Underwater excavation drilling device and construction method thereof

Abstract

The invention provides an underwater excavation drilling device which comprises a first two-way rail frame arranged in the middle of a workboat, the lower portion of the first two-way rail frame is connected with the workboat through a first support, and the workboat, the first support and the first two-way rail frame are connected to form a transportation channel of a transportation trolley. A first positioning frame is supported on the upper portion of the first two-way rail frame, a first pushing module is arranged at the top of the first positioning frame, and a first drill bit module is connected to the bottom of the first pushing module. The transport trolley is used for transferring sediments excavated by the first drill bit module from a riverbed into the self-propelled mud barge abutting against one side of the workboat through the first extension frame. The design is ingenious, excavation work of the riverbed can be completed only through the drill bit and one module, the environmental protection property of construction is greatly improved, and direct damage to the ecology is avoided under stable disturbance of overall construction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inland waterway dredging, in particular to an underwater excavation drilling device and a construction method thereof. BACKGROUND

[0002] The waterway is a channel for ensuring water transportation. The current waterway needs to be widened and regulated. Due to the depth and width of the inland waterway and the navigation height limit, large dredging ships are difficult to enter, and the excavation efficiency of the underwater excavation ship suitable for inland waterways is limited. In recent years, underwater blasting method has been more and more restricted because of its ecological damage, great influence on surrounding facilities, and noise pollution. It is contrary to the concept of green and low-carbon development, so the design and development of non-explosive excavation ship for inland waterway is an advanced trend.

[0003] In recent years, underwater blasting excavation method has been more and more restricted because of its ecological damage, great influence on surrounding facilities, and noise pollution. Underwater non-explosive excavation has been more and more concerned and valued. The large underwater excavation equipment such as cutter suction dredger and drag suction dredger has high excavation efficiency for soft ground, but low excavation efficiency for hard rock, serious equipment wear and tear, and large equipment size difficult to enter inland area. The conventional rotary drilling has problems of large rotation radius and large space occupation, and is not suitable for arrangement on the ship.

[0004] Chinese patent document CN 109654966 A discloses a river waterway regulation ecological reef blasting dredging system and construction method, which still has the problem of damaging ecological environment. Chinese patent document CN 101122211 A discloses a waterway drilling machine, which has the problems of troublesome overall operation, low efficiency, and use defects, and needs to be improved. SUMMARY

[0005] The present application provides an underwater excavation drilling device and a construction method thereof, which solves the technical problem of troublesome waterway excavation and ecological damage.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is as follows: an underwater excavation drilling device, comprising a first bidirectional track frame arranged in the middle of a construction ship, the lower part of the first bidirectional track frame being connected with the construction ship through a first support, the construction ship, the first support and the first bidirectional track frame being connected to form a transportation channel of a transportation trolley, the upper part of the first bidirectional track frame being supported by a first positioning frame, the top of the first positioning frame being provided with a first jacking module, the bottom of the first jacking module being connected with a first drill bit module, and the transportation trolley being used for transferring the sediment excavated from the riverbed by the first drill bit module to a self-propelled barge abutting against one side of the construction ship through a first extension frame.

[0007] Preferably, the first bidirectional track frame is provided with a second bidirectional track frame on one side, the second bidirectional track frame is connected with the construction ship through a second support, the upper portion of the second bidirectional track frame supports a second positioning frame, the top of the second positioning frame is provided with a second jacking module, the bottom of the second jacking module is connected with a second drill bit module, and one side of the second bidirectional track frame is connected with a self-propelled sludge barge through a second extension frame.

[0008] Preferably, the construction ship is fixed on both sides through two positioning anchors and a riverbed, and the construction ship is further provided with a positioning pile near the first bidirectional track frame on one side. The construction ship is further provided with an excavator near the self-propelled sludge barge on one side, and the outer side of the transport trolley is detachably provided with a fracturing device.

[0009] Preferably, the second positioning frame is provided with a cantilever frame on one side, the cantilever frame comprises a winch arranged on a top plate, the winch is connected with a submersible device through a fixed cable, two detection modules are symmetrically arranged on the lower side of the submersible device, and the detection modules are used for detecting the position of the drill hole. The submersible device comprises a carrier, first searchlights are arranged on the outer side of the carrier, and two first pumps, a second pump and a load support are symmetrically arranged on the lower portion of the carrier.

[0010] Preferably, the fixed cable is fixed through a calibration module and the cantilever frame, the calibration module comprises a first calibration rod, a second calibration rod and a hollow tube arranged from top to bottom, the first calibration rod and the second calibration rod are rotatably arranged on the cantilever frame, the middle portions of the first calibration rod and the second calibration rod are respectively sleeved with a first sleeve and a second sleeve, the fixed cable is wound on the first sleeve and the second sleeve, the fixed cable is arranged in the hollow tube, the bottom of the cantilever frame is provided with a bottom plate, the middle portion of the bottom plate is provided with a straight plate, the upper side of the straight plate is provided with an alignment plate, the hollow tube is inserted on the upper side of the alignment plate, and a plurality of second balls are arranged on the inner side of the hollow tube from high to low in the circumferential direction.

[0011] Preferably, the cantilever frame comprises two tripods arranged oppositely, the upper portions of the tripods are respectively provided with counterbores and fixing holes, and the lower portion of the top plate is further provided with a support rib plate. The first calibration rod is provided with two first baffles in parallel in the middle portion, the two sides of the first sleeve are respectively provided with second baffles, the second baffles abut against the first baffles through springs, and the second baffles are sleeved on the first calibration rod. The middle portion of the second sleeve is provided with a circular arc annular groove, the two sides of the second sleeve are respectively provided with two weight plates in opposition, the two weight plates are inserted, the top middle position of the weight plate is provided with a threaded hole, a second screw is arranged in the threaded hole, the end portion of the second screw is provided with a first ball, the first ball cooperates with the circular arc annular groove to form a buffer zone, and the fixed cable is arranged in the buffer zone. The bottom of the weight plate is provided with a first through hole, a second alignment rod is arranged in the first through hole, the upper end of the weight plate is respectively provided with a groove and a protrusion, the two sides of the threaded hole are respectively provided with a vertical plate, a mounting hole is arranged through the vertical plate, and a first screw is arranged in the two adjacent mounting holes; The alignment plate is detachably provided with an alarm module, the alarm module comprises an induction ring and an electric control board, the induction ring and the electric control board are sleeved on the hollow pipe, a plurality of round rods are arranged through the induction ring, the end of the round rod is provided with a round head, the bottom of the round head is provided with a transition plate, the transition plate is hinged through a ball head and a base, and the base is connected through a first ring plate and a bottom plate.

[0012] In the preferred scheme, the middle part of the bottom plate and the alignment plate is respectively provided with a first through hole and a third through hole, and a plurality of second through holes are arranged on the outer side of the third through hole; The middle part of the induction ring and the electric control board is respectively provided with a first lock hole and a second lock hole, the first lock hole and the second lock hole are sleeved on the hollow pipe, a plurality of insertion holes are arranged on the outer side of the first lock hole in the circumferential direction, two elastic sheets are symmetrically arranged on the upper side of the insertion hole, the round rod is arranged in the insertion hole, a plurality of contacts are arranged on the bottom of the electric control board, the contacts are inserted into the insertion hole, and the end of the contact abuts against the elastic sheet. The first ring plate is arranged on the top of the base, the inner side of the base is provided with a second ring plate, the second ring plate is threadedly connected with an adjusting sleeve, the middle part of the base is provided with a ball hole, the ball head is sleeved on the sleeve pipe, the transition plate is located at the end of the sleeve pipe, a third through hole is arranged through the transition plate and the middle part of the sleeve pipe, the ball head is arranged in the ball hole, the position of the round rod in the induction ring is changed by changing the angle of the transition plate, and the round rod is used for conducting two elastic sheets to form a loop.

