Three-foot portable multi-angle underwater adsorption anchoring drilling device

Abstract

The invention discloses a three-foot portable multi-angle underwater adsorption anchoring drilling device. The drilling machine feeding component is installed on the drilling machine main body platform in a vertically movable mode, the three-foot supporting component is composed of a main foot and an auxiliary foot, the main foot and the auxiliary foot are installed on the drilling machine main body platform in an angle-adjustable mode, the main foot and the auxiliary foot are each provided with a micro-needle rotational flow suction cup, and after the micro-needle rotational flow suction cups suck the wall face of a to-be-drilled structure, the micro-needle rotational flow suction cups suck the wall face of the to-be-drilled structure. The drilling machine feeding component drills a to-be-drilled structure, the drilling machine feeding component achieves feeding and resetting of the drilling machine through positive and negative rotation of the motor so as to adjust the drilling operation depth, and the three-foot supporting component can change the feeding angle of a drill bit so as to meet the operation requirements of different drilling angles. The multi-angle drilling device can achieve multi-angle drilling operation in the repairing process of surface cracks of dams with different curvatures, meanwhile has the operation capacity in the complex water flow environment, can replace manual operation and improve the operation efficiency, and is easy to carry and store, wide in application range, safe and reliable.

Description

Technical Field

[0001] The invention belongs to the field of dam repair, and in particular relates to a three-legged portable multi-angle underwater adsorption anchor drilling device. Background Art

[0002] my country is the country with the most dams in the world. It is estimated that there are more than 25,000 dams, accounting for about 40% of the total number of dams in the world. Dams play a key role in water resource management, energy production and socio-economic development. During the service of dams, long-term influence of natural forces such as water pressure, climate change, earthquake vibration, etc. will lead to material aging, increased leakage, and eventually structural damage and cracks. Cracks may reduce the strength and stability of the overall structure of the dam, posing a major threat to water resource management, ecological environment, social economy and personnel safety. Therefore, repairing defects in dams is essential to maintain their safety and function. Regular maintenance and repair can help reduce the gradual degradation and damage of dam structures, reduce long-term maintenance costs, and help protect the integrity of ecosystems and reduce environmental damage that may be caused by dam failures. Dam defect repair is not only related to public safety and infrastructure stability, but also has important significance for social economy and environmental protection.

[0003] For the cracks that appear in the underwater part of the dam, the main repair measures are: base cleaning, underwater reinforcement, formwork, and underwater non-dispersed concrete construction. For the underwater concrete pouring project, it is usually necessary to drill holes at the crack location before pouring concrete. After the drilling process is completed, the drilled holes must be cleaned before subsequent operations such as pipe insertion and grouting can be carried out. For the first step of underwater concrete repair, drilling, in engineering, can be mainly divided into inclined hole drilling and seam hole drilling. The former is mainly to drill holes on one side or both sides of the crack according to the direction of the underwater building cracks, while the latter is to drill holes directly along the crack direction. The diameter of the inclined hole in the project is usually not less than 12mm, and the diameter of the seam hole is not less than 25mm.

[0004] Regarding the inclined hole drilling process during underwater dam maintenance, currently in the underwater working environment, most of the work is done by divers holding hydraulic picks. The divers first dive to the work area, identify the location of the building's lesions by visual inspection, and use the hydraulic picks to drill holes near the cracks. This process is difficult to implement and cannot guarantee the drilling accuracy requirements. In addition, being in the underwater environment for a long time will cause certain damage to the divers' health. Summary of the invention

[0005] In order to solve the problems existing in the background technology, the purpose of the present invention is to provide a three-legged portable multi-angle underwater adsorption anchor drilling device to replace the underwater artificial concrete dam maintenance and realize multi-angle drilling operations on complex underwater surfaces.

