Ultra-low power consumption underwater adsorption anchoring device and method based on surface friction limiting

Abstract

The invention discloses an ultra-low power consumption underwater adsorption anchoring device and method based on surface friction limiting. The limiting adjusting component is fixedly mounted on the suction cup component, the anchoring component is connected with the limiting adjusting component, a centrifugal impeller is arranged in the suction cup component and rotates under the driving of a motor, so that a flow field is formed in water, a to-be-adsorbed wall surface is adsorbed through the flow field in the water, and the anchoring component drills into the to-be-adsorbed wall surface. Adsorption between the underwater adsorption anchoring device and a to-be-adsorbed wall surface is achieved through lateral friction force between the anchoring component and the to-be-adsorbed wall surface, the anchoring component is used for drilling and milling the surface to form a conical pit so as to provide tangential limiting friction, and in the limiting adjusting structure, a rotating locking mechanism is used for changing and keeping the drilling direction of a grinding head so as to adjust the drilling direction of the grinding head. And the Y-shaped mounting frame realizes simultaneous feeding of the three groups of grinding heads. The device has the functions of adsorption, anchoring and limiting on planes and spherical surfaces of underwater concrete or metal structures, and can adapt to working environments with various surfaces.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater suction cups, and in particular relates to an ultra-low power consumption underwater adsorption anchoring device and method based on surface friction limiting. Background Art

[0002] Since 2002, my country has accelerated the development of submersibles with the support of the national "863" plan, and successfully developed deep-sea submersibles such as the "Jiaolong", "Deep Sea Warrior", "Struggler" and "Hailong" series. my country has established a diversified submersible system from offshore to deep sea, manned and unmanned, with cables and without cables. my country has achieved independent innovation and international leadership in submersibles. As a special underwater operation equipment, the operation capability of submersibles directly determines the development efficiency of marine resources and the safety of underwater projects.

[0003] Underwater operations at depths greater than 60 meters are generally completed by submersibles. At present, special operations blasting of underwater targets and high-power drilling operations in deep-sea salvage can generally only rely on the submersible's own weight to sink to the bottom to achieve fixation on the operating surface, and it is difficult to perform high-power operations on underwater rock or concrete structures, as well as inclined or curved surfaces of metal structures. The main reason is the lack of relevant methods for adaptive adsorption and anchoring of operating machinery on complex surfaces of inclined and curved structures, and the lack of a technical basis for the adsorption of operating machinery on complex surfaces, which greatly limits the operating range and operating capacity of submersibles. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the purpose of the present invention is to provide an ultra-low power consumption underwater adsorption anchoring device and method based on surface friction limiting, so as to provide long-term stable attachment for submersibles and other equipment when operating at high power on complex underwater surfaces (especially inclined or curved surfaces).

[0005] The technical solution adopted by the present invention is:

[0006] 1. An ultra-low power consumption underwater adsorption anchoring device based on surface friction limit:

[0007] It includes a suction cup component, an anchor component and a limit adjustment component; the limit adjustment component is fixedly installed on the suction cup component, the anchor component and the limit adjustment component are connected, the limit adjustment component is used to limit the anchor component, a centrifugal impeller is arranged in the suction cup component, the centrifugal impeller rotates under the drive of a motor, thereby forming a flow field in the water, and then the adsorption of the wall surface to be adsorbed is realized through the flow field in the water, the anchor component drills into the wall surface to be adsorbed, and the adsorption between the underwater adsorption anchor device and the wall surface to be adsorbed is realized through the lateral friction force between the anchor component and the wall surface to be adsorbed.

