A deep sea salvage drilling tool and method of use thereof

Abstract

A deep-sea salvage drilling tool and a method for using the same, comprising a drilling machine, a claw mechanism and a circumferential positioning mechanism, wherein: the drilling machine comprises a feeding mechanism, a hydraulic motor, a handle and a drill bit, the hydraulic motor is arranged in the middle of the feeding mechanism; the claw mechanism comprises a frame structure, a valve block, a clamping jaw mechanism, a fixed rod and a support cylinder, the drilling machine is arranged on one side of the claw mechanism and is installed on the frame structure, can be quickly assembled and disassembled through a wedge and a positioning boss, the clamping jaw mechanism is arranged in the frame structure, is fixedly installed at one end and is positioned at the other end through the fixed rod and the support cylinder; the circumferential positioning mechanism comprises a driving wheel, an auxiliary wheel, a positioning motor and a belt transmission device, can make the drilling tool move circumferentially along a circular or elliptical structure, the surface of the driving wheel is provided with soft spikes, and the auxiliary wheel is installed on the clamping jaw mechanism. The present application has the advantages of simple structure, high modularization degree, can realize stable clamping and multiple drilling of the structure and is very beneficial to the development of subsequent hoisting and salvage work.

Description

Technical Field

[0001] This invention relates to the field of submersible operation tools, and in particular to a deep-sea salvage drilling tool and its method of use. Background Technology

[0002] With the continuous development of marine resource exploration and development, and the sustained prosperity of the marine and air transport industries, underwater structures such as shipwrecks, aircraft debris, and abandoned pipelines need to be salvaged and cleaned. Salvage of structures requires providing suitable locations for hoisting operations, but ideal hoisting locations are often difficult to find. Therefore, appropriate drilling tools are needed to pre-drill holes that match the hoisting tools.

[0003] Using a submersible's robotic arm to control a drilling rig means the reaction force and torque are borne by the submersible itself, making positioning and drilling feed difficult under ocean currents. Therefore, the drilling rig needs a suitable fixing device. However, marine engineering commonly uses seawater-resistant metals such as 316 stainless steel, aluminum alloys, and titanium alloys, which are non-magnetic or weakly magnetic, making magnetic adsorption fixing methods impossible. Furthermore, the surfaces of underwater structures to be salvaged often have rust, stains, and unevenness, making suction cups unsuitable for adsorption fixing.

[0004] Mechanical fixing of drilling tools can overcome the above-mentioned problems and has strong adaptability to various underwater structures. A search of existing technologies reveals that publicly available technologies such as "An Automatic Underwater Pipeline Drilling Machine" and "An Underwater Robot for Submarine Pipeline Inspection" have complex structures, are only suitable for fixing to cylindrical structures, and cannot achieve circumferential movement along cylindrical structures. Therefore, there is an urgent need to design a drilling tool with stable fixing function, suitable for fixing to structures of various shapes, and capable of circumferential movement and multiple drilling operations on standard circular or elliptical structures. Summary of the Invention

[0005] In response to the shortcomings of the existing production technology, the applicant provides a deep-sea salvage drilling tool and its usage method, thereby effectively solving the technical problems of existing underwater drilling tools, such as difficulty in positioning, inapplicability of their fixing devices to non-magnetic or weakly magnetic metals, high requirements for the surface and structure of underwater structures, and inability to perform multiple drillings on standard cylindrical or elliptical cylindrical structures. The tool meets the usage requirements and is flexible and convenient to use.

[0006] The technical solution adopted in this invention is as follows:

[0007] A deep-sea salvage drilling tool includes a frame structure. A drilling machine is installed at one end of the frame structure, and the drill bit of the drilling machine extends out of the frame structure to the bottom and corresponds to the object to be drilled. A gripper mechanism is installed on one side of the frame structure, and a circumferential positioning mechanism is installed on the gripper mechanism. The drilling machine and the gripper mechanism do not interfere with each other during operation. The circumferential positioning mechanism is used to make the gripper mechanism achieve a stable clamping state.

