Portable underwater drilling platform

Abstract

The present invention discloses a portable underwater drilling platform. It includes a suction cup module, a parallel mechanical arm module and a lifting drill module; the suction cup module includes a centrifugal impeller underwater suction cup, a waterproof DC motor and a suction cup support plate, three centrifugal impeller suction cups are arranged on the bottom surface of the suction cup support plate, and three waterproof DC motors corresponding to the three centrifugal impeller suction cups are installed on the upper surface of the suction cup support plate; the parallel mechanical arm module includes a mechanical arm end platform and a retractable mechanical arm, and six parallel retractable mechanical arms are distributed between the mechanical arm end platform and the suction cup support plate; the lifting drill module includes a drilling rig, a gear rack lifting mechanism and a waterproof stepping motor, and the drilling rig is installed in a circular hole opened in the middle of the mechanical arm end platform through the gear rack lifting mechanism. The present invention enables the underwater drilling platform to perform drilling operations on the dam surface within a certain angle and a certain depth range, and can make the suction cup adsorbed on the dam surface without contact.

Description

Technical Field

[0001] The invention belongs to the field of reservoir dam monitoring, and in particular relates to a portable underwater drilling platform. Background Art

[0002] After a period of use, the reservoir dam may develop cracks in the submerged part of the dam due to water scouring and its own weight, causing leakage. Severe leakage will have a serious impact on the safety of the dam. Regular detection and treatment of cracks is an essential measure.

[0003] The common treatment method is to drill holes and grout the cracks. The common method is to use a drilling rig to operate directly at the crack location. This method has the following shortcomings: 1. The drilling rig needs to go deep into the water from the shore through a fixed bracket, and the structure is relatively large and inflexible; 2. It is not easy to operate on a deeper dam surface; 3. The strong vibration generated during drilling will damage the bracket.

[0004] In summary, the existing underwater drilling schemes are not very suitable for drilling cracks in dams. Summary of the invention

[0005] In order to solve the problems in the background technology, the present invention provides a portable underwater drilling platform, which enables the underwater drilling platform to perform drilling operations on the dam surface within a certain angle and a certain depth range, and can make the suction cup adhere to the dam surface without contact.

[0006] The technical solution adopted by the present invention is as follows:

[0007] The present invention comprises a suction cup module, a parallel mechanical arm module and a lifting drill module; the suction cup module comprises a centrifugal impeller suction cup, a waterproof DC motor and a suction cup support plate, three centrifugal impeller suction cups are evenly distributed along the circumference of the lower bottom surface of the suction cup support plate, three waterproof DC motors corresponding to the three centrifugal impeller suction cups are installed on the upper surface of the suction cup support plate, and the output shaft of each waterproof DC motor passes through the suction cup support plate from top to bottom and is connected to the corresponding centrifugal impeller suction cup.

[0008] The parallel robotic arm module includes a robotic arm end platform and a retractable robotic arm. The robotic arm end platform is coaxially arranged above the suction cup support plate. Six parallel retractable robotic arms are evenly distributed between the robotic arm end platform and the suction cup support plate. Each retractable robotic arm is mainly composed of two pairs of upper and lower Hooke's hinges and a retractable device located between the upper and lower pairs of Hooke's hinges. The upper and lower pairs of Hooke's hinges are respectively an upper Hooke's hinge and a lower Hooke's hinge. The upper end of the upper Hooke's hinge is fixedly connected to the lower surface of the robotic arm end platform, and the lower end of the lower Hooke's hinge is fixedly connected to the upper surface of the suction cup support plate.

