Underwater excavation gripping device and construction method thereof

Abstract

The invention provides an underwater excavation grabbing device which comprises a support arranged at the top of a workboat, a two-way rail frame is arranged on the upper side of the support in a supporting mode, the workboat, the support and the two-way rail frame are connected to form a transportation channel of a transportation trolley, a positioning frame is supported on the upper portion of the two-way rail frame, and a pushing module is arranged at the top of the positioning frame. The bottom of the pushing module is connected with a drill bit module, and the transport trolley is used for transferring sediment excavated by the drill bit module from a riverbed into the self-propelled mud barge abutting against one side of the workboat through the extension frame along the transport line. By arranging the modular structure, the drilling excavation efficiency is greatly improved, meanwhile, the arranged pre-pressing module guarantees the excavation effect of the dredger, and meanwhile ecological damage is avoided.

Description

Technical Field

[0001] This invention relates to the field of river and waterway dredging technology, and in particular to an underwater excavation and grabbing device and its construction method. Background Technology

[0002] Waterways are essential channels for water transport. Current waterways need to be widened and improved. Due to the limitations of water depth, width, and navigation height in inland waterways, large dredging vessels have difficulty entering. The dredging efficiency of vessels adapted to underwater dredging in inland waterways is limited. Underwater blasting methods have been increasingly restricted in recent years because they cause significant ecological damage, impact on surrounding facilities, and generate noise pollution, which runs counter to the concept of green and low-carbon development. Therefore, designing and developing non-blasting dredging vessels for inland waterways is a major advanced trend.

[0003] In recent years, underwater blasting excavation has been increasingly restricted due to its significant ecological damage, impact on surrounding facilities, and noise pollution, while underwater non-blasting excavation has gained more attention and importance. Large underwater excavation equipment such as cutter suction dredgers and trailing suction hopper dredgers are highly efficient in softer strata, but inefficient in hard rock, suffer from severe equipment wear, and are too large to access inland waterways. Conventional underwater mechanical breaking methods such as rock drills and underwater splitting consume a lot of energy and require combined excavation with dredgers, resulting in low overall excavation efficiency. Conventional rotary drilling rigs have large turning radii and require a lot of space, making them unsuitable for deployment on ships. Traditional telescopic grab buckets, due to the limited power of their tracked chassis, have short telescopic lengths, low recovery force, small bucket capacity, and low grabbing force, and are often used for grabbing loose soil in foundation pits. When grabbing high-strength rock, ordinary hydraulic grab buckets have low structural strength and provide insufficient closing force to break the rock.

[0004] Chinese patent document CN 119332641 A describes a method for dredging waterways using a grab bucket dredger. However, due to the limitation of the grab bucket's telescopic boom length, it is only suitable for a limited range of scenarios. Chinese patent document CN 101122211 A describes a waterway drilling rig, but its overall operation is cumbersome, its efficiency is low, and its use has defects, requiring improvement. Summary of the Invention

[0005] This invention provides an underwater excavation and grabbing device and its construction method, which solves the technical problems of troublesome channel excavation and ecological damage.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an underwater excavation and grabbing device, including a support set on the top of a construction vessel, a bidirectional track frame supported on the upper side of the support, the construction vessel, the support and the bidirectional track frame connected to form a transport channel for a transport trolley, a positioning frame supported on the upper part of the bidirectional track frame, a jacking module set on the top of the positioning frame, a drill bit module connected to the bottom of the jacking module, and the transport trolley is used to transfer the sediment excavated from the riverbed by the drill bit module to a self-propelled mud barge abutting against one side of the construction vessel via an extension frame along the transport line.

[0007] In the preferred embodiment, the bottom of the support is connected to the construction vessel via the first track. The bidirectional track frame includes a vertically arranged second track and a third track. The heavy-duty mobile vehicle is slidably connected via the third track and the second track. The heavy-duty mobile vehicle slides on the third track, and the positioning frame is set on the top of the heavy-duty mobile vehicle. The construction vessel is fixed to the riverbed by two positioning anchors on each side. A positioning pile is also installed on the side of the construction vessel closest to the bidirectional track frame, and a vessel positioning module is installed on one side of the positioning pile. A dredger is also installed on one side of the construction vessel. The dredger is used to remove the remaining parts. A fracturing device is detachably installed on the outside of the transport trolley. The fracturing device is used to break up hard rock blocks.

[0008] In the preferred embodiment, a cantilever frame is provided on one side of the positioning frame. The cantilever frame includes a winch installed on the top plate. The winch is connected to a submersible via a fixed cable. Two detection modules are symmetrically arranged on the lower side of the submersible. The detection modules are used to detect the position of the borehole. The submersible includes a carrier, with a first searchlight installed on the outside of the carrier, and two first pump thrusters, a second pump thruster, and a load-bearing support symmetrically installed on the lower part of the carrier.

[0009] In a preferred embodiment, the fixing cable is fixed by a calibration module and a cantilever frame. The calibration module includes a first calibration rod, a second calibration rod, and a hollow tube arranged from top to bottom. The first and second calibration rods are rotatably mounted on the cantilever frame. A first sleeve and a second sleeve are respectively fitted onto the middle part of the first and second calibration rods. The fixing cable is wrapped around and attached to the first and second sleeves and passes through the hollow tube. A base plate is provided at the bottom of the cantilever frame. A straight extension plate is provided in the middle of the base plate. An alignment plate is provided on the upper side of the straight extension plate. The hollow tube is inserted on the upper side of the alignment plate. Multiple second ball bearings are arranged circumferentially from high to low on the inner side of the hollow tube.

[0010] In the preferred embodiment, two first baffles are arranged parallel to each other in the middle of the first calibration rod, and second baffles are respectively arranged on both sides of the first sleeve. The second baffles are abutted against the first baffles by springs, and the second baffles are sleeved on the first calibration rod. The second sleeve has an arc-shaped groove in the middle. Two counterweight plates are respectively arranged opposite each other on both sides of the second sleeve. The two counterweight plates are inserted together. A threaded hole is provided at the top center of the counterweight plate. The second screw is set in the threaded hole. The end of the second screw is provided with a first ball. The first ball and the arc-shaped groove form a buffer zone. The fixing cable is passed through the buffer zone. The bottom of the counterweight plate has a through hole, the second calibration rod passes through the through hole, the upper end of the counterweight plate has a groove and a protrusion respectively, and vertical plates are provided on both sides of the threaded hole. The vertical plates have through holes, and the first screw passes through two adjacent mounting holes. The alignment plate is also detachably equipped with an alarm module, which includes a sensing ring and an electronic control board. The sensing ring and the electronic control board are respectively sleeved on the hollow tube. Multiple round rods are threaded through the sensing ring. The ends of the round rods are provided with round heads. The bottom of the round heads is supported by a transition plate. The transition plate is hinged to the base through a ball head. The base is connected to the bottom plate through a first ring plate.