[0013] In the preferred scheme, the bottom of the carrier is further provided with a second search lamp, and the two sides of the second search lamp are provided with sonars; The detection module comprises an adapter plate, the middle part of the adapter plate is provided with a lock plate, one side of the lock plate is connected with the load support, the two sides of the adapter plate are respectively provided with a fixing ring, the fixing ring is sleeved on the load support, a bidirectional telescopic cylinder is fixed through a mounting seat and the lock plate, the two sides of the bidirectional telescopic cylinder are respectively provided with a jacking rod, the jacking rod is hinged through a second bolt and a detection rod, and the bottom of the detection rod is provided with a sensing head; The end of the jacking rod is provided with a driving plate, the two sides of the lower part of the adapter plate are respectively provided with an auxiliary plate, the auxiliary plate is hinged through a first bolt and the detection rod, one side of the detection rod is provided with a second through hole and a waist hole, and the first bolt and the second bolt are respectively arranged in the second through hole and the waist hole; The inner side of the lock plate is provided with a sliding groove, the adapter plate and the lock plate are slidingly connected, the two sides of the adapter plate and the sliding groove are respectively provided with a convex strip and a convex strip, the convex strip is located in the clamping groove, the outer side of the lock plate is provided with a third screw, and the end of the third screw abuts against the outer side of the adapter plate.

[0014] In a preferred embodiment, a construction method of an underwater excavation drilling device comprises the following steps: S1, construction preparation, installing the first support, the second support, the first bidirectional track frame and the second bidirectional track frame on the construction ship respectively, and completing the debugging of the first positioning frame, the first pushing module, the first drill module, the second positioning frame, the second pushing module and the second drill module; S2, checking the position of the construction ship through the ship moving positioning module, and fixing the construction ship through the positioning pile and the positioning anchor; S3, adjusting the interval between the two adjacent first positioning frames and the second pushing module according to the design parameters, completing the drilling of the riverbed through the first pushing module and the first drill module, and forming the to-be-drilled area, the first drilled area and the second drilled area in the riverbed through the drilling construction; S4, after drilling, the sediments are lifted to the water surface and then transported to the self-propelled sludge barge through the transport trolley along the first transport line; S5, with the progress of the construction, the first drilling operation is carried out in the to-be-drilled area, the second pushing module is moved to avoid the shielding area, and the second drilling operation is carried out in the second drilled area; S6, after excavation, the sediments are lifted to the water surface and then transported to the self-propelled sludge barge through the transport trolley along the second transport line; S7, gradually changing the positions of the construction ship and the self-propelled sludge barge along the channel direction through the positioning pile and the positioning anchor, and repeating S3-S6; S8, after the second drilling operation is completed, a construction completion area is formed, and the construction completion area is scanned to ensure that the ground excavation elevation and flatness meet the construction requirements.

[0015] In a preferred embodiment, in S3-S4, initially, only the first drill module is working when the operation starts, and the excavator area riverbed surface has not formed a broken area. After the first cycle of drilling is completed, the second cycle starts from the ship moving positioning, and then the first drill module and the second drill module operate synchronously. At this time, the operation is the above-mentioned step first support-first extension frame cycle, until the last cycle only the second drill module operates, the excavation operation of the single longitudinal area of the riverbed is completed, the next longitudinal area excavation is continued, and the whole riverbed area excavation operation is completed. In the process of the operation of the second drill module, the underwater probe is used to complete the underwater exploration, the interval between the two detection rods is adjusted according to the interval between the two adjacent drill holes, the position and interval of the first drill hole are checked, the drilling operation is carried out when the drilling construction quality meets the requirement of the second drill hole, and the supplementary drilling operation is carried out when the drilling construction quality does not meet the requirement of the second drill hole, until the requirement of the second drill hole is met.

[0016] The beneficial effects of the present application are: by installing the first bidirectional track frame and the second bidirectional track frame on the construction ship, the efficiency of the cooperation of the first drill bit module and the second drill bit module is ensured, the two drill bit modules work together, can efficiently excavate and remove the riverbed, avoids the problem that the ecological damage may be caused by the traditional blasting mode, in actual construction, the two drill bit modules are provided with different drill bit types, so that different bottom layers can be fully covered, convenient to operate, and the construction quality is ensured, the excavated sediments are removed as they are excavated, the construction period is shortened, and good economic benefits are obtained. BRIEF DESCRIPTION OF DRAWINGS

[0017] The present application will be further described below in conjunction with the drawings and examples: Figure 1 is a front view schematic diagram of the present application; Figure 2 is a left view schematic diagram of the present application; Figure 3 is a right view schematic diagram of the present application; Figure 4 is a top view schematic diagram of the present application Figure 1 ; Figure 5 is a top view schematic diagram of the present application Figure 2 ; Figure 6 is a drilling schematic diagram of the present application Figure 1 ; Figure 7 is a drilling schematic diagram of the present application Figure 2 ; Figure 8 is a drilling schematic diagram of the present application Figure 3 ; Figure 9 is a stone crushing process schematic diagram of the transport trolley of the present application; Figure 10 is the first construction process of the present application; Figure 11 is the second construction process of the present application; Figure 12 is the third construction process of the present application; Figure 13 is the fourth construction process of the present application; Figure 14 is the fifth construction process of the present application; Figure 15 is the sixth construction process of the present application; Figure 16 is the seventh construction process of the present application; Figure 17 is a schematic diagram of the installation of the submersible and the second positioning frame of the present application Figure 1 ; Figure 18is a submersible and second positioning frame installation schematic of the present invention Figure 2 ; Figure 19 is a left view schematic of Figure 17 ; Figure 20 is a cantilever frame and calibration module installation schematic of Figure 17 ; Figure 21 is a cantilever frame structure schematic of Figure 20 ; Figure 22 is a calibration module exploded structure schematic of Figure 18 ; Figure 23 is an internal structure schematic of Figure 19 ; Figure 1 ; Figure 24 is an internal structure schematic of Figure 19 ; Figure 2 ; Figure 25 is an internal structure schematic of Figure 19 ; Figure 3 ; Figure 26 is an alarm module structure schematic of Figure 19 ; Figure 1 ; Figure 27 is an alarm module structure schematic of Figure 19 ; Figure 2 ; Figure 28 is an alarm module structure schematic of Figure 19 ; Figure 3 ; Figure 29 is an enlarged schematic of A of Figure 27 ; Figure 30 is an enlarged schematic of B of Figure 28 ; Figure 31 is a submersible and detection module installation structure schematic of the present invention Figure 1 ; Figure 32 is a submersible and detection module installation structure schematic of the present invention Figure 2 ; Figure 33 is an exploded structure schematic of Figure 31 ; Figure 1 ; Figure 34 is an exploded structure schematic of Figure 31 ; Figure 2 ; Figure 35 is a detection module exploded structure schematic of Figure 24 ; Figure 36 is an exploded view of the structure of Figure 34 ; Figure 37 is a schematic view of the internal structure of Figure 36 ; Figure 38 is a schematic view of a magnification of C of Figure 37 ;