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

[0007] The device comprises a microneedle swirl suction cup, a drilling rig main body platform, a drilling rig feeding component and a three-legged supporting component; the drilling rig feeding component is installed on the drilling rig main body platform so as to be movable up and down, the three-legged supporting component is mainly composed of a main leg and two auxiliary legs, both the main leg and the auxiliary legs are rotatably installed on the drilling rig main body platform, microneedle swirl suction cups are installed at the ends of the main leg and the auxiliary legs, and after the microneedle swirl suction cups adsorb the wall surface of the structure to be drilled, the drilling rig feeding component drills the structure to be drilled.

[0008] The drilling rig feeding components include a slide block, a slide rail, a joint motor, a gear, a rack, a drilling rig and a drilling rig fixture;

[0009] An annular drilling fixture is fixed on the upper surface of the drilling rig main platform, the drilling rig is vertically fixed on the drilling fixture, a plurality of sliders are fixedly installed on the outer periphery of the drilling rig fixture, each slider is installed on each slide rail so as to be movable up and down, and each slide rail is fixedly installed on the drilling rig main platform, the joint motor is fixedly connected to the drilling rig main platform, the output shaft of the joint motor is fixedly connected to the gear, the rack is fixedly installed on the outer periphery of the drilling rig fixture, and the gear and the rack are meshingly connected, the joint motor is used to drive the gear to rotate, thereby driving the rack to move up and down, and then driving the drilling rig fixture connected to the rack and the drilling rig to move up and down, so that the drilling rig moves up and down to realize drilling feed.

[0010] The root end of the main foot is rotatably mounted on the drilling rig main platform through a main foot self-locking mechanism, the axial direction of the main foot is perpendicular to the axial direction of the main foot self-locking mechanism, the main foot self-locking mechanism comprises a torque servo, two ratchets and a spring, the two ratchets are meshingly connected, the root end of the main foot is fixedly connected to the outer shell of the torque servo, the output shaft of the torque servo is connected to the drilling rig main platform, one ratchet is mounted on the root end of the main foot, and the other ratchet is connected to the drilling rig main platform through a spring, when the output shaft of the torque servo rotates, the main foot rotates around the output shaft of the torque servo relative to the drilling rig main platform, thereby realizing the angle adjustment between the main foot and the drilling rig main platform, and the two ratchets are used to self-lock the inclination angle of the main foot when the drilling rig feed component is drilling.

[0011] The root end of the auxiliary foot is rotatably mounted on the main platform of the drilling rig via a rotation limiting mechanism, and the axial direction of the auxiliary foot is perpendicular to the axial direction of the rotation limiting mechanism. When the main foot rotates relative to the main platform of the drilling rig around the axial direction of the main foot self-locking mechanism, the auxiliary foot rotates relative to the main platform of the drilling rig around the axial direction of the rotation limiting mechanism, so that the auxiliary foot adaptively realizes the angle adjustment between itself and the main platform of the drilling rig.

[0012] The end of the main foot is hinged to the microneedle cyclone suction cup through a suction cup connecting frame, and the main foot can be connected to the suction cup connecting frame rotatably around the axial direction of the suction cup connecting frame. The bottom end of the suction cup connecting frame is fixedly connected to the microneedle cyclone suction cup to achieve angle adjustment between the main foot and the microneedle cyclone suction cup.

[0013] The end of the secondary foot is hinged to the microneedle cyclone suction cup through a Hook's hinge. One end of the Hook's hinge can be installed at the end of the secondary foot so as to rotate around the secondary foot axis. The other end of the Hook's hinge is fixedly connected to the microneedle cyclone suction cup to achieve angle adjustment between the secondary foot and the microneedle cyclone suction cup, as well as posture adjustment of the microneedle cyclone suction cup.

[0014] A main foot telescopic component is provided in the middle part of the main foot, so that the main foot can be installed with an adjustable length between the drilling rig main platform and the microneedle cyclone suction cup. A secondary foot telescopic component is provided in the middle part of the secondary foot, so that the secondary foot can be installed with an adjustable length between the drilling rig main platform and the microneedle cyclone suction cup.

[0015] The main foot and the two auxiliary feet are evenly spaced and arranged along the circumference of the main platform of the drilling rig, and the angle between the two auxiliary feet and between the main foot and the auxiliary foot is 120 degrees.