[0011] In a preferred embodiment, the middle portions of the base plate and the alignment plate are respectively provided with a first through hole and a third through hole, and multiple second through holes are provided on the outer side of the third through hole; The induction ring and the electronic control board are respectively provided with a first lock hole and a second lock hole. The first lock hole and the second lock hole are sleeved on the hollow tube. Multiple insertion holes are provided around the outside of the first lock hole. Two spring pieces are symmetrically arranged on the upper side of the insertion hole. A round rod is inserted into the insertion hole. Multiple contacts are provided at the bottom of the electronic control board. The contacts are plugged into the insertion holes, and the ends of the contacts abut against the spring pieces. The first ring plate is set on the top of the base, and the second ring plate is set on the inner side of the base. An adjusting sleeve is threaded onto the second ring plate. A ball hole is provided in the middle of the base, and the ball head is fitted onto the sleeve. The transition plate is located at the end of the sleeve. The third through hole is set through the transition plate and the middle of the sleeve. The ball head is set in the ball hole. By changing the angle of the transition plate, the position of the round rod in the sensing ring is changed. The round rod is used to conduct the two spring pieces to form a circuit.

[0012] In a preferred embodiment, a second searchlight is also provided at the bottom of the carrier, and sonar is provided on both sides of the second searchlight; The detection module includes an adapter plate with a locking plate in the middle. The locking plate is fixed by a third screw and a load-bearing support. Fixing rings are provided on both sides of the adapter plate and are fitted onto the load-bearing support. The bidirectional telescopic cylinder is fixed by a mounting base and the locking plate. Top rods are provided on both sides of the bidirectional telescopic cylinder. The top rods are hinged to the detection rod by a second pin. A sensor head is provided at the bottom of the detection rod. A drive plate is provided at the end of the top rod, and auxiliary plates are provided on both sides of the lower part of the adapter plate. The auxiliary plates are hinged to the detection rod by the first pin. A second through hole and an oblong hole are provided on one side of the detection rod. The first pin and the second pin are respectively inserted into the second through hole and the oblong hole.

[0013] In a preferred embodiment, a pre-compression module is also provided on one side of the positioning frame. The pre-compression module includes a top plate, on which multiple straight plates are evenly distributed around the circumference. A sliding sleeve is fitted on the straight plate. The top of the sliding sleeve is connected to the first telescopic cylinder through a locking plate. The bottom of the sliding sleeve is connected to the transition plate through a cross brace. A second telescopic cylinder is provided on the lower side of the transition plate. The second telescopic cylinder is connected to the positioning frame through a fixed seat. A lateral wedge plate is also provided inside the cross brace. A lifting ring is provided at the top center of the top plate.

[0014] In a preferred embodiment, a construction method for an underwater excavation and grabbing device includes the following steps: S1. Construction preparation: Install the bracket, first track, bidirectional track frame, second track and third track on the construction vessel, and at the same time complete the debugging of the positioning frame, jacking module and drill bit module. S2. The position of the construction vessel is checked by the vessel positioning module, and the construction vessel is fixed by positioning piles and positioning anchors. S3. Adjust the distance between the two adjacent positioning frames and the first telescopic cylinder according to the design parameters, and complete the drilling of the riverbed through the jacking module and the drill bit module. The riverbed is formed into the area to be drilled and the area already drilled through the drilling construction. S4. After drilling, the sediment is lifted to the water surface and then transported by a transport trolley along the transport route to the self-propelled mud barge; S5. Gradually change the positions of the construction vessel and the self-propelled mud barge along the channel direction using positioning piles and anchors, repeating S3~S6 until all drilling in the construction area is completed. S6. Use dredgers to clean up the area and create a completed construction zone along the waterway. S7. After dredging and grabbing, lift the sediment to the water surface, and then transfer it directly into a self-propelled mud barge; S8. After the completed construction area has completely covered the design area, scan the completed construction area to ensure that the ground excavation elevation and flatness meet the construction requirements.

[0015] In the preferred embodiment, during S3 to S4, the positioning frame at the outermost edge moves along with the construction vessel during the drilling process. The fracturing device set at the bottom of the preloading module preloads the hole from top to bottom. At the same time, during the operation of the drill bit module, a submersible enters the water to conduct underwater illumination. The distance between the two detection rods is adjusted according to the distance between two adjacent drill holes to check the position and distance of the drill holes. The position of the preloading module is also adjusted by the detection rods to ensure that the preloading module can accurately enter the hole to complete the preloading operation.

[0016] The beneficial effects of this invention are as follows: by using a drill bit module mounted on a construction vessel to complete drilling at all designed locations within the area to be excavated, forming a staggered pile pattern, and then pre-compressing the inside of the drill holes, after all drilling is completed, the residual parts after drilling are cleaned up by a dredger. The drill bit can be selected according to different geological conditions, thereby fully covering different bottom layers. The operation is convenient, and the construction quality is also guaranteed. The excavated sediment is removed as it is excavated, shortening the construction cycle and resulting in good economic benefits. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a front view schematic diagram of the present invention; Figure 2 This is a left-side view of the present invention; Figure 3 This is a right-side view of the present invention; Figure 4 This is a top view of the present invention; Figure 5 This is a schematic diagram of the drilling process of the present invention; Figure 6 This is a schematic diagram of the pre-compression module construction after drilling according to the present invention; Figure 7 This is a schematic diagram of the stone crushing process of the transport trolley of the present invention; Figure 8 This is the first construction step of the present invention; Figure 9 This is the second construction step of the present invention; Figure 10 This is the third construction step of the present invention; Figure 11 This is the fourth construction step of the present invention; Figure 12 This is the fifth construction step of the present invention; Figure 13 This is the sixth construction step of the present invention; Figure 14 This is the seventh construction step of the present invention; Figure 15 This is a schematic diagram of the installation of the submersible and the second positioning frame of the present invention. Figure 1 ; Figure 16 This is a schematic diagram of the installation of the submersible and the second positioning frame of the present invention. Figure 2 ; Figure 17 yes Figure 15 Schematic diagram of the cantilever frame and calibration module installation; Figure 18 yes Figure 15 A schematic diagram of the exploded structure of the calibration module; Figure 19 yes Figure 18 Internal structure diagram Figure 1 ; Figure 20 yes Figure 18 Internal structure diagram Figure 2 ; Figure 21 yes Figure 18 Internal structure diagram Figure 3 ; Figure 22 yes Figure 18 Alarm module structure diagram Figure 1 ; Figure 23 yes Figure 18 Alarm module structure diagram Figure 2 ; Figure 24 yes Figure 18 Alarm module structure diagram Figure 3 ; Figure 25 yes Figure 23 Enlarged view of point A; Figure 26 yes Figure 24 Enlarged view of point B; Figure 27 This is a schematic diagram of the installation structure of the submersible and detection module of the present invention. Figure 1 ; Figure 28 This is a schematic diagram of the installation structure of the submersible and detection module of the present invention. Figure 2 ; Figure 29 yes Figure 31 Explosion structure diagram Figure 1 ; Figure 30 yes Figure 31 Explosion structure diagram Figure 2 ; Figure 31 yes Figure 24 A schematic diagram of the exploded structure of the detection module; Figure 32 This is a schematic diagram of the pre-compression module structure of the present invention. Figure 1 ; Figure 33 This is a schematic diagram of the pre-compression module structure of the present invention. Figure 2 .