[0018] In the figure: construction ship 1; self-propelled mud barge 2; first support 3; second support 4; first bidirectional track frame 5; second bidirectional track frame 6; first extension frame 7; second extension frame 8; first transport line 9; second transport line 10; transport trolley 11; first positioning frame 12; first jacking module 13; first drill bit module 14; second positioning frame 15; second jacking module 16; second drill bit module 17; excavator 18; ship moving positioning module 19; positioning pile 20; positioning anchor 21; fracturing device 22; hard rock block 23; alarm module 24; induction ring 2401; jack 2402; spring piece 2403; first lock hole 2404; electric control board 2405; contact 2406; second lock hole 2407; round rod 2408; round head 2409; base 2410; first ring plate 2411; ball hole 2412; second ring plate 2413; adjusting sleeve 2414; sleeve pipe 2415; ball head 2416; transition plate 2417; third through hole 2418; riverbed 25; area to be drilled 2501; first drilling area 2502; second drilling area 2503; first drilling operation 2504; shielding area 2505; second drilling operation 2506; construction completion area 2507; cantilever frame 26; top plate 2601; winch 2602; fixed cable 2603; bottom plate 2604; straight extension plate 2605; alignment plate 2606; tripod 2607; counterbore 2608; fixing hole 2609; support rib plate 2610; first via hole 2611; second via hole 2612; third via hole 2613; calibration module 27; first calibration rod 2701; second calibration rod 2702; hollow tube 2703; first sleeve 2704; first baffle 2705; second baffle 2706; spring 2707; second sleeve 2708; circular arc annular groove 2709; weight plate 2710; first through hole 2711; groove 2712; protrusion 2713; threaded hole 2714; vertical plate 2715; mounting hole 2716; first screw 2717; second screw 2718; first ball bearing 2719; second ball bearing 2720; submersible vehicle 28; carrier 2801; first searchlight 2802; first pump 2803; second pump 2804; second searchlight 2805; load support 2806; detection module 29; adapter plate 2901; fixing ring 2902; bidirectional telescopic cylinder 2903; jacking rod 2904; driving plate 2905; auxiliary plate 2906; first bolt 2907; detection rod 2908; second through hole 2909; waist round hole 2910; second bolt 2911; induction head 2912; lock plate 2913; mounting seat 2914; third screw 2915; slide 2916; protruding strip 2917; clamping groove 2918; sonar 30. DETAILED DESCRIPTION

[0019] Example 1 As Figures 1-5In one embodiment, the underwater excavation drilling device comprises a first bidirectional track frame 5 arranged in the middle of a construction ship 1, the lower part of the first bidirectional track frame 5 is connected with the construction ship 1 through a first support 3, the construction ship 1, the first support 3 and the first bidirectional track frame 5 are connected to form a transportation channel of a transportation trolley 11, the upper part of the first bidirectional track frame 5 supports a first positioning frame 12, the top of the first positioning frame 12 is provided with a first pushing module 13, the bottom of the first pushing module 13 is connected with a first drill bit module 14, and the transportation trolley 11 is used to transfer the sediments excavated from a riverbed 25 to a self-propelled sludge barge 2 through a first extension frame 7.

[0020] The construction ship 1 of the present application is a construction ship with a moon pool: the main hull is similar to a barge, which is a carrier of main functional modules, a continuous large moon pool is arranged in the ship's waist, and the moon pool is the working area of the drilling module, and the number of modules can be flexibly arranged on the moon pool. The first support 3 and the second support 4 ensure that the transportation trolley 1 can move along the first transportation line 9 and the second transportation line 10, so as to complete the cleaning of the sediments drilled up, and achieve the purpose of real-time cleaning. Compared with the traditional blasting operation mode, the ecological stability and green environmental protection are ensured, and the construction safety is ensured throughout the construction process, and there is no need to set up a safety zone during blasting. Since blasting also has the problem of inconsistent excavation removal height at different positions of the riverbed 25, the construction efficiency is improved and the construction quality is ensured.

[0021] In a preferred embodiment, a second bidirectional track frame 6 is arranged on one side of the first bidirectional track frame 5, the second bidirectional track frame 6 is connected with the construction ship 1 through a second support 4, the upper part of the second bidirectional track frame 6 supports a second positioning frame 15, the top of the second positioning frame 15 is provided with a second pushing module 16, the bottom of the second pushing module 16 is connected with a second drill bit module 17, and one side of the second bidirectional track frame 6 is connected with the self-propelled sludge barge 2 through a second extension frame 8.

[0022] Two drill bit modules are arranged as needed, which cooperate with each other and can adopt different drill bits for different hard rock layers to ensure smooth drilling. The cooperation of the slag grabbing drill and the cutting tooth drill fully covers the processing of different hardness layers.

[0023] Longitudinal and transverse railcars are respectively installed on the first bidirectional rail frame 5 and the second bidirectional rail frame 6. The longitudinal and transverse railcars are located above the moon pool and can carry the first positioning frame 12 and the second positioning frame 15 to move in both the lateral and longitudinal directions, thereby changing the position of the first jacking module 13 and the first drill bit module 14, the second jacking module 15 and the second drill bit module 16. The rails of the first bidirectional rail frame 5 and the second bidirectional rail frame 6 can be extended and dismantled as needed. When carrying out revetment side construction, the rails of the first bidirectional rail frame 5 and the second bidirectional rail frame 6 need to be extended to one side of the revetment to form an extension frame 7, which is straddled and connected to the construction vessel 1 and the revetment, thereby ensuring convenient drilling and avoiding the problem of inaccurate construction position.

[0024] The bottom of the first jacking device 13, which is set on the first positioning frame 12, is connected to the rotating device on the first drill bit module 14. The bottom of the rotating device is fixed with the drill rod. The rotating device drives the drill rod and the drill bit to rotate. At the same time, the rotating device is subjected to the jacking device to apply pressure to the riverbed 25, which ensures the drilling effect.

[0025] The bottom of the second jacking device 16, which is set on the second positioning frame 15, is connected to the rotating device on the second drill bit module 17. The bottom of the rotating device is fixed with the drill rod. The rotating device drives the drill rod and the drill bit to rotate. At the same time, the rotating device is subjected to pressure in the riverbed 25 by the jacking device, which ensures the drilling effect.

[0026] The first positioning frame 12 and the second positioning frame 15 adopt a gantry frame structure. The drill bit is used for underwater drilling and excavation operations. The multi-section drill rod can adapt to different water depth conditions. The drill bit can be replaced to adapt to different underwater bottom strengths. Preferably, two transverse railcars are set on the first bidirectional rail frame 5 and the second bidirectional rail frame 6. Two drilling rigs are arranged on each transverse railcar, thereby driving the positioning frame 12 to move to the drilling position.

[0027] like Figures 5-9 In the preferred embodiment, the two sides of the construction vessel 1 are fixed by two positioning anchors 21 and the riverbed 25 respectively. A positioning pile 20 is also provided on the side of the construction vessel 1 near the first bidirectional track frame 5, and a vessel positioning module 19 is provided on one side of the positioning pile 20. An excavator 18 is also installed on the side of the construction vessel 1 near the self-propelled mud barge 2. A fracturing device 22 is detachably installed on the outside of the transport trolley 11. The fracturing device 22 is used to crush the hard rock blocks 23, and the excavator 18 is used for supplementary cleaning.

[0028] Ship relocation and positioning module 19: A combined ship relocation and positioning function module including positioning anchors and positioning piles.

[0029] Positioning Anchor 21: Responsible for moving and positioning the construction vessel within the operating area in waters where anchoring is permitted.

[0030] Positioning pile 20: responsible for the construction ship positioning after the lower leg support part of the ship body gravity, stabilize the ship body, make the construction in the more stable conditions, if the construction water area cannot be anchored, then start the mobile positioning pile mode, through the cooperation of multiple groups of positioning piles, move the ship and positioning in the operation area.

[0031] Through the mutual cooperation of the above modules, the construction ship 1 is moved accurately, fixed stably and conveniently.

[0032] For the larger hard rock blocks 23 drilled up, the fracturing device 22 can be used for fracturing and breaking in the transport trolley 11, and the fracturing device 22 can break the sediment laterally from the two sides of the partition between the two adjacent drill holes when the grab module 18 is used for grabbing, so as to ensure the high efficiency of grabbing.

