which is provided by the splitting rod 301 device. d refers to the tensile strength parameter of the rock to be split, e refers to the elastic modulus parameter of the rock to be split, and f refers to the shear strength parameter of the rock to be split. The rock parameters are obtained from geological surveys conducted on the engineering site. W is the maximum operating water depth parameter of the equipment, and g is the splitting distance reduction factor of the equipment at the maximum operating water depth, which can be obtained through actual underwater working experimental analysis of the configured equipment. The spacing G between adjacent devices is actually the spacing between the splitting actions of adjacent splitting rods 301, that is, the spacing between adjacent borehole axes.

[0166] The solution provided in this embodiment calculates the spacing between devices when arranged in a row and comprehensively considers multiple factors such as the splitting force of the splitting rod 301, rock properties, and the underwater working condition reduction factor. This can achieve a reasonable layout of the equipment and improve overall operating efficiency. By optimizing the spacing between multiple devices, the splitting capacity of each device can be fully and comprehensively utilized, reducing rock residue and repeated operations.

[0167] The present invention can effectively organize multiple devices to work together in large-scale underwater rock excavation operations, forming an efficient construction operation line and reducing engineering costs and construction periods.

[0168] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An integrated underwater rock drilling and splitting device, characterized in that: include: load-bearing structure (1); A drilling unit (2) is mounted on the supporting structure (1); A splitting unit (3) is installed on the bearing structure (1), and the splitting unit (3) and the drilling unit (2) are spaced apart from each other; the splitting unit (3) comprises a splitting rod (301), and the splitting rod (301) is provided with a plurality of retractable plunger parts (302); A positioning and hole alignment system comprises a positioning needle (401) and at least one auxiliary positioning device, wherein the positioning needle (401) is suitable for abutting and fixing with a rock mass (7), and the auxiliary positioning device is relatively fixedly arranged on the bearing structure (1); A workstation switching mechanism (5), wherein the bearing structure (1) is transmission-arranged at a switching end of the workstation switching mechanism (5); the workstation switching mechanism (5) is configured as a rotary switching mechanism or a translational switching mechanism; the rotary switching mechanism is used to drive the bearing structure (1) to rotate, so that the splitting unit (3) can move to align with the drilling position of the drilling unit (2); the translational switching mechanism is used to drive the bearing structure (1) to translate, so that the splitting unit (3) can move to align with the drilling position of the drilling unit (2); And a connecting rod (6), wherein the connecting rod (6) is used to connect the ship-borne mechanical arm to adjust the underwater depth of the equipment.

2. The underwater rock drilling and splitting integrated equipment according to claim 1, characterized in that: The bearing structure (1) is configured in a disc shape, and the positioning needle (401) is fixedly disposed on the bearing structure (1); The drilling unit (2) and the splitting rod (301) are symmetrically arranged in the diameter direction of the supporting structure (1), and the rotary switching mechanism is suitable for driving the supporting structure (1) to rotate 180° in the circumferential direction; or, the auxiliary positioning device is provided with one, the drilling unit (2), the splitting rod (301) and the auxiliary positioning device are arranged at the points dividing the circumference of the supporting structure (1) into three equal parts, and the rotary switching mechanism is suitable for driving the supporting structure (1) to rotate 120° in the circumferential direction.

3. The underwater rock drilling and splitting integrated equipment according to claim 1, characterized in that: The bearing structure (1) is arranged in a rectangular parallelepiped shape, and the positioning pin (401) is fixedly arranged on the translation switching mechanism; the drilling unit (2) and the splitting rod (301) are arranged in a straight line.

4. The underwater rock drilling and splitting integrated equipment according to claim 1, characterized in that: The positioning and hole alignment system comprises a first auxiliary positioning device (402) and a second auxiliary positioning device (403), wherein the first auxiliary positioning device (402) is fixedly arranged at the top end of the splitting rod (301), and the second auxiliary positioning device (403) is fixedly arranged on the bearing structure (1), and the first auxiliary positioning device (402) and the second auxiliary positioning device (403) are arranged on the same side of the bearing structure (1); The first auxiliary positioning device (402) and the second auxiliary positioning device (403) are used to assist in positioning the holes, and the first auxiliary positioning device (402) and the second auxiliary positioning device (403) constitute a binocular positioning system.

5. The underwater rock drilling and splitting integrated equipment according to claim 4, characterized in that: The first auxiliary positioning device (402) and the second auxiliary positioning device (403) are configured as at least one of a laser, a sonar, a multi-beam, and a visual sensor.

6. The underwater rock drilling and splitting integrated equipment according to claim 4, characterized in that: The positioning and hole alignment process of the positioning and hole alignment system includes: After drilling is completed, the binocular system records the coordinates of the hole position; The workstation switching mechanism (5) moves the splitting rod (301) of the splitting unit (3) and calculates the relative distance between the splitting rod (301) and the drilling position in real time; When the distance between the splitting rod (301) and the drill hole is less than or equal to a distance threshold, the hole alignment accuracy is verified by using the first auxiliary positioning device (402) and the second auxiliary positioning device (403).

7. The underwater rock drilling and splitting integrated equipment according to claim 1, characterized in that: The bearing structure (1) and the station switching mechanism (5) are respectively provided with a sealed waterproof shell; the material of the sealed waterproof shell is metal, carbon fiber or high molecular polymer, and the joints of the sealed waterproof shell are sealed by a sealing material; The thickness of the sealed waterproof shell is set to be ≥0.2mm.

8. The underwater rock drilling and splitting integrated equipment according to claim 1, characterized in that: The devices are provided in plurality, and the plurality of devices are arranged in a single direction. When arranged in a row, the distance G between adjacent devices satisfies the following conditions: Where P is the splitting force of the splitting rod, d is the tensile strength of the rock, e is the elastic modulus of the rock, and f is the shear strength of the rock. η is the underwater working condition reduction coefficient for splitting, ω is the water depth of the target working environment, W is the maximum working water depth, and g is the splitting distance reduction coefficient at the maximum working water depth, 0.1≤g≤0.

2.

9. The underwater rock drilling and splitting integrated equipment according to claim 1, characterized in that: The connecting rod (6) is hinged to the ship-borne mechanical arm to adjust the pitch angle of the equipment.

10. A method for operating the underwater rock drilling and splitting integrated equipment according to any one of claims 1 to 9, characterized in that: The steps include: S1. The positioning pin (401) abuts against the rock mass (7) to fix the device; S2. The driving unit (2) on the bearing structure (1) is aligned with the target rock for drilling and reset after drilling; S3. The splitting rod (301) of the splitting unit (3) is moved to the drilling position by the station switching mechanism (5) and the hole is adjusted by the auxiliary positioning device; S4. The splitting unit (3) on the supporting structure (1) is driven into the borehole and extended from the plunger portion (302) to split the rock.

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