[0008] The suction cup component is mainly composed of a waterproof suction cup motor, a suction cup body, an elastic chassis and a centrifugal impeller. The outer shell of the waterproof suction cup motor is fixedly connected to the suction cup body. A hollow centrifugal chamber is arranged in the suction cup body. The centrifugal impeller is installed in the centrifugal chamber of the suction cup body. The output shaft of the waterproof suction cup motor is connected to the centrifugal impeller. The waterproof suction cup motor is used to drive the centrifugal impeller to rotate, thereby forming a flow field in the water, and then realizing adsorption of the wall surface to be adsorbed through the flow field in the water. The lower end surface of the suction cup body is installed with an elastic chassis. When the elastic chassis contacts the wall surface to be adsorbed, adsorption is performed between the underwater adsorption anchoring device and the wall surface to be adsorbed.

[0009] The anchoring component is mainly composed of a waterproof anchoring motor, a drilling and milling grinding head and a Y-shaped mounting frame. The Y-shaped mounting frame can be moved up and down on the upper part of the suction cup body through a limit adjustment component. The outer end of the Y-shaped mounting frame is connected to the outer shell of the waterproof anchoring motor through a limit adjustment component. The bottom end of the output shaft of the waterproof anchoring motor is fixedly connected with a drilling and milling grinding head. When the underwater adsorption anchoring device adsorbs the wall surface to be adsorbed underwater, the drilling and milling grinding head drills into the wall surface to be adsorbed, and the lateral friction between the drilling and milling grinding head and the wall surface to be adsorbed is used to achieve reliable adsorption between the device and the wall surface to be adsorbed.

[0010] The limit adjustment component is mainly composed of a lifting mechanism and a rotation locking mechanism. The top of the lifting mechanism is fixedly connected to the upper part of the suction cup body, and the bottom of the lifting mechanism is connected to the Y-shaped mounting frame, so that the Y-shaped mounting frame can be installed on the suction cup body in the suction cup component by moving up and down through the lifting mechanism. The lifting mechanism is used to adjust the vertical displacement of the Y-shaped mounting frame, thereby realizing dynamic feeding and buffering of the anchoring component. The Y-shaped mounting frame in the anchoring component is hinged to the waterproof anchoring motor in the anchoring component through the rotation locking mechanism. The rotation locking mechanism is used to change the drilling direction of the drilling and milling head connected to the waterproof anchoring motor when drilling into the wall to be adsorbed, thereby realizing stable anchoring of the wall to be adsorbed.

[0011] The Y-shaped mounting frame is mainly composed of a columnar anchoring bracket and three anchoring blades. The columnar anchoring bracket can be moved up and down by a lifting mechanism and is mounted on the outer periphery of the suction cup body. The three anchoring blades are evenly spaced along the circumference of the columnar anchoring bracket and are connected to the outer periphery of the columnar anchoring bracket. Each anchoring blade is arranged radially along the columnar anchoring bracket, and the outer end of each anchoring blade is hinged to the waterproof anchoring motor housing through a rotating locking mechanism.

[0012] The drilling and milling head in the anchoring component pierces into concrete or metal surfaces of different structural shapes by adjusting the angle between its own axis and the normal line of the wall surface to be adsorbed.

[0013] The height difference between the drilling and milling head in the anchoring component and the elastic chassis is in the range of 1-5 mm.

[0014] 2. An ultra-low power consumption underwater adsorption anchoring method based on surface friction limitation, comprising the following steps:

[0015] First, the three drilling and milling heads in the anchoring component are brought into contact with the upper surface of the structure to be adsorbed, and three cone pit landing points are generated. Then, the waterproof anchoring motor in the anchoring component is turned on to drive the drilling and milling heads to rotate, and at the same time, the suction cup component is started to generate a normal adsorption force on the wall to be adsorbed, so that the three drilling and milling heads are fed downward to destroy the structure to be adsorbed to form a cone pit. At this time, the lifting mechanism is compressed. When the elastic chassis in the suction cup component is close to the wall to be adsorbed, the lifting mechanism is released, and the elastic force of the lifting mechanism is used to continue to drive the drilling and milling heads to feed downward to the maximum depth. The waterproof anchoring motor is turned off. When the device does not move horizontally and is stably adsorbed on the structure to be adsorbed, the underwater adsorption and anchoring of the device for the structure to be adsorbed is completed.