[0008] Its further technical solution lies in:

[0009] The drilling machine has the following structure: a fixed plate fixed to the upper surface of the frame structure, a movable plate above the fixed plate, a hydraulic motor installed at the center of the movable plate, a feed cylinder and a guide rod symmetrically arranged around the hydraulic motor, a drill bit connected to the output end of the hydraulic motor, one end of the guide rod fixedly connected to the fixed plate, the other end of the guide rod being clearance-fitted to the movable plate, the cylinder body of the feed cylinder fixedly connected to the movable plate, and the piston rod of the feed cylinder fixedly connected to the fixed plate.

[0010] When oil is supplied to the rod chamber of the feed cylinder, the moving plate moves toward the fixed plate, and the drilling machine performs the feeding action. When oil is supplied to the rodless chamber of the feed cylinder, the moving plate moves in the opposite direction, and the drilling machine performs the retraction action.

[0011] A handle is fixed to the outside of the fixing plate.

[0012] The gripper mechanism includes a frame structure, a valve block, a gripper mechanism, a fixing rod, and a support cylinder. The valve block is installed on the upper surface of the frame structure, the gripper mechanism is arranged inside the frame structure, and the fixing rod and support cylinder are used to stabilize the frame structure and position the gripper mechanism.

[0013] The frame structure includes a tool mounting plate, a main plate, a first side plate, and a second side plate. The tool mounting plate is machined with wedge-shaped bosses and positioning bosses for mounting with the main plate. The valve block is mounted on the main plate. The first and second side plates are vertically mounted on both sides of the main plate. The tool mounting plate and the main plate are connected by wedge-shaped bosses. The positioning bosses determine the longitudinal position between them. The positioning bosses are connected to the main plate by screws. The two ends of the fixing rod are machined with threads and steps. The two ends are inserted into the stepped holes machined in the first and second side plates and fixed with nuts to form a stable structure.

[0014] The gripper mechanism includes a hinge block, a hydraulic cylinder, and a clamping claw. The hinge block is embedded in the groove of the main board and connected by screws. The cylinder barrel of the hydraulic cylinder is hinged to the hinge block, and the piston rod of the hydraulic cylinder is hinged to the clamping claw. When the piston rod of the hydraulic cylinder extends, the clamping claw retracts, and the gripper mechanism performs a clamping action. Conversely, when the piston rod of the hydraulic cylinder retracts, it performs a releasing action.

[0015] The fixing rod passes through the machined through hole in the middle of the clamping claw. Both the fixing rod and the support cylinder are machined with cylindrical bosses that abut against the side of the clamping claw to ensure the reliability and stability of the clamping claw during operation.

[0016] The circumferential positioning mechanism comprises a drive wheel, an auxiliary wheel, a driven wheel, a driving wheel, and a positioning motor. The drive wheels are symmetrically arranged within the frame structure, near the first and second side plates. The auxiliary wheel is mounted in the slot of the clamping jaw via an axle. The driven wheel is located on the outside of the first side plate and is coaxially driven with the drive wheel to rotate it. The positioning motor is mounted on the main board and is connected to the driving wheel via a key. The surface of the drive wheel is made of soft rubber with spikes. The driving wheel drives the driven wheel via a belt drive. Multiple jaw grooves are machined on the arc-shaped surface of the clamping jaw.

[0017] A method for using a deep-sea salvage drilling tool.

[0018] S1: Multiple drilling operations;

[0019] S1.1: The robotic arm on the submersible grips the handle of the drilling tool, moves it to the vicinity of the underwater structure that needs to be pre-drilled, and moves it further to place the underwater structure within the gripping range of the gripper mechanism;

[0020] S1.2: Simultaneously drive the hydraulic cylinders of the two gripper mechanisms to clamp the underwater structure, and then the robot releases the handle of the drilling tool;

[0021] S1.3: Drive the feed cylinder of the drilling machine to make the drill bit contact the surface of the underwater structure. The pressure in the rod chamber of the feed cylinder determines whether contact has been made. After successful contact, drive the hydraulic motor of the drilling machine to start drilling.