[0009] The lifting drilling rig module includes a drilling rig, a gear rack lifting mechanism and a waterproof stepper motor. The drilling rig is installed in a circular hole in the middle of the end platform of the robotic arm through the gear rack lifting mechanism; the gear rack lifting mechanism includes a sliding bar, a triangular support frame, a rack, a gear and a waterproof stepper motor. Multiple sliding bars are arranged circumferentially on the outer peripheral surface of the drilling rig, and a triangular support frame is provided at the position of the end platform of the robotic arm corresponding to each sliding bar. One side of each triangular support frame is fixed to the upper surface of the end platform of the robotic arm, and the other side of the triangular support frame is provided with a guide rail that slides in contact with the corresponding sliding bar; a rack is fixed between two of the sliding bars on the outer peripheral surface of the drilling rig, and the gear meshing with the rack is connected to the output shaft of the waterproof stepper motor, and the waterproof stepper motor is fixed on the end platform of the robotic arm.

[0010] The drill bit of the drilling rig extends out from the middle of the suction cup support plate through the platform at the end of the mechanical arm.

[0011] By changing the length of the telescopic devices on the six parallel telescopic robotic arms, the posture adjustment of the platform at the end of the robotic arms is completed, thereby changing the deflection angle of the drilling rig and realizing the function of drilling holes at different angles.

[0012] The gear rotates driven by the waterproof stepper motor, and the rack moves linearly driven by the gear, thereby driving the entire drilling rig to move up and down to achieve the function of drilling holes of different depths.

[0013] The suction cup support plate and the surface of the platform at the end of the robotic arm are both circumferentially arranged with solid buoyancy materials. Due to the effect of the solid buoyancy materials, the buoyancy is equal to the gravity, the entire drilling platform is balanced underwater, in a suspended state, and is easy to carry in the water.

[0014] The gap between the drilling platform and the dam surface can be adjusted by adjusting the rotation speed of the waterproof DC motor to change the adsorption force of the centrifugal impeller suction cup.

[0015] The greater the speed of the waterproof DC motor, the greater the adsorption force with the wall, and the smaller the gap, the greater the adsorption force with the wall.

[0016] The centrifugal impeller suction cup does not need to contact the dam surface during adsorption and can achieve adsorption on dam surfaces with complex terrain.

[0017] During the drilling operation, the centrifugal impeller suction cup contacts and adsorbs on the dam surface, and the adsorption force generated is used to offset the reaction force generated by the drilling.

[0018] The portable underwater drilling platform has a pressure-resistant depth of 250 meters and can operate continuously.

[0019] The waterproof stepping motor and the waterproof DC motor are both controlled by a host computer.

[0020] Beneficial effects of the present invention:

[0021] 1. The present invention has a compact structure, a small size, and is easy to carry. It can realize the change of a certain posture of the platform in the water, can be adsorbed on the wall at any angle, and can realize drilling operations within a certain angle and depth range.

[0022] 2. The present invention has the ability to operate in deep water and can withstand an external water pressure of 2.5 MPa.

[0023] 3. The present invention can adapt to drilling operations in different underwater environments, has a wide range of application scenarios and high flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the portable drilling platform of the present invention;

[0025] Figure 2 It is a schematic diagram of the overall side view structure of the portable drilling platform of the present invention;

[0026] Figure 3 It is a schematic diagram of the overall structure of the portable drilling platform of the present invention when viewed from above;

[0027] Figure 4 It is a schematic diagram of the mechanical arm structure of the portable drilling platform of the present invention.

[0028] In the figure: 1. Drilling machine; 2. Gear rack lifting mechanism; 3. Waterproof stepping motor; 4. Waterproof DC motor; 5. Solid buoyancy material; 6. Support plate; 7. Retractable mechanical arm; 8. Centrifugal impeller suction cup; 10. Hook hinge; 11. Telescopic device DETAILED DESCRIPTION