[0016] The device controls the feed angle of the drill on the main platform by adjusting the angle between the adsorption foot in the three-legged support component and the main platform of the drill to achieve variable-angle drilling. The main foot self-locking mechanism changes the angle between the main foot and the main platform of the drill, and the auxiliary foot and the main platform of the drill are changed by rotating the limit mechanism. At the same time, the drilling reaction force can be resisted to maintain the current angle posture to meet the needs of drilling at different angles. The drilling distance is adjusted by the length telescopic components of the main foot and the auxiliary foot to meet the needs of drilling at different depths. The main platform of the drill realizes the feeding and reset movement of the drill through the joint motor, gear rack, and slide rail slider to meet the requirements of drilling operations at different depths. The angle between the drill and the normal of the working surface ranges from 0° to 45°. The drilling depth can be adjusted by controlling the motor on the drilling rig sliding track on the main platform of the drill. The feed stroke of the drill is 250mm.

[0017] The micro-needle swirl suction cup is connected to the foot structure through a Hook hinge and a suction cup connecting frame. The suction cup can be rotated through the hinge to adapt to the dam wall with different curvatures. The micro-needle structure of the swirl suction cup penetrates into the dam wall through the adsorption force of the swirl suction cup and the vibration of the system operation to provide sufficient tangential friction, so that the whole device is firmly adsorbed on the working surface.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. The present invention can adsorb and fix the concrete surface and drill holes at multiple angles in an underwater dam environment. The multi-degree-of-freedom adsorption foot structure design enables the device to adapt to drilling holes on dam surfaces with different curvatures. The drilling angle can be adjusted by changing the angles of the three adsorption feet. The overall flexibility of the device is high, and it is safe and reliable.

[0020] 2. The microneedle cyclone suction cup of the present invention has a greater gain in adsorption force than the traditional centrifugal Bernoulli suction cup, and the overall adsorption force is increased by 50%. The present invention uses the suction force of the suction cup to press the microneedle structure into the concrete surface, forming surface micro-destruction to provide greater tangential limiting friction, and the equivalent friction coefficient of the adsorption component can reach above 1.

[0021] 3. The adsorption foot structure of the present invention is connected to the main platform of the drilling rig through a Hook hinge and a hinge, so that the device can be adsorbed and anchored on walls with different curvatures.

[0022] 4. The present invention can realize multi-angle drilling operations in the process of repairing cracks on the surface of dams with different curvatures, and at the same time has the ability to operate in complex water flow environments, can replace manual operations and improve operating efficiency, is easy to carry and store, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A top view of the three-legged portable multi-angle underwater adsorption anchor drilling device of the present invention;

[0024] Figure 2 It is a working schematic diagram of the three-legged portable multi-angle underwater adsorption anchor drilling device of the present invention;

[0025] Figure 3 It is a schematic diagram of storing the three-legged portable multi-angle underwater adsorption anchor drilling device of the present invention;

[0026] Figure 4 The figure is a schematic diagram of the structure of the microneedle cyclone suction cup of the present invention.

[0027] In the figure: 1. Microneedle cyclone suction cup; 2. Suction cup connecting frame; 3. Main foot; 4. Main foot self-locking mechanism; 5. Drilling rig main platform; 6. Slider; 7. Slide rail; 8. Auxiliary foot; 9. Rotation limit mechanism; 10. Joint motor; 11. Gear; 12. Rack; 13. Drilling rig; 14. Drilling rig fixture; 15. Hook hinge; 16. Main foot telescopic component; 17. Auxiliary foot telescopic component. DETAILED DESCRIPTION

[0028] The present invention is described in detail below in conjunction with specific implementation cases. The following implementation cases will help those skilled in the art to further understand the present invention, but will not limit the present invention in any form.