[0033] After the drilling is completed, the telescopic arm excavator 18 is used for corner cleaning at the corner, so as to ensure the quality and effect of the construction. The telescopic arm excavator 18 can perform secondary cleaning on the corners not completely covered by the drill hole, and the cleaning efficiency is high.

[0034] As Figures 17-20 In the preferred scheme, a cantilever frame 26 is arranged on one side of the second positioning frame 15, the cantilever frame 26 includes a winch 2602 arranged on a top plate 2601, the winch 2602 is connected with a submersible device 28 through a fixed cable 2603, two detection modules 29 are symmetrically arranged on the lower side of the submersible device 28, and the detection module 29 is used for detecting the position of the drill hole. The submersible device 28 includes a carrier 2801, a first searchlight 2802 is arranged on the outer side of the carrier 2801, and two first pumps 2803, a second pump 2804 and a load support 2806 are symmetrically arranged on the lower part of the carrier 2801.

[0035] Because the water body will become very turbid after drilling construction, the condition of the water body cannot be observed by naked eyes, and because the construction ship 1 will be disturbed by the flow and wind factors, the drilling construction platform cannot be absolutely stationary, that is, the drilling process is challenged in verticality, and the verticality will directly affect whether the adjacent two drill holes are fully covered during drilling, and the effect of completely removing the sediment at the current position (such as Figure 6 In the longitudinal column, the submersible device 28 is used for reviewing the drilling work under water, providing a reference basis for grabbing, especially when the drilling process is affected by the floating of the construction ship 1, the effect needs to be confirmed by the submersible device 28, and the subsequent drilling construction operation is performed after the effect is confirmed to be correct.

[0036] In the scheme, the submersible 28 illuminates the water body by two first searchlights 2802, the first searchlight 2802 adopts a transparent shell, an industrial waterproof camera is arranged in the shell, the construction area and the water body around can be directly observed, the drilling effect is confirmed, meanwhile, the first pump 2803 cooperates with the second pump 2804 to adjust the posture at multiple angles, the movement is convenient, when it is needed to sink to the bottom, the load support 2806 avoids the problem that the carrier 2801 directly contacts the riverbed 25 and may be impacted and scraped by gravel or other sediments, the safety and stability of the carrier 2801 are ensured, the load support 2806 ensures the working height of the carrier 2801, by opening the detection module 29, whether the adjacent drilling positions in the longitudinal direction are completely penetrated can be measured, meanwhile, whether the interval between the drilling holes in the transverse direction is equal can be measured, so that the safety and convenience of construction are ensured.

[0037] As Figures 21-30 In the preferred scheme, the fixed cable 2603 is fixed by the calibration module 27 and the cantilever frame 26, the calibration module 27 comprises a first calibration rod 2701, a second calibration rod 2702 and a hollow tube 2703 arranged from top to bottom, the first calibration rod 2701 and the second calibration rod 2702 are rotatably arranged on the cantilever frame 26, the middle parts of the first calibration rod 2701 and the second calibration rod 2702 are respectively sleeved with a first sleeve 2704 and a second sleeve 2708, the fixed cable 2603 is wound on the first sleeve 2704 and the second sleeve 2708, the fixed cable 2603 is arranged in the hollow tube 2703, the bottom of the cantilever frame 26 is provided with a bottom plate 2604, the middle part of the bottom plate 2604 is provided with a straight plate 2605, the upper side of the straight plate 2605 is provided with an alignment plate 2606, the hollow tube 2703 is inserted on the upper side of the alignment plate 2606, a plurality of second balls 2720 are arranged on the inner side of the hollow tube 2703 from high to low in the circumferential direction.

[0038] Since the submersible 28 is also affected by the wind and water flow in use, the calibration module 27 is used for position detection of the submersible 28, through cooperation of the first calibration rod 2701, the second calibration rod 2702 and the limiting head 2703, it can be ensured that the fixed cable 2603 close to the cantilever frame 26 is in a vertical state, at this time, whether the fixed cable 2603 on the lower side deviates can be directly observed, the length of the hollow tube 2721 can be adjusted according to the height of the hoisting frame 16 to meet the observation needs of the construction personnel.

[0039] Since the position of the fixed cable 2603 changes in the process of winding and unwinding, the first sleeve 2704 follows and moves, the second sleeve 2708 performs initial deviation correction, the limiting head 2703 and the hollow tube 2721 perform secondary deviation correction, through the above arrangement, the right-angle turning of the fixed cable 2603 is reduced, the stress deformation friction related components are reduced, and the problem that the abrasion and fracture may be intensified is solved.

[0040] In a preferred scheme, the cantilever frame 26 comprises two tripods 2607 arranged oppositely, the upper part of the tripods 2607 is respectively provided with a counterbore 2608 and a fixing hole 2609, and the lower part of the top plate 2601 is further provided with a support rib plate 2610; The middle part of the first calibration rod 2701 is provided with two first baffles 2705 arranged in parallel, and the two sides of the first sleeve 2704 are respectively provided with a second baffle 2706, which is abutted on the first baffle 2705 through a spring 2707, and the second baffle 2706 is sleeved on the first calibration rod 2701; The middle part of the second sleeve 2708 is provided with a circular arc annular groove 2709, and the two sides of the second sleeve 2708 are respectively provided with two counterweight plates 2710 arranged oppositely, the two counterweight plates 2710 are inserted, the top middle part of the counterweight plate 2710 is provided with a threaded hole 2714, and a second screw 2718 is arranged in the threaded hole 2714, the end of the second screw 2718 is provided with a first ball 2719, and the first ball 2719 cooperates with the circular arc annular groove 2709 to form a buffer zone, and the fixed cable 2603 is arranged in the buffer zone; The bottom of the counterweight plate 2710 is provided with a first through hole 2711, and the second calibration rod 2702 is arranged in the first through hole 2711, the upper side end of the counterweight plate 2710 is respectively provided with a groove 2712 and a protrusion 2713, the two sides of the threaded hole 2714 are respectively provided with a vertical plate 2715, the vertical plate 2715 is provided with a mounting hole 2716 penetrating through, and the first screw 2717 is arranged in the adjacent two mounting holes 2716; The alignment plate 2606 is further provided with an alarm module 24 which can be detached, the alarm module 24 comprises an induction ring 2401 and an electric control board 2405, the induction ring 2401 and the electric control board 2405 are sleeved on the hollow tube 2703, a plurality of round rods 2408 are arranged in the induction ring 2401, the end of the round rod 2408 is provided with a round head 2409, the bottom of the round head 2409 supports a transition plate 2417, the transition plate 2417 is hinged through a ball head 2416 and a base 2410, and the base 2410 is connected through a first ring plate 2411 and the bottom plate 2604.

[0041] The spring 2707 can adapt to the problem of the fixed cable 2603 rubbing the first sleeve 2704 to move, the first sleeve 2704 can constrain the fixed cable 2603 to move axially within a certain range around the middle of the first calibration rod 2701, and can also rotate with the fixed cable 2603 under the action of the fixed cable 2603, thereby avoiding friction damage, and the second sleeve 2708 on the second calibration rod 2702 can press the fixed cable 2603 in the buffer space under the action of the self-weight of the weight plate 2710, through the second screw 2718 and the first ball 2719, to ensure the flexible angle displacement of the fixed cable 2603, that is, to further reduce the degrees of freedom of the fixed cable 2603, thereby completing self-correction positioning, the hollow pipe 2721 on the limiting head 2703 is aligned to receive the downward movement of the fixed cable 2603 from the buffer space, and further calibration is performed, and the second ball 2720 ensures that the fixed cable 2603 can be freely retracted and extended, and the friction is relatively small. In the process of retracting and extending, the above settings can better avoid wear and tear, ensure that the winding is in place, and avoid problems such as winding and misplacement, and the repeated use has high precision and good effect.

