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

Abstract

The application discloses an underwater adsorption anchoring device and method based on surface friction limiting. A limiting adjustment component is fixedly installed on a suction cup component, and an anchoring component is connected between the limiting adjustment component. A centrifugal impeller is arranged in the suction cup component, and the centrifugal impeller rotates under the drive of a motor, so that a flow field is formed in water, and then adsorption to a wall surface to be adsorbed is realized through the flow field in water. The anchoring component drills into the wall surface to be adsorbed, and adsorption between the underwater adsorption anchoring device and the wall surface to be adsorbed is realized through lateral friction between the anchoring component and the wall surface to be adsorbed. The anchoring component is used for drilling and milling a surface to form a conical pit, so as to provide tangential limiting friction. In the limiting adjustment structure, a rotating locking mechanism is used for changing and keeping the drilling direction of a grinding head, and a Y-shaped mounting frame realizes simultaneous feeding of three groups of grinding heads. The application has the functions of adsorption and anchoring limiting on the plane and spherical surface of underwater concrete or metal structures, and can adapt to various surface working environments.

Description

Technical Field

[0001] The present 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] As a special underwater operation equipment, the operating capability of a submersible directly determines the efficiency of marine resource development and the safety of underwater projects.

[0003] Underwater operations at depths greater than 60 meters are typically performed by submersibles. Currently, high-power drilling operations in deep-sea salvage operations rely solely on the submersible's own weight to sink to the bottom and secure it to the surface. This makes high-power drilling difficult on the inclined or curved surfaces of underwater rock, concrete, or metal structures. This is primarily due to the lack of methods for adaptive adsorption and anchoring of submersibles on complex, inclined, and curved surfaces. This lack of a technical foundation for adsorption on complex surfaces significantly limits the submersible's operational range and capabilities. 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 during high-power operations on complex underwater surfaces (especially inclined or curved surfaces).

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

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

[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, and a centrifugal impeller is provided 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 adsorption of the wall to be adsorbed is achieved through the flow field in the water. The anchor component drills into the wall to be adsorbed, and the adsorption between the underwater adsorption anchor device and the wall to be adsorbed is achieved through the lateral friction between the anchor component and the wall 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 provided 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 to be adsorbed through the flow field in the water. The lower end face of the suction cup body is installed with an elastic chassis. When the elastic chassis contacts the wall to be adsorbed, adsorption is performed between the underwater adsorption anchoring device and the wall 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 to be adsorbed underwater, the drilling and milling grinding head drills into the wall to be adsorbed, and the lateral friction between the drilling and milling grinding head and the wall to be adsorbed is used to achieve reliable adsorption between the device and the wall 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 bracket, so that the Y-shaped mounting bracket can be moved up and down on the suction cup body in the suction cup component through the lifting mechanism. The lifting mechanism is used to adjust the vertical displacement of the Y-shaped mounting bracket, thereby realizing dynamic feeding and buffering of the anchoring component. The Y-shaped mounting bracket 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 mainly consists of a columnar anchoring bracket and three anchoring blades. The columnar anchoring bracket can be moved up and down on the outer periphery of the suction cup body through a lifting mechanism. The three anchoring blades are evenly spaced along the circumference of the columnar anchoring bracket and 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 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.

[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 cone pits. 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 device completes the underwater adsorption anchoring of the structure to be adsorbed.

[0016] The structures to be adsorbed include concrete structures and metal structures, and the wall surfaces to be adsorbed include planes and spherical surfaces of concrete structures and metal structures;

[0017] When the wall 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 to be adsorbed is 0°~30°; when the wall 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 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 to 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 anchoring 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 feed force of the drilling and milling grinding head and the adsorption force of the body, to ensure that the device can be adsorbed on the underwater metal or concrete surface with clearance. The anchoring 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 rotary 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 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. This invention utilizes a drilling and milling head to create a three-point stoppered conical pit on the surface. When the drilling and milling head stops rotating, it remains within the pit. The non-contact centrifugal impeller suction cup, combined with the passive adaptation of the stopper adjustment component, creates a friction anchor. When underwater equipment is operating on complex surfaces, installing this ultra-low-power dynamic adsorption anchoring device ensures that the equipment remains stably attached to the surface for extended periods, preventing slippage and capsizing.

[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 are shown;

[0026] Figure 3 This 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 bracket. 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 1 As shown, it includes 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, and a centrifugal impeller 8 is provided in the suction cup component, which rotates when driven by a motor, 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 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 achieved 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 provided 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 adsorption of the wall 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 to be adsorbed, adsorption is performed between the underwater adsorption anchoring device and the wall to be adsorbed.

[0031] The suction cup component has an adjustable rotational speed and clearance from the wall. The higher the rotational speed, the greater the suction force with the wall, and the smaller the clearance, the greater the suction force with the wall. The waterproof suction cup motor 1 can change the suction force by adjusting the output shaft rotational speed.

[0032] The anchoring component is mainly composed of a waterproof anchoring motor 5, a drilling and milling grinding head 6 and a Y-type mounting frame 9. The Y-type 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-type 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 to be adsorbed underwater, the drilling and milling grinding head 6 drills into the wall to be adsorbed, and the lateral friction between the drilling and milling grinding head 6 and the wall to be adsorbed is used to achieve reliable adsorption between the device and the wall to be adsorbed.

[0033] The anchoring component consists of a Y-shaped mounting frame 9 and three waterproof anchoring motors 5 hinged at its ends, each equipped with a drilling and milling head 6. The rotary locking mechanism 4 of the position adjustment structure changes the drilling direction of the drilling and milling head 6, thereby changing the position adjustment direction. The lifting mechanism 2 of the position adjustment structure realizes the dynamic feeding and buffering of the anchoring component.