[0018] In the diagram: 1. Construction vessel; 2. Self-propelled mud barge; 3. Support frame; 4. First track; 5. Bidirectional track frame; 6. Second track; 7. Third track; 8. Extension frame; 9. Transport line; 10. Heavy-duty mobile vehicle; 11. Transport trolley; 12. Positioning frame; 13. Jacking module; 14. Drill bit module; 15. Pre-compression module; 15. Top plate; 1501. Straight plate; 1502. Cross brace; 1503. Sliding sleeve; 1504. Locking plate; 1505. Transition plate; 1506. Fixed seat; 1507. Lateral wedge plate; 1508. Lifting ring; 1509. First telescopic cylinder; 16. Second telescopic cylinder; 17. Dredger; 18. Vessel positioning module; 19. Positioning pile; 20. Positioning anchor; 21. Fracturing device; 22. Hard rock block 23; Alarm module 24; Induction ring 2401; Socket 2402; Spring 2403; First lock hole 2404; Electrical control board 2405; Contact 2406; Second lock hole 2407; Round rod 2408; Round head 2409; Base 2410; First ring plate 2411; Ball hole 2412; Second ring plate 2413; Adjusting sleeve 2414; Sleeve 2415; Ball head 2416; Transition plate 2417; Third through hole 2418; Riverbed 25; Area to be drilled 2501; Drilled area 2502; Completed construction area 2503; Cantilever frame 26; Top plate 2601; Winch 2602; Fixed cable 26 03; Base plate 2604; Straight plate 2605; Alignment plate 2606; First through hole 2607; Second through hole 2608; Third through hole 2609; Calibration module 27; First calibration rod 2701; Second calibration rod 2702; Hollow tube 2703; First sleeve 2704; First baffle 2705; Second baffle 2706; Spring 2707; Second sleeve 2708; Circular groove 2709; Counterweight plate 2710; First through hole 2711; Groove 2712; Protrusion 2713; Threaded hole 2714; Vertical plate 2715; Mounting hole 2716; First screw 2717; Second screw 2718; First ball bearing 2719; Second ball bearing 2720; Submersible 28; Carrier 2801; First searchlight 2802; First pump thrust 2803; Second pump thrust 2804; Second searchlight 2805; Load support 2806; Detection module 29; Adapter plate 2901; Fixing ring 2902; Bidirectional telescopic cylinder 2903; Top rod 2904; Drive plate 2905; Auxiliary plate 2906; First pin 2907; Detection rod 2908; Second through hole 2909; Oval hole 2910; Second pin 2911; Sensor head 2912; Locking plate 2913; Mounting base 2914; Third screw 2915; Sonar 30. Detailed Implementation

[0019] Example 1 like Figure 1-5In this invention, an underwater excavation and grabbing device includes a support 3 mounted on the top of a construction vessel 1. A bidirectional track frame 5 is supported on the upper side of the support 3. The construction vessel 1, the support 3, and the bidirectional track frame 5 are connected to form a transport channel for a transport trolley 11. A positioning frame 12 is supported on the upper part of the bidirectional track frame 5. A jacking module 13 is mounted on the top of the positioning frame 12. A drill bit module 14 is connected to the bottom of the jacking module 13. The transport trolley 11 is used to transfer the sediment excavated from the riverbed 25 by the drill bit module 14 along the transport line 9 via an extension frame 8 to a self-propelled mud barge 2 that is against the side of the construction vessel 1.

[0020] The construction vessel 1 in this application is a construction vessel with a moon pool: the main hull is similar to a barge, serving as the carrier of the main functional modules. A continuous large moon pool is arranged amidships, and the moon pool is the working area for drilling modules. The number of modules can be flexibly arranged on the moon pool. The support 3 ensures that the transport trolley 1 can move along the transport line 9, thereby completing the cleaning of the drilled sediment and achieving the purpose of real-time cleaning. Compared with the traditional blasting method, it ensures ecological stability and environmental protection, while ensuring construction safety throughout the process. It also eliminates the need to set up a safety zone during blasting. Since blasting also has the problem of inconsistent excavation and removal heights at different locations in the riverbed 25, this method improves construction efficiency and ensures construction quality.

[0021] like Figure 5-9 In the preferred embodiment, the bottom of the support 3 is connected to the construction vessel 1 via the first track 4, the bidirectional track frame 5 includes a vertically arranged second track 6 and a third track 7, the heavy-duty mobile vehicle 10 is slidably connected via the third track 7 and the second track 6, the heavy-duty mobile vehicle 10 is slidably mounted on the third track 7, and the positioning frame 12 is mounted on the top of the heavy-duty mobile vehicle 10. The two sides of the construction vessel 1 are fixed by two positioning anchors 21 and the riverbed 25 respectively. A positioning pile 20 is also installed on the side of the construction vessel 1 near the bidirectional track frame 5. A vessel positioning module 19 is installed on one side of the positioning pile 20. A dredger 18 is also provided on one side of the construction vessel 1. The dredger 18 is used to remove the remaining part. A fracturing device 22 is detachably installed on the outside of the transport trolley 11. The fracturing device 22 is used to crush the hard rock block 23.

[0022] Eight drill bit modules are set up as needed, working together in a coordinated manner. Different drill bits can be used for different hard rock layers to ensure smooth drilling. The cooperation between the slag removal drill and the cutting tooth drill fully covers the treatment of layers with different hardness.

[0023] The heavy-duty mobile vehicle 10 above the bidirectional track frame 5 can carry the positioning frame 12 and move it in both the lateral and longitudinal directions, thereby changing the position of the jacking module 13 and the drill bit module 14. The track of the bidirectional track frame 5 can be extended and dismantled as needed. When carrying out revetment side construction, the track of the bidirectional track frame 5 needs to be extended to one side of the revetment to form an extension frame 7, which is straddled and connected to the construction vessel 1 and the revetment, thereby ensuring convenient drilling and avoiding the problem of inaccurate construction position.

[0024] The bottom of the jacking device 13 on the positioning frame 12 is connected to the rotating device on the drill bit module 14. The bottom of the rotating device is fixed to the drill rod. The rotating device drives the drill rod and the drill bit to rotate. At the same time, the rotating device is subjected to pressure by the jacking device to the riverbed 25, which ensures the drilling effect.

[0025] The positioning frame 12 adopts a gantry frame structure, and the drill bit is used for underwater drilling and excavation operations. The multi-section drill rod can adapt to different water depth conditions, and the drill bit can be replaced to adapt to different underwater bottom strengths.

[0026] Ship relocation and positioning module 19: A combined ship relocation and positioning function module including positioning anchors and positioning piles.

[0027] Positioning Anchor 21: Responsible for moving and positioning the construction vessel within the operating area in waters where anchoring is permitted.

[0028] Positioning stake 20: After the construction vessel is positioned, the outriggers are lowered to support part of the vessel's weight, stabilizing the hull and allowing construction to proceed under relatively stable conditions. If anchoring is not possible in the construction area, the mobile positioning stake mode is activated, using the coordinated movement of multiple sets of positioning stakes to move and position the vessel within the work area.

[0029] Through the cooperation of the above modules, the construction vessel 1 is able to move accurately and be fixed stably and conveniently.

[0030] For larger hard rock blocks 23 drilled up, they can be fracturing and crushed in the transport trolley 11 using the fracturing device 22. At the same time, when the dredger 18 grabs them, the fracturing device 22, which has been installed on the pre-compression module 15, can laterally break up the sediment from both sides of the partition between two adjacent boreholes, thereby reducing the connection strength of the partition and ensuring high efficiency of dredging and grabbing. At the same time, the dredger can also perform corner cleaning, and perform secondary cleaning of the nooks and crannies that are not completely covered by the borehole, with high cleaning efficiency.