[0042] The alarm module 24 can detect the inclination angle of the transition plate 2417. Since there is water flow in the water body, the fixed cable 2603 will tilt during the process of lowering the submersible 28 into the water, and in order to ensure the accuracy of the drilling detection, the submersible 28 needs to be stably sunk to the top of the drilling hole and temporarily stopped. At this time, the fixed cable 2603 needs to be kept in a relatively vertical state to ensure the accuracy of the measurement position, and then the position of the measurement is changed by moving the construction ship 1, and the position of the submersible 28 is changed synchronously. During the process of lowering the submersible 28 into the water, the transition plate 2417 is tilted under the traction of the fixed cable 2603. At this time, the alarm module 24 starts to work to provide a reference for the construction personnel. After the submersible 28 is sunk into the water, the position of the submersible 28 is adjusted to ensure that the alarm module 24 does not give an alarm prompt. At this time, it indicates that the submersible 28 is directly below the cantilever plate 26. The operation is simple and the effect is good.

[0043] In the preferred scheme, the middle parts of the bottom plate 2604 and the alignment plate 2606 are respectively provided with a first via hole 2611 and a third via hole 2613, and the outer side of the third via hole 2613 is provided with a plurality of second via holes 2612; The first lock hole 2404 and the second lock hole 2407 are respectively provided in the induction ring 2401 and the electric control board 2405, the first lock hole 2404 and the second lock hole 2407 are sleeved on the hollow pipe 2703, a plurality of insertion holes 2402 are arranged on the outer side of the first lock hole 2404 in the circumferential direction, two elastic sheets 2403 are symmetrically arranged on the upper side of the insertion hole 2402, a round rod 2408 is arranged in the insertion hole 2402, a plurality of contact points 2406 are arranged on the bottom of the electric control board 2405, the contact points 2406 are inserted into the insertion hole 2402, and the end of the contact point 2406 abuts against the elastic sheet 2403. The first ring plate 2411 is arranged on the top of the base 2410, the second ring plate 2413 is arranged on the inner side of the base 2410, the adjusting sleeve 2414 is threadedly connected to the second ring plate 2413, the ball hole 2412 is arranged in the middle of the base 2410, the ball head 2416 is sleeved on the sleeve pipe 2415, the transition plate 2417 is arranged at the end of the sleeve pipe 2415, the third through hole 2418 is arranged through the middle of the transition plate 2417 and the sleeve pipe 2415, the ball head 2416 is arranged in the ball hole 2412, the position of the round rod 2408 in the induction ring 2401 is changed by changing the angle of the transition plate 2417, and the round rod 2408 is used to conduct two elastic sheets 2403 to form a loop.

[0044] The round rod 2408 is self-adapting with the inclination work of the transition plate 2417, in the cooperation process of the round rod 2408 and the induction ring 2401, the round rod 2408 is smoothly moved up and down when the insertion hole 2402 can be supported by the bottom force, when the transition plate 2417 is inclined, the height of the round rod 2408 at different positions changes, at this time, the round rod 2408 at the highest position first contacts two elastic sheets 2403, the conduction of the two elastic sheets 2403 is realized, different positions of the insertion hole 2402 correspond to different angles, the position of the elastic sheet first triggered is displayed on the terminal, and then the elastic sheet in the adjacent position of the insertion hole 2402 is also triggered until stable and continuous alarm, through the above design, the inclination direction of the fixed cable 2603 can be stably obtained, and the positions of different positions of the insertion hole can also be mutually checked with the round rod 2408, so that the problem that the elastic sheet at a certain position is wrongly alarmed is avoided, the position of the submersible 28 is adjusted after sinking to the bottom, and finally the fixed cable 2603 is kept in a vertical state, the alarm is released at this time, at this time, the parameters of the drill hole at the position can be accurately measured, the device can adapt to various working conditions, stable work is ensured, compared with directly using a sensor, the effect is more intuitive, and the fixed cable 2603 can be limited, the angle range of the sleeve pipe 2415 can be changed by changing the position of the adjusting sleeve 2414 relative to the second ring plate 2413, so that the fixed cable 2603 is stably held, the operation is simple, and the use is stable.

[0045] As Figures 31-38 In the preferred scheme, the bottom of the carrier 2801 is further provided with a second searchlight 2805, and the two sides of the second searchlight 2805 are provided with the sonar 30. The detection module 29 comprises an adapter plate 2901, the middle part of the adapter plate 2901 is provided with a lock plate 2913, one side of the lock plate 2913 is connected with the load support 2806, both sides of the adapter plate 2901 are respectively provided with a fixing ring 2902, the fixing ring 2902 is sleeved on the load support 2806, a bidirectional telescopic cylinder 2903 is fixed through a mounting seat 2914 and the lock plate 2913, both sides of the bidirectional telescopic cylinder 2903 are respectively provided with a jacking rod 2904, the jacking rod 2904 is hinged through a second bolt 2911 and a detection rod 2908, the bottom of the detection rod 2908 is provided with a sensing head 2912; The end of the jacking rod 2904 is provided with a driving plate 2905, both sides of the lower part of the adapter plate 2901 are respectively provided with an auxiliary plate 2906, the auxiliary plate 2906 is hinged through a first bolt 2907 and the detection rod 2908, one side of the detection rod 2908 is provided with a second through hole 2909 and a waist round hole 2910, the first bolt 2907 and the second bolt 2911 are respectively arranged in the second through hole 2909 and the waist round hole 2910; The inner side of the lock plate 2913 is provided with a sliding groove 2916, the adapter plate 2901 and the lock plate 2913 are slidingly connected, both sides of the adapter plate 2901 and the sliding groove 2916 are respectively provided with a convex strip 2917 and the convex strip 2917, the convex strip 2917 is located in a clamping groove 2918, the outer side of the lock plate 2913 is provided with a third screw 2915, the end of the third screw 2915 abuts against the outer side of the adapter plate 2901.

[0046] In actual work, due to the verticality deviation of the drill bit module under the fluctuation of the construction ship 1, the detection rod 2908 can be driven by the submersible 28 to sink to the bottom for support, and when the turbid water cannot be observed by naked eye, it can be observed in the water body to ensure the safety and efficiency of the construction at the minimum cost. At the same time, the sensor provided in the sensing head 2912 of the detection rod 2908 can collect information about whether the detection rod 2908 and the contact object are in sufficient contact, so as to ensure the accuracy of the detection data. Through the sensing head 2912, relatively accurate guidance can be provided for the construction personnel as a basis, and the construction is accurate and convenient. The detection rod 2908 can adjust its opening distance under the action of the bidirectional telescopic cylinder 2903, so as to realize the position precision detection between each column of longitudinal drill holes and the spaced drill holes. The sensing head 2912 is inserted into the drill hole to a certain position and gradually opened to obtain data. Since the carrier 2801 is provided with a gyroscope and a GPS, the position and orientation of the carrier 2801 can be adjusted, and the bottom-mounted sonar 30 is used for construction surface scanning (after construction, scanning is also needed to ensure that the excavation elevation meets the design parameters and the relative flatness of the riverbed after construction). The detection accuracy is ensured, and the telescopic sensitivity is reliable. When lifting is needed, the top rods 2904 on both sides are retracted to avoid scratching and touching the drill hole sidewall. When installing, the adapter plate 2901 is installed on the load support 2806 through the fixing ring 2902. When it is found that there are uneven rock piles near the drill hole at the bottom of the riverbed 25, the top rod 2904 can be retracted as a second protection. When the submersible 28 is submerged for observation, it is safer and more convenient. The top rod 2904 is equivalent to the extension and extension of the load support 2806, and the design is ingenious and the effect is better.