[0022] S1.4: After drilling is completed, stop the hydraulic motor, drive the feed cylinder to retract the drill bit, the robot arm grips the handle of the drilling tool, then drive the gripper mechanism to release, and the robot arm removes the drilling tool to complete the entire drilling operation;

[0023] S1.5: If the drill bit does not penetrate or multiple holes are required for large-scale hoisting, the circumferential positioning mechanism controls the drilling tool to move circumferentially, and then returns to step S1.3.

[0024] As a further improvement to the above technical solution:

[0025] Move to the vicinity of the underwater structure that needs to be pre-drilled, and move further to place the underwater structure within the grasping range of the gripper mechanism;

[0026] S2.2: Based on the observation of the site conditions, control the hydraulic cylinders of the two gripper mechanisms separately to grip the underwater structure, and then the robot arm releases the handle of the drilling tool.

[0027] S2.3: The positioning motor driving the circumferential positioning mechanism rotates forward or backward until the edge of the underwater structure is engaged in the claw groove of the clamping claw. The belt drive slips, i.e., overload protection, indicating that the underwater structure can no longer move and a stable clamping is formed.

[0028] S2.4: Drive the feed cylinder of the drilling machine to make the drill bit contact the surface of the underwater structure. The pressure in the rod chamber of the feed cylinder determines whether contact has been made. After successful contact, drive the hydraulic motor of the drilling machine to start drilling.

[0029] S2.5: After drilling is completed, stop the hydraulic motor, drive the feed cylinder to retract the drill bit, the robot arm grips the handle of the drilling tool, then drive the gripper mechanism to release, and the robot arm removes the drilling tool to complete the entire drilling operation.

[0030] The beneficial effects of this invention are as follows:

[0031] This invention features a compact and reasonable structure, and is easy to operate. Through the coordinated operation of the drilling machine, the gripper mechanism, and the circumferential positioning mechanism, it can easily fix and drill structures of various shapes, greatly improving operational reliability and meeting usage requirements.

[0032] In addition, the present invention also has the following advantages:

[0033] (1) It has good stability and strong adaptability to underwater structures that are clamped and fixed. It is not affected by factors such as the shape, material, and surface condition of the structure and is suitable for drilling operations in multiple scenarios.

[0034] (2) It adopts a frame structure with built-in gripper mechanism and circumferential positioning mechanism, which has high space utilization. It adopts a dual hydraulic cylinder independent drive gripper mechanism, equipped with auxiliary wheels and claw groove structure, which can achieve stable clamping of cylindrical structures, irregular structures, etc.

[0035] (3) A circumferential positioning mechanism driven by a bidirectional gear motor and belt drive is adopted. The surface of the drive wheel is equipped with a soft rubber structure with spikes, which can stably clamp cylindrical or elliptical cylindrical structures and move them circumferentially. It can realize drilling tasks in multiple positions. In addition, the belt drive ensures the protection of each component when the clamping of irregular structures is overloaded. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the present invention.

[0037] Figure 2 This is a partial structural schematic diagram of the present invention.

[0038] Figure 3 for Figure 2 The main view.

[0039] Figure 4 This is a schematic diagram of the framework structure of the present invention.

[0040] Figure 5 This is a schematic diagram of the gripper mechanism of the present invention.

[0041] Figure 6 This is an application diagram of the present invention.

[0042] The components include: 1. Handle; 2. Guide rod; 3. Hydraulic motor; 4. Feed cylinder; 5. Moving plate; 6. Fixed plate; 7. Drill bit; 8. Frame structure; 9. Valve block; 10. Fixed rod; 11. Gripper mechanism; 12. Support cylinder; 13. Drive wheel; 14. Auxiliary wheel; 15. Driven wheel; 16. Driving wheel; 17. Positioning motor.

[0043] 801. Tool mounting plate; 802. Main board; 803. First side panel; 804. Second side panel;

[0044] 80101, wedge-shaped boss; 80102, positioning boss;

[0045] 80201, oblong hole;

[0046] 1101. Hinge block; 1102. Hydraulic cylinder; 1103. Clamping claw;

[0047] 110301, Claw Groove. Detailed Implementation

[0048] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0049] like Figures 1-6 As shown, the deep-sea salvage drilling tool of this embodiment includes a frame structure 8. A drilling machine is installed at one end of the frame structure 8. The drill bit 7 of the drilling machine extends out of the frame structure 8 to the bottom and corresponds to the object to be drilled. A gripper mechanism is installed on one side of the frame structure 8. A circumferential positioning mechanism is installed on the gripper mechanism. The drilling machine and the gripper mechanism do not interfere with each other when they are working. The circumferential positioning mechanism is used to make the gripper mechanism achieve a stable clamping state.