[0034] The limit adjustment component is mainly composed of a lifting mechanism 2 and a rotation 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 moved up and down on the suction cup body 3 in the suction cup component 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 rotation locking mechanism 4. The rotation 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. 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 speed at which the suction cup body 3 adsorbs the wall to be adsorbed is 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; after 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 achieved 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 moved up and down on the outer periphery of the suction cup body 3 through the lifting mechanism 2. The three anchoring blades are evenly spaced along the circumference of the columnar anchoring bracket and 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 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 chassis 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 includes 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 cone pits. 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 device completes the underwater adsorption anchoring of the structure to be adsorbed.

[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°~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 utilizes a non-contact centrifugal impeller-type suction cup assembly. A waterproof suction cup motor 1 is used as the driving device for the suction cup assembly. This motor drives the centrifugal impeller 8 at its lower end to rotate at high speed, creating a vortex within the centrifugal chamber of the suction cup body 3. This vortex expels water through the gap at the bottom of the suction cup body, creating a local vacuum pressure within the chamber, thereby generating suction force on the surface. This suction method is unaffected by wall roughness; it only requires controlling the gap between the bottom of the suction cup chamber and the wall to maintain stable suction. The present suction cup assembly incorporates an elastic base 7 of a predetermined thickness at the bottom of the suction cup chamber to control the gap range and increase the equivalent friction with the wall.

[0046] like Figure 2 As shown, three identical anchoring structures are arranged at equal intervals around the suction cup assembly via a Y-shaped mounting frame 9. The anchoring structures primarily consist of a waterproof anchoring motor and a drilling and milling grinding head, which provide additional tangential friction on the surface. Each anchoring structure group drives the drilling and milling grinding head 6 to rotate at high speed via a small waterproof anchoring motor 5. The effective working (extended) length of the drilling and milling grinding head can be adjusted based on the position of the chuck to achieve grinding of cone pits of varying depths. The penetration angle of the anchoring structure can be changed by rotating the locking mechanism 4, and the dynamic feeding and buffering effects of the anchoring structure are 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 and metal structures. The working principle is as follows: Figure 3 shown.

[0048] For planar 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 make vertical contact with the working plane (i.e., the wall to be adsorbed), generating 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 cone pits. 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 involves aligning the three anchoring structures' drilling and milling heads (6) with their axes tilted outward, creating a three-claw arrangement. This tilts the drilling and milling heads (6) into the structure's surface. This not only provides tangential limiting friction but also increases normal restraint. Even if the waterproof anchoring motor (5) stops, dynamic anchoring is still achieved, ensuring the device prevents horizontal slippage and overturning.

[0051] For spherical adsorption anchoring:

[0052] With the suction cups activated to provide suction, the axes of the three anchoring structures' drilling and milling heads (6) are adjusted inward to form a three-claw arrangement. By piercing the spherical surface, the axes of the drilling and milling heads (6) align with the spherical surface normal, providing tangential limiting friction. Even if the waterproof anchoring motor (5) stops, dynamic anchoring is still achieved, ensuring the device prevents horizontal slippage and overturning failure.

[0053] The present invention can improve the tangential friction and normal suction of operating machinery and equipment on complex underwater surfaces, and can maintain stable adsorption and anchoring on the operating surface for a long time with 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 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. An ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation, characterized by: The device 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 provided 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 achieving adsorption of the wall surface to be adsorbed 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 achieved through the lateral friction between the anchor component and the wall surface to be adsorbed; The suction cup component mainly consists 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 provided 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; 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; The position limiting adjustment component is mainly composed of a lifting mechanism (2) and a rotation 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 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.

2. The ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation according to claim 1 is characterized in that: The anchoring component is mainly composed of a waterproof anchoring motor (5), a drilling and milling head (6) and a Y-type mounting frame (9). The Y-type 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-type mounting frame (9) is connected to the outer shell of the waterproof anchoring motor (5) through a limit adjustment component. The bottom end of the output shaft of the waterproof anchoring motor (5) is fixedly connected with the drilling and milling head (6). When the underwater adsorption anchoring device adsorbs the wall surface to be adsorbed underwater, the drilling and milling head (6) drills into the wall surface to be adsorbed, and the lateral friction between the drilling and milling 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.

3. The ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation according to claim 1 is characterized in that: The Y-shaped mounting frame (9) in the anchoring component is hinged to the waterproof anchoring motor (5) in the anchoring component via a 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 achieving stable anchoring of the wall surface to be adsorbed.

4. The ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation according to claim 2 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 can be moved up and down on the outer periphery of the suction cup body (3) through a lifting mechanism (2). The three anchoring blades are evenly spaced along the circumference of the columnar anchoring bracket and connected to the outer periphery 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 shell of the waterproof anchoring motor (5) through a rotating locking mechanism (4).

5. The ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation according to claim 2 is characterized in that: 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.

6. The ultra-low power consumption underwater adsorption anchoring device based on surface friction limitation according to claim 2, characterized in that: The height difference between the drilling and milling head (6) and the elastic chassis (7) in the anchoring component is in the range of 1-5 mm.

7. An ultra-low power consumption underwater adsorption anchoring method based on surface friction limitation applied to the device according to any one of claims 1 to 6, 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 cone pits. 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 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 anchoring of the device to the structure to be adsorbed is completed.

8. The ultra-low power consumption underwater adsorption anchoring method based on surface friction limitation according to claim 7 is characterized in that: The structures to be adsorbed include concrete structures and metal structures, and the wall surfaces to be adsorbed include planes and spherical surfaces of concrete structures and metal structures; 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 axis direction of the drilling and milling grinding head (6) is consistent with the surface normal direction of the wall surface to be adsorbed.

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