[0047] When installing, the relative position of the adapter plate 2901 on the lock plate 2913 is adjusted, so that the fixing ring 2902 can be sleeved on the load support 2806, and then the third screw 2915 is used for locking and fixing. The convex strip 2917 and the clamping groove 2918 ensure mutual locking and stability, and will not be separated. Through the above arrangement, the detection device is convenient to install, disassemble and maintain.

[0048] In the initial construction, the acoustic device (such as the sonar 30) can obtain the geological cloud chart and information of different positions in the construction area in advance, mark according to the above information, and record the GPS position. The coordinates that need to be paid attention to the construction state are stored in the control unit. In actual construction, as a reminder, supplementary drilling is carried out for the construction at this place to ensure that the partition part can be fully removed by subsequent construction.

[0049] Embodiment 2 In a preferred embodiment, a construction method of an underwater excavation and drilling device comprises the following steps: S1, construction preparation, respectively, on the construction ship 1 install the first support 3, the second support 4, the first bidirectional track frame 5 and the second bidirectional track frame 6, and complete the debugging of the first positioning frame 12, the first pushing module 13, the first drill module 14, the second positioning frame 15, the second pushing module 16 and the second drill module 17; Construction preparation: the first drill module and the second drill module are arranged on the moon pool, the length of the two drill modules and the excavatable area is kept consistent, and each occupies half of the moon pool area. After the debugging of each operation equipment and automatic process is completed, the construction ship sails or is towed to the area to be operated, the river bottom is scanned using acoustic scanning equipment, and the riverbed surface of the operation area is confirmed to assist and guide the excavation operation.

[0050] S2, the position of the construction ship 1 is checked by the ship positioning module 19, and the construction ship 1 is fixed by the positioning pile 20 and the positioning anchor 21; Ship positioning: the construction ship accurately coincides the starting point of the moon pool operation area and the area to be operated by the positioning anchor and the positioning device, then the positioning pile is lowered and the ship body is lifted to a certain height without leaving the water surface, so that the positioning pile bears part of the weight of the construction ship, in order to make the whole construction ship more stable during operation.

[0051] S3, the distance between the two adjacent first positioning frames 12 and the second pushing module 16 is adjusted according to the design parameters, the riverbed 25 is drilled by the first pushing module 13 and the first drill module 14, and the riverbed 25 is formed by drilling into the to-be-drilled area 2501, the first drilled area 2502 and the second drilled area 2503; S4, after drilling, the sediment is lifted to the water surface, and then transported to the self-propelled barge 2 by the transport trolley 11 along the first transport line 9; Drilling and slag transportation: the deck transport track is arranged below the longitudinal drilling track. When the drill carries the rock slag and lifts the drill bit up, the slag transport trolley receives the instruction and transports to the lower part of the intersection of the corresponding transverse track and longitudinal track. When the drill is transversely moved above the longitudinal track, the hollow track below the slag transport trolley is in place. The drill drops the rock slag taken out into the transport trolley, and then the rock slag is transported to the self-propelled barge cabin on the side of the ship by the track and dumped.

[0052] S5, with the progress of the construction, the first drilling operation 2504 is carried out in the to-be-drilled area 2501, the second pushing module 16 is moved to avoid the shielding area 2505, and the second drilling operation 2506 is carried out on the second drilled area 2503; S6, after excavation, the sediment is lifted to the water surface, and then transported to the self-propelled barge 2 by the transport trolley 11 along the second transport line 10; S7, gradually change the positions of the construction ship 1 and the self-propelled barge 2 along the channel direction by the positioning pile 20 and the positioning anchor 21, and repeat S3-S6; Drilling operation: multiple drilling machines are adjusted to the horizontal and vertical distance on the track to start the drilling operation, each time drilling the height of the drill bit, and gradually drilling to the target elevation, while ensuring that all hole parts overlap each other, so that the drilled space covers the entire construction surface. When the underwater stratum is low in strength, a salvage drill is used for gradual drilling; when the underwater stratum is high in strength, a barrel drill with cutting teeth is used for contour drilling, and if the rock is completed and the barrel drill top wedge device is intact, the whole is removed, and if the rock cannot be removed, the salvage bucket drill bit is replaced to break and remove the remaining rock; if the base surface still has residues, the grab bucket drill bit is switched to clean up.

[0053] The first drill bit module 14 and the second drill bit module 17 can use the same or different drill bits, and the number and position of the salvage drill and the cutting tooth barrel drill are reasonably arranged to efficiently complete the excavation of the riverbed 25.

[0054] Drilling and transporting: a deck transport track is arranged below the longitudinal track, and when the drill carries the rock residue and lifts the drill bit up, the salvage trolley receives the instruction and transports to the position below the intersection of the corresponding horizontal track and the longitudinal track. When the drill is moved above the longitudinal track, the hollow track below the salvage trolley is in place, the drill bit drops the removed rock residue into the salvage trolley, and the rock residue is transported out by the track. If the removed rock has a large volume and is relatively complete, a fracturing device on the transport trolley can be used to preliminarily break it.

[0055] Excavation cycle: initially, only the first drill bit module is working when the operation starts, and the second drill bit module area riverbed surface has not formed a broken area. After the first drilling operation of the first cycle is completed, the second cycle starts from the positioning of the ship, and the two drill bit modules are synchronized at this time. The operation is cycled by steps 2-7 above, until the last cycle only the second drill bit module operates, completing the excavation of the riverbed in a single longitudinal area, and continuing to excavate the next longitudinal area until the entire riverbed area is excavated.

[0056] S8, after the second drilling operation 2506 is completed, a construction completion area 2507 is formed, and the construction completion area 2507 is scanned to ensure that the ground excavation elevation and flatness meet the construction requirements.

[0057] After the riverbed excavation is completed, an acoustic scanning device (such as a sonar 30) is used to scan the riverbed to ensure that the bottom surface excavation elevation and flatness meet the construction requirements.

[0058] In the preferred scheme, in S3-S4, initially, only the first drill module 14 is working when the work starts, and the excavator 18 area of the riverbed surface has not yet formed a broken area. After the first cycle of drilling is completed, the second cycle starts from the ship positioning, and then the first drill module 14 and the second drill module 17 are synchronized. At this time, the work is from the above-mentioned step of the first support 3-first extension frame 7 cycle, until the last cycle only the second drill module 17 is working, and the excavation work of the single longitudinal area of the riverbed is completed. The next longitudinal area excavation is continued until the whole riverbed area excavation work is completed. In the process of working through the second drill module 17, the underwater probe is completed through the submersible 28, and the distance between the two detection rods 2908 is adjusted according to the distance between the two adjacent drill holes to check the position and distance of the drill hole. If the drilling quality meets the requirements of the second drilling, drilling operation is performed. If the drilling quality does not meet the requirements of the second drilling, supplementary drilling is performed until the requirements of the second drilling are met.

[0059] As Figures 9-16 In the preferred scheme, in S3-S4, initially, only the first drill module 14 is working when the work starts, and the excavator 18 area of the riverbed surface has not yet formed a broken area. After the first cycle of drilling is completed, the second cycle starts from the ship positioning, and then the first drill module 14 and the second drill module 17 are synchronized. At this time, the work is from the above-mentioned step of the first support 3-first extension frame 7 cycle, until the last cycle only the second drill module 17 is working, and the excavation work of the single longitudinal area of the riverbed is completed. The next longitudinal area excavation is continued until the whole riverbed area excavation work is completed. In the process of working through the second drill module 17, the underwater probe is completed through the submersible 28, and the distance between the two detection rods 2908 is adjusted according to the distance between the two adjacent drill holes to check the position and distance of the drill hole. If the drilling quality meets the requirements of the second drilling, drilling operation is performed. If the drilling quality does not meet the requirements of the second drilling, supplementary drilling is performed until the requirements of the second drilling are met.