[0029] like Figure 1As shown, the device is used for surface crack repairing operations on concrete dams with different curvatures, and includes a microneedle cyclone suction cup 1, a drilling rig main body platform 5, a drilling rig feeding component and a three-legged supporting component; the drilling rig feeding component is installed on the drilling rig main body platform 5 so as to be movable up and down, and the three-legged supporting component is mainly composed of a main foot 3 and two auxiliary feet 8, and the main foot 3 and the auxiliary feet 8 can be rotatably installed on the drilling rig main body platform 5, and the ends of the main foot 3 and the auxiliary feet 8 are both installed with microneedle cyclone suction cups 1. After the microneedle cyclone suction cup 1 adsorbs the wall surface of the structure to be drilled, the drilling rig feeding component drills the structure to be drilled.

[0030] like Figure 2 and Figure 3 As shown, the drilling machine feeding components include a slide block 6, a slide rail 7, a joint motor 10, a gear 11, a rack 12, a drilling machine 13 and a drilling machine fixture 14;

[0031] The annular drilling fixture 14 is fixed on the upper surface of the drilling rig main body platform 5, and the drilling rig 13 is vertically fixedly installed on the drilling rig fixture 14, that is, the outer shell of the drilling rig 13 is fixedly connected to the inner periphery of the drilling rig fixture 14, and a plurality of sliders 6 are fixedly installed on the outer periphery of the drilling rig fixture 14, each slider 6 is installed on each slide rail 7 movably up and down, the number of sliders 6 is the same as that of the slide rails 7, the slide rails 7 are vertically arranged along the up and down directions, and each slide rail 7 is fixedly installed on the drilling rig main body platform 5, the outer shell of the joint motor 10 is fixedly connected to the drilling rig main body platform 5, the output shaft of the joint motor 10 is fixedly connected to the gear 11, the rack 12 is fixedly installed on the outer periphery of the drilling rig fixture 14, and the gear 11 and the rack 12 are meshed and connected, the joint motor 10 is used to drive the gear 11 to rotate, thereby driving the rack 12 to move up and down, and then driving the drilling rig fixture 14 and the drilling rig 13 connected to the rack 12 to move up and down, so that the drilling rig 13 moves up and down to realize drilling feed, and the reversal of the joint motor 10 will cause the drilling rig 13 to rise and reset.

[0032] In a specific implementation, three sliders 6 are evenly spaced and installed on the outer periphery of the drilling rig fixture 14 along the circumference of the drilling rig fixture 14, and the three sliders 6 and the three slide rails 7 installed on the drilling rig main platform 5 form three pairs of moving pairs. The joint motor 10 can realize the feeding and resetting movement of the drilling rig through the gear rack structure and the slide rail slider structure, and the speed is adjustable.

[0033] The root end of the main foot 3 can be installed on the drilling rig main platform 5 around the axial direction of the main foot self-locking mechanism 4 through the main foot self-locking mechanism 4. The axial direction of the main foot 3 is perpendicular to the axial direction of the main foot self-locking mechanism 4. The main foot self-locking mechanism 4 includes a torque servo, two ratchets and a spring. The two ratchets can be meshedly connected. The root end of the main foot 3 is fixedly connected to the outer shell of the torque servo, and the output shaft of the torque servo is connected to the drilling rig main platform 5. One ratchet is installed at the root end of the main foot 3, and the other ratchet is connected to the drilling rig main platform 5 through a spring. The ratchet and the spring are both located on the side of the torque servo away from the output shaft of the torque servo. When the output shaft of the torque servo rotates, the main foot 3 can rotate around the output shaft of the torque servo relative to the drilling rig main platform 5, thereby realizing the angle adjustment between the main foot 3 and the drilling rig main platform 5. The two ratchets are used to self-lock the inclination angle of the main foot 3 when the drilling rig feed component is drilling.

