Novel bridge pile foundation drill bit fishing robot

Abstract

The invention discloses a novel bridge pile foundation drill bit fishing robot. The robot comprises a main body frame; a protection cabin is arranged in the middle of the main body frame; buoyancy blocks are symmetrically arranged on the left side and the right side of the protection cabin. The buoyancy block is arranged at the upper end of the main body frame; a posture adjusting device is arranged on the main body frame; an underwater mechanical arm and a foresight multi-beam sonar are arranged at the front end of the main body frame; a hook-shaped actuator is arranged at the end, away from the main body frame, of the underwater mechanical arm. Through cooperation of the posture adjusting device, the underwater mechanical arm, the foresight multi-beam sonar and other components, a drill bit can be accurately positioned and rapidly fished, and therefore the fishing efficiency can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drill bit fishing, and more specifically to a new type of bridge pile foundation drill bit fishing robot. Background Art

[0002] In the construction of bridge pile foundations, due to the extremely complex working conditions at the construction site, the situation of the drill bit falling to the bottom of the hole often occurs. The current method of using divers to dive for fishing has many drawbacks: on the one hand, in order to protect the hole wall during drilling, high-density mud needs to be continuously injected, which creates a high-pressure environment in the hole. When divers dive, they must wear pressure-resistant devices, and the operation risk is extremely high; on the other hand, the mud in the pile foundation hole continuously circulates and flows. If an accident occurs to the diver during the fishing process, the rescue difficulty is extremely high. In addition, the line of sight in the pile foundation hole is blocked, and the diver can only rely on manual groping, resulting in low fishing efficiency and difficult to guarantee accuracy. At present, there is an urgent need in the market for a safe, efficient, and accurate bridge pile foundation drill bit fishing device to solve the problems existing in the traditional fishing method.

[0003] Among the existing underwater drill bit fishing devices, for example, the utility model patent with the publication number CN210049856U discloses a drill bit fishing device, which slides a drill bit fishing tool connected by a flexible connection into the inclined drill bit central hole under the action of gravity, uses an inverted tooth structure to engage with the internal thread, and enhances the connection force with the help of a fastening device to achieve rapid fishing. However, the method adopted by this fishing device cannot confirm the pose state of the drill bit at the bottom of the well, resulting in low fishing efficiency.

[0004] For example, the utility model patent with the publication number CN218563620U discloses a drill bit fishing device, which drives a lead screw to rotate through a drill pipe connector. When the second clamping arm contacts the drill bit, the drill bit hinders its rotation, and then the nut moves downward to drive the second clamping arm to clamp the drill bit, thereby achieving fishing and avoiding manual diving for fishing, but the operation flexibility is limited. However, this device relies on the rotation of the drill pipe and the up and down movement of the nut to realize the opening and closing of the clamping arm. The operation is relatively fixed and it is difficult to adjust the fishing angle and position as flexibly as an underwater robot. For some drill bits in special positions or shapes, it may not be able to effectively fish.

[0005] Therefore, how to provide a new type of bridge pile foundation drill bit fishing robot that can improve the fishing efficiency is one of the technical problems that need to be solved urgently in this field. Summary of the Invention

[0006] In view of this, the present invention provides a new type of bridge pile foundation drill bit fishing robot, and the purpose is to solve the problems existing in the prior art.

[0007] To solve the above technical problems, the present invention has taken the following technical solutions:

[0008] A new type of bridge pile foundation drill bit salvage robot, comprising: a main body frame; a protective cabin is provided in the middle of the main body frame; buoyancy blocks are symmetrically arranged on the left and right sides of the protective cabin; the buoyancy blocks are arranged at the upper end of the main body frame; an attitude adjustment device is provided on the main body frame; an underwater manipulator and a forward multi-beam sonar are provided at the front end of the main body frame; a hook-shaped actuator is provided at one end of the underwater manipulator away from the main body frame.

[0009] Preferably, the attitude adjustment device includes a left front lateral thruster, a right front lateral thruster, a right rear lateral thruster, a left rear lateral thruster and two vertical thrusters; the left front lateral thruster is arranged on the left side of the front end of the main body frame, and the right front lateral thruster is arranged on the right side of the front end of the main body frame; the right rear lateral thruster is arranged on the right side of the rear end of the main body frame; the left rear lateral thruster is arranged on the left side of the rear end of the main body frame; the two vertical thrusters are symmetrically arranged at the middle positions on the left and right sides of the upper end of the main body frame.

[0010] Preferably, a balance sensor is provided on the main body frame.

[0011] Preferably, the number of the underwater manipulators is two; the forward multi-beam sonar is arranged in the middle of the front end of the main body frame; the two underwater manipulators are symmetrically arranged on the left and right sides of the forward multi-beam sonar.

[0012] Preferably, a power system, a control unit and a communication module are integrated inside the protective cabin.