[0031] like Figure 15-18In the preferred embodiment, a cantilever frame 26 is provided on one side of the positioning frame 12. The cantilever frame 26 includes a winch 2602 provided on the top plate 2601. The winch 2602 is connected to a submersible 28 via a fixed cable 2603. Two detection modules 29 are symmetrically arranged on the lower side of the submersible 28. The detection modules 29 are used to detect the position of the borehole. The submersible 28 includes a carrier 2801, with a first searchlight 2802 installed on the outer side of the carrier 2801, and two first pump thrusters 2803, a second pump thruster 2804, and a load-bearing support 2806 symmetrically arranged on the lower part of the carrier 2801.

[0032] Because the water will become extremely turbid after drilling, making it impossible to observe the water conditions with the naked eye, and because the drilling vessel 1 will be disturbed by water currents and wind, the drilling platform cannot be guaranteed to be absolutely still. This means that the verticality of the drilling process is challenged, and verticality directly affects whether adjacent boreholes are adequately covered, thus completing the drilling at this location (e.g., ...). Figure 6 The effect of completely removing sediment in each column (in the middle and longitudinal direction) is achieved by submersible 28 to verify the drilling work and provide a reference for excavation and grabbing. In particular, when the drilling process is affected by the floating of construction vessel 1, it is necessary to confirm the effect through submersible 28. After confirming that the effect is not a problem, the subsequent excavation and grabbing construction operation can be carried out.

[0033] In this scheme, the submersible 28 illuminates the water body with two first searchlights 2802. The first searchlights 2802 have transparent shells and contain industrial waterproof cameras, which can be used to directly observe the water conditions and drilling results in the construction area and surrounding areas. At the same time, the first pump thruster 2803 works in conjunction with the second pump thruster 2804 to adjust the attitude at multiple angles, ensuring convenient movement. When it is necessary to sink to the bottom, the load-bearing support 2806 prevents the carrier 2801 from directly contacting the riverbed 25 and being impacted or scraped by gravel or other sediments, ensuring its own safety and stability. The load-bearing support 2806 ensures the working height of the carrier 2801. By opening the detection module 29, it is possible to measure whether the longitudinal adjacent drilling positions are completely penetrated, and at the same time, it is possible to measure whether the spacing between the lateral relatively spaced drilling positions is equal, thereby ensuring the safety and convenience of construction.

[0034] like Figure 19-21In a preferred embodiment, the fixing cable 2603 is fixed by the calibration module 27 and the cantilever frame 26. The calibration module 27 includes a first calibration rod 2701, a second calibration rod 2702, and a hollow tube 2703 arranged from top to bottom. The first calibration rod 2701 and the second calibration rod 2702 are rotatably mounted on the cantilever frame 26. A first sleeve 2704 and a second sleeve 2708 are respectively fitted onto the middle portions of the first calibration rod 2701 and the second calibration rod 2702 for fixing. Cable 2603 is wound and attached to the first sleeve 2704 and the second sleeve 2708. The fixed cable 2603 is inserted into the hollow tube 2703. The bottom of the cantilever frame 26 is provided with a base plate 2604. A straight extension plate 2605 is provided in the middle of the base plate 2604. An alignment plate 2606 is provided on the upper side of the straight extension plate 2605. The hollow tube 2703 is inserted on the upper side of the alignment plate 2606. Multiple second ball bearings 2720 are arranged circumferentially from high to low on the inner side of the hollow tube 2703.

[0035] Since the submersible 28 is also affected by external wind and water flow during use, the calibration module 27 is used to detect the position of the submersible 28. Through the cooperation of the first calibration rod 2701, the second calibration rod 2702 and the limiting head 2703, the fixed cable 2603 near the cantilever frame 26 can be kept in a vertical state. At this time, it can be seen directly whether the fixed cable 2603 located on the lower side has a problem of displacement. The length of the hollow tube 2721 can be adjusted according to the height of the lifting frame 16 to meet the observation needs of the construction personnel.

[0036] Because the position of the fixed cable 2603 changes during the winding and unwinding process, the first sleeve 2704 follows and moves accordingly, the second sleeve 2708 performs initial correction, and the limiting head 2703 and the hollow tube 2721 perform secondary correction. Through the above settings, the right-angle turns of the fixed cable 2603 are reduced, and stress deformation and friction-related components are reduced, which may lead to problems such as accelerated wear and breakage.

[0037] like Figure 22-26 In the preferred embodiment, two first baffles 2705 are arranged in parallel at the middle of the first calibration rod 2701, and second baffles 2706 are respectively arranged on both sides of the first sleeve 2704. The second baffles 2706 abut against the first baffles 2705 by springs 2707, and the second baffles 2706 are sleeved on the first calibration rod 2701. The second sleeve 2708 has an arc-shaped groove 2709 in the middle. Two counterweight plates 2710 are respectively arranged opposite each other on both sides of the second sleeve 2708. The two counterweight plates 2710 are inserted together. A threaded hole 2714 is provided at the top center of the counterweight plate 2710. The second screw 2718 is set in the threaded hole 2714. The end of the second screw 2718 is provided with a first ball 2719. The first ball 2719 and the arc-shaped groove 2709 form a buffer zone. The fixing cable 2603 passes through the buffer zone. The bottom of the counterweight plate 2710 is provided with a first through hole 2711, and the second calibration rod 2702 is provided in the first through hole 2711. The upper end of the counterweight plate 2710 is provided with a groove 2712 and a protrusion 2713 respectively. Vertical plates 2715 are provided on both sides of the threaded hole 2714. Mounting holes 2716 are provided through the vertical plates 2715. The first screw 2717 is provided in two adjacent mounting holes 2716. An alarm module 24 is detachably mounted on the alignment plate 2606. The alarm module 24 includes a sensing ring 2401 and an electronic control board 2405. The sensing ring 2401 and the electronic control board 2405 are respectively sleeved on the hollow tube 2703. Multiple round rods 2408 are threaded through the sensing ring 2401. The ends of the round rods 2408 are provided with round heads 2409. The bottom of the round heads 2409 is supported by a transition plate 2417. The transition plate 2417 is hinged to the base 2410 through a ball head 2416. The base 2410 is connected to the base plate 2604 through a first ring plate 2411.

[0038] Spring 2707 can accommodate the problem of the fixed cable 2603 causing the first sleeve 2704 to shift due to friction. The first sleeve 2704 can constrain the fixed cable 2603 to move axially within a certain range, approximately at the middle position of the first calibration rod 2701, and can also rotate under the action of the fixed cable 2603, thus avoiding friction damage. Meanwhile, the second sleeve 2708 on the second calibration rod 2702, under the weight of the counterweight plate 2710, uses the second screw 2718 and the first ball bearing 2719 to press the fixed cable 2603 into the buffer space, ensuring... The flexible angular displacement of the fixed cable 2603 will further reduce the degrees of freedom of the fixed cable 2603, thereby completing its own correction and positioning. The hollow tube 2721 on the limiting head 2703 is aligned to receive the downward movement of the fixed cable 2603 from the buffer space, and is recalibrated. The second ball bearing 2720 ensures that the fixed cable 2603 can be wound and unwound freely with relatively low friction. During the winding and unwound operation, the above settings can effectively avoid wear and ensure that the winding is in place without tangling or misalignment. It has high accuracy and good performance for repeated use.

[0039] The alarm module 24 can detect the tilt angle of the transition plate 2417. Due to the water flow, the submersible 28 may tilt during the lowering of the fixed cable 2603. To ensure accurate borehole detection, the submersible 28 needs to sink stably to the bottom directly above the borehole and pause temporarily. At this time, the fixed cable 2603 needs to be kept relatively vertical to ensure accurate measurement. Then, the measurement position is changed by moving the construction vessel 1, and the position of the submersible 28 is changed synchronously. During the lowering of the submersible 28, the transition plate 2417 tilts due to the traction of the fixed cable 2603. At this time, the alarm module 24 is activated to provide reference for the construction personnel. After sinking to the bottom, the position of the submersible 28 is adjusted to ensure that the alarm module 24 does not emit an alarm sound. This indicates that the submersible 28 is directly below the cantilever plate 26. The operation is simple and effective.