[0050] The structure of the drilling machine is as follows: a fixed plate 6 is fixed to the upper surface of the frame structure 8, a movable plate 5 is set above the fixed plate 6, a hydraulic motor 3 is installed in the center of the movable plate 5, a feed cylinder 4 and a guide rod 2 are symmetrically arranged around the hydraulic motor 3, a drill bit 7 is connected to the output end of the hydraulic motor 3, one end of the guide rod 2 is fixedly connected to the fixed plate 6, and the other end of the guide rod 2 is clearance-fitted to the movable plate 5. The cylinder body of the feed cylinder 4 is fixedly connected to the movable plate 5, and the piston rod of the feed cylinder 4 is fixedly connected to the fixed plate 6.

[0051] When the rod chamber of the feed cylinder 4 is supplied with oil, the moving plate 5 moves toward the fixed plate 6, and the drilling machine performs a feeding action. When the rodless chamber of the feed cylinder 4 is supplied with oil, the moving plate 5 moves in the opposite direction, and the drilling machine performs a retraction action.

[0052] A handle 1 is fixed to the outside of the fixing plate 6.

[0053] The gripper mechanism includes a frame structure 8, a valve block 9, a gripper mechanism 11, a fixing rod 10, and a support cylinder 12. The valve block 9 is installed on the upper surface of the frame structure 8, the gripper mechanism 11 is arranged inside the frame structure 8, and the fixing rod 10 and the support cylinder 12 are used to stabilize the frame structure 8 and position the gripper mechanism 11.

[0054] The frame structure 8 includes a tool mounting plate 801, a main plate 802, a first side plate 803, and a second side plate 804. The tool mounting plate 801 is machined with a wedge-shaped boss 80101 and a positioning boss 80102 for mounting with the main plate 802. The valve block 9 is mounted on the main plate 802. The first side plate 803 and the second side plate 804 are vertically mounted on both sides of the main plate 802. The tool mounting plate 801 and the main plate 802 are connected by the wedge-shaped boss 80101. The positioning boss 80102 is used to determine the longitudinal position between the two. The positioning boss 80102 is connected to the main plate 802 by screws. The two ends of the fixing rod 10 are machined with threads and steps. The two ends are inserted into the stepped holes machined in the first side plate 803 and the second side plate 804 and fixed by nuts to form a stable structure.

[0055] The gripper mechanism 11 includes a hinge block 1101, a hydraulic cylinder 1102, and a clamping claw 1103. The hinge block 1101 is embedded in the groove of the main board 802 and connected by screws. The cylinder barrel of the hydraulic cylinder 1102 is hinged to the hinge block 1101, and the piston rod of the hydraulic cylinder 1102 is hinged to the clamping claw 1103. When the piston rod of the hydraulic cylinder 1102 extends, the clamping claw 1103 retracts, and the gripper mechanism performs a clamping action. Conversely, when the piston rod of the hydraulic cylinder 1102 retracts, it performs a releasing action.

[0056] The fixing rod 10 passes through the machined through hole in the middle of the clamping claw 1103. Both the fixing rod 10 and the support cylinder 12 are machined with cylindrical bosses that abut against the side of the clamping claw 1103 to ensure the reliability and stability of the clamping claw 1103 when it operates.

[0057] The circumferential positioning mechanism comprises a drive wheel 13, an auxiliary wheel 14, a driven wheel 15, a driving wheel 16, and a positioning motor 17. The drive wheel 13 is symmetrically arranged within the frame structure 8, near the first side plate 803 and the second side plate 804. The auxiliary wheel 14 is mounted in the slot of the clamping claw 1103 via an axle. The driven wheel 15 is arranged on the outside of the first side plate 803 and is coaxially driven with the drive wheel 13 to drive the drive wheel 13 to rotate. The positioning motor 17 is mounted on the main board 802 and is driven by a key to the driving wheel 16. The surface of the drive wheel 13 is made of soft rubber with spikes. The driving wheel 16 drives the driven wheel 15 by belt drive. Multiple claw grooves 110301 are machined on the arc-shaped surface of the clamping claw 1103.