[0013] Preferably, it further includes a winch; the winch is connected to the main body frame through a steel wire rope.

[0014] Preferably, it further includes a ground control station for processing sonar images and generating control commands and ensuring the dynamic stability of the salvage robot during operation in the pile foundation hole.

[0015] The present invention has achieved the following technical effects compared with the prior art:

[0016] 1) In the present invention, the forward multi-beam sonar combines high-frequency / low-frequency dual-mode detection, which greatly improves the drill bit positioning accuracy in a complex mud environment, significantly superior to the traditional single-beam sonar.

[0017] 2) In the present invention, through the coordinated control of six thrusters, the attitude stability of the robot is greatly improved, so that the underwater manipulator can be accurately aligned with the drill bit when operating vertically downward, greatly improving the salvage efficiency.

[0018] 3) In the present invention, the image analysis unit generates high-resolution drill bit pose maps and obstacle distribution maps through real-time three-dimensional modeling and deep learning algorithms, thereby providing accurate underwater environment information for the operator to accurately locate the dropped drill bit, and thus effectively improving the efficiency of drill bit recovery.

[0019] 4) Through the design of the underwater manipulator, attitude adjustment device, umbilical cable, and automatic cable winch, etc., the present invention greatly enhances the adaptability and reliability of the equipment, reduces equipment failures, and lowers construction costs. Brief Description of the Drawings

[0020] Figure 1 is an axonometric view of a novel bridge pile foundation drill bit recovery robot of the present invention;

[0021] Figure 2 is a front view of a novel bridge pile foundation drill bit recovery robot of the present invention;

[0022] Figure 3 is a rear view of a novel bridge pile foundation drill bit recovery robot of the present invention;

[0023] Figure 4 is a schematic diagram of a novel bridge pile foundation drill bit recovery robot of the present invention when recovering the drill bit;

[0024] In the figure: 1, protective cabin; 2, left front lateral thruster; 3, forward multi-beam sonar; 4, underwater manipulator; 5, buoyancy block; 6, right front lateral thruster; 7, main body frame; 8, hook-shaped actuator; 9, right rear lateral thruster; 10, left rear lateral thruster; 11, vertical thruster; 12, drill bit; 13, wire ring. Detailed Embodiment

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Embodiment

[0027] Refer to Figures 1-4As shown in the figure, the present invention discloses a novel bridge pile foundation drill bit fishing robot, including: a main body frame 7; a protective cabin 1 is provided in the middle of the main body frame 7 to protect the internal electronic components and mechanical parts; buoyancy blocks 5 are symmetrically provided on both left and right sides of the protective cabin 1 to provide appropriate buoyancy for the fishing robot and ensure that the fishing robot is always in a suspended state in water; the buoyancy blocks 5 are arranged at the upper end of the main body frame 7; an attitude adjustment device is provided on the main body frame 7 to adjust the attitude of the fishing robot; an underwater manipulator 4 and a forward-looking multi-beam sonar 3 are provided at the front end of the main body frame 7. By arranging the forward-looking multi-beam sonar 3 at the front end of the main body frame 7, it is convenient to detect the underwater environment in front without obstruction; the base of the underwater manipulator 4 is connected to the main body frame 7, enabling it to move flexibly at the front end of the fishing robot; a hook-shaped actuator 8 is provided at one end of the underwater manipulator 4 away from the main body frame 7, facilitating precise grasping of the drill bit.

[0028] In this embodiment, the attitude adjustment device includes a left front lateral thruster 2, a right front lateral thruster 6, a right rear lateral thruster 9, a left rear lateral thruster 10 and two vertical thrusters 11; the left front lateral thruster 2 is arranged on the left side of the front end of the main body frame 7, and the right front lateral thruster 6 is arranged on the right side of the front end of the main body frame 7; the right rear lateral thruster 9 is arranged on the right side of the rear end of the main body frame 7; the left rear lateral thruster 10 is arranged on the left side of the rear end of the main body frame 7; the two vertical thrusters 11 are symmetrically arranged at the middle positions on the left and right sides of the upper end of the main body frame 7; the left front lateral thruster 2, the right front lateral thruster 6, the right rear lateral thruster 9 and the left rear lateral thruster 10 are used to provide lateral thrust for the fishing robot, and the vertical thrusters 11 are used to provide thrust in the vertical direction for the fishing robot; during use, the direction of the thrust is adjusted through each thruster to ensure that the attitude of the fishing robot can be kept stable when the underwater manipulator is operating.

[0029] In this embodiment, a balance sensor is provided on the main body frame 7 to monitor the pitch angle, roll angle and yaw angle of the robot in real time through the balance sensor.

[0030] In this embodiment, the number of the underwater manipulators 4 is two; the forward-looking multi-beam sonar 3 is arranged in the middle of the front end of the main body frame 7; the two underwater manipulators 4 are symmetrically arranged on the left and right sides of the forward-looking multi-beam sonar 3.