[0060] Construction sequence: Starting from the excavation starting line of the first longitudinal column ①, the excavation work of the first longitudinal column ① is completed. The ship retreats to the excavation starting line and moves horizontally to the excavation starting line of the second longitudinal column ②, and the excavation work of the second longitudinal column ② is completed. The ship retreats to the excavation starting line and moves horizontally to the excavation starting line of the third longitudinal column ③, and the excavation work of the third longitudinal column ③ is completed. The ship turns at the excavation ending line and moves horizontally to the excavation ending line of the fifth longitudinal column ⑤, and the excavation work of the fifth longitudinal column ⑤ is completed. The ship retreats to the excavation ending line and moves horizontally to the excavation ending line of the fourth longitudinal column ④, and the excavation work of the fourth longitudinal column ④ and the nearby revetment is completed.

[0061] Longitudinal column excavation construction steps, taking the first longitudinal column ① as an example: Step 1: Move the construction ship to the excavation starting area, and move the ship through the ship positioning module. The rear line of the drillable area of the drill module is coincided with the excavation starting line, and the first drilling excavation work of the first cycle is started. The transport module simultaneously receives and transports the broken slag. At this time, the second drill module is not started yet. ​

[0062] Step two: the first drilling operation of the first cycle is completed, and the underwater is broken to form several rows of trench walls. The ship is moved by the ship moving positioning module, and the ship is moved by one step. The rear line of the drillable area of the module is connected with the operation area of the first cycle. The trench wall at the connection between the second cycle and the first cycle is controlled to be consistent with the thickness obtained by the first cycle drilling. At this time, the second drill module enters the longitudinal column ①, and the second drilling operation starts. The transport module simultaneously receives and transports the broken slag.

[0063] Step three: the first drilling module and the second drill module of the second cycle simultaneously perform excavation operation. The construction efficiency of the two modules is similar, and the excavation content of each module is completed synchronously. After the drilling is completed, the required riverbed surface is obtained. The ship moving positioning module continues to move by one step, and the two drilling modules start the cycle construction until the last cycle of the longitudinal column ①.

[0064] Step four: the last cycle of the longitudinal column ①, the first drill module exceeds the excavation termination line, and only the second drill module is in the excavation operation area of the longitudinal column ①. At this time, the first drill module stops operation, and the second drill module excavates the last excavation area. After that, the excavation of the longitudinal column ① is completed.

[0065] Step five: due to the construction of the longitudinal column ⑤, the ship side shields part of the excavation area close to the revetment, so that it cannot be excavated. Therefore, the drill track lengthening module is added during the excavation of the longitudinal column ④, such as Figure 14 The drill can be transversely moved to the ship side to lengthen the track, and the excavation of the shielding area between the longitudinal column ⑤ and the revetment is simultaneously performed. This area is destroyed by the first drill module and the second drill module, and the remaining part is excavated by the grabbing device on the shore or other excavation ships.

[0066] The ship is turned around to discharge the slag on one side. As shown in Figure 14 , the slag transport ship cannot be parked on the designated side of the work ship due to the lack of space. The work ship needs to be turned around to park the self-propelled barge 2 on the same side.

[0067] The above embodiments are only preferred technical solutions of the present application, and should not be regarded as limiting the present application. The protection scope of the present application should be based on the technical solutions claimed in the claims, including equivalent replacement solutions of the technical features claimed in the claims. That is, within this range, equivalent replacement improvements are also within the protection scope of the present application.

Claims

1. An underwater excavation and drilling device, characterized in that: The first bidirectional track frame (5) is set in the middle of the construction vessel (1). The lower part of the first bidirectional track frame (5) is connected to the construction vessel (1) through the first support (3). The construction vessel (1), the first support (3) and the first bidirectional track frame (5) are connected to form a transport channel for the transport trolley (11). The upper part of the first bidirectional track frame (5) is supported by a first positioning frame (12). The top of the first positioning frame (12) is provided with a first jacking module (13). The bottom of the first jacking module (13) is connected to a first drill bit module (14). The transport trolley (11) is used to transfer the sediment excavated from the riverbed (25) by the first drill bit module (14) to the self-propelled mud barge (2) that is against the side of the construction vessel (1) through the first extension frame (7).

2. The underwater excavation and drilling device according to claim 1, characterized in that: in A second bidirectional track frame (6) is provided on one side of the first bidirectional track frame (5). The second bidirectional track frame (6) is connected to the construction vessel (1) through the second bracket (4). The upper part of the second bidirectional track frame (6) is supported by a second positioning frame (15). A second jacking module (16) is provided on the top of the second positioning frame (15). A second drill bit module (17) is connected to the bottom of the second jacking module (16). One side of the second bidirectional track frame (6) is connected to the self-propelled mud barge (2) through the second extension frame (8).

3. The underwater excavation and drilling device according to claim 1, characterized in that: The construction vessel (1) is fixed on both sides by two positioning anchors (21) and the riverbed (25). A positioning pile (20) is also installed on the side of the construction vessel (1) near the first bidirectional track frame (5). A ship-moving positioning module (19) is installed on one side of the positioning pile (20). An excavator (18) is also installed on the side of the construction vessel (1) near the self-propelled mud barge (2). A fracturing device (22) is detachably installed on the outside of the transport trolley (11). The fracturing device (22) is used to crush hard rock blocks (23), and the excavator (18) is used for supplementary cleaning.

4. The underwater excavation and drilling device according to claim 1, characterized in that: A cantilever frame (26) is provided on one side of the second positioning frame (15). The cantilever frame (26) includes a winch (2602) installed on the top plate (2601). The winch (2602) is connected to the submersible (28) through a fixed cable (2603). Two detection modules (29) are symmetrically arranged on the lower side of the submersible (28). The detection modules (29) are used to detect the position of the borehole. The submersible (28) includes a carrier (2801), with a first searchlight (2802) on the outside of the carrier (2801) and two first pump thrusters (2803), a second pump thruster (2804) and a load-bearing support (2806) symmetrically arranged on the lower part of the carrier (2801).

5. The underwater excavation and drilling device according to claim 4, characterized in that: The fixing cable (2603) is fixed by the calibration module (27) and the cantilever frame (26). The calibration module (27) includes a first calibration rod (2701), a second calibration rod (2702), and a hollow tube (2703) arranged from top to bottom. The first calibration rod (2701) and the second calibration rod (2702) are rotatably mounted on the cantilever frame (26). The middle parts of the first calibration rod (2701) and the second calibration rod (2702) are respectively fitted with a first sleeve (2704) and a second sleeve (2708). The fixing cable (2603) The cable (2603) is wrapped around and attached to the first sleeve (2704) and the second sleeve (2708). The fixed cable (2603) is inserted into the hollow tube (2703). The bottom of the cantilever frame (26) is provided with a base plate (2604). The middle part of the base plate (2604) is provided with a straight plate (2605). The upper side of the straight plate (2605) is provided with an alignment plate (2606). The hollow tube (2703) is inserted into the upper side of the alignment plate (2606). Multiple second balls (2720) are arranged along the circumferential direction from high to low on the inner side of the hollow tube (2703).

