A PLC-controlled electro-hydraulic drive underwater hole-opening system

Abstract

The present invention provides a PLC-controlled electro-hydraulic driven underwater drilling machine system, comprising a drilling machine for drilling holes in underwater sunken ships; an electro-hydraulic driven integrated skid that provides power for the drilling operation of the drilling machine; a collection device for collecting the propulsion position and propulsion speed of the drilling machine; the electro-hydraulic driven integrated skid also converts the propulsion position and propulsion speed collected by the collection device into digital signals; an integrated device that receives the converted digital signals transmitted by the electro-hydraulic driven integrated skid, the integrated device controls the electro-hydraulic driven integrated skid to provide power and thus controls the drilling machine to perform drilling operations, and at the same time, the integrated device provides power for the electro-hydraulic driven integrated skid. The electro-hydraulic drive station of the present invention is located underwater, which reduces the hydraulic oil transportation distance and avoids the construction and maintenance inconvenience caused by excessively long pipelines. The drilling machine body is lightweight in design, simple and easy to repair and maintain, and is suitable for underwater drilling operations by divers at depths of less than 120 meters.

Description

Technical Field

[0001] The invention belongs to the field of oil extraction operations from sunken ships at sea, and relates to a PLC-controlled electro-hydraulic driven underwater hole forming system. Background Art

[0002] Underwater drilling is involved in shipwreck fuel recovery, marine engineering construction, and offshore pipeline repair. Fully automatic underwater drilling machines and related technologies are primarily developed by foreign companies. While semi-automatic drilling machines are becoming increasingly mature in China, fully automatic drilling machines are often mechanically driven, resulting in a relatively complex structure. Underwater drilling machines using hydraulic feed blades require a hydraulic power station onshore or on a construction vessel. Due to the long distances required to supply hydraulic oil, there are delays in feeding and stopping the blade, which can easily damage the cutter head. Summary of the Invention

[0003] In order to solve the above problems, the present invention provides a technical solution adopted by the present invention: a PLC-controlled electro-hydraulic driven underwater drilling machine system, characterized in that it includes a drilling machine for drilling holes in underwater sunken ships;

[0004] An electro-hydraulic driven integrated skid that provides power for the tapping operation of the tapping machine;

[0005] a collecting device for collecting the advancing position and advancing speed of the tapping machine;

[0006] The electro-hydraulic drive integrated skid also converts the propulsion position and propulsion speed collected by the collection device into digital signals;

[0007] An integrated device receives the converted digital signal transmitted by the electro-hydraulic driven integrated skid, the integrated device controls the electro-hydraulic driven integrated skid to provide power and thus controls the drilling machine to perform drilling operations, and the integrated device provides power for the electro-hydraulic driven integrated skid.

[0008] Further: including: the hole tapping machine includes a top fixed flange, a bottom fixed flange, an intermediate movable flange, a guide rod, a hydraulic cylinder, a hydraulic motor, a linear bearing, a connecting shaft, a cutter head and a cutter head shield;

[0009] The top fixed flange and the middle movable flange are fixedly connected via a guide rod;

[0010] A circular hole is opened in the center of the middle movable flange;

[0011] A hydraulic motor is installed on the upper side of the intermediate movable flange; a linear bearing is installed on the lower side of the intermediate movable flange;

[0012] The linear bearing passes through the middle circular hole of the bottom fixed flange;

[0013] Hydraulic cylinders are installed on both sides of the hydraulic motor on the middle movable flange, one end of the hydraulic cylinder is fixed on the middle movable flange, and the other end of the hydraulic cylinder is fixed under the top fixed flange;

[0014] A hydraulic cylinder and a hydraulic motor are provided between the top fixed flange and the middle movable flange;

[0015] The hydraulic motor is fixed at the middle position of the upper part of the middle movable flange;

[0016] Circular holes are formed at positions corresponding to the guide rods on the intermediate movable flange, and the number of the circular holes is the same as the number of the guide rods;

[0017] The guide rod passes through the circular hole, and the middle movable flange can move horizontally along the axial direction of the guide rod;

[0018] A circular hole is provided in the middle of the bottom fixing flange;

[0019] A cutter head is provided at the bottom of the bottom fixing flange;

[0020] A connecting shaft is nested in the linear bearing, the top of which passes through the middle circular hole of the middle movable flange and is fixedly connected to the hydraulic motor, and the bottom of which is flush with the bottom of the linear bearing and is fixedly connected to the cutter head; the cutter head displacement 0 position is in the cutter head shield;

[0021] When the hydraulic motor is running, it drives the cutter head to rotate through the connecting shaft;

[0022] The linear bearing passes through the middle circular hole of the bottom fixed flange when feeding along with the middle movable flange, and the two only have axial relative movement;

[0023] A cutter head shield is arranged on the periphery of the cutter head.