[0031] In this embodiment, a power system, a control unit and a communication module are integrated inside the protective cabin 1; the sealing performance of the protective cabin 1 has been strictly tested to ensure that it will not let water in during underwater operation and guarantee the normal operation of the equipment.

[0032] In this embodiment, a winch is provided at the pile foundation opening; the winch is connected to the main frame 7 through a wire rope. One end of the wire rope is fixed on the drum of the winch, and the other end is fixed on the main frame 7, which is used to control the lifting of the salvage robot. The wire rope has sufficient strength and toughness to bear the weight of the salvage robot and the pulling force during the salvage process in the complex environment of the pile foundation hole.

[0033] In this embodiment, the winch is controlled by a winch on the ground. The winch is equipped with a precise retracting and releasing control device. The operator adjusts the length of the wire rope through the winch control panel to realize the lifting and lowering actions of the salvage robot in the hole. At the same time, according to the multi-beam sonar image and the clamping state of the underwater manipulator on the salvage robot, it assists in completing the salvage operation.

[0034] In this embodiment, the main frame 7 is made of pressure-resistant and corrosion-resistant materials.

[0035] In this embodiment, a ground control station is provided on the ground, which is the decision-making center for real-time control, monitoring, and data processing. It includes an image analysis unit, an operation control unit, and an attitude adjustment unit, which are used to process sonar images and generate control instructions and ensure the dynamic stability of the salvage robot during operation in the pile foundation hole. Among them, the image analysis unit is used to analyze and process the data transmitted back by the multi-beam sonar; the operation control unit automatically plans the grasping movement path of the underwater manipulator according to the image analysis result, and provides operation suggestions through the man-machine interface. It can also control the rocker or touch screen and other manual operations to move the salvage robot and the actions of the underwater manipulator to grasp the drill bit through the sonar image processed by the image analysis unit displayed on the screen of the ground control station; the attitude adjustment unit is used for the dynamic stability of the salvage robot.

[0036] In this embodiment, the ground control station is connected to the salvage robot through an umbilical cable; the umbilical cable contains a power line and a signal transmission line inside, which provides a continuous and stable power supply for the salvage robot and transmits sonar images, the status information of the salvage robot, etc. to the ground control station in real time.

[0037] In this embodiment, the forward-looking multi-beam sonar 3 (BHQ-1200d) has a working frequency of 2.1 MHz / 1.2 MHz, a maximum detection range of 40 m (low frequency) / 10 m (high frequency), a range resolution of 2.5 mm, a horizontal opening angle of 130° (low frequency) / 60° (high frequency), a vertical opening angle of 20° (low frequency) / 12° (high frequency), and a beam resolution of 0.25° (low frequency) / 0.16° (high frequency). It has high-precision imaging capabilities and can transmit clear underwater images in real time to help operators accurately judge the position of the drill bit and the situation of surrounding obstacles. When in use, the forward-looking multi-beam sonar 3 achieves high-precision imaging by switching between two acoustic beam emission modes: low frequency and high frequency. The low-frequency mode is used for large-range detection, and the high-frequency mode is used for high-precision imaging at close range. After the reflected signal is captured by the receiving array, it undergoes beam forming, noise suppression, and three-dimensional point cloud reconstruction by a digital signal processor. The forward-looking multi-beam sonar 3 is connected to the image analysis unit of the ground control station through the optical fiber channel inside the umbilical cable. The sonar signal is transmitted in real time to the image analysis unit of the ground control station through the integrated optical fiber channel in the umbilical cable. The image analysis unit uses an adaptive filtering algorithm and a deep learning model to perform noise reduction on the image, and combines three-dimensional modeling technology to generate a high-resolution drill bit pose map and obstacle distribution map, which are displayed on the screen of the ground control station to provide a real-time visualization interface for the operator, providing accurate underwater environment information for the operator to accurately locate the dropped drill bit.

[0038] In this embodiment, the imaging principle of the forward-looking multi-beam sonar 3 is based on the propagation and reflection characteristics of sound waves in mud, and it can penetrate the mud to clearly image objects within a certain distance ahead.

[0039] In this embodiment, the underwater manipulator 4 has multiple degrees of freedom and is made of high-strength and corrosion-resistant materials. The control mechanism of the underwater manipulator 4 is connected to the electric control system inside the salvage robot. After the operator determines the position of the drill bit based on the processed sonar image, the operator can manipulate the movement of the underwater manipulator 4 through the operation control unit to accurately grasp the drill bit dropped into the pile foundation hole, ensuring a firm grasp of the drill bit while avoiding damage to the drill bit structure.

[0040] In this embodiment, the umbilical cable is made of high-strength, bend-resistant, and excellent waterproof materials.