[0016] The structure to be adsorbed includes a concrete structure and a metal structure, and the wall surface to be adsorbed includes a plane and a spherical surface of the concrete structure and the metal structure;

[0017] When the wall surface to be adsorbed is a plane, the angle between the axis of the drilling and milling grinding head and the surface normal of the wall surface to be adsorbed is 0° to 30°; when the wall surface to be adsorbed is a spherical surface, the direction of the axis of the drilling and milling grinding head is consistent with the direction of the surface normal of the wall surface to be adsorbed.

[0018] The present invention is provided with an anchoring component and a limit adjustment component. By using a rotating locking mechanism, the anchoring component of the device can adapt to walls of different shapes to form a fixed anchoring landing point. The anchoring component penetrates into the wall along the landing point to produce tangential friction limits in different angles. By using an elastic lifting mechanism, the drilling and milling reaction force of the anchoring component of the device and the suction force of the suction cup are dynamically matched. When the anchoring component reaches the landing point, the lifting mechanism stores energy under the action of the suction force of the suction cup and the reaction force of the wall support. In the process of penetrating the wall, the lifting mechanism provides a feed force for the anchoring component under the action of the suction force of the suction cup to resist the drilling and milling reaction force. The present invention realizes strong surface friction limiting and ultra-low power consumption adsorption to adapt to complex shape wall operations through the combined action relationship of the anchoring component and the limit adjustment component.

[0019] The present invention includes a suction cup component, an anchor component and a limit adjustment component. The suction cup component is mainly composed of a waterproof suction cup motor, a suction cup body and a centrifugal impeller, and is mainly used to provide the feeding force of the drilling and milling grinding head and the adsorption force of the body, so as to ensure that the device can be adsorbed on the underwater metal or concrete surface with clearance. The anchor component is composed of a waterproof anchoring motor, a drilling and milling grinding head and a Y-shaped mounting frame, and is mainly used to form a cone pit on the drilling and milling surface to provide tangential limit friction. In the limit adjustment component, the rotating locking mechanism is used to change and maintain the drilling direction of the drilling and milling grinding head, the Y-shaped mounting frame realizes the simultaneous feeding of three groups of drilling and milling grinding heads, and the lifting mechanism is used for the dynamic matching of the adsorption force and the drilling and milling reaction force, and plays the role of buffering and grinding head recovery. The present invention has the function of adsorption, anchoring and limiting on the plane and spherical surface of underwater concrete or metal structures, and can adapt to the working environment of various surfaces.

[0020] The beneficial effects of the present invention are as follows:

[0021] 1. The present invention uses a drilling and milling head to form a three-point limit cone pit on the surface. The drilling and milling head stops rotating and stays in the cone pit. Under the adsorption action of the non-contact centrifugal impeller suction cup, combined with the passive adaptation of the limit adjustment component, friction anchoring is formed. When using underwater working machinery to operate on complex surfaces, installing this ultra-low-power dynamic adsorption anchoring device can ensure that the mechanical equipment can be stably attached to the working surface for a long time without slipping and overturning failure.

[0022] 2. The present invention has the function of adsorption, anchoring and limiting on the plane and spherical surface of underwater concrete or metal structures, and can adapt to working environments on various surfaces.

[0023] 3. The present invention realizes low-power anchoring through a passive limit adjustment component, ensuring that after the anchoring motor stops, the drilling and milling head of the anchoring mechanism can still remain in the limit cone pit, and maintains a strong limit state of surface friction under the action of the rotating locking mechanism. Long-term stable attachment to complex wall surfaces can be achieved only by the suction force of the suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a front view of the ultra-low power consumption underwater dynamic adsorption anchoring device of the present invention;

[0025] Figure 2 The top view and bottom view of the ultra-low power consumption underwater dynamic adsorption anchoring device of the present invention;

[0026] Figure 3 It is a working schematic diagram of the ultra-low power consumption underwater dynamic adsorption anchoring device of the present invention.