[0024] Furthermore: the top fixed flange, the bottom fixed flange and the middle movable flange are coaxial and have the same radius.

[0025] Furthermore: the outer diameter of the middle circular hole of the bottom fixing flange is equal to the diameter of the linear bearing.

[0026] Further: including: the electro-hydraulic drive integrated skid includes a PLC module, an electro-hydraulic driver, a built-in control valve group I, a built-in control valve group II, an electromagnet and a built-in control line; the PLC module is electrically connected to the electro-hydraulic driver, and can control the flow rate and flow of the hydraulic oil output by the electro-hydraulic driver. The hydraulic oil output by the electro-hydraulic driver drives the hydraulic cylinder and the hydraulic motor to work and stop respectively through the built-in control valve group I and the built-in control valve group II, and the PLC module is electrically connected to the electromagnet.

[0027] Further: the acquisition device includes a feed sensor for acquiring the advance position of the cutter head;

[0028] One end of the feed sensor is fixed below the top fixed flange, and the other end is fixed above the middle movable flange.

[0029] Furthermore, the process in which the integrated device controls the electro-hydraulic driven integrated skid to provide power and thereby controls the drilling machine to perform drilling operations is as follows:

[0030] Start the electro-hydraulic driver, and the PLC module controls the electro-hydraulic driver to drive the hydraulic cylinder of the drilling machine to extend and push the middle moving flange and the hydraulic motor, linear bearing, embedded connecting shaft and cutter head on it to feed along the longitudinal axis of the machine body.

[0031] The feed sensor transmits signals in real time through the PLC module to the integrated device. When the cutter head passes through the flange and reaches the calculated position on the sunken shipboard, the PLC module controls the electro-hydraulic driver to control the built-in control valve group I to reduce the feed speed of the hydraulic cylinder to the speed that matches the drilling speed. At the same time, the integrated device starts the hydraulic motor, and the PLC module controls the electro-hydraulic driver to drive the hydraulic motor of the drilling machine. The hydraulic motor drives the connecting shaft to operate, thereby driving the cutter head to reach the designed drilling speed. When the cutter head reaches the drilling speed, the PLC module controls the hydraulic cylinder to feed at a low speed to perform the drilling operation.

[0032] When the feed sensor transmits a signal through the PLC module to the integrated device and shows that the feed amount is greater than the thickness of the sunken ship's plate, the integrated device issues a hydraulic cylinder retraction command. The PLC module controls the hydraulic cylinder to retract and drive the intermediate moving flange and the hydraulic motor, linear bearing, embedded connecting shaft, and cutter head components on it to return to the initial position along the longitudinal axis of the machine body to complete the hole opening operation.

[0033] The present invention provides a PLC-controlled electro-hydraulic underwater drilling system, which incorporates underwater electro-hydraulic drive, hydraulic feed drive, knife feed drilling operations, and PLC-controlled feed start and stop, as well as motor start and stop, to precisely control the drilling machine's movements and maximize equipment safety. Furthermore, the electro-hydraulic drive station is located underwater, reducing the hydraulic oil delivery distance and avoiding the construction and maintenance inconveniences caused by long pipelines. The drilling machine's lightweight design makes it simple and easy to repair and maintain, making it suitable for underwater drilling operations by divers at depths of less than 120 meters. The present invention has the following advantages:

[0034] 1. The underwater drilling machine and precise control system provided by the present invention have a simple structure, are easy to use, and have high reliability. The introduction of a PLC controller achieves high control accuracy through data integration.

[0035] 2. The underwater drilling machine and precise control system provided by the present invention can minimize the control delay of traditional hydraulic powered drilling machines through remote control, improve the efficiency of underwater drilling, provide good protection for drilling equipment, and ensure the progress of offshore construction to the greatest extent.