[0040] In a preferred embodiment, the middle portions of the base plate 2604 and the alignment plate 2606 are respectively provided with a first through hole 2607 and a third through hole 2609, and a plurality of second through holes 2608 are provided on the outer side of the third through hole 2609. The induction ring 2401 and the electronic control board 2405 are respectively provided with a first locking hole 2404 and a second locking hole 2407. The first locking hole 2404 and the second locking hole 2407 are sleeved on the hollow tube 2703. Multiple insertion holes 2402 are provided circumferentially on the outer side of the first locking hole 2404. Two spring pieces 2403 are symmetrically arranged on the upper side of the insertion hole 2402. A round rod 2408 is inserted into the insertion hole 2402. Multiple contacts 2406 are provided at the bottom of the electronic control board 2405. The contacts 2406 are inserted into the insertion holes 2402, and the ends of the contacts 2406 abut against the spring pieces 2403. The first ring plate 2411 is set on the top of the base 2410. The second ring plate 2413 is set on the inner side of the base 2410. The second ring plate 2413 is threadedly connected to the adjusting sleeve 2414. The middle part of the base 2410 is provided with a ball hole 2412. The ball head 2416 is sleeved on the sleeve 2415. The transition plate 2417 is located at the end of the sleeve 2415. The third through hole 2418 is provided through the middle of the transition plate 2417 and the sleeve 2415. The ball head 2416 is set in the ball hole 2412. By changing the angle of the transition plate 2417, the position of the round rod 2408 in the sensing ring 2401 is changed. The round rod 2408 is used to conduct the two spring pieces 2403 to form a circuit.

[0041] The round rod 2408 adapts to the tilting of the transition plate 2417. During its interaction with the sensing ring 2401, the round rod 2408 moves smoothly up and down while the socket 2402 receives support from the bottom. When the transition plate 2417 tilts, the height of the round rod 2408 changes at different positions. The round rod 2408 at its highest position contacts the two spring contacts 2403 first, establishing conductivity. Different positions of the socket 2402 correspond to different angles, and the location of the first triggered spring contact is displayed on the terminal. Subsequently, the spring contacts in adjacent sockets 2402 are also triggered until a stable and continuous alarm is triggered. Through this design, the fixed cable 2 can be reliably acquired. The tilt direction of 603, along with the interlocking holes at different positions and the round rod 2408, can mutually verify the position, avoiding the problem of false alarms from the spring in a certain position. After the submersible 28 sinks to the bottom, it adjusts its own position and finally keeps the fixed cable 2603 in a relatively vertical state. The alarm is then deactivated, and the parameters of the borehole at that position can be accurately measured. This device can adapt to various working conditions and ensure stable operation. Compared with directly using sensors, it is more intuitive and can limit the fixed cable 2603. By changing the position of the adjusting sleeve 2414 relative to the second ring plate 2413, the angle range of the sleeve 2415 can be changed, thereby stably holding the fixed cable 2603. It is simple to operate and stable to use.

[0042] like Figure 27-31 In the preferred embodiment, the bottom of the carrier 2801 is also provided with a second searchlight 2805, and sonar 30 is provided on both sides of the second searchlight 2805. The detection module 29 includes an adapter plate 2901. A locking plate 2913 is provided in the middle of the adapter plate 2901. The locking plate 2913 is fixed by a third screw 2915 and a load-bearing support 2806. Fixing rings 2902 are provided on both sides of the adapter plate 2901. The fixing rings 2902 are sleeved on the load-bearing support 2806. The bidirectional telescopic cylinder 2903 is fixed by a mounting base 2914 and the locking plate 2913. A push rod 2904 is provided on both sides of the bidirectional telescopic cylinder 2903. The push rod 2904 is hinged to the detection rod 2908 by a second pin 2911. A sensing head 2912 is provided at the bottom of the detection rod 2908. A drive plate 2905 is provided at the end of the top rod 2904. Auxiliary plates 2906 are provided on both sides of the lower part of the adapter plate 2901. The auxiliary plates 2906 are hinged to the detection rod 2908 by the first pin 2907. A second through hole 2909 and an oblong hole 2910 are provided on one side of the detection rod 2908. The first pin 2907 and the second pin 2911 are respectively inserted into the second through hole 2909 and the oblong hole 2910.

[0043] In actual operation, the drill bit module may experience verticality deviation due to the swaying and bobbing of the construction vessel 1. The detection rod 2908 can be submerged and supported by the submersible 28. When visual inspection is impossible in murky water, it can be submerged to inspect the borehole, ensuring safe and efficient construction at minimal cost. Simultaneously, a sensor is installed in the sensing head 2912 of the detection rod 2908 to collect information on whether the detection rod 2908 and the contact object are in sufficient contact, ensuring accurate detection data. The sensing head 2912 can provide relatively accurate guidance to construction personnel as a judgment basis, making construction accurate and convenient. The detection rod 2908 can be extended by the bidirectional telescopic cylinder 2. Under the action of 903, the opening distance of itself is adjusted, thereby realizing the positional accuracy detection between each column of boreholes and the boreholes at intervals in the longitudinal direction. The sensing head 2912 extends into a certain position in the borehole and gradually opens to obtain data. Since the carrier 2801 is equipped with a gyroscope and GPS, it can adjust its own position and orientation. It works with the sonar 30 set at the bottom to scan the construction surface (after the construction is completed, it is also necessary to scan to ensure that the excavation elevation meets the design parameters and to ensure the relative flatness of the bottom of the riverbed after construction). This ensures the accuracy of the detection and the telescopic sensitivity and reliability. When it is necessary to lift, the top rods 2904 on both sides are retracted to avoid scraping and contact with the sidewall of the borehole. During installation, the adapter plate 2901 is installed onto the load-bearing support 2806 via the fixing ring 2902. When uneven piles of gravel are found near the bottom of the riverbed 25, the top rod 2904 can be retracted as a second protection. This makes it safer and more convenient for the submersible 28 to observe from the bottom. The top rod 2904 is equivalent to an extension and expansion of the load-bearing support 2806, and its ingenious design has a better effect.

[0044] like Figures 32-33 In the preferred embodiment, a pre-compression module 15 is also provided on one side of the positioning frame 12. The pre-compression module 15 includes a top plate 1501. Multiple straight plates 1502 are evenly distributed around the top plate 1501. A sliding sleeve 1504 is fitted on the straight plate 1502. The top of the sliding sleeve 1504 is connected to the first telescopic cylinder 16 through a locking plate 1505. The bottom of the sliding sleeve 1504 is connected to the transition plate 1506 through a cross brace 1503. A second telescopic cylinder 17 is provided on the lower side of the transition plate 1506. The second telescopic cylinder 17 is connected to the positioning frame 12 through a fixed seat 1507. A lateral wedge plate 1508 is also provided inside the cross brace 1503. A lifting ring 1509 is provided at the top center of the top plate 1501.

