A three-legged portable multi-angle underwater suction anchoring drilling device

Abstract

The application discloses a three-foot portable multi-angle underwater adsorption anchoring drilling device. A drilling machine feeding component is movably installed on a drilling machine main body platform, three-foot supporting components are composed of main feet and auxiliary feet, the main feet and the auxiliary feet are adjustably installed on the drilling machine main body platform, and the main feet and the auxiliary feet are provided with microneedle rotating flow suction discs. After the microneedle rotating flow suction discs adsorb the wall surface of a structure to be drilled, the drilling machine feeding component drills the structure to be drilled, the drilling machine feeding component is reset through forward and reverse rotation of a motor to adjust the depth of drilling operation, and the three-foot supporting components can change the feeding angle of a drill bit to meet the operation requirements of different drilling angles. The application can realize multi-angle drilling operation in the crack repairing process of a dam surface with different curvatures, has the operation ability in a complex water flow environment, can replace human operation and improve operation efficiency, is easy to carry and store, has wide application range, and is 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 has the largest number of dams in the world, with an estimated 25,000 or more dams, accounting for approximately 40% of the global total. Dams play a critical role in water resource management, energy production, and socioeconomic development. During their service life, dams are subject to long-term exposure to natural forces such as water pressure, climate change, and earthquakes, which can lead to material degradation, increased leakage, and ultimately structural damage and cracks. These cracks can reduce the strength and stability of the dam's overall structure, posing a significant threat to water resource management, the ecological environment, the social economy, and human safety. Therefore, repairing dam defects is crucial to maintaining their safety and functionality. Regular maintenance and repairs can help mitigate the gradual deterioration and damage of dam structures, reduce long-term maintenance costs, protect the integrity of ecosystems, and mitigate the environmental damage that can result from dam failures. Dam defect repair not only impacts public safety and infrastructure stability, but also has significant implications for socioeconomic and environmental protection.

[0003] For the cracks that appear in the underwater part of the dam, the main repair measures are: base surface cleaning, underwater rebar planting, formwork erection, and underwater non-dispersed concrete construction. For the underwater concrete pouring project, drilling operations are usually required at the crack location before pouring the 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. The first step of underwater concrete repair, drilling, can be mainly divided into inclined hole drilling and seam hole drilling in engineering. The former is mainly to drill holes on one side or both sides of the crack according to the direction of the underwater building crack, while the latter is to drill holes obliquely directly along the direction of the crack. The diameter of the inclined hole in engineering 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, most of the work is currently performed by divers holding hydraulic picks in the underwater working environment. 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 health of the divers. 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 anchoring 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 in the present invention is:

[0007] The device includes a microneedle swirl suction cup, a drilling rig main platform, a drilling rig feed component and a three-legged support component; the drilling rig feed component is installed on the drilling rig main platform so as to be movable up and down, and the three-legged support component mainly consists of a main foot and two auxiliary feet, both of which are rotatably installed on the drilling rig main platform, and microneedle swirl suction cups are installed at the ends of the main foot and the auxiliary foot. After the microneedle swirl suction cup adsorbs the wall surface of the structure to be drilled, the drilling rig feed 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] The annular drill fixture is fixed on the upper surface of the drill rig main platform, and the drill rig is vertically fixed on the drill fixture. Several sliders are fixedly installed on the outer periphery of the drill 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 drill rig main platform. The joint motor is fixedly connected to the drill rig main platform, and the output shaft of the joint motor is fixedly connected to the gear. The rack is fixedly installed on the outer periphery of the drill fixture, and the gear and the rack are meshed. The joint motor is used to drive the gear to rotate, thereby driving the rack to move up and down, and then driving the drill fixture connected to the rack and the drill rig to move up and down, so that the drill 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, and 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 includes a torque servo, two ratchets and a spring. The two ratchets are meshingly connected, and the root end of the main foot 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. 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 angle adjustment between the main foot and the drilling rig main platform. 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 through a rotation limiting mechanism. 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 can adaptively adjust the angle 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. 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 auxiliary 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 auxiliary foot so as to rotate around the auxiliary 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 auxiliary foot and the microneedle cyclone suction cup, as well as posture adjustment of the microneedle cyclone suction cup.