[0027] In the figure: 1. Waterproof suction cup motor; 2. Lifting mechanism; 3. Suction cup body; 4. Rotation locking mechanism; 5. Waterproof anchoring motor; 6. Drilling and milling head; 7. Elastic chassis; 8. Centrifugal impeller; 9. Y-shaped mounting frame. 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 1 As shown, it includes a suction cup component, an anchor component and a limit adjustment component; the limit adjustment component is fixedly installed on the suction cup component, the anchor component and the limit adjustment component are connected, the limit adjustment component is used to limit the anchor component, and a centrifugal impeller 8 is arranged in the suction cup component, and the centrifugal impeller 8 rotates under the drive of a motor, thereby forming a flow field in the water, and then the adsorption of the wall surface to be adsorbed is realized through the flow field in the water, the anchor component drills into the wall surface to be adsorbed, and the adsorption between the underwater adsorption anchor device and the wall surface to be adsorbed is realized through the lateral friction between the anchor component and the wall surface to be adsorbed.

[0030] like Figure 2 As shown, the suction cup component is mainly composed of a waterproof suction cup motor 1, a suction cup body 3, an elastic chassis 7 and a centrifugal impeller 8. The outer shell of the waterproof suction cup motor 1 is fixedly connected to the suction cup body 3. A hollow centrifugal chamber is arranged in the suction cup body 3. The centrifugal impeller 8 is installed in the centrifugal chamber of the suction cup body 3. The output shaft of the waterproof suction cup motor 1 is connected to the centrifugal impeller 8. The waterproof suction cup motor 1 is used to drive the centrifugal impeller 8 to rotate, thereby forming a flow field in the water, and then realizing the adsorption of the wall surface to be adsorbed through the flow field in the water. The lower end surface of the suction cup body 3 is installed with an elastic chassis 7. When the elastic chassis 7 contacts the wall surface to be adsorbed, adsorption is performed between the underwater adsorption anchoring device and the wall surface to be adsorbed.

[0031] For the suction cup component, the rotation speed and the gap from the wall of the suction cup component can be adjusted. The greater the rotation speed, the greater the adsorption force with the wall, and the smaller the gap, the greater the adsorption force with the wall. The waterproof suction cup motor 1 can change the adsorption force by adjusting the output shaft rotation speed.

[0032] The anchoring component is mainly composed of a waterproof anchoring motor 5, a drilling and milling grinding head 6 and a Y-shaped mounting frame 9. The Y-shaped mounting frame 9 can be moved up and down on the upper part of the suction cup body 3 through the lifting mechanism 2 in the limit adjustment component. The outer end of the Y-shaped mounting frame 9 is connected to the outer shell of the waterproof anchoring motor 5 through the rotating locking mechanism 4 in the limit adjustment component. The bottom end of the output shaft of the waterproof anchoring motor 5 is fixedly connected with the drilling and milling grinding head 6. When the underwater adsorption anchoring device adsorbs the wall surface to be adsorbed underwater, the drilling and milling grinding head 6 drills into the wall surface to be adsorbed, and the lateral friction between the drilling and milling grinding head 6 and the wall surface to be adsorbed is used to achieve reliable adsorption between the device and the wall surface to be adsorbed.

[0033] The anchoring component is composed of a Y-shaped mounting frame 9 and three waterproof anchoring motors 5 with drilling and milling heads 6 hinged at the ends thereof. The drilling direction of the drilling and milling heads 6 is changed by the rotary locking mechanism 4 of the limit adjustment structure, thereby changing the limit direction, and the dynamic feeding and buffering effect of the anchoring component is realized by the lifting mechanism 2 of the limit adjustment structure.