[0034] The main foot self-locking mechanism 4 locks the tilt angle of the main foot 3 through a ratchet and a spring. The principle is as follows: There are two working states when the main foot self-locking mechanism is working. When it is in the "closed" state, the active ratchet is engaged with the driven ratchet, the spring is at its original length, and the main foot is locked; when it is in the "disengaged" state, the active ratchet rotates downward 30°. Due to the direction of the ratchet tooth shape, the driven ratchet moves to compress the spring, and the active ratchet single tooth rotates to engage with the next tooth. After rotating 30°, the spring extends to its original length and the driven ratchet resets. Both ratchets have 12 teeth, and each rotation of one tooth corresponds to a rotation of 30°, which can meet the rotation limit requirements of the preset angles of 30°, 60°, and 90° of the main support foot, and the preset angle is achieved by controlling the output angle of the main foot torque servo. The main foot has four states in total: 0° drilling corresponds to 30° downward rotation, 15° drilling corresponds to 60° downward rotation, 30° drilling corresponds to 90° downward rotation, 45° drilling corresponds to 90° downward rotation, and the storage state rotates upward to 90°.

[0035] The root end of the auxiliary foot 8 can be installed on the drilling rig main platform 5 around the axial rotation limit mechanism 9 through the rotation limit mechanism 9. The axial direction of the auxiliary foot 8 is perpendicular to the axial direction of the rotation limit mechanism 9. When the main foot 3 rotates around the main foot self-locking mechanism 4 axially relative to the drilling rig main platform 5, the auxiliary foot 8 can rotate around the axial rotation limit mechanism 9 relative to the drilling rig main platform 5, so that the auxiliary foot 8 can adaptively realize the angle adjustment between itself and the drilling rig main platform 5. The rotation limit mechanism 9 can be equipped with a pin. When the angle of the auxiliary foot 8 is adjusted, the inclination angle of the auxiliary foot 8 is locked by the pin.

[0036] Specifically, the main foot 3 and the auxiliary foot 8 are both arranged along the radial direction of the drilling rig main platform 5, that is, the axial direction of the main foot 3 / auxiliary foot 8 is parallel to the radial direction of the drilling rig main platform 5, and the main foot 3 and the two auxiliary feet 8 are evenly spaced along the circumference of the drilling rig main platform 5, that is, the angle between the two auxiliary feet 8 is 120°, and the angle between the auxiliary foot 8 and the main foot 3 is 120°.

[0037] The end of the main foot 3 is hinged to the microneedle cyclone suction cup 1 through the suction cup connecting frame 2, and the main foot 3 can be connected to the suction cup connecting frame 2 by rotating around the axial direction of the suction cup connecting frame 2. The axial direction of the suction cup connecting frame 2 is parallel to the axial direction of the main foot self-locking mechanism 4, and the bottom end of the suction cup connecting frame 2 is fixedly connected to the microneedle cyclone suction cup 1 to realize the angle adjustment between the main foot 3 and the microneedle cyclone suction cup 1.

[0038] The end of the secondary foot 8 is hinged to the microneedle cyclone suction cup 1 through a Hook's hinge 15. One end of the Hook's hinge 15 can be installed at the end of the secondary foot 8 so as to rotate around the axial direction of the secondary foot 8. The other end of the Hook's hinge 15 is fixedly connected to the microneedle cyclone suction cup 1 to achieve angle adjustment between the secondary foot 8 and the microneedle cyclone suction cup 1, as well as posture adjustment of the microneedle cyclone suction cup 1.

[0039] Specifically, the Hook's hinge 15 is composed of two relatively rotatable hinge supports, and the two hinge supports are respectively connected to the auxiliary foot 8 and the microneedle cyclone suction cup 1 to achieve angle adjustment between the auxiliary foot 8 and the microneedle cyclone suction cup 1. At the same time, the Hook's hinge 15 as a whole can be installed on the auxiliary foot 8 axially rotatable around the auxiliary foot 8, so that the microneedle cyclone suction cup 1 can rotate relative to the auxiliary foot 8 axially to achieve the posture adjustment of the microneedle cyclone suction cup 1.

[0040] A retractable main foot retractable component 16 is provided in the middle part of the main foot 3, so that the length of the main foot 3 can be adjusted and installed between the drilling rig main platform 5 and the microneedle cyclone suction cup 1. A retractable secondary foot retractable component 17 is provided in the middle part of the secondary foot 8, so that the length of the secondary foot 8 can be adjusted and installed between the drilling rig main platform 5 and the microneedle cyclone suction cup 1.