[0014] The middle part of the main foot is provided with a main foot telescopic component, so that the length of the main foot can be adjusted and installed between the drilling rig main platform and the microneedle cyclone suction cup. The middle part of the auxiliary foot is provided with an auxiliary foot telescopic component, so that the length of the auxiliary foot can be adjusted and installed 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 drilling rig main body platform, 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 rig on the main platform by adjusting the angle between the suction foot of the three-legged support assembly and the main drilling platform, achieving variable-angle drilling. The main foot's self-locking mechanism changes the angle between the main foot and the main drilling platform, while the auxiliary foot's rotational limit mechanism changes the angle between the main foot and the main drilling platform. This mechanism simultaneously resists drilling reaction forces and maintains the current angle to accommodate drilling operations at different angles. The main and auxiliary foot's telescopic length components adjust the drilling distance to accommodate drilling operations at varying depths. The main drilling platform utilizes a joint motor, rack and pinion, and slide rails to achieve feed and reset motion for drilling operations at varying depths. The angle between the drill rig and the work surface normal ranges from 0° to 45°. The drilling depth can be adjusted by controlling the motor on the drill rig's sliding track on the main drilling platform. The drill rig's feed stroke is 250mm.

[0017] The microneedle swirl suction cup is connected to the foot structure via a Hooke's hinge and a suction cup connector. The cup can rotate on the hinge to adapt to dam surfaces of varying curvature. The microneedle structure of the swirl suction cup, through the suction force of the swirl suction cup and the vibration of the system, penetrates the dam surface, providing sufficient tangential friction to ensure the entire device is firmly attached to the work surface.

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

[0019] 1. The present invention can perform adsorption and fixation on the concrete surface and multi-angle drilling 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 device is highly flexible, 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. 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. At the same time, it has the ability to operate in complex water flow environments, can replace manual operations and improve work 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 This is a schematic diagram of the working of the three-legged portable multi-angle underwater adsorption anchor drilling device of the present invention;

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

[0026] Figure 4 This is a schematic structural diagram of the microneedle cyclone suction cup to which the present invention pertains.

[0027] In the figure: 1. Microneedle swirl 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 with reference to specific implementation cases. The following implementation cases will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form.

[0029] like Figure 1As shown, the device is used for repairing surface cracks in concrete dams with different curvatures, and includes a microneedle swirl suction cup 1, a drill main body platform 5, a drill feed component, and a three-legged support component; the drill feed component is mounted on the drill main body platform 5 so as to be movable up and down, and the three-legged support component is mainly composed of a main leg 3 and two auxiliary legs 8, both of which are rotatably mounted on the drill main body platform 5, and microneedle swirl suction cups 1 are mounted at the ends of the main legs 3 and the auxiliary legs 8. After the microneedle swirl suction cup 1 adsorbs the wall of the structure to be drilled, the drill feed component drills the structure to be drilled.

[0030] like Figure 2 and Figure 3 As shown, the drilling rig feeding components include 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;

[0031] The annular drill fixture 14 is fixed to the upper surface of the drill rig main platform 5, and the drill rig 13 is vertically fixed on the drill rig fixture 14, that is, the outer shell of the drill rig 13 is fixedly connected to the inner periphery of the drill rig fixture 14, and a number of sliders 6 are fixedly installed on the outer periphery of the drill rig fixture 14, each slider 6 is movably installed on each slide rail 7, and 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 drill rig main platform 5. The outer shell of the joint motor 10 is fixedly connected to the drill rig main platform 5, and 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 drill rig fixture 14, and the gear 11 and the rack 12 are meshed with each other. 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 drill rig fixture 14 and the drill rig 13 connected to the rack 12 to move up and down, so that the drill rig 13 moves up and down to realize drilling feed. The reversal of the joint motor 10 will cause the drill rig 13 to rise and reset.

[0032] In practice, three sliders 6 are evenly spaced along the circumference of the drill fixture 14. These sliders 6 form three pairs of moving pairs with three slide rails 7 mounted on the drill platform 5. The joint motor 10, through a rack-and-pinion structure and a slide rail-slider structure, enables the drill's feed and reset motions, with adjustable speed.

[0033] The root end of the main foot 3 can be axially rotated around the main foot self-locking mechanism 4 and installed on the drilling rig main platform 5 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 are meshingly 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 main support foot's preset angles of 30°, 60°, and 90°. The preset angle is achieved by controlling the output angle of the main foot torque servo. The main foot has four states: 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 axially rotatably installed on the drilling rig main platform 5 around the rotation limiting mechanism 9 through the 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 axially relative to the drilling rig main platform 5 around the main foot self-locking mechanism 4, the auxiliary foot 8 can rotate axially relative to the drilling rig main platform 5 around 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. The rotation limiting 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. 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. 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.