[0029] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1As shown, the present invention includes a suction cup module, a parallel mechanical arm module and a lifting rig module; the suction cup module includes a centrifugal impeller underwater suction cup 8, a waterproof DC motor 4 and a suction cup support plate 6. The parallel mechanical arm module includes a mechanical arm end platform and a retractable mechanical arm 7, and the mechanical arm end platform is coaxially arranged above the suction cup support plate 6. The lifting drilling rig module includes a drilling rig 1, a gear rack lifting mechanism 2 and a waterproof stepping motor 3. The drilling rig 1 is installed in the circular hole in the middle of the mechanical arm end platform through the gear rack lifting mechanism 2; the gear rack lifting mechanism 2 includes a sliding bar, a triangular support frame, a rack, a gear and a waterproof stepping motor 3. Multiple sliding bars are arranged circumferentially on the outer peripheral surface of the drilling rig 1. A triangular support frame is provided at the position of the mechanical arm end platform corresponding to each sliding bar. One side of each triangular support frame is fixed to the upper surface of the mechanical arm end platform, and the other side of the triangular support frame is provided with a guide rail that slides in contact with the corresponding sliding bar; a rack is fixed between two of the sliding bars on the outer peripheral surface of the drilling rig 1, and the gear meshing with the rack is connected to the output shaft of the waterproof stepping motor 3, and the waterproof stepping motor 3 is fixed on the mechanical arm end platform. The drill bit of the drilling rig 1 extends out from the middle of the suction cup support plate 6 after passing through the mechanical arm end platform.

[0031] like Figure 2 and Figure 4 As shown, six parallel retractable robotic arms 7 are evenly spaced between the robotic arm end platform and the suction cup support plate 6; each retractable robotic arm 7 is mainly composed of two pairs of upper and lower Hooke's hinges 10 and a retractable device 11 located between the upper and lower pairs of Hooke's hinges 10, the upper and lower pairs of Hooke's hinges 10 are respectively an upper Hooke's hinge and a lower Hooke's hinge, the upper end of the upper Hooke's hinge is fixedly connected to the lower surface of the robotic arm end platform, and the lower end of the lower Hooke's hinge is fixedly connected to the upper surface of the suction cup support plate 6.

[0032] like Figure 3 As shown, three centrifugal impeller suction cups 8 are evenly distributed along the circumference of the lower bottom surface of the suction cup support plate 6, and three waterproof DC motors 4 corresponding to the three centrifugal impeller suction cups 8 are installed on the upper surface of the suction cup support plate 6. The output shaft of each waterproof DC motor 4 passes through the suction cup support plate 6 from top to bottom and is connected to the corresponding centrifugal impeller suction cup 8.

[0033] The platform is provided with buoyancy material, which ensures that the buoyancy and gravity are almost equal, and ensures that the forces are balanced when suspended in the water, so that the platform can move in the water without great force.

[0034] The 6-UPU parallel-configuration drilling platform of the present invention can change the posture and displacement of the drilling operation by changing the arm lengths of the six retractable mechanical arms 7, thereby achieving adjustment of the drilling posture in water.

[0035] During operation, the portable drilling platform is close to the dam surface but does not touch it, and the centrifugal impeller suction cup 8 is controlled to rotate to generate negative pressure adsorption; the six parallel retractable mechanical arms 7 adjust the extension of the retractable device 11 according to the drilling angle to change the posture of the platform at the end of the mechanical arm, so that the drill bit is adjusted to the required drilling angle; finally, the drilling rig is controlled to move downward, so that the drill bit is adjusted to the required drilling depth; thereby realizing the drilling of holes of a certain depth and deflection angle.

[0036] During the drilling operation, the centrifugal impeller suction cup 8 contacts and adsorbs the wall surface, generating a sufficiently large adsorption force to offset the reaction force generated by the drilling, thereby completing the drilling operation.