[0058] Hydraulic motor 3 is a cycloidal hydraulic motor.

[0059] Positioning motor 17 is a bidirectional gear motor.

[0060] The surface of the drive wheel 13 is a soft rubber layer with spiked protrusions to enhance friction during rotation.

[0061] The clamping claw 1103 is machined with multiple triangular claw grooves 110301 for fixing the edges of the irregularly shaped structure being gripped.

[0062] Drill bit 7 is a hollow drill with a built-in twist drill for hole positioning.

[0063] Valve block 9 is a hydraulic cartridge valve integrated valve group. The hydraulic power source on the submersible is connected to the inlet of the valve block 9. After passing through each cartridge valve inside, it is connected to the hydraulic motor 3, the feed cylinder 4, the hydraulic cylinder 1102 and the positioning motor 17 respectively, providing a hydraulic power source.

[0064] The mainboard 802 has multiple elongated holes 80201, which reduces weight, facilitates the arrangement of hydraulic lines for the hydraulic cylinder 1102, and makes installation and disassembly convenient.

[0065] like Figures 1-6 As shown, the specific structure and function of the deep-sea salvage drilling tool of the present invention are as follows:

[0066] It mainly includes a drilling machine, a gripper mechanism, and a circumferential positioning mechanism.

[0067] The drilling machine includes a handle 1, a guide rod 2, a hydraulic motor 3, a feed cylinder 4, a moving plate 5, a fixed plate 6, and a drill bit 7. The gripper mechanism includes a frame structure 8, a valve block 9, a fixed rod 10, a gripper mechanism 11, and a support cylinder 12.

[0068] The drilling machine is installed on the frame structure 8 and arranged on one side of the gripper mechanism so that the drilling operation and the gripper fixing operation do not interfere with each other. The circumferential positioning mechanism is used to make the gripper mechanism achieve a stable clamping state and move circumferentially along the cylindrical or elliptical cylinder.

[0069] The hydraulic power source on the submersible provides hydraulic power to the drilling tool, and the handle 1 is used by the robotic arm on the submersible to hold and move the drilling tool to the designated position.

[0070] The hydraulic motor 3 is installed at the center of the moving plate 5. The feed cylinder 4 and the guide rod 2 are symmetrically arranged around the hydraulic motor 3. The drill bit 7 is connected to the hydraulic motor 3 by a key. One end of the guide rod 2 is fixed to the fixed plate 6, and the other end is clearance-fitted to the moving plate 5. The cylinder body of the feed cylinder 4 is fixed to the moving plate 5, and its piston rod is fixed to the fixed plate 6. The rod chamber of the feed cylinder 4 is supplied with oil. When the moving plate 5 moves toward the fixed plate 6, the drilling machine performs a feeding action. When the rodless chamber of the feed cylinder 4 is supplied with oil, the moving plate 5 moves in the opposite direction. When the drilling machine performs a retraction action, the drilling machine performs a retraction action.

[0071] The frame structure 8 includes a tool mounting plate 801, a main plate 802, a first side plate 803, and a second side plate 804. The tool mounting plate 801 is machined with a wedge-shaped boss 80101 and a positioning boss 80102. The valve block 9 is mounted on the main plate 802. The first side plate 803 and the second side plate 804 are respectively vertically mounted on both sides of the main plate 802. The tool mounting plate 801 and the main plate 802 are connected by the wedge-shaped boss 80101. The positioning boss 80102 is used to determine the longitudinal position between the two. The positioning boss 80102 is connected to the main plate 802 by screws. The two ends of the fixing rod 10 are machined with threads and steps. The two ends are inserted into the stepped holes machined in the first side plate 803 and the second side plate 804 and fixed by nuts to form a stable structure.