[0045] Different types of drill bits can be selected for different geological conditions during drilling. For example, a slag dredging drill is used for scenarios with relatively low geological strength, while a cutting tooth drill is used for scenarios with relatively high geological strength, ensuring drilling efficiency and quality. Since the drilling results in a staggered pile structure, the remaining partition wall may still have relatively high strength. Therefore, the pre-compression module 15 in this solution can effectively pre-compress the interior of the partition wall, so that when the bucket of the dredger 18 is working, the excavation work can be completed well.

[0046] Preferably, this solution has three straight plates 1502, which, together with three first telescopic cylinders 16, can achieve highly efficient pre-compression of the borehole. Since the structure becomes more stable with increasing borehole depth, this solution uses second telescopic cylinders 17 to adjust the fracturing devices 22 below different cross supports 1503, thereby achieving different fracturing effects. Based on the borehole depth, the final bottom-sinking operation is achieved, avoiding the problem of inadequate removal of the rooted parts of the partition wall. Furthermore, the positions of different cross supports 1503 can be flexibly adjusted according to the borehole size. As the cross supports 1503 gradually approach the borehole sidewall, the lateral wedges 1508 can fully abut against the borehole sidewall, forming a good fixed foundation. Then, the pressure at the bottom... The fracturing device 22 completes the fracturing and crushing operation at the rooting site, ensuring efficient and stable overall construction. Due to different drilling verticality, different second telescopic cylinders 17 can be used to set the fracturing device at the same or different heights as needed, and adjustments can be made according to the fracturing state. During the initial construction, geological cloud maps and information at different locations in the construction area can be obtained in advance through acoustic equipment (such as sonar 30). Based on the above information, points are marked and GPS positions are recorded. Coordinates of construction states that require special attention are stored in the control unit. During actual construction, as a reminder, additional drilling and multiple fracturing operations are carried out for these locations to ensure that the partitioned parts are fully removed by subsequent construction.

[0047] The submersible 28, in conjunction with the detection module 29, can adjust the position of the pre-compression module 15, ensuring that the pre-compression module 15 is precisely aligned with the hole. This allows for pre-compression of completed boreholes, reducing the connection strength of residual partition walls between adjacent boreholes. Since this solution has three fracturing devices 22 at the bottom of the pre-compression module 15, precise translation operations can be performed during construction, allowing for the pre-compression of different boreholes within different moon pool ranges in one operation. This significantly improves construction efficiency. Furthermore, the presence of three fracturing devices 22 enhances the anti-overturning capability upon entering the water. Simultaneously, with the assistance of the detection unit 29, it can better enter the borehole, accelerating the pre-compression operation process.

[0048] Example 2 In a preferred embodiment, a construction method for an underwater excavation and grabbing device includes the following steps: S1. Construction preparation: Install bracket 3, first track 4, bidirectional track frame 5, second track 6 and third track 7 on construction vessel 1 respectively, and at the same time complete the debugging of positioning frame 12, jacking module 13 and drill bit module 14. Construction preparation: The jacking module and drill bit module are arranged on the moon pool to ensure that the length of the drilling module and the excavable area are consistent, each occupying half of the moon pool area. After the debugging of all operating equipment and automated processes is completed, the construction vessel travels or is towed to the area to be operated. Acoustic scanning equipment is used to scan the riverbed to confirm the riverbed surface conditions of the operating area and to assist and guide the excavation operation.

[0049] S2. The position of the construction vessel 1 is checked by the vessel positioning module 19, and the construction vessel 1 is fixed by the positioning pile 20 and the positioning anchor 21. Vessel positioning: The construction vessel uses a positioning anchor and positioning device to precisely align the starting point of the moon pool operation area with the starting point of the area to be operated. Then, the positioning pile is lowered and the hull is raised to a certain height, but without leaving the water surface, so that the positioning pile bears part of the weight of the construction vessel, in order to make the overall construction vessel more stable during operation.

[0050] S3. Adjust the distance between the two adjacent positioning frames 12 and the first telescopic cylinder 16 according to the design parameters, and complete the drilling of the riverbed 25 through the jacking module 13 and the drill bit module 14. The riverbed 25 forms the area to be drilled 2501 and the area already drilled 2502 through the drilling construction. S4. After drilling, the sediment is lifted to the water surface and then transported to the self-propelled mud barge 2 via transport trolley 11 along transport line 9. Drilling and cuttings removal: A deck transport track is arranged below the longitudinal drilling track. When the drilling rig lifts the drill bit with rock cuttings, the cuttings removal trolley receives the instruction and transports the cuttings to the area below the intersection of the corresponding transverse and longitudinal tracks. After the drilling rig moves laterally above the longitudinal track, the cuttings removal trolley is positioned below the open track. The drill bit drops the rock cuttings it has extracted into the transport trolley, and then the track transports the rock cuttings to the self-propelled mud barge on the side of the ship for dumping.

[0051] S5. Along the channel direction, gradually change the positions of the construction vessel 1 and the self-propelled mud barge 2 using positioning piles 20 and positioning anchors 21, repeating S3~S6 until all drilling in the construction area is completed. Drilling Operation: Multiple drilling rigs are positioned on the track with adjusted horizontal and vertical spacing to begin drilling for rock extraction. Each drilling depth corresponds to the height of the drill bit, gradually drilling to the target elevation while ensuring all boreholes overlap to cover the entire working surface. When the underwater strata are weak, a cutting drill is used for gradual drilling. When the underwater strata are strong, a casing drill with cutting teeth is used for contour drilling. If the rock is intact and completely removed by the wedge device at the top of the casing drill, it is transported out as a whole. If the rock cannot be completely removed, a cutting bucket drill bit is used to break up and remove the remaining rock. If any rock remains on the base surface, a grab bucket drill bit is used to clean it up.

[0052] Multiple drill bit modules 14 can use the same or different drill bits, and the number and position of the slag removal drill and the cutting tooth cylinder drill can be reasonably arranged to cooperate and efficiently complete the excavation operation of the riverbed 25.

[0053] Drilling cuttings removal: A deck transport track is arranged below the longitudinal drilling track. When the drilling rig lifts the drill bit with rock cuttings, the cuttings removal trolley receives the instruction and transports the cuttings to the area below the intersection of the corresponding transverse and longitudinal tracks. After the drilling rig moves laterally above the longitudinal track, the cuttings removal trolley is positioned below the open track. The drill bit drops the extracted rock cuttings into the cuttings removal trolley, and then the cuttings are transported out by the track. If the extracted rock is large in volume and relatively intact, the fracturing device on the transport trolley can be used to initially break it.

[0054] S6. Supplement the cleaning by dredging vessel 18 to form construction completion area 2503 along the waterway direction; S7. After dredging and grabbing, lift the sediment to the water surface, and then transfer it directly into the self-propelled mud barge 2; S8. After the construction completion area 2503 has completely covered the design area, scan the construction completion area 2503 to ensure that the ground excavation elevation and flatness meet the construction requirements.

[0055] After the riverbed excavation is completed, acoustic scanning equipment (such as Sonar 30) is used to scan the riverbed to ensure that the excavation elevation and flatness of the bottom surface meet the construction requirements.

[0056] In the preferred embodiment, during S3 to S4, the positioning frame 12 at the outermost edge moves along with the construction vessel during the drilling process. The fracturing device 22, located at the bottom of the pre-compression module 15, pre-compresses the hole from top to bottom. Simultaneously, during the operation of the drill bit module 14, the submersible 28 enters the water to complete underwater illumination. At the same time, the spacing of the two detection rods 2908 is adjusted according to the spacing between two adjacent drill holes to check the position and spacing of the drill holes. The position of the pre-compression module 15 is also adjusted by the detection rods 2908 to ensure that the pre-compression module 15 can accurately enter the hole to complete the pre-compression operation.