[0036] 3. It can effectively solve the problems of underwater drilling operation control accuracy and equipment protection, thereby ensuring underwater operation efficiency, saving offshore operation time and improving economic benefits.

[0037] In summary, based on the above reasons, the present invention can be widely promoted in the fields of underwater oil extraction operations on sunken ships, underwater drilling in marine engineering and pipeline maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0039] Figure 1 It is a structural schematic diagram of the present invention;

[0040] Figure 2 It is a structural diagram of the present invention;

[0041] Figure 3 (a) is the structural diagram of the hole-opening machine I, and (b) is the structural diagram of the hole-opening machine II;

[0042] Figure 4 This is the top view of the tapping machine and the top flange layout;

[0043] Figure 5 This is the bottom view of the tapping machine and the bottom flange layout;

[0044] Figure 6 This is the layout diagram of the middle movable flange of the hole tapping machine.

[0045] Figure numerals: 1. Centralized control device, 101. Data integration control terminal, 102. Power cabinet, 2. Electro-hydraulic drive integrated skid, 201. PLC module, 202. Electro-hydraulic drive, 204. Electromagnet, 203. Built-in control valve group I, 204. Built-in control valve group II, 403. Built-in control line; 3. Hole tapping machine, 301. Handle, 302. Top fixed flange, 303. Bottom fixed flange, 304. Intermediate movable flange, 305. Guide rod, 306. Hydraulic cylinder, 307. Hydraulic motor, 308. Linear bearing, 309. Connecting shaft, 310. Cutting head, 311. Cutting head guard, 312. Feed sensor; 401. Umbilical cable, 402. Feed sensor signal line, 404. Hydraulic motor oil supply pipe, 405. Hydraulic cylinder oil supply pipe. DETAILED DESCRIPTION

[0046] It should be noted that, unless there is any conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0048] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0049] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values described in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0050] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0051] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0052] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0053] Figure 1 It is a structural schematic diagram of the present invention;

[0054] Figure 2 It is a structural diagram of the present invention;

[0055] A PLC-controlled electro-hydraulic driven underwater drilling machine system, comprising a drilling machine 3 for drilling holes in underwater sunken ships;

[0056] An electro-hydraulic driven integrated skid 2 that provides power for the drilling operation of the drilling machine 3;

[0057] The electro-hydraulic driven integrated skid 2 and the tapping machine 3 are connected by a hydraulic motor oil supply pipe 404, a hydraulic cylinder oil supply pipe 405 and a feed sensor signal line 402 pipe bundle, and the pipe bundle has a built-in stressed wire rope;

[0058] The electro-hydraulic drive integrated skid 2 also converts the propulsion position and propulsion speed collected by the collection device into a PLC module 201 with digital signals;

[0059] An integrated device 1 receives the converted digital signal transmitted by the electro-hydraulic driven integrated skid 2, and the integrated device 1 controls the electro-hydraulic driver 202 in the electro-hydraulic driven integrated skid 2 to provide power and thereby controls the drilling machine 3 to perform drilling operations. At the same time, the integrated device provides power for the electro-hydraulic driven integrated skid 2.

[0060] The electro-hydraulic driven integrated skid 2 and the hole-opening machine 3 are placed in the underwater oil tank of the sunken ship or the designed hole-opening position;

[0061] The centralized control system 1 is connected to the electro-hydraulic drive integrated skid 2 by an umbilical cable 401; the umbilical cable 401 integrates power lines, signal lines and load-bearing steel wire ropes;

[0062] The centralized control device 1 is placed on the work vessel;

[0063] The centralized control system 1 includes a data integration control terminal 101 and a power cabinet 102 installed on the construction ship;

[0064] The power cabinet 102 is connected to the power supply on the work vessel and is powered by the construction vessel. The power cabinet 102 provides 220V power to the data integration control terminal 101 and 380V power to the electro-hydraulic drive integrated skid 2.