[0072] The gripper mechanism 11 includes a hinge block 1101, a hydraulic cylinder 1102, and a clamping claw 1103. The hinge block 1101 is embedded in the groove of the main board 802 and connected by screws. The cylinder barrel of the hydraulic cylinder 1102 is hinged to the hinge block 1101, and the piston rod of the hydraulic cylinder 1102 is hinged to the clamping claw 1103. When the piston rod of the hydraulic cylinder 1102 extends, the clamping claw 1103 retracts, and the gripper mechanism performs a clamping action. Conversely, when the piston rod of the hydraulic cylinder 1102 retracts, it performs a releasing action.

[0073] The fixing rod 10 passes through the machined through hole in the middle of the clamping claw 1103. Both the fixing rod 10 and the support cylinder 12 are machined with cylindrical bosses that abut against the side of the clamping claw 1103 to ensure the reliability and stability of the clamping claw 1103 when it operates.

[0074] The circumferential positioning mechanism includes a drive wheel 13, an auxiliary wheel 14, a driven wheel 15, a drive wheel 16, and a positioning motor 17. The drive wheel 13 is symmetrically arranged within the frame structure 8, near the first side plate 803 and the second side plate 804, improving the space utilization within the frame structure 8. The auxiliary wheel 14 is mounted in the slot of the clamping claw 1103 via an axle. When clamping a cylindrical or elliptical underwater structure, it contacts its surface and rotates along the surface, reducing the frictional force of circumferential movement. The driven wheel 15 is arranged on the outside of the first side plate 803 and is coaxially driven with the drive wheel 13 to drive the drive wheel 13 to rotate. The positioning motor 17 is mounted on the main plate 802 and is driven by a key to the drive wheel 16. The surface of the drive wheel 13 is made of a soft rubber structure with spikes to enhance the frictional force on the surface of the underwater structure, facilitating circumferential rolling. The drive wheel 16 uses a belt drive to drive the driven wheel 15 to rotate, improving the stability during transmission and providing overload protection.

[0075] Multiple claw grooves 110301 are machined on the arc-shaped surface of the clamping claw 1103 to ensure the stability of gripping the edges of underwater irregular structures.

[0076] In actual operation, deep-sea salvage drilling is achieved through the following steps:

[0077] 1. If the underwater structure is a standard cylindrical or elliptical cylindrical structure, multiple drilling operations are possible:

[0078] (1) The robotic arm on the submersible grips the handle 1 of the drilling tool, moves it to the vicinity of the underwater structure that needs to be pre-drilled, and moves it further to place the underwater structure within the gripping range of the gripper mechanism.

[0079] (2) Simultaneously drive the hydraulic cylinders 1102 of the two gripper mechanisms 11 to grip the underwater structure, and then the robot releases the handle 1 of the drilling tool.

[0080] (3) Drive the feed cylinder 4 of the drilling machine to make the drill bit 7 contact the surface of the underwater structure. The pressure of the rod chamber of the feed cylinder 4 is used to determine whether contact has been made. After successful contact, drive the hydraulic motor 3 of the drilling machine to start drilling.

[0081] (4) After drilling is completed, stop the hydraulic motor 3, drive the feed cylinder 4 to retract the drill bit 7, the robot grips the handle 1 of the drilling tool, and then drive the gripper mechanism 11 to release it. The robot moves the drilling tool away to complete the entire drilling operation.

[0082] (5) If the drilling is not completed or multiple holes are required for large-scale hoisting, the drilling tool is moved circumferentially by the circumferential positioning mechanism and then returned to step (3).

[0083] II. If the underwater structure is an irregularly shaped structure, such as angle steel or I-beam, only one drilling operation is required:

[0084] (1) The robotic arm on the submersible grips the handle 1 of the drilling tool, moves it to the vicinity of the underwater structure that needs to be pre-drilled, and moves it further to place the underwater structure within the gripping range of the gripper mechanism.

[0085] (2) Based on the observation of the on-site situation, control the hydraulic cylinders 1102 of the two gripper mechanisms 11 separately to grip the underwater structure, and then the robot arm releases the handle 1 of the drilling tool.