[0057] like Figure 8-14 The image below shows the excavation and construction process for a certain waterway: Taking the excavation of a waterway with half of the channel open for navigation and the other half under construction as an example, the total excavation area is the upper half of the channel. The half of the channel is divided into 5 longitudinal work zones along the channel direction according to the width of the moon pool construction, and one longitudinal work zone is completed at a time.

[0058] Construction sequence: Construction begins at the starting line of longitudinal tandem ① and ends at the ending line, completing the excavation of longitudinal tandem ①. The vessel retreats to the excavation starting line and moves laterally to the excavation starting line of column ②, and continues construction to the excavation termination line, completing the excavation operation of column ②; The vessel retreats to the excavation starting line and moves laterally to the excavation starting line of column ③, and continues construction to the excavation termination line, completing the excavation operation of column ③. The vessel turns around at the excavation termination line and moves laterally to the excavation termination line of column ⑤, and continues construction to the excavation start line to complete the excavation operation of column ⑤. The vessel retreats to the excavation termination line and moves laterally to the excavation termination line of column ④, proceeding to the excavation start line. Simultaneously, the drilling rig rail extension module is connected, and the area between column ⑤ and the revetment, which is blocked by the ship's side pillars, is excavated in parallel, completing the excavation work near column ④ and the revetment.

[0059] The construction steps for longitudinal excavation, taking one longitudinal section ① as an example: Step 1: Move the construction vessel to the excavation starting area. Use the vessel positioning module to move the vessel and align the rear edge of the drilling module's workable area with the excavation starting line to begin the first cycle of drilling and excavation. The transport module simultaneously receives and transports the debris. At this time, the dredger is not yet in operation.

[0060] Step 2: After the first cycle of drilling is completed, several holes are formed underwater through crushing. The ship is moved forward one step by the positioning module to connect the rear edge of the drilling module's work area with the first cycle's work area. The spacing between the holes at the connection between the second and first cycles is controlled to be consistent with the thickness obtained from the first cycle. Drilling continues, and the transport module simultaneously receives and transports the debris.

[0061] Step 3: The plum blossom piles are formed. At this time, the preloading module enters the longitudinal column ①. The second cycle drilling module works simultaneously with the preloading module. After the drilling work is completed, the riverbed surface that meets the requirements is obtained. The boat positioning module continues to advance one step, maintaining the cyclic construction of the preloading module until the last cycle of the longitudinal column ①.

[0062] Step 4: In the last cycle of column ①, the drill bit module exceeds the excavation termination line, leaving only the preloading module in the excavation work area of ​​column ①. At this point, the drilling module stops operating, and the preloading module completes the preloading of the last excavated area. After this, drilling of the entire excavation area of ​​column ① is completed.

[0063] Step 5: Because the ship's side obscured part of the excavation area near the revetment during the construction of longitudinal rank 5, preventing excavation, a drilling rig track extension module was added during the excavation of longitudinal rank 4, such as... Figure 14 The drill rig can be moved laterally to the extended track on the side of the ship to simultaneously excavate the sheltered area between the longitudinal row ⑤ and the revetment. The riverbed in this area is destroyed by the drill bit module, and the remaining part is excavated by the onshore grabbing equipment or other excavation vessels.

[0064] The ship turns around to discharge slag from only one side, such as Figure 14 If there is no space for the slag barge to dock on the designated side of the work vessel near the shore, the work vessel needs to turn around and dock the self-propelled mud barge 2 on the same side.

[0065] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. An underwater excavation and grasping device, characterized in that: The system includes a support (3) set on top of the construction vessel (1), a two-way track frame (5) supported on the upper side of the support (3), the construction vessel (1), the support (3) and the two-way track frame (5) are connected to form a transport channel for the transport trolley (11), a positioning frame (12) is supported on the upper part of the two-way track frame (5), a jacking module (13) is set on the top of the positioning frame (12), and a drill bit module (14) is connected to the bottom of the jacking module (13). The transport trolley (11) is used to transfer the sediment excavated from the riverbed (25) by the drill bit module (14) along the transport line (9) through the extension frame (8) to the self-propelled mud barge (2) against the side of the construction vessel (1).

2. The underwater excavation and gripping device according to claim 1, characterized in that: The bottom of the support (3) is connected to the construction vessel (1) via the first track (4). The bidirectional track frame (5) includes a vertically arranged second track (6) and a third track (7). The heavy-duty mobile vehicle (10) is slidably connected via the third track (7) and the second track (6). The heavy-duty mobile vehicle (10) is slidably mounted on the third track (7). The positioning frame (12) is set on the top of the heavy-duty mobile vehicle (10). The construction vessel (1) is fixed on both sides by two positioning anchors (21) and the riverbed (25). A positioning pile (20) is also installed on the side of the construction vessel (1) near the two-way track frame (5). A ship-moving positioning module (19) is installed on one side of the positioning pile (20). A dredger (18) is also provided on one side of the construction vessel (1). The dredger (18) is used to remove the remaining parts. A fracturing device (22) is detachably installed on the outside of the transport trolley (11). The fracturing device (22) is used to crush the hard rock block (23).

3. The underwater excavation and gripping device according to claim 1, characterized in that: A cantilever frame (26) is provided on one side of the positioning frame (12). The cantilever frame (26) includes a winch (2602) installed on the top plate (2601). The winch (2602) is connected to a submersible (28) via a fixed cable (2603). Two detection modules (29) are symmetrically arranged on the lower side of the submersible (28). The detection modules (29) are used to detect the position of the borehole. The submersible (28) includes a carrier (2801), with a first searchlight (2802) on the outside of the carrier (2801) and two first pump thrusters (2803), a second pump thruster (2804) and a load-bearing support (2806) symmetrically arranged on the lower part of the carrier (2801).

4. The underwater excavation and gripping device according to claim 1, characterized in that: The fixing cable (2603) is fixed by the calibration module (27) and the cantilever frame (26). The calibration module (27) includes a first calibration rod (2701), a second calibration rod (2702), and a hollow tube (2703) arranged from top to bottom. The first calibration rod (2701) and the second calibration rod (2702) are rotatably mounted on the cantilever frame (26). The middle parts of the first calibration rod (2701) and the second calibration rod (2702) are respectively fitted with a first sleeve (2704) and a second sleeve (2708). The fixing cable (2603) The cable (2603) is wrapped around and attached to the first sleeve (2704) and the second sleeve (2708). The fixed cable (2603) is inserted into the hollow tube (2703). The bottom of the cantilever frame (26) is provided with a base plate (2604). The middle part of the base plate (2604) is provided with a straight plate (2605). The upper side of the straight plate (2605) is provided with an alignment plate (2606). The hollow tube (2703) is inserted into the upper side of the alignment plate (2606). Multiple second balls (2720) are arranged along the circumferential direction from high to low on the inner side of the hollow tube (2703).