[0041] The main foot 3 and the two auxiliary feet 8 are evenly spaced and arranged along the circumference of the drilling rig main platform 5, and the angle between the two auxiliary feet 8 and between the main foot 3 and the auxiliary foot 8 is 120 degrees.

[0042] The main foot 3 adjusts the angle of the main foot 3 relative to the main drilling platform 5 through an underwater high-torque steering gear, and realizes self-locking in the opposite direction through the main foot self-locking mechanism 4 in the form of a ratchet, overcoming the angle change caused by the drilling reaction force. The two auxiliary feet 8 adjust the angle with the main drilling platform 5 by rotating the pin of the limit mechanism 9. In the case of high-reaction drilling in complex underwater environments, the device posture can be kept fixed during drilling operations. The upper connecting frame of the suction cup at the end of the auxiliary foot has a Hooke hinge and a damping hinge structure, which can passively adjust the posture of the suction cup so that the device can adapt to the curved surface.

[0043] The main foot and auxiliary foot structure can realize the adjustment of the drilling angle of the drilling rig on the main platform of the drilling rig during the drilling operation, and can maintain the current angle state during the operation. At the same time, the main foot and auxiliary foot can adjust the drilling distance through the length extension.

[0044] like Figure 4 As shown, three circles of microneedle structures are installed at the bottom of the shell of the microneedle cyclone suction cup 16. The microneedles are inserted into the concrete surface through the vibration generated by the system during operation and the suction force generated by the suction cup itself, so that the operating device can be firmly adsorbed on the dam surface.

[0045] Three slide rails 7 are evenly arranged at the center of the drilling rig main body platform 5. The main foot self-locking mechanism 4 is installed at the front end of the drilling rig main body platform 5 and connected to the main foot 3. The rotation limit mechanism 9 is installed on both sides of the rear end of the drilling rig main body platform 5 and connected to the auxiliary foot 8. The drilling rig 13 is fixed on the drilling rig fixture 14. Three sliders 6 are installed at equal intervals on the outside of the drilling rig fixture 14. The three groups of sliders 6 and the slide rails 7 form the moving pair of the drilling rig. The end of the main foot 3 is hinged to the microneedle cyclone suction cup 1 through the suction cup connecting frame 2, and the end of the auxiliary foot 8 forms a two-degree-of-freedom mechanism with the microneedle cyclone suction cup 1 through the Hooke hinge 15 and the suction cup connecting frame 2.

[0046] like Figure 1 As shown, after the main foot 3 reaches the preset angle through the torque servo, the ratchet of the main foot self-locking mechanism 4 rotates to the next tooth meshing, and is locked under the tension of the spring. After the auxiliary foot 8 reaches the preset angle, the latch structure of the rotation limit mechanism 9 works to achieve angle fixing.

[0047] like Figure 2 As shown, the joint motor 10 installed on the main platform of the drilling machine drives the gear 11 to rotate, and the gear 11 drives the rack 12 downward. The rack 12 is fixed on the drilling machine fixture 14, so the drilling machine 13 will feed downward along the direction of the slide rail 7. When the drilling feed stroke is not enough, the length of the three supporting feet is reduced by the main foot telescopic component 16 and the auxiliary foot telescopic component 17 to achieve the lowering of the whole machine and shorten the drilling distance.

[0048] like Figure 2 As shown, when the device needs to adapt to the curved surface adsorption, the angle of the Hook hinge 15 of the auxiliary feet 8 on both sides at the knee joint is adjusted, and at the same time, the hinge of the main foot 3 at the hip joint and the hinge of the auxiliary foot 8 at the hip joint are passively twisted, so that the bottom surface of the three sets of suction cups can fit the wall surface.