6. The underwater excavation and drilling device according to claim 5, characterized in that: The cantilever frame (26) includes two tripods (2607) arranged opposite to each other. The tripods (2607) are respectively provided with countersunk holes (2608) and fixing holes (2609). The top plate (2601) is also provided with a support rib plate (2610) at the bottom. Two first baffles (2705) are arranged in parallel in the middle of the first calibration rod (2701), and second baffles (2706) are respectively arranged on both sides of the first sleeve (2704). The second baffles (2706) abut against the first baffles (2705) by springs (2707), and the second baffles (2706) are sleeved on the first calibration rod (2701). The second sleeve (2708) has an arc-shaped groove (2709) in the middle. Two counterweight plates (2710) are respectively arranged opposite each other on both sides of the second sleeve (2708). The two counterweight plates (2710) are inserted together. A threaded hole (2714) is provided at the middle position of the top of the counterweight plate (2710). The second screw (2718) is set in the threaded hole (2714). The end of the second screw (2718) is provided with a first ball (2719). The first ball (2719) and the arc-shaped groove (2709) form a buffer zone. The fixing cable (2603) passes through the buffer zone. The bottom of the counterweight plate (2710) is provided with a first through hole (2711), and the second calibration rod (2702) is provided in the first through hole (2711). The upper end of the counterweight plate (2710) is provided with a groove (2712) and a protrusion (2713). Vertical plates (2715) are provided on both sides of the threaded hole (2714). Mounting holes (2716) are provided through the vertical plates (2715). The first screw (2717) is provided in the two adjacent mounting holes (2716). The alignment plate (2606) is also detachably equipped with an alarm module (24). The alarm module (24) includes a sensing ring (2401) and an electronic control board (2405). The sensing ring (2401) and the electronic control board (2405) are respectively sleeved on the hollow tube (2703). Multiple round rods (2408) are passed through the sensing ring (2401). The ends of the round rods (2408) are provided with round heads (2409). The bottom of the round heads (2409) is supported by a transition plate (2417). The transition plate (2417) is hinged to the base (2410) through a ball head (2416). The base (2410) is connected to the bottom plate (2604) through a first ring plate (2411).

7. The underwater excavation and drilling device according to claim 6, characterized in that: The middle portions of the base plate (2604) and the alignment plate (2606) are respectively provided with a first through hole (2611) and a third through hole (2613), and a plurality of second through holes (2612) are provided on the outer side of the third through hole (2613). The induction ring (2401) and the electronic control board (2405) are respectively provided with a first locking hole (2404) and a second locking hole (2407). The first locking hole (2404) and the second locking hole (2407) are sleeved on the hollow tube (2703). Multiple insertion holes (2402) are provided circumferentially on the outside of the first locking hole (2404). Two spring pieces (2403) are symmetrically arranged on the upper side of the insertion hole (2402). A round rod (2408) passes through the insertion hole (2402). Multiple contacts (2406) are provided at the bottom of the electronic control board (2405). The contacts (2406) are inserted into the insertion holes (2402), and the ends of the contacts (2406) abut against the spring pieces (2403). The first ring plate (2411) is set on the top of the base (2410). The second ring plate (2413) is set on the inner side of the base (2410). The second ring plate (2413) is threaded with an adjusting sleeve (2414). The middle part of the base (2410) is provided with a ball hole (2412). The ball head (2416) is sleeved on the sleeve (2415). The transition plate (2417) is located at the end of the sleeve (2415). The third through hole (2418) is set through the middle part of the transition plate (2417) and the sleeve (2415). The ball head (2416) is set in the ball hole (2412). By changing the angle of the transition plate (2417), the position of the round rod (2408) in the sensing ring (2401) is changed. The round rod (2408) is used to conduct the two spring pieces (2403) to form a circuit.

8. The underwater excavation and drilling device according to claim 4, characterized in that: The bottom of the carrier (2801) is also provided with a second searchlight (2805), and sonar (30) is provided on both sides of the second searchlight (2805). The detection module (29) includes an adapter plate (2901), a locking plate (2913) is provided in the middle of the adapter plate (2901), one side of the locking plate (2913) is connected to the load support (2806), and fixing rings (2902) are provided on both sides of the adapter plate (2901). The fixing rings (2902) are sleeved on the load support (2806). The bidirectional telescopic cylinder (2903) is fixed by the mounting base (2914) and the locking plate (2913). The bidirectional telescopic cylinder (2903) is provided with top rods (2904) on both sides. The top rods (2904) are hinged to the detection rod (2908) by the second pin (2911). The bottom of the detection rod (2908) is provided with a sensor head (2912). A drive plate (2905) is provided at the end of the top rod (2904), and auxiliary plates (2906) are provided on both sides of the lower part of the adapter plate (2901). The auxiliary plates (2906) are hinged to the detection rod (2908) by the first pin (2907). The detection rod (2908) has a second through hole (2909) and an oblong hole (2910) on one side. The first pin (2907) and the second pin (2911) are respectively inserted into the second through hole (2909) and the oblong hole (2910). A slide rail (2916) is provided on the inner side of the locking plate (2913). The adapter plate (2901) and the locking plate (2913) are slidably connected. The adapter plate (2901) and the slide rail (2916) are respectively provided with a protrusion (2917) on both sides. The protrusion (2917) is located in the slot (2918). A third screw (2915) is provided on the outer side of the locking plate (2913). The end of the third screw (2915) abuts against the outer side of the adapter plate (2901).

9. A construction method for an underwater excavation and drilling device according to claim 7 or 8, characterized in that: Includes the following steps: S1. Construction preparation: Install the first bracket (3), the second bracket (4), the first bidirectional track frame (5), and the second bidirectional track frame (6) on the construction vessel (1), and at the same time complete the debugging of the first positioning frame (12), the first jacking module (13), the first drill bit module (14), the second positioning frame (15), the second jacking module (16), and the second drill bit module (17); S2. The position of the construction vessel (1) is checked by the vessel positioning module (19), and the construction vessel (1) is fixed by the positioning pile (20) and the positioning anchor (21). S3. Adjust the distance between the two adjacent first positioning frames (12) and the second jacking module (16) according to the design parameters. Complete the drilling of the riverbed (25) through the first jacking module (13) and the first drill bit module (14). The riverbed (25) is formed into a drilling area (2501), a primary drilling area (2502) and a secondary drilling area (2503) through drilling construction. S4. After drilling, the sediment is lifted to the water surface and then transported to the self-propelled mud barge (2) along the first transport route (9) by a transport trolley (11). S5. As construction progresses, the first drilling operation (2504) is carried out in the drilling area (2501), the second jacking module (16) is moved to avoid the shielded area (2505), and the second drilling operation (2506) is carried out in the secondary drilling area (2503). S6. After scooping, the sediment is lifted to the water surface and then transported to the self-propelled mud barge (2) along the second transport route (10) by a transport trolley (11). S7. Along the waterway direction, gradually change the positions of the construction vessel (1) and the self-propelled mud barge (2) by using the positioning piles (20) and positioning anchors (21), and repeat S3~S6. S8. After the second drilling operation (2506) is completed, the construction completion area (2507) is formed, and the construction completion area (2507) is scanned to ensure that the ground excavation elevation and flatness meet the construction requirements.

10. The construction method of the underwater excavation and drilling device according to claim 9, characterized in that: In S3~S4, initially only the first drill bit module (14) is working when the operation begins, and the riverbed surface in the excavator (18) area has not yet formed a broken area. After the first cycle of drilling is completed, the second cycle starts from the repositioning of the boat. After that, the first drill bit module (14) and the second drill bit module (17) are carried out synchronously. At this time, the operation is carried out in the cycle of the first support (3) - the first extension frame (7) as described above, until the last cycle only the second drill bit module (17) is working, completing the excavation operation of a single longitudinal area of ​​the riverbed, and continuing to excavate the next longitudinal area until the excavation operation of the entire riverbed area is completed. During the operation of the second drill bit module (17), the underwater probe is entered into the water by the submersible (28) to complete the underwater exploration. At the same time, the distance between the two detection rods (2908) is adjusted according to the distance between the two adjacent boreholes to check the position and distance of the first borehole. If the drilling construction quality meets the requirements of the second borehole, the drilling operation is carried out. If the drilling construction quality does not meet the requirements of the second borehole, the supplementary drilling operation is carried out until the requirements of the second borehole are met.

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