[0065] The electro-hydraulic driven integrated skid 2 is placed on the outer plate of the oil tank of the sunken ship and is fixed by adsorption via the electromagnet 204;

[0066] The electro-hydraulic drive integrated skid 2 includes a PLC module 201, an electro-hydraulic driver 202, an electromagnet 204, an internal control valve group I 203, an internal control valve group II 204, and an internal control line 403. The PLC module 201 is electrically connected to the electro-hydraulic driver 202 and can control the flow rate and volume of hydraulic oil output by the electro-hydraulic driver 202. The hydraulic oil output by the electro-hydraulic driver 202 passes through the internal control valve group I 203 and the internal control valve group II 204 to respectively activate and deactivate the hydraulic cylinder 306 and the hydraulic motor 307. The PLC module 201 is electrically connected to the electromagnet 204.

[0067] The PLC module 201 is used to calculate and obtain the operating states of the electro-hydraulic driver 202, the electromagnet 204, the feed amount of the drilling machine hydraulic cylinder 306 and the operating speed of the hydraulic motor 307.

[0068] The electro-hydraulic driver 202 has a built-in hydraulic oil pump, which calculates the motor operating speed based on the hydraulic oil flow and flow rate collected by the electro-hydraulic driver through the built-in control valve group II204;

[0069] The data integration control terminal 101 can control the operation of the electro-hydraulic driver 202 to drive the operation of the hydraulic cylinder 306 and the hydraulic motor 307, and accurately control the hole feeding after analyzing the feedback data from the PLC module 201.

[0070] The data integration control terminal 101 is connected to the PLC module 201 in the electro-hydraulic drive integrated skid 2 via an umbilical cable 401 signal line;

[0071] The hole-opening machine 3 is connected to the installed flange of the outer plate of the oil tank of the sunken ship with bolts. The form and installation process of the flange of the outer plate of the oil tank of the sunken ship are not protected by this patent.

[0072] Figure 3 a is the structural composition diagram of the hole-opening machine I, b is the structural composition diagram of the hole-opening machine II;

[0073] Figure 4 This is the top view of the tapping machine and the top flange layout;

[0074] Figure 5 This is the bottom view of the tapping machine and the bottom flange layout;

[0075] Figure 6 This is the layout diagram of the middle movable flange of the tapping machine;

[0076] The drilling machine 3 includes a top fixed flange 302, a bottom fixed flange 303, an intermediate movable flange 304, a guide rod 305, a hydraulic cylinder 306, a hydraulic motor 307, a linear bearing 308, a connecting shaft 309, a cutter head 310 and a cutter head shield 311;

[0077] The top fixed flange 302, the bottom fixed flange 3, and the middle movable flange 4 are coaxial and have the same radius;

[0078] The top fixed flange 302 and the middle movable flange 304 are fixedly connected via a guide rod 305;

[0079] A circular hole is opened in the center of the middle movable flange 304;

[0080] A hydraulic motor 307 is installed on the upper side of the intermediate movable flange 304; a linear bearing 308 is installed on the lower side of the intermediate movable flange 304;

[0081] The linear bearing 308 passes through the central circular hole of the bottom fixing flange 303; and the outer diameter of the central circular hole of the bottom fixing flange 303 is equal to the diameter of the linear bearing 308;

[0082] Hydraulic cylinders 306 are installed on both sides of the hydraulic motor 307 on the middle movable flange 304. One end of the hydraulic cylinder 306 is fixed on the middle movable flange 304, and the other end of the hydraulic cylinder 306 is fixed under the top fixed flange 302.

[0083] A hydraulic cylinder 306 and a hydraulic motor 307 are provided between the top fixed flange 302 and the middle movable flange 304;

[0084] The hydraulic motor 307 is fixed at the middle position of the upper part of the middle movable flange 304;

[0085] The intermediate movable flange 304 and the guide rod 305 are provided with circular holes at positions corresponding to each other. The number of the circular holes is the same as the number of the guide rods, and the number of circular holes is usually 4.

[0086] The guide rod 305 passes through the circular hole, and the intermediate movable flange 304 can move in a translational manner along the axial direction of the guide rod 305;

[0087] A circular hole is provided in the middle of the bottom fixing flange 303;

[0088] A cutter head 310 is provided at the bottom of the bottom fixing flange 303;

[0089] The connecting shaft 309 is nested in the linear bearing 308. The top of the connecting shaft 309 passes through the middle circular hole of the middle movable flange 304 and is fixedly connected to the hydraulic motor 307. The bottom of the connecting shaft 309 is flush with the bottom of the linear bearing 308 and is fixedly connected to the cutter head 310. The cutter head 310 is at the zero displacement position in the cutter head shield 311.