[0034] The limit adjustment component is mainly composed of a lifting mechanism 2 and a rotating locking mechanism 4. The top of the lifting mechanism 2 is fixedly connected to the upper part of the suction cup body 3, and the bottom of the lifting mechanism 2 is connected to the Y-shaped mounting frame 9, so that the Y-shaped mounting frame 9 can be installed on the suction cup body 3 in the suction cup component by moving up and down through the lifting mechanism 2. The lifting mechanism 2 is used to adjust the vertical displacement of the Y-shaped mounting frame 9, thereby realizing dynamic feeding and buffering of the anchoring component. The Y-shaped mounting frame 9 in the anchoring component is hinged to the waterproof anchoring motor 5 in the anchoring component through the rotating locking mechanism 4. The rotating locking mechanism 4 is used to change the drilling direction of the drilling and milling head 6 connected to the waterproof anchoring motor 5 when drilling into the wall to be adsorbed, thereby realizing stable anchoring of the wall to be adsorbed.

[0035] The middle section of the suction cup component is installed with a Y-shaped mounting frame 9 through a lifting mechanism 2, three waterproof anchoring motors 5 and three drilling and milling heads 6 are evenly arranged around the suction cup body 3, the anchoring angle is adjusted and fixed by rotating the locking mechanism 4, and an elastic chassis 7 is installed at the bottom of the suction cup body to increase the surface contact friction coefficient and improve the equivalent friction.

[0036] In a specific implementation, the lifting mechanism 2 adopts an elastic mechanism with restoring force, that is, a mechanical structure that can produce elastic deformation within a specific range, such as a spring. When the drilling and milling head 6 of the anchoring component begins to penetrate the wall to be adsorbed, since the suction cup body 3 adsorbs the wall to be adsorbed at a speed greater than the penetration speed of the drilling and milling head 6, the distance between the top of the suction cup body 3 and the Y-shaped mounting frame 9 is reduced, so the lifting mechanism 2 is compressed to generate elastic force; when the suction cup body 3 contacts the wall to be adsorbed, the drilling and milling head 6 continues to penetrate the wall to be adsorbed to a certain depth, and the distance between the top of the suction cup body 3 and the Y-shaped mounting frame 9 increases. At this time, the elastic force of the lifting mechanism 2 is released, and the dynamic feeding and buffering of the anchoring component are realized through the lifting mechanism 2.

[0037] The Y-shaped mounting frame 9 is mainly composed of a columnar anchoring bracket and three anchoring blades. The columnar anchoring bracket can be movably mounted on the outer periphery of the suction cup body 3 through a lifting mechanism 2. The three anchoring blades are evenly spaced and connected to the outer periphery of the columnar anchoring bracket along the circumference of the columnar anchoring bracket. Each anchoring blade is arranged radially along the columnar anchoring bracket. The outer end of each anchoring blade is hinged to the outer casing of the waterproof anchoring motor 5 through a rotating locking mechanism 4.

[0038] The drilling and milling head 6 in the anchoring component penetrates into concrete or metal surfaces of different structural shapes by adjusting the angle between its own axis and the normal line of the wall surface to be adsorbed.

[0039] The anchoring component can adjust the angle between the axis of the drilling and milling head 6 and the normal of the working surface to adapt to the penetration of concrete or metal surfaces with different structural shapes. After the drilling and milling head 6 penetrates the wall to be adsorbed, it remains in the cone pit. After the waterproof anchoring motor 5 stops, it can still generate sufficient limiting friction to resist tangential slip and overturning failure of the device with minimum power consumption.

[0040] The suction cup component generates a sufficiently large adsorption force to press the three sets of drilling and milling grinding heads 6 of the anchoring component onto the working surface for feeding. When the elastic base 7 of the suction cup approaches and adapts to the rough surface to be adsorbed, and the anchoring component penetrates to a certain depth, the lifting mechanism 2 is released to realize the secondary feeding of the drilling and milling grinding head 6, thereby realizing dynamic compensation for the adsorption force of the suction cup.

[0041] The height difference between the drilling and milling head 6 and the elastic base 7 in the anchoring component is in the range of 1-5 mm.