[0049] The drive device of the gear rack of the present invention adopts a waterproof servo motor, and the motor output shaft forms a key connection with the gear. The feeding speed of the rack is changed by controlling the rotation speed of the joint motor, thereby controlling the axial feeding speed of the drilling rig; the steering gear of the main foot self-locking mechanism 4 adopts an underwater high-torque steering gear, which can realize the positive and negative 180° range rotation of the main foot 3; the driving device of the microneedle swirl suction cup adopts an underwater DC brushless motor, and the suction cup motor drives the blades at the lower end to rotate at high speed, generating a swirl in the internal chamber of the suction cup, thereby forming an adsorption force on the wall. The outer bottom of the microneedle swirl suction cup is provided with three circles of closely arranged microneedle arrays, forming a microneedle distance of 3-5mm when the suction cup contacts the wall. After the suction force increases, the microneedles penetrate the wall to form damage, providing tangential friction limit and anchoring effects.

[0050] In specific implementation, the present invention can be applied to the adsorption anchoring of the plane and curved surface of the underwater dam concrete structure, and realizes the angle drilling of four gears of 0°, 15°, 30° and 45°, which is the angle between the axis of the drilling rig and the normal of the working surface. When drilling at 0°, the main foot rotates downward by 30°, and the auxiliary foot rotates downward by 45°; when drilling at 15°, the main foot rotates downward by 60°, and the auxiliary foot rotates downward by 45°; when drilling at 30°, the main foot rotates downward by 90°, and the auxiliary foot rotates downward by 45°; when drilling at 45°, the main foot rotates downward by 90°, and the auxiliary foot returns to 0°.

[0051] After the device is placed in the designated working area of ​​the dam, the drive motor of the microneedle swirl suction cup is turned on, and the device as a whole can be adsorbed on the surface of the dam. The microneedle structure of the microneedle swirl suction cup penetrates the wall of the dam under the strong suction force generated by the microneedle swirl suction cup. The device and the wall will not have relative slippage, ensuring that the working device can be firmly adsorbed on the working surface. By installing a Hook hinge and a hinge structure above the microneedle swirl suction cup, the adsorption surface of the microneedle swirl suction cup can fit the working surface of the dam, and the device can be firmly adsorbed on the dam wall with different curvatures. The slide rail and the rack are fixed on the main platform of the drilling rig. The drilling rig is connected to the slider and the gear through the drilling rig fixture. The feed and reset of the drilling rig are realized by the forward and reverse rotation of the joint motor to adjust the depth of the drilling operation, and the main foot and the auxiliary foot can adjust the drilling distance by length extension. The main foot of the three-legged support component adjusts the angle between the main foot and the main platform of the drilling rig by the underwater high-torque servo, and the angle is locked by the main foot locking mechanism. The two auxiliary feet can adjust the angle of the auxiliary feet by rotating the pin of the limit mechanism, and the feed angle of the drill bit can be changed to meet the operation requirements of different drilling angles.

[0052] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-legged portable multi-angle underwater adsorption anchor drilling device, characterized in that: The device comprises a microneedle cyclone suction cup (1), a drilling machine main body platform (5), a drilling machine feed component and a three-legged support component; the drilling machine feed component is mounted on the drilling machine main body platform (5) in a manner that it can move up and down; the three-legged support component mainly comprises a main leg (3) and two auxiliary legs (8); both the main leg (3) and the auxiliary legs (8) are rotatably mounted on the drilling machine main body platform (5); the ends of the main leg (3) and the auxiliary legs (8) are both mounted with a microneedle cyclone suction cup (1); after the microneedle cyclone suction cup (1) absorbs the wall surface of a structure to be drilled, the drilling machine feed component drills the structure to be drilled.