[0090] When the hydraulic motor 307 is running, it drives the cutter head 310 to rotate through the connecting shaft 309;

[0091] When the hydraulic cylinder 306 is extended, it can push the intermediate movable flange 304 and the hydraulic motor 307, linear bearing 308, embedded connecting shaft 309, cutter head 310 and other components thereon to move along the longitudinal axis of the machine body;

[0092] The linear bearing 308 passes through the central circular hole of the bottom fixed flange 303 when the intermediate movable flange 304 moves in the feed direction, and the two only move relative to each other in the axial direction.

[0093] A cutter head shield 311 is provided on the periphery of the cutter head 310 .

[0094] The top fixed flange 302 is provided with a handle 301;

[0095] The hydraulic cylinder 306 is connected to the first control valve group I 203;

[0096] The hydraulic motor 307 is connected to the second control valve group II 203 ; the first control valve group I 203 and the second control valve group II 203 are connected to the PLC module 201 .

[0097] The hydraulic cylinder oil supply pipe 405 is connected to the first control valve group I 203 of the electro-hydraulic actuator 202;

[0098] The hydraulic motor oil supply pipe 404 is connected to the second control valve group II 204 of the electro-hydraulic actuator 202;

[0099] The control valve group 203 is connected to the PLC module 201 via a built-in signal line 403 .

[0100] The acquisition device includes a feed sensor 312 for acquiring the advance position of the cutter head and a speed sensor for acquiring the operating speed of the motor;

[0101] One end of the feed sensor 312 is fixed below the top fixed flange 302, and the other end is fixed above the middle movable flange 304;

[0102] The acquisition device includes a feed sensor 312 for acquiring the tool head propulsion position and an electro-hydraulic driver for acquiring the hydraulic oil flow and flow rate output through the built-in control valve group II204 to analyze and calculate the motor operating speed; the feed sensor signal line 402 is connected to the PLC module 201 and transmits the displacement signal.

[0103] Furthermore, the process in which the integrated device 1 controls the electro-hydraulic driven integrated skid 2 to provide power and thereby controls the drilling machine 3 to perform drilling operations is as follows:

[0104] Step 1: When in use, the crane lifts the electro-hydraulic driven integrated skid 2 and the hole punching machine device to the oil tank of the sunken ship and the location where the hole needs to be drilled. After reaching the designed cutting position, the diver assists underwater and remotely controls the electromagnet 204 through the data integration control terminal 101 to adsorb and fix the electro-hydraulic driven integrated skid 2 to the outer plate of the sunken ship; after the electro-hydraulic driven integrated skid 2 is adsorbed and fixed, the diver connects the hole punching machine 3 to the installed flange of the outer plate of the oil tank of the sunken ship with bolts;

[0105] Step 2: Start the electro-hydraulic driver 202 and start the feeding program from the data integration control terminal 101. The PLC module 201 controls the electro-hydraulic driver 202 to drive the hydraulic cylinder 306 of the hole opening machine to extend the cylinder to push the intermediate movable flange 304 and the hydraulic motor 307, linear bearing 308, embedded connecting shaft 309, cutter head 310 and other components thereon to feed along the longitudinal axis of the machine body. The feed sensor 312 transmits the signal in real time through the PLC module 201 to the data integration control terminal 101. The data integration control terminal 101 parses the feedback data and accurately controls the feed amount. When the cutter head 310 passes through the flange and reaches the calculated position of the sunken shipboard, the PLC module 201 controls the electro-hydraulic driver 202 to control the valve group 203I to reduce the feed speed of the hydraulic cylinder 306 to the speed that matches the drilling speed. At the same time, the hydraulic motor 307 is started from the data integration control terminal 101. The PLC module 201 controls the electro-hydraulic driver 202 to drive the drilling machine hydraulic motor 307 to operate. The hydraulic motor 307 drives the connecting shaft 309 to operate, thereby driving the cutter head 310 to reach the designed drilling speed. When the cutter head 310 reaches the drilling speed, the PLC module 201 controls the hydraulic cylinder 306 to feed at a low speed to perform the drilling operation.