[0038] The end of the auxiliary 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 auxiliary foot 8 so as to rotate 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 posture adjustment of the microneedle cyclone suction cup 1.

[0039] Specifically, the Hooke's hinge 15 is composed of two relatively rotatable hinge supports, which are respectively connected to the auxiliary foot 8 and the microneedle swirl suction cup 1 to achieve angle adjustment between the auxiliary foot 8 and the microneedle swirl suction cup 1. At the same time, the Hooke'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 swirl suction cup 1 can rotate relative to the auxiliary foot 8 axially to achieve posture adjustment of the microneedle swirl suction cup 1.

[0040] A retractable main foot retractable component 16 is provided in the middle 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, and a retractable secondary foot retractable component 17 is provided in the middle 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 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 feet 8 is 120 degrees.

[0042] The main leg 3 uses a high-torque underwater servo to adjust its angle relative to the main drilling platform 5. A ratchet-type main leg self-locking mechanism 4 achieves self-locking in the opposite direction, overcoming angular changes caused by drilling reaction forces. The two auxiliary legs 8 adjust their angle relative to the main drilling platform 5 by rotating the latch of a limiter mechanism 9. This allows the device to maintain a fixed position during drilling operations, even under high-reaction drilling conditions in complex underwater environments. The upper connecting frame of the suction cup at the end of the auxiliary leg features a Hooke's hinge and damping hinge structure, which passively adjusts the suction cup's position to adapt to curved surfaces.

[0043] The main and auxiliary legs can be used to adjust the drilling angle of the drill rig during drilling operations, and the current angle can be maintained during operation. At the same time, the main and auxiliary legs can be extended and retracted to adjust the drilling distance.

[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 penetrated 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 spaced throughout the center of the drill rig's main platform 5. A main foot self-locking mechanism 4 is mounted at the front end, connecting it to the main foot 3. Rotational limit mechanisms 9 are mounted on both sides of the rear end of the platform 5, connecting them to the auxiliary foot 8. The drill rig 13 is secured to a drill fixture 14. Three sliders 6 are mounted at equal intervals on the outside of the drill fixture 14. These three sets of sliders 6 and the slide rails 7 form the drill rig's moving pair. The distal end of the main foot 3 is hinged to the microneedle swirl suction cup 1 via a suction cup connector 2. The distal end of the auxiliary foot 8 is connected to the microneedle swirl suction cup 1 via a Hooke's hinge 15 and the suction cup connector 2, forming a two-degree-of-freedom mechanism.

[0046] like Figure 1 As shown, after the main leg 3 reaches the preset angle through the torque servo, the ratchet of the main leg self-locking mechanism 4 rotates to the next tooth to engage, and the spring tightens to achieve locking. After the auxiliary leg 8 reaches the preset angle, the latch structure of the rotation limit mechanism 9 activates to fix the angle.

[0047] like Figure 2 As shown, a joint motor 10 mounted on the main platform of the drill rig drives gear 11, which in turn drives rack 12 downward. Rack 12 is fixed to a drill fixture 14, allowing the drill rig 13 to advance downward along the slide rail 7. If the drilling stroke is insufficient, the main and auxiliary leg telescopic components 16 and 17 are used to reduce the length of the three supporting legs, lowering the entire machine and shortening the drilling distance.

[0048] like Figure 2 As shown, when the device needs to adapt to curved surface adsorption, the angles of the Hook hinges 15 of the auxiliary legs 8 at the knee joints are adjusted, and at the same time, the hinges of the main leg 3 at the hip joint and the auxiliary legs 8 at the hip joint are passively twisted, so that the bottom surfaces of the three sets of suction cups can fit the wall.

[0049] The drive device for the rack and pinion of the present invention uses a waterproof servo motor. The motor output shaft forms a key connection with the gear. The feed speed of the rack is changed by controlling the rotation speed of the joint motor, thereby controlling the axial feed speed of the drilling rig. The servo of the main foot self-locking mechanism 4 uses an underwater high-torque servo, which can achieve a 180-degree forward and reverse rotation of the main foot 3. The drive device of the microneedle swirl suction cup uses an underwater DC brushless motor. 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 equipped with three circles of closely arranged microneedles. When the suction cup contacts the wall, a microneedle distance of 3-5mm is formed. When the suction force increases, the microneedles penetrate the wall and damage it, providing tangential friction limiting and anchoring.