[0042] An embodiment of the present invention comprises the following steps:

[0043] First, the three drilling and milling heads 6 in the anchoring component are brought into contact with the upper surface of the structure to be adsorbed (i.e., the wall to be adsorbed), and three cone pit landing points are generated. Then, the waterproof anchoring motor 5 in the anchoring component is turned on to drive the drilling and milling heads 6 to rotate, and at the same time, the suction cup component is started to generate a normal adsorption force on the wall to be adsorbed, so that the three drilling and milling heads 6 are fed downward to destroy the structure to be adsorbed to form a cone pit. At this time, the lifting mechanism 2 is compressed. When the elastic chassis 7 in the suction cup component is close to the wall to be adsorbed, the drilling and milling heads 6 have penetrated into the cone pit to a certain depth, and the lifting mechanism 2 is released. The elastic force of the lifting mechanism 2 continues to drive the drilling and milling heads 6 to feed downward to the maximum depth, and the waterproof anchoring motor 5 is turned off. When the device does not move horizontally and is stably adsorbed on the structure to be adsorbed, the underwater adsorption and anchoring of the device for the structure to be adsorbed is completed.

[0044] The structures to be adsorbed include concrete structures and metal structures, and the walls to be adsorbed include planes and spherical surfaces of concrete structures and metal structures; when the wall to be adsorbed is a plane, the angle between the axis of the drilling and milling head 6 and the surface normal of the wall to be adsorbed is 0° to 30°; when the wall to be adsorbed is a spherical surface, the direction of the axis of the drilling and milling head 6 is consistent with the direction of the surface normal of the wall to be adsorbed.

[0045] The present invention adopts a non-contact centrifugal impeller suction cup component. The driving device of the suction cup component selects a waterproof suction cup motor 1. The waterproof suction cup motor 1 drives the centrifugal impeller 8 at the lower end to rotate at high speed, forming a vortex in the centrifugal chamber of the suction cup body 3, and discharging water through the gap at the bottom of the suction cup body, forming a local vacuum negative pressure in the chamber, thereby generating an adsorption force on the surface. This adsorption method is not affected by the roughness of the wall surface, and only needs to control the gap between the bottom of the suction cup chamber and the wall to maintain the suction force stable. The suction cup component installs an elastic bottom plate 7 of a certain thickness at the bottom of the suction cup chamber to control the gap range and increase the equivalent friction with the wall surface.

[0046] like Figure 2 As shown, three groups of identical anchoring structures are arranged at equal intervals around the suction cup component through a Y-shaped mounting frame 9. The anchoring structure is mainly composed of a waterproof anchoring motor and a drilling and milling grinding head. The anchoring structure can provide additional tangential friction on the surface. Each group of anchoring structures drives the drilling and milling grinding head 6 to rotate at high speed through a small waterproof anchoring motor 5. The effective working (extended) length of the drilling and milling grinding head can be adjusted according to the position of the chuck to achieve grinding of cone pits of different depths. The insertion angle of the anchoring structure can be changed by rotating the locking mechanism 4, and the dynamic feeding and buffering effect of the anchoring structure can be achieved through the lifting mechanism 2 of the limit adjustment structure.

[0047] The device of the present invention can be applied to the plane and spherical surface of concrete structure and metal structure. The working principle is as follows: Figure 3 shown.

[0048] For plane adsorption anchoring:

[0049] In the first method, before the suction cup is turned on, the drilling and milling heads 6 in the three groups of anchoring structures of the device first contact vertically with the working plane (i.e., the wall to be adsorbed) to produce three cone pit landing points. The waterproof anchoring motor 5 is turned on to drive the drilling and milling heads 6 to rotate, and at the same time, the suction cup component is opened to generate a normal adsorption force, so that the drilling and milling heads 6 of the three groups of anchoring structures are fed downward, destroying the surface of the structure to form a cone pit. At this time, the lifting mechanism 2 is compressed upward. When the elastic chassis 7 of the suction cup component is about to approach the surface, the drilling and milling heads 6 have penetrated into the cone pit to a certain depth. At this time, the lifting mechanism 2 is released, driving the drilling and milling heads 6 of the three groups of anchoring structures to feed downward to the maximum depth for the second time. When the waterproof anchoring motor 5 stops, dynamic anchoring can be formed to ensure that the device does not move horizontally and is stably adsorbed on the working surface.