[0106] Step 3. When the feed sensor 312 transmits a signal through the PLC module 201 to the data integration control terminal 101 and displays that the feed amount is greater than the thickness of the sunken ship plate, the data integration control terminal 101 issues a command for the hydraulic cylinder 306 to retract. The PLC module 201 controls the hydraulic cylinder 306 to retract, driving the intermediate movable flange 304 and its hydraulic motor 307, linear bearing 308, embedded connecting shaft 309, cutter head 310 and other components to retreat to the initial position along the longitudinal axis of the machine body, completing the hole-opening operation.

[0107] Example 1

[0108] As shown in the figure, the present invention provides a PLC-controlled electro-hydraulic driven underwater drilling machine system. The structure and implementation of the drilling machine 3 are as follows:

[0109] In this embodiment, the top fixed flange 302 and the bottom fixed flange 303 of the hole opener 3 are connected and fixed by a guide rod 305; the top fixed flange 302 is equipped with a handle 301; a circular hole is opened in the middle of the bottom fixed flange 303, and a cutter head guard 311 is installed at the bottom; the middle movable flange 304 and the guide rod 305 have four circular holes at positions corresponding to the circular holes, the guide rod 305 passes through the circular holes, and the middle movable flange 304 can move linearly along the axial direction of the guide rod; the top fixed flange 302, the bottom fixed flange 3, and the middle movable flange 4 are coaxial and have the same radius.

[0110] In this embodiment, a circular hole is opened in the center of the middle movable flange 304 of the hole-drilling machine 3, and a hydraulic motor 307 is installed on the flange, and a linear bearing 308 is installed below it; the linear bearing 308 passes through the middle circular hole of the bottom fixed flange 303, and the outer diameter of the middle circular hole of the bottom fixed flange 303 is equal to the diameter of the linear bearing 308; a connecting shaft 309 is nested in the linear bearing 308, the top end of the connecting shaft 309 passes through the middle circular hole of the middle movable flange 304 and is fixedly connected to the hydraulic motor 307, and the bottom end is flush with the bottom end of the linear bearing 308 and is fixedly connected to the cutter head 310; the cutter head 310 is displaced to the 0 position in the cutter head shield 311; when the hydraulic motor 307 is in operation, it drives the cutter head 310 to rotate via the connecting shaft 309. The 0 position is the initial position;

[0111] In this embodiment, hydraulic cylinders 306 are installed on both sides of the hydraulic motor on the middle movable flange 304 of the hole opening machine 3, one end of the hydraulic cylinder 306 is fixed on the middle movable flange 304, and the other end is fixed under the top fixed flange 302; when the hydraulic cylinder 306 is extended, it can push the middle movable flange 304 and the hydraulic motor 307, linear bearing 308, embedded connecting shaft 309, cutter head 310 and other components thereon to feed along the longitudinal axis of the machine body; the linear bearing 308 passes through the middle circular hole of the bottom fixed flange 303 when feeding with the middle movable flange 304, and the two only have axial relative movement.

[0112] In this embodiment, the hydraulic cylinder oil supply pipe 405 of the hole tapping machine 3 is connected to the first control valve group I203 of the electro-hydraulic driver 202; the hydraulic motor oil supply pipe 404 is connected to the second control valve group II204 of the electro-hydraulic driver 202; the control valve group 203 is connected to the PLC module 201 via the built-in signal line 403.

[0113] In this embodiment, one end of the feed sensor 312 of the tapping machine 3 is fixed below the top fixed flange 302, and the other end is fixed above the middle movable flange 304; the feed sensor signal line 402 is connected to the PLC module 201 and transmits the displacement signal.

[0114] The method of using the present invention is as follows: when in use, the centralized control device 1, the electro-hydraulic driven integrated skid 2 and the hole opening machine 3.

[0115] The centralized control device 1 is placed on the work vessel; the crane lifts the electro-hydraulic driven integrated skid 2 and the hole punching machine device to the oil tank of the sunken ship and the location where the hole needs to be opened. After reaching the designed cutting position, the diver assists underwater and remotely controls the electromagnet 204 through the data integration control terminal 101 to adsorb and fix the electro-hydraulic driven integrated skid 2 to the outer plate of the sunken ship; after the electro-hydraulic driven integrated skid 2 is adsorbed and fixed, the diver connects the hole punching machine 3 to the flange installed on the outer plate of the oil tank of the sunken ship with bolts; the electro-hydraulic driver 202 is started, and the data set is read from the data set. The control terminal 101 starts feeding, and the PLC module 201 controls the electro-hydraulic driver 202 to drive the hydraulic cylinder 306 of the hole opener to extend the cylinder to push the intermediate movable flange 304 and the hydraulic motor 307, linear bearing 308, embedded connecting shaft 309, cutter head 310 and other components thereon to feed along the longitudinal axis of the machine body. The feed sensor 312 transmits the signal in real time through the PLC module 201 to the data integration control terminal 101, and the data integration control terminal 101 parses the feedback data and accurately controls the feed amount.