[0086] (3) The positioning motor 17 of the circumferential positioning mechanism rotates forward or backward until the edge of the underwater structure is inserted into the claw groove 110301 of the clamping claw 1103. The belt drive slips, i.e., overload protection, indicating that the underwater structure can no longer move, thus forming a stable clamp.

[0087] (4) Drive the feed cylinder 4 of the drilling machine to make the drill bit 7 contact the surface of the underwater structure. Determine whether contact has been made by the pressure of the rod chamber of the feed cylinder 4. After successful contact, drive the hydraulic motor 3 of the drilling machine to start drilling.

[0088] (5) After drilling is completed, stop the hydraulic motor 3, drive the feed cylinder 4 to retract the drill bit 7, the robot grips the handle 1 of the drilling tool, and then drive the gripper mechanism 11 to release it. The robot moves the drilling tool away to complete the entire drilling operation.

[0089] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A deep-sea salvage drilling tool, characterized in that: Includes a frame structure (8), a drilling machine is installed at one end of the frame structure (8), the drill bit (7) of the drilling machine extends out of the frame structure (8) to the bottom and corresponds to the object to be drilled; a gripper mechanism is installed on one side of the frame structure (8), and a circumferential positioning mechanism is installed on the gripper mechanism. The drilling machine and the gripper mechanism do not interfere with each other when they are working. The circumferential positioning mechanism is used to make the gripper mechanism achieve a stable clamping state. The structure of the drilling machine is as follows: a fixed plate (6) is fixed on the upper surface of the frame structure (8), a movable plate (5) is set above the fixed plate (6), a hydraulic motor (3) is installed in the center of the movable plate (5), a feed cylinder (4) and a guide rod (2) are symmetrically arranged around the hydraulic motor (3), a drill bit (7) is connected to the output end of the hydraulic motor (3), one end of the guide rod (2) is fixedly connected to the fixed plate (6), the other end of the guide rod (2) is clearance-fitted to the movable plate (5), the cylinder body of the feed cylinder (4) is fixedly connected to the movable plate (5), and the piston rod of the feed cylinder (4) is fixedly connected to the fixed plate (6). The gripper mechanism includes a frame structure (8), a valve block (9), a gripper mechanism (11), a fixing rod (10), and a support cylinder (12). The valve block (9) is installed on the upper surface of the frame structure (8), the gripper mechanism (11) is arranged inside the frame structure (8), and the fixing rod (10) and the support cylinder (12) are used to stabilize the frame structure (8) and position the gripper mechanism (11). The frame structure (8) consists of a tool mounting plate (801), a main plate (802), a first side plate (803), and a second side plate (804). The tool mounting plate (801) is machined with a wedge-shaped boss (80101) and a positioning boss (80102) for mounting with the main plate (802). The valve block (9) is mounted on the main plate (802). The first side plate (803) and the second side plate (804) are vertically mounted on both sides of the main plate (802). The tool mounting plate (801) and the main plate (802) are connected by the wedge-shaped boss (80101). The positioning boss (80102) is used to determine the longitudinal position between the two. The positioning boss (80102) and the main plate (802) are connected by screws. The two ends of the fixing rod (10) are machined with threads and steps. The two ends are inserted into the stepped holes machined in the first side plate (803) and the second side plate (804) and fixed by nuts to form a stable structure. The structure of the circumferential positioning mechanism is as follows: it includes a drive wheel (13), an auxiliary wheel (14), a driven wheel (15), an active wheel (16), and a positioning motor (17). The drive wheel (13) is symmetrically arranged in the frame structure (8), close to the first side plate (803) and the second side plate (804). The auxiliary wheel (14) is installed in the slot of the clamping claw (1103) through a wheel axle. The driven wheel (15) is arranged on the outside of the first side plate (803) and is coaxially driven with the drive wheel (13) to drive the drive wheel (13) to rotate. The positioning motor (17) is installed on the main board (802) and is driven by a key to the active wheel (16). The surface of the drive wheel (13) is made of soft rubber with spikes. The active wheel (16) drives the driven wheel (15) by belt drive. The clamping claw (1103) has multiple claw grooves (110301) machined on its arc surface.