[0050] The second method is to adjust the axes of the three sets of drilling and milling heads 6 of the anchoring structure outward to form a three-claw arrangement on the basis of the suction cup opening to provide adsorption force, and penetrate the surface of the structure by tilting the drilling and milling heads 6. It can not only provide tangential limit friction, but also increase the normal constraint force. Even if the waterproof anchoring motor 5 stops, dynamic anchoring can still be formed to ensure that the device does not slip horizontally or overturn and fail.

[0051] For spherical adsorption anchoring:

[0052] On the basis of the suction cup opening to provide adsorption force, the axes of the drilling and milling heads 6 of the three sets of anchoring structures are adjusted inward to form a three-claw arrangement. The drilling and milling heads 6 penetrate into the surface of the spherical structure, and the axes of the drilling and milling heads 6 are consistent with the normal direction of the spherical surface, which can provide tangential limit friction. Even if the waterproof anchoring motor 5 stops, dynamic anchoring can still be formed to ensure that the device does not slip horizontally or overturn and fail.

[0053] The present invention can improve the tangential friction and normal suction of operating mechanical equipment on complex underwater surfaces, and can maintain stable adsorption and anchoring on the operating surface for a long time in a state of ultra-low power consumption.

[0054] 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. An ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation, characterized in that: The invention comprises a suction cup component, an anchor component and a limit adjustment component; the limit adjustment component is fixedly mounted on the suction cup component, the anchor component and the limit adjustment component are connected, the limit adjustment component is used to limit the anchor component, a centrifugal impeller (8) is arranged in the suction cup component, the centrifugal impeller (8) rotates under the drive of a motor, thereby forming a flow field in the water, and then adsorption of the wall surface to be adsorbed is achieved through the flow field in the water, the anchor component drills into the wall surface to be adsorbed, and adsorption between the underwater adsorption anchor device and the wall surface to be adsorbed is achieved through the lateral friction between the anchor component and the wall surface to be adsorbed.

2. According to claim 1, an ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation is characterized in that: The suction cup component mainly consists of a waterproof suction cup motor (1), a suction cup body (3), an elastic base (7) and a centrifugal impeller (8); the outer shell of the waterproof suction cup motor (1) is fixedly connected to the suction cup body (3); a hollow centrifugal chamber is arranged in the suction cup body (3); the centrifugal impeller (8) is installed in the centrifugal chamber of the suction cup body (3); the output shaft of the waterproof suction cup motor (1) is connected to the centrifugal impeller (8); the waterproof suction cup motor (1) is used to drive the centrifugal impeller (8) to rotate, thereby forming a flow field in the water, and then achieving adsorption of the wall surface to be adsorbed through the flow field in the water; the lower end surface of the suction cup body (3) is installed with an elastic base (7); when the elastic base (7) contacts the wall surface to be adsorbed, adsorption is performed between the underwater adsorption anchor device and the wall surface to be adsorbed.

3. According to claim 2, an ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation is characterized in that: The anchoring component is mainly composed of a waterproof anchoring motor (5), a drilling and milling grinding head (6) and a Y-shaped mounting frame (9). The Y-shaped mounting frame (9) can be moved up and down on the upper part of the suction cup body (3) through a limit adjustment component. The outer end of the Y-shaped mounting frame (9) is connected to the outer shell of the waterproof anchoring motor (5) through the limit adjustment component. The bottom end of the output shaft of the waterproof anchoring motor (5) is fixedly connected with the drilling and milling grinding head (6). When the underwater adsorption anchoring device adsorbs the wall surface to be adsorbed underwater, the drilling and milling grinding head (6) drills into the wall surface to be adsorbed, and the lateral friction between the drilling and milling grinding head (6) and the wall surface to be adsorbed is used to achieve reliable adsorption between the device and the wall surface to be adsorbed.