[0116] When the cutter head 310 passes through the flange and reaches the calculated position of the sunken ship plate, the PLC module 201 controls the first control valve group I 203 of the electro-hydraulic driver 202 to reduce the feed speed of the hydraulic cylinder 306 to the speed matching the hole opening. At the same time, the hydraulic motor 307 is started from the data integration control terminal 101, and the PLC module 201 controls the electro-hydraulic driver 202 to drive the hole opening machine hydraulic motor 307 to operate. The hydraulic motor 307 drives the connecting shaft 309 to operate, thereby driving the cutter head 310 to reach the designed hole opening speed. When the cutter head 310 reaches the hole opening speed, the PLC module 201 controls the hydraulic cylinder 306 to feed at a low speed to perform the hole opening operation. When the feed sensor 312 transmits a signal through the PLC module 201 to the data integration control terminal 101 and displays that the feed amount is greater than the thickness of the sunken ship's plate, the data integration control terminal 101 issues a command for the hydraulic cylinder 306 to retract. The PLC module 201 controls the hydraulic cylinder 306 to retract, driving the intermediate movable flange 304 and its hydraulic motor 307, linear bearing 308, embedded connecting shaft 309, cutter head 310 and other components to retreat along the longitudinal axis of the machine body to their initial positions, completing the hole-opening operation.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A PLC-controlled electro-hydraulic driven underwater drilling machine system, characterized by: A drilling machine (3) for drilling a hole in an underwater shipwreck; An electro-hydraulic driven integrated skid (2) for providing power for the drilling operation of the drilling machine (3); A collection device for collecting the propulsion position and propulsion speed of the hole-opening machine (3); The electro-hydraulic drive integrated skid (2) also converts the propulsion position and propulsion speed collected by the collection device into digital signals; An integrated device (1) receives the converted digital signal transmitted by the electro-hydraulic driven integrated skid (2), the integrated device (1) controls the electro-hydraulic driven integrated skid (2) to provide power and thereby controls the hole-opening machine (3) to perform hole-opening operations, and at the same time, the integrated device provides power to the electro-hydraulic driven integrated skid (2); The hole-opening machine (3) comprises a top fixed flange (302), a bottom fixed flange (303), an intermediate movable flange (304), a guide rod (305), a hydraulic cylinder (306), a hydraulic motor (307), a linear bearing (308), a connecting shaft (309), a cutter head (310), and a cutter head shield (311); The top fixed flange (302) and the middle movable flange (304) are fixedly connected via a guide rod (305); A circular hole is opened in the center of the middle movable flange (304); A hydraulic motor (307) is installed on the upper surface of the intermediate movable flange (304); a linear bearing (308) is installed on the lower surface of the intermediate movable flange (304); The linear bearing (308) passes through the middle circular hole of the bottom fixed flange (303); Hydraulic cylinders (306) are installed on both sides of the hydraulic motor (307) on the middle movable flange (304), one end of the hydraulic cylinder (306) is fixed on the middle movable flange (304), and the other end of the hydraulic cylinder (306) is fixed under the top fixed flange (302); A hydraulic cylinder (306) and a hydraulic motor (307) are provided between the top fixed flange (302) and the middle movable flange (304); The hydraulic motor is fixed at a middle position on the upper part of the middle movable flange (304); Circular holes are formed at positions corresponding to the intermediate movable flange (304) and the guide rods (305), and the number of the circular holes is the same as the number of the guide rods; The guide rod (305) passes through the circular hole, and the intermediate movable flange (304) can move in a translational direction along the axial direction of the guide rod (305); A circular hole is provided in the middle of the bottom fixing flange (303); A cutter head (310) is provided at the bottom of the bottom fixing flange (303); A connecting shaft (309) is nested in the linear bearing (308), the top end of the connecting shaft (309) passes through the middle circular hole of the middle movable flange (304) and is fixedly connected to the hydraulic motor (307), and the bottom end thereof is flush with the bottom end of the linear bearing (308) and is fixedly connected to the cutter head (310); the cutter head (310) is at a displacement 0 position in the cutter head shield (311); When the hydraulic motor (307) is in operation, it drives the cutter head (310) to rotate via the connecting shaft (309); The linear bearing (308) passes through the middle circular hole of the bottom fixed flange (303) when feeding along with the middle movable flange (304), and the two only move relative to each other in the axial direction; A cutter head shield (311) is provided on the periphery of the cutter head (310).