2. A three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 1, characterized in that: The drilling rig feeding component comprises a slide block (6), a slide rail (7), a joint motor (10), a gear (11), a rack (12), a drilling rig (13) and a drilling rig fixture (14); The ring-shaped drilling rig fixture (14) is fixed on the upper surface of the drilling rig main body platform (5), and the drilling rig (13) is vertically fixedly installed on the drilling rig fixture (14). A plurality of sliders (6) are fixedly installed on the outer periphery of the drilling rig fixture (14), and each slider (6) is installed on each slide rail (7) so as to be movable up and down, and each slide rail (7) is fixedly installed on the drilling rig main body platform (5). The joint motor (10) is fixedly connected to the drilling rig main body platform (5), and the output shaft of the joint motor (10) is fixedly connected to the gear (11), and the rack (12) is fixedly installed on the outer periphery of the drilling rig fixture (14), and the gear (11) and the rack (12) are meshedly connected. The joint motor (10) is used to drive the gear (11) to rotate, thereby driving the rack (12) to move up and down, and then driving the drilling rig fixture (14) and the drilling rig (13) connected to the rack (12) to move up and down, so that the drilling rig (13) moves up and down to realize drilling feeding.

3. A three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 2, characterized in that: The root end of the main foot (3) is rotatably mounted on the drilling rig main body platform (5) via a main foot self-locking mechanism (4); the axial direction of the main foot (3) is perpendicular to the axial direction of the main foot self-locking mechanism (4); the main foot self-locking mechanism (4) comprises a torque servo, two ratchets and a spring; the two ratchets are meshingly connected; the root end of the main foot (3) is fixedly connected to the outer shell of the torque servo; the output shaft of the torque servo is connected to the drilling rig main body platform (5); one ratchet is mounted on the root end of the main foot (3); the other ratchet is connected to the drilling rig main body platform (5) via a spring; when the output shaft of the torque servo rotates, the main foot (3) rotates relative to the drilling rig main body platform (5) around the output shaft of the torque servo, thereby achieving angle adjustment between the main foot (3) and the drilling rig main body platform (5); the two ratchets are used to self-lock the inclination angle of the main foot (3) when the drilling rig feed component is drilling.

4. A three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 2, characterized in that: The root end of the auxiliary foot (8) is rotatably mounted on the drilling rig main platform (5) via a rotation limiting mechanism (9); the axial direction of the auxiliary foot (8) is perpendicular to the axial direction of the rotation limiting mechanism (9); when the main foot (3) rotates relative to the drilling rig main platform (5) around the axial direction of the main foot self-locking mechanism (4), the auxiliary foot (8) rotates relative to the drilling rig main platform (5) around the axial direction of the rotation limiting mechanism (9), so that the auxiliary foot (8) can adaptively adjust the angle between itself and the drilling rig main platform (5).

5. The three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 1 is characterized in that: The end of the main foot (3) is hinged to the microneedle cyclone suction cup (1) via a suction cup connecting frame (2); the main foot (3) can be connected to the suction cup connecting frame (2) rotatably around the axial direction of the suction cup connecting frame (2); the bottom end of the suction cup connecting frame (2) is fixedly connected to the microneedle cyclone suction cup (1) to achieve angle adjustment between the main foot (3) and the microneedle cyclone suction cup (1).

6. The three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 1 is characterized by: The end of the auxiliary foot (8) is hinged to the microneedle cyclone suction cup (1) via a Hook's hinge (15); one end of the Hook's hinge (15) is rotatably mounted on the end of the auxiliary foot (8) around the axial direction of the auxiliary foot (8); the other end of the Hook's hinge (15) is fixedly connected to the microneedle cyclone suction cup (1) to achieve angle adjustment between the auxiliary foot (8) and the microneedle cyclone suction cup (1), as well as position adjustment of the microneedle cyclone suction cup (1).

7. The three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 2 is characterized in that: A main foot telescopic component (16) is provided in the middle of the main foot (3), so that the main foot (3) can be installed between the drilling rig main platform (5) and the microneedle cyclone suction cup (1) in an adjustable length; and a secondary foot telescopic component (17) is provided in the middle of the secondary foot (8), so that the secondary foot (8) can be installed between the drilling rig main platform (5) and the microneedle cyclone suction cup (1) in an adjustable length.

8. The three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 1 is characterized by: The main foot (3) and the two auxiliary feet (8) are evenly spaced and arranged along the circumference of the drilling rig main body platform (5), and the angle between the two auxiliary feet (8) and between the main foot (3) and the auxiliary foot (8) is 120 degrees.

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