4. According to claim 2, an ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation is characterized in that: The position limiting adjustment component is mainly composed of a lifting mechanism (2) and a rotating locking mechanism (4). The top of the lifting mechanism (2) is fixedly connected to the upper part of the suction cup body (3), and the bottom of the lifting mechanism (2) is connected to the Y-shaped mounting frame (9), so that the Y-shaped mounting frame (9) can be installed on the suction cup body (3) in the suction cup component through the lifting mechanism (2) so as to be movable up and down. The lifting mechanism (2) is used to adjust the vertical displacement of the Y-shaped mounting frame (9), thereby realizing dynamic feeding and buffering of the anchoring component. The Y-shaped mounting frame (9) in the anchoring component is hinged to the waterproof anchoring motor (5) in the anchoring component through the rotating locking mechanism (4). The rotating locking mechanism (4) is used to change the drilling direction of the drilling and milling head (6) connected to the waterproof anchoring motor (5) when drilling into the wall surface to be adsorbed, thereby realizing stable anchoring of the wall surface to be adsorbed.

5. The ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation according to claim 3 is characterized in that: The Y-shaped mounting frame (9) is mainly composed of a columnar anchoring bracket and three anchoring blades. The columnar anchoring bracket is movably mounted on the outer periphery of the suction cup body (3) via a lifting mechanism (2). The three anchoring blades are evenly spaced and connected to the outer periphery of the columnar anchoring bracket along the circumference of the columnar anchoring bracket. Each anchoring blade is arranged radially along the columnar anchoring bracket. The outer end of each anchoring blade is hinged to the outer casing of the waterproof anchoring motor (5) via a rotating locking mechanism (4).

6. The ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation according to claim 3 is characterized in that: The drilling and milling head (6) in the anchoring component pierces into concrete or metal surfaces of different structural shapes by adjusting the angle between its own axis and the normal line of the wall surface to be adsorbed.

7. The ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation according to claim 3 is characterized in that: The height difference between the drilling and milling head (6) and the elastic base plate (7) in the anchoring component is in the range of 1-5 mm.

8. An ultra-low power consumption underwater adsorption anchoring method based on surface friction limitation applied to the device described in any one of claims 1 to 7, characterized in that: The following steps are involved: First, the three drilling and milling heads (6) in the anchoring component are brought into contact with the upper surface of the structure to be adsorbed, and three cone pit landing points are generated. Then, the waterproof anchoring motor (5) in the anchoring component is turned on to drive the drilling and milling heads (6) to rotate, and at the same time, the suction cup component is started to generate a normal adsorption force on the wall to be adsorbed, so that the three drilling and milling heads (6) are fed downward to destroy the structure to be adsorbed to form a cone pit. At this time, the lifting mechanism (2) is compressed. When the elastic bottom plate (7) in the suction cup component is close to the wall to be adsorbed, the lifting mechanism (2) is released, and the elastic force of the lifting mechanism (2) is used to continue to drive the drilling and milling heads (6) to feed downward to the maximum depth. The waterproof anchoring motor (5) is turned off. When the device does not move horizontally and is stably adsorbed on the structure to be adsorbed, the underwater adsorption and anchoring of the device on the structure to be adsorbed is completed.

9. The ultra-low power consumption underwater adsorption anchoring method based on surface friction limitation according to claim 8 is characterized in that: The structure to be adsorbed includes a concrete structure and a metal structure, and the wall surface to be adsorbed includes a plane and a spherical surface of the concrete structure and the metal structure; When the wall surface to be adsorbed is a plane, the angle between the axis of the drilling and milling grinding head (6) and the surface normal of the wall surface to be adsorbed is 0° to 30°; when the wall surface to be adsorbed is a spherical surface, the direction of the axis of the drilling and milling grinding head (6) is consistent with the direction of the surface normal of the wall surface to be adsorbed.

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