2. The PLC-controlled electro-hydraulic driven underwater drilling machine system according to claim 1, characterized in that: The top fixed flange (302), the bottom fixed flange (303), and the middle movable flange (304) are coaxial and have the same radius.

3. The PLC-controlled electro-hydraulic driven underwater drilling machine system according to claim 1, characterized in that: The outer diameter of the central circular hole of the bottom fixing flange (303) is equal to the diameter of the linear bearing (308).

4. The PLC-controlled electro-hydraulic driven underwater drilling machine system according to claim 1, characterized in that: include: The electro-hydraulic drive integrated skid (2) comprises a PLC module (201), an electro-hydraulic drive (202), a built-in control valve group I (203), a built-in control valve group II (204), an electromagnet (205) and a built-in control line (403); the PLC module (201) is electrically connected to the electro-hydraulic drive (202) and can control the flow rate and flow rate of the hydraulic oil output by the electro-hydraulic drive (202); the hydraulic oil output by the electro-hydraulic drive (202) passes through the built-in control valve group I (203) and the built-in control valve group II (204) to drive the hydraulic cylinder (306) and the hydraulic motor (307) to start and stop respectively; the PLC module (201) is electrically connected to the electromagnet (204).

5. The PLC-controlled electro-hydraulic driven underwater drilling machine system according to claim 1, characterized in that: The acquisition device includes a feed sensor (312) for acquiring the advancing position of the cutter head; One end of the feed sensor (312) is fixed below the top fixed flange (302), and the other end is fixed above the middle movable flange (304).

6. The PLC-controlled electro-hydraulic driven underwater drilling machine system according to claim 1, characterized in that: The process in which the integrated device (1) controls the electro-hydraulic driven integrated skid (2) to provide power and thereby controls the hole-opening machine (3) to perform the hole-opening operation is as follows: The electro-hydraulic driver (202) is started, and the PLC module (201) controls the electro-hydraulic driver (202) to drive the hydraulic cylinder (306) of the hole-opening machine to extend the cylinder to push the intermediate movable flange (304) and the hydraulic motor (307), linear bearing (308), embedded connecting shaft (309), and cutter head (310) thereon to feed along the longitudinal axis of the machine body. The feed sensor (312) transmits a signal in real time to the integrated device (1) via the PLC module (201). When the cutter head (310) passes through the flange and reaches the calculated position of the sunken shipboard, the PLC module (201) controls the electro-hydraulic driver (202) to control the built-in control valve group I (203) to reduce the feed speed of the hydraulic cylinder (306) to a speed that matches the hole opening speed. At the same time, the integrated device (1) starts the hydraulic motor (307). The PLC module (201) controls the electro-hydraulic driver (202) to drive the hole opening machine hydraulic motor (307) to operate. The hydraulic motor (307) drives the connecting shaft (309) to operate, thereby driving the cutter head (310) to reach the designed hole opening speed. When the cutter head (310) reaches the hole opening speed, the PLC module (201) controls the hydraulic cylinder (306) to feed at a low speed to perform the hole opening operation. When the feed sensor (312) transmits a signal to the integrated device (1) via the PLC module (201) and displays that the feed amount is greater than the thickness of the sunken shipboard, the integrated device (1) issues a hydraulic cylinder (306) retraction instruction. The PLC module (201) controls the hydraulic cylinder (306) to retract and drive the intermediate movable flange (304) and the hydraulic motor (307), linear bearing (308), embedded connecting shaft (309), and cutter head (310) thereon to return to the initial position along the longitudinal axis of the machine body, thereby completing the hole-opening operation.

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