Claims

1. A portable underwater drilling platform, characterized in that: It includes a suction cup module, a parallel robot arm module and a lifting drill module; The suction cup module comprises a centrifugal impeller suction cup (8), a waterproof DC motor (4) and a suction cup support plate (6), three centrifugal impeller suction cups (8) are evenly distributed along the circumference of the lower bottom surface of the suction cup support plate (6), three waterproof DC motors (4) corresponding to the three centrifugal impeller suction cups (8) are installed on the upper surface of the suction cup support plate (6), and the output shaft of each waterproof DC motor (4) passes through the suction cup support plate (6) from top to bottom and is connected to the corresponding centrifugal impeller suction cup (8); The parallel robot arm module comprises a robot arm end platform and a retractable robot arm (7), wherein the robot arm end platform is coaxially arranged above a suction cup support plate (6), and six parallel retractable robot arms (7) are evenly spaced between the robot arm end platform and the suction cup support plate (6); each retractable robot arm (7) is mainly composed of two pairs of upper and lower Hooke's hinges (10) and a retractable device (11) located between the two pairs of upper and lower Hooke's hinges (10), wherein the two pairs of upper and lower Hooke's hinges (10) are respectively an upper Hooke's hinge and a lower Hooke's hinge, wherein the upper end of the upper Hooke's hinge is fixedly connected to the lower surface of the robot arm end platform, and the lower end of the lower Hooke's hinge is fixedly connected to the upper surface of the suction cup support plate (6); The lifting drilling rig module comprises a drilling rig (1), a gear rack lifting mechanism (2) and a waterproof stepping motor (3). The drilling rig (1) is installed in a circular hole in the middle of a platform at the end of a mechanical arm through the gear rack lifting mechanism (2). The gear rack lifting mechanism (2) comprises a sliding bar, a triangular support frame, a rack, a gear and a waterproof stepping motor (3). A plurality of sliding bars are arranged circumferentially on the outer peripheral surface of the drilling rig (1). A triangular support frame is provided at a position of the platform at the end of the mechanical arm corresponding to each sliding bar. One side of each triangular support frame is fixed to the upper surface of the platform at the end of the mechanical arm, and the other side of the triangular support frame is provided with a guide rail that is in sliding contact with the corresponding sliding bar. A rack is fixed between two of the sliding bars on the outer peripheral surface of the drilling rig (1). A gear meshing with the rack is connected to the output shaft of the waterproof stepping motor (3). The waterproof stepping motor (3) is fixed on the platform at the end of the mechanical arm. The drill bit of the drilling machine (1) extends out from the middle of the suction cup support plate (6) via the end platform of the mechanical arm.

2. A portable underwater drilling platform according to claim 1, characterized in that: By changing the length of the telescopic devices (11) on the six parallel telescopic mechanical arms (7), the posture adjustment of the platform at the end of the mechanical arms is completed, thereby changing the deflection angle of the drilling machine (1) and realizing the function of drilling holes at different angles.

3. The portable underwater drilling platform according to claim 1, characterized in that: The gear rotates under the drive of the waterproof stepping motor (3), and the rack moves linearly under the drive of the gear, thereby driving the entire drilling machine (1) to move up and down, thereby realizing the function of drilling holes of different depths.

4. The portable underwater drilling platform according to claim 1, characterized in that: The suction cup support plate (6) and the surface of the platform at the end of the robot arm are both circumferentially arranged with solid buoyancy materials (5).

5. The portable underwater drilling platform according to claim 1, characterized in that: The rotation speed of the waterproof DC motor (4) is adjusted to change the adsorption force of the centrifugal impeller suction cup (8), thereby achieving adjustment of the gap between the drilling platform and the dam surface.

6. The portable underwater drilling platform according to claim 1, characterized in that: During the drilling operation, the centrifugal impeller suction cup (8) contacts and adsorbs the dam surface, and the adsorption force generated is used to offset the reaction force generated by the drilling.

7. The portable underwater drilling platform according to claim 1, characterized in that: The portable underwater drilling platform has a pressure-resistant depth of up to 250 meters.

8. A portable underwater drilling platform according to claim 1 or 2, characterized in that: The waterproof stepping motor (3) and the waterproof DC motor (4) are both controlled by a host computer.

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