[0050] In practice, the present invention can be applied to the adsorption anchoring of flat and curved surfaces of underwater dam concrete structures, enabling four angle drilling positions: 0°, 15°, 30°, and 45°. This angle is the angle between the drill axis and the normal to the working surface. When drilling at 0°, the main leg rotates downward 30°, and the auxiliary leg rotates downward 45°. When drilling at 15°, the main leg rotates downward 60°, and the auxiliary leg rotates downward 45°. When drilling at 30°, the main leg rotates downward 90°, and the auxiliary leg rotates downward 45°. When drilling at 45°, the main leg rotates downward 90°, and the auxiliary leg 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 activated, allowing the entire device to adhere to the dam surface. The microneedles of the microneedle swirl suction cup penetrate the dam wall under the strong suction force generated by the microneedle swirl suction cup, preventing relative slip between the device and the wall, ensuring that the working device remains firmly attached to the working surface. By adding a Hook hinge and hinge structure above the microneedle swirl suction cup, the suction surface of the microneedle swirl suction cup can conform to the dam working surface, achieving secure attachment to dam surfaces of varying curvature. The slide rail and rack are fixed to the main platform of the drill rig. The drill rig is connected to the slider and gear via a drill fixture. The forward and reverse rotation of the joint motor controls the feed and reset of the drill rig to adjust the drilling depth. The main and auxiliary legs can be extended and retracted to adjust the drilling distance. The main leg of the three-legged support assembly is adjusted in angle to the main platform by an underwater high-torque servo, and the main leg locking mechanism achieves this angle lock. The two auxiliary feet can adjust the angle of the auxiliary feet by rotating the pin of the limit mechanism, which can change the feed angle of the drill bit 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. 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 three-legged portable multi-angle underwater adsorption anchor drilling device, characterized by: The invention comprises a micro-needle swirl 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 mounted on the drilling rig main body platform (5) so as to be movable up and down; the three-legged supporting component mainly comprises a main leg (3) and two auxiliary legs (8); the main leg (3) and the auxiliary legs (8) are both rotatably mounted on the drilling rig main body platform (5); the ends of the main leg (3) and the auxiliary legs (8) are both mounted with a micro-needle swirl suction cup (1); after the micro-needle swirl suction cup (1) adsorbs the wall surface of the structure to be drilled, the drilling rig feeding component drills the structure to be drilled; The drilling rig feeding component includes 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 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 fixed 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 mounted on each slide rail (7) so as to be movable up and down, and each slide rail (7) is fixedly mounted 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). The rack (12) is fixedly mounted 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 achieve drilling feed.

2. The three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 1 is characterized by: The root end of the main foot (3) is rotatably mounted on the drilling rig main body platform (5) through 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), and the other ratchet is connected to the drilling rig main body platform (5) through a spring. When the output shaft of the torque servo rotates, the main foot (3) rotates around the output shaft of the torque servo relative to the drilling rig main body platform (5), thereby realizing 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.

3. The three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 1 is characterized in that: The root end of the auxiliary foot (8) is rotatably mounted on the main drilling rig platform (5) via a rotation limiting mechanism (9), and 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 main drilling rig platform (5) around the axial direction of the main foot self-locking mechanism (4), the auxiliary foot (8) rotates relative to the main drilling rig 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 main drilling rig platform (5).

4. The three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 1, 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).

5. The three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 1 is characterized in that: The end of the auxiliary foot (8) is hinged to the microneedle cyclone suction cup (1) through a Hooke's hinge (15), one end of the Hooke's hinge (15) is rotatably mounted on the end of the auxiliary foot (8) around the axis of the auxiliary foot (8), and the other end of the Hooke'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 posture adjustment of the microneedle cyclone suction cup (1).

6. The three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 1, 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 micro-needle cyclone suction cup (1) in an adjustable manner; 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 micro-needle cyclone suction cup (1) in an adjustable manner.

7. The three-legged portable multi-angle underwater adsorption anchor drilling device according to claim 1, characterized in that: 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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