[0041] In some other embodiments, an automatic wire arranging device is provided on the winch. When the umbilical cable is wound and unwound, it can automatically wind it neatly around the drum, avoiding the situation of chaotic winding affecting the operation, and providing a more reliable basis for the salvage operation.

[0042] In some other embodiments, the outer surfaces of the protective cabin 1 and the main body frame 7 are specially treated to effectively resist the erosion of mud and the damage of the high-pressure environment.

[0043] In some other embodiments, the electronic components and mechanical parts of the salvage robot are sealed in the protective cabin 1 to ensure that no water enters during underwater operations.

[0044] In actual salvage operations, the operator first hoists the salvage robot to the pile foundation orifice and slowly lowers the salvage robot into the pile foundation hole through a winch; during the descent, the forward multi-beam sonar 3 starts the low-frequency mode to scan the bottom environment of the hole. After detecting the drill bit, it switches to the high-frequency mode for fine imaging. The sonar signal is transmitted in real time through the optical fiber channel integrated in the umbilical cable to the image analysis unit of the ground control station to generate a high-resolution drill bit pose map and obstacle distribution map, providing accurate underwater environment information for the operator. The control unit of the ground control station controls the movement of the salvage robot and automatically calculates the grasping path of the robotic arm based on the data of the image analysis unit (manual operation is also available). After the operator confirms the path, the attitude adjustment unit drives the left front lateral thruster 2, right front lateral thruster 6, right rear lateral thruster 9, and left rear lateral thruster 10 on the salvage robot to fine-tune the horizontal position of the salvage robot. The vertical thruster 11 offsets the disturbance of mud flow, keeping the salvage robot in a stable vertical downward orientation. Subsequently, the hook actuator 8 at one end of the underwater robotic arm 4 accurately hooks the wire ring 13 on the outer circle of the upper part of the drill bit 12 under the guidance of the multi-beam sonar, and the winch synchronously tightens the wire rope to complete the grasping of the drill bit. During this process, the attitude adjustment unit automatically compensates for the attitude deviation caused by the wire rope tension to ensure a smooth grasping process. Finally, the winch lifts the salvage robot and the drill bit 12 out of the hole and retracts them to the ground to complete the salvage operation. The whole process does not require personnel to enter the water, greatly improving the safety and efficiency of salvage.

[0045] As described above, it is only a preferred embodiment of the present invention, and does not impose any limitation on the technical scope of the present invention. Therefore, any minor modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A new type of bridge pile foundation drill salvage robot, characterized in that: include: A main frame (7); a protection cabin (1) is provided in the middle of the main frame (7); buoyancy blocks (5) are symmetrically provided on the left and right sides of the protection cabin (1); the buoyancy blocks (5) are arranged at the upper end of the main frame (7); a posture adjustment device is provided on the main frame (7); an underwater mechanical arm (4) and a forward-looking multi-beam sonar (3) are provided at the front end of the main frame (7); a hook-shaped actuator (8) is provided at one end of the underwater mechanical arm (4) away from the main frame (7).

2. The novel bridge pile foundation drill bit salvage robot according to claim 1 is characterized in that: The posture adjustment device comprises a left front lateral thruster (2), a right front lateral thruster (6), a right rear lateral thruster (9), a left rear lateral thruster (10) and two vertical thrusters (11); the left front lateral thruster (2) is arranged on the left side of the front end of the main frame (7), and the right front lateral thruster (6) is arranged on the right side of the front end of the main frame (7); the right rear lateral thruster (9) is arranged on the right side of the rear end of the main frame (7); the left rear lateral thruster (10) is arranged on the left side of the rear end of the main frame (7); and the two vertical thrusters (11) are symmetrically arranged at the middle position of the left and right sides of the upper end of the main frame (7).

3. The novel bridge pile foundation drill bit salvage robot according to claim 1 is characterized in that: A balance sensor is provided on the main frame (7).

4. The novel bridge pile foundation drill salvage robot according to claim 1 is characterized in that: The number of the underwater mechanical arms (4) is two; the forward-looking multi-beam sonar (3) is arranged at the middle of the front end of the main frame (7); and the two underwater mechanical arms (4) are symmetrically arranged on the left and right sides of the forward-looking multi-beam sonar (3).

5. The novel bridge pile foundation drill salvage robot according to claim 1 is characterized in that: The protection cabin (1) has a power system, a control unit and a communication module integrated therein.

6. The novel bridge pile foundation drill salvage robot according to claim 1 is characterized in that: It also includes a winch; the winch is connected to the main frame (7) via a steel wire rope.

7. The novel bridge pile foundation drill salvage robot according to claim 1 is characterized in that: It also includes a ground control station, which is used to process sonar images and generate control instructions, as well as to ensure the dynamic stability of the salvage robot when operating in the pile foundation hole.

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