2. The deep-sea salvage drilling tool as described in claim 1, characterized in that: When the rod chamber of the feed cylinder (4) is supplied with oil, the moving plate (5) moves toward the fixed plate (6) and the drilling machine performs a feeding action. When the rodless chamber of the feed cylinder (4) is supplied with oil, the moving plate (5) moves in the opposite direction and the drilling machine performs a retraction action.

3. The deep-sea salvage drilling tool as described in claim 2, characterized in that: A handle (1) is fixed to the outside of the fixing plate (6).

4. A deep-sea salvage drilling tool as described in claim 3, characterized in that: The gripper mechanism (11) includes a hinge block (1101), a hydraulic cylinder (1102), and a clamping claw (1103). The hinge block (1101) is embedded in the groove of the main board (802) and connected by screws. The cylinder of the hydraulic cylinder (1102) is hinged to the hinge block (1101), and the piston rod of the hydraulic cylinder (1102) is hinged to the clamping claw (1103). When the piston rod of the hydraulic cylinder (1102) extends, the clamping claw (1103) retracts, and the gripper mechanism performs a clamping action. Conversely, when the piston rod of the hydraulic cylinder (1102) retracts, it performs a releasing action.

5. A deep-sea salvage drilling tool as described in claim 4, characterized in that: The fixing rod (10) passes through the through hole machined in the middle of the clamping claw (1103). Both the fixing rod (10) and the support cylinder (12) are machined with cylindrical bosses that abut against the side of the clamping claw (1103) to ensure the reliability and stability of the clamping claw (1103) when it moves.

6. A method of using the deep-sea salvage drilling tool as described in claim 5, characterized in that: S1: Multiple drilling operations; S1.1: The robotic arm on the submersible grips the handle (1) of the drilling tool, moves it to the vicinity of the underwater structure that needs to be pre-drilled, and moves it further to place the underwater structure within the gripping range of the gripper mechanism; S1.2: Simultaneously drive the hydraulic cylinder (1102) of the two gripper mechanisms (11) to clamp the underwater structure, and then the robot releases the handle (1) of the drilling tool. S1.3: Drive the feed cylinder (4) of the drilling machine to make the drill bit (7) contact the surface of the underwater structure. The pressure of the rod chamber of the feed cylinder (4) determines whether contact has been made. After successful contact, drive the hydraulic motor (3) of the drilling machine to start drilling. S1.4: After drilling is completed, stop the hydraulic motor (3), drive the feed cylinder (4) to retract the drill bit, the robot grips the handle (1) of the drilling tool, and then drive the gripper mechanism (11) to release it. The robot moves the drilling tool away to complete the entire drilling operation. S1.5: If the drill bit does not penetrate or multiple holes are required for large-scale hoisting, the circumferential positioning mechanism controls the drilling tool to move circumferentially, and then returns to step S1.3; S2: Drilling a hole once; S2.1: The robotic arm on the submersible grips the handle (1) of the drilling tool, moves it to the vicinity of the underwater structure that needs to be pre-drilled, and moves it further to place the underwater structure within the gripping range of the gripper mechanism; S2.2: Based on the observation of the site conditions, control the hydraulic cylinder (1102) of the two gripper mechanisms (11) to clamp the underwater structure, and then the robot releases the handle (1) of the drilling tool. S2.3: The positioning motor (17) of the circumferential positioning mechanism rotates forward or backward until the edge of the underwater structure is engaged in the claw groove (110301) of the clamping claw. The belt drive slips, i.e., overload protection, indicating that the underwater structure can no longer move and forms a stable clamp. S2.4: Drive the feed cylinder (4) of the drilling machine to make the drill bit (7) contact the surface of the underwater structure. The pressure of the rod chamber of the feed cylinder (4) determines whether contact has been made. After successful contact, drive the hydraulic motor (3) of the drilling machine to start drilling. S2.5: After drilling is completed, stop the hydraulic motor (3), drive the feed cylinder (4) to retract the drill bit, the robot grips the handle (1) of the drilling tool, and then drive the gripper mechanism (11) to release it. The robot moves the drilling tool away to complete the entire drilling operation.

Images