5. The underwater excavation and gripping device according to claim 1, characterized in that: Two first baffles (2705) are arranged in parallel in the middle of the first calibration rod (2701), and second baffles (2706) are respectively arranged on both sides of the first sleeve (2704). The second baffles (2706) abut against the first baffles (2705) by springs (2707), and the second baffles (2706) are sleeved on the first calibration rod (2701). The second sleeve (2708) has an arc-shaped groove (2709) in the middle. Two counterweight plates (2710) are respectively arranged opposite each other on both sides of the second sleeve (2708). The two counterweight plates (2710) are inserted together. A threaded hole (2714) is provided at the middle position of the top of the counterweight plate (2710). The second screw (2718) is set in the threaded hole (2714). The end of the second screw (2718) is provided with a first ball (2719). The first ball (2719) and the arc-shaped groove (2709) form a buffer zone. The fixing cable (2603) passes through the buffer zone. The bottom of the counterweight plate (2710) is provided with a first through hole (2711), and the second calibration rod (2702) is provided in the first through hole (2711). The upper end of the counterweight plate (2710) is provided with a groove (2712) and a protrusion (2713). Vertical plates (2715) are provided on both sides of the threaded hole (2714). Mounting holes (2716) are provided through the vertical plates (2715). The first screw (2717) is provided in the two adjacent mounting holes (2716). The alignment plate (2606) is also detachably equipped with an alarm module (24). The alarm module (24) includes a sensing ring (2401) and an electronic control board (2405). The sensing ring (2401) and the electronic control board (2405) are respectively sleeved on the hollow tube (2703). Multiple round rods (2408) are passed through the sensing ring (2401). The ends of the round rods (2408) are provided with round heads (2409). The bottom of the round heads (2409) is supported by a transition plate (2417). The transition plate (2417) is hinged to the base (2410) through a ball head (2416). The base (2410) is connected to the bottom plate (2604) through a first ring plate (2411).

6. The underwater excavation and gripping device according to claim 1, characterized in that: The middle portions of the base plate (2604) and the alignment plate (2606) are respectively provided with a first through hole (2607) and a third through hole (2609), and a plurality of second through holes (2608) are provided on the outer side of the third through hole (2609). The induction ring (2401) and the electronic control board (2405) are respectively provided with a first locking hole (2404) and a second locking hole (2407). The first locking hole (2404) and the second locking hole (2407) are sleeved on the hollow tube (2703). Multiple insertion holes (2402) are provided circumferentially on the outside of the first locking hole (2404). Two spring pieces (2403) are symmetrically arranged on the upper side of the insertion hole (2402). A round rod (2408) passes through the insertion hole (2402). Multiple contacts (2406) are provided at the bottom of the electronic control board (2405). The contacts (2406) are inserted into the insertion holes (2402), and the ends of the contacts (2406) abut against the spring pieces (2403). The first ring plate (2411) is set on the top of the base (2410). The second ring plate (2413) is set on the inner side of the base (2410). The second ring plate (2413) is threaded with an adjusting sleeve (2414). The middle part of the base (2410) is provided with a ball hole (2412). The ball head (2416) is sleeved on the sleeve (2415). The transition plate (2417) is located at the end of the sleeve (2415). The third through hole (2418) is set through the middle part of the transition plate (2417) and the sleeve (2415). The ball head (2416) is set in the ball hole (2412). By changing the angle of the transition plate (2417), the position of the round rod (2408) in the sensing ring (2401) is changed. The round rod (2408) is used to conduct the two spring pieces (2403) to form a circuit.

7. The underwater excavation and gripping device according to claim 1, characterized in that: The bottom of the carrier (2801) is also provided with a second searchlight (2805), and sonar (30) is provided on both sides of the second searchlight (2805). The detection module (29) includes an adapter plate (2901), a locking plate (2913) is provided in the middle of the adapter plate (2901), the locking plate (2913) is fixed by a third screw (2915) and a load-bearing support (2806), a fixing ring (2902) is provided on both sides of the adapter plate (2901), the fixing ring (2902) is sleeved on the load-bearing support (2806), the bidirectional telescopic cylinder (2903) is fixed by a mounting base (2914) and a locking plate (2913), a top rod (2904) is provided on both sides of the bidirectional telescopic cylinder (2903), the top rod (2904) is hinged to the detection rod (2908) by a second pin (2911), and a sensor head (2912) is provided at the bottom of the detection rod (2908). A drive plate (2905) is provided at the end of the top rod (2904), and auxiliary plates (2906) are provided on both sides of the lower part of the adapter plate (2901). The auxiliary plates (2906) are hinged to the detection rod (2908) by the first pin (2907). A second through hole (2909) and an oblong hole (2910) are provided on one side of the detection rod (2908). The first pin (2907) and the second pin (2911) are respectively inserted into the second through hole (2909) and the oblong hole (2910).

8. The underwater excavation and gripping device according to claim 1, characterized in that: A pre-compression module (15) is also provided on one side of the positioning frame (12). The pre-compression module (15) includes a top plate (1501). Multiple straight plates (1502) are evenly distributed around the top plate (1501). Sliding sleeves (1504) are fitted on the straight plates (1502). The top of the sliding sleeve (1504) is connected to the first telescopic cylinder (16) through a locking plate (1505). The bottom of the sliding sleeve (1504) is connected to the transition plate (1506) through a cross brace (1503). A second telescopic cylinder (17) is provided on the lower side of the transition plate (1506). The second telescopic cylinder (17) is connected to the positioning frame (12) through a fixed seat (1507). A lateral wedge plate (1508) is also provided inside the cross brace (1503). A lifting ring (1509) is provided at the top center of the top plate (1501).

9. A construction method for an underwater excavation and grabbing device according to claim 7 or 8, characterized in that: Includes the following steps: S1. Construction preparation: Install brackets (3), first track (4), bidirectional track frame (5), second track (6) and third track (7) on the construction vessel (1), and at the same time complete the debugging of positioning frame (12), jacking module (13) and drill bit module (14); S2. The position of the construction vessel (1) is checked by the vessel positioning module (19), and the construction vessel (1) is fixed by the positioning pile (20) and the positioning anchor (21). S3. Adjust the distance between the two adjacent positioning frames (12) and the first telescopic cylinder (16) according to the design parameters, and complete the drilling of the riverbed (25) through the jacking module (13) and the drill bit module (14). The riverbed (25) forms a drilling area (2501) and a drilling area (2502) through drilling construction. S4. After drilling, the sediment is lifted to the water surface and then transported by a transport trolley (11) along the transport route (9) to the self-propelled mud barge (2); S5. Along the waterway direction, gradually change the position of the construction vessel (1) and the self-propelled mud barge (2) by using positioning piles (20) and positioning anchors (21), repeat S3~S6 until all the drilling in the construction area is completed; S6. Supplement the cleaning by dredging vessel (18) to form a construction completion area (2503) along the waterway direction. S7. After scooping, lift the sediment to the water surface and then transfer it directly to the self-propelled mud barge (2); S8. After the completed construction area (2503) has completely covered the design area, scan the completed construction area (2503) to ensure that the ground excavation elevation and flatness meet the construction requirements.

10. The construction method of the underwater excavation and grabbing device according to claim 9, characterized in that: In S3~S4, during the drilling process, the positioning frame (12) at the outermost edge moves with the construction vessel. The fracturing device (22) set at the bottom of the pre-compression module (15) pre-compressions the hole from top to bottom. At the same time, during the operation of the drill bit module (14), the submersible (28) enters the water to complete underwater exploration. At the same time, the distance between the two detection rods (2908) is adjusted according to the distance between two adjacent holes to check the position and distance of the holes. The position of the pre-compression module (15) is adjusted by the detection rod (2908) to ensure that the pre-compression module (15) can accurately enter the hole to complete the pre-compression operation.

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