Underwater drilling and reef-blasting all-in-one machine

Abstract

The invention discloses an underwater well drilling and reef blasting all-in-one machine, and relates to the technical field of ocean engineering and hydraulic engineering, the underwater well drilling and reef blasting all-in-one machine comprises a ship, a base platform is carried on the ship, a liftable well drilling arm used for ascending or descending is installed on the base platform, and a drill rod propelling arm rotating leftwards or rightwards is installed on the liftable well drilling arm; a drilling unit used for drilling is installed on the drill rod propelling arm, a blasting powder containing unit used for throwing blasting powder bags is fixedly installed on one side of the liftable drilling arm, and a blasting powder bag storage barrel used for storing the blasting powder bags is installed on the blasting powder containing unit. By means of the integrated design, the cost caused by respective transportation, installation and debugging of various devices is avoided, and the construction cost is reduced by about 30%. Meanwhile, due to efficient operation of the equipment, labor input and equipment loss are reduced, resources are further saved, and the economic benefits of engineering construction are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean engineering and hydraulic engineering, and particularly relates to an underwater drilling and reef blasting integrated machine. BACKGROUND

[0002] In the construction of ocean engineering and hydraulic engineering, in order to ensure that the waterway is unobstructed, the foundation of the port terminal is stable, and the bridge pile can be smoothly constructed, it is often necessary to crush the underwater reefs and hard rock layers. However, the existing underwater construction equipment generally has the problems of single function, low operation efficiency, high construction cost and the like; for example, the traditional underwater drilling equipment can only complete the drilling operation, and the reef blasting equipment can only perform the blasting operation, and the two need to be operated in steps, which not only prolongs the construction period, but also increases the cost of equipment transportation, installation and debugging. At the same time, the stability of the existing equipment in the complex underwater environment is poor, and it is difficult to accurately control the drilling depth and the blasting position, which is easy to cause unnecessary influence on the surrounding water ecological environment.

[0003] For the technical improvement of underwater rock crushing and drilling operation, the related technical solutions have been given in the existing patent documents; for example, the underwater sand cushion thickness drilling equipment disclosed in the patent document is mainly used for sampling at different depths of the underwater sand cushion, the connecting shaft, the sampling mechanism and the drill bit are driven by the driving device to rotate, the drill bit is used to drill into the sand cushion, and when the drill bit drives the sampling pipe to reach a certain depth, it is reversed to realize the sampling of sand and stone. However, the equipment only focuses on the sampling function of the underwater sand cushion, and cannot meet the integrated operation requirements of drilling and reef blasting in the underwater rock crushing engineering. In actual waterway dredging, port construction and other projects, facing hard underwater rocks, not only high-quality drilling operation needs to be completed, but also blasting needs to be performed after drilling to crush the rocks. The above-mentioned equipment not only lacks effective rock drilling and reef blasting functions, but also does not have the ability to accurately control the drilling depth and complete the blasting operation in the complex underwater environment, and it is difficult to adapt to the requirements of high efficiency and comprehensiveness of modern underwater engineering construction. Therefore, it is urgent to develop an equipment which can integrate drilling and reef blasting functions and adapt to complex underwater working conditions.

[0004] Therefore, the present patent proposes an underwater drilling and reef blasting integrated machine, which realizes the efficient integration of underwater drilling and reef blasting operation, improves the construction efficiency and reduces the cost, accurately regulates and controls the operation process through the intelligent control system, ensures the construction accuracy, and enhances the adaptability of the equipment in the complex underwater environment. SUMMARY

[0005] In view of the above technical problems, the underwater drilling and reef blasting integrated machine comprises a ship, a base platform is mounted on the ship, a liftable drilling arm for lifting or lowering is mounted on the base platform, a drill rod propulsion arm for rotating left or right is mounted on the liftable drilling arm, a drilling unit for drilling is mounted on the drill rod propulsion arm, a blasting agent placing unit for placing blasting agent packages is fixedly mounted on one side of the liftable drilling arm, a blasting agent package storage cylinder for storing the blasting agent packages is mounted on the blasting agent placing unit, an intelligent detonation system for detonating the blasting agent packages is mounted on one side of the blasting agent placing unit, the intelligent detonation system is fixedly connected with the base platform, an antenna is fixedly mounted on one side of the intelligent detonation system, and the intelligent detonation system is connected with the blasting agent packages through wireless communication.

[0006] The ship is fixedly provided with a control center at one end away from the liftable drilling arm, and a dynamic positioning system for keeping the ship stable is arranged in the ship.

[0007] Further, the liftable drilling arm comprises three evenly distributed fixed rods, first ends of the three fixed rods are fixedly mounted on the base platform, and a mounting plate one is fixedly mounted at second ends of the three fixed rods.

[0008] Further, the drill rod propulsion arm comprises a mounting plate two, the mounting plate two is in sliding connection with the three fixed rods, the mounting plate two is in threaded connection with the lead screw, a connecting plate one is rotatably mounted on the mounting plate two, a gear one is arranged at a rotating connection position between the connecting plate one and the mounting plate two, the gear one is fixedly connected with the mounting plate two, the drill rod propulsion arm further comprises a servo motor one, the servo motor one is fixedly mounted on the connecting plate one, an output end of the servo motor one is fixedly provided with a gear two, and the gear two is in engagement with the gear one.

[0009] Further, the drilling unit comprises a servo motor two, the servo motor two is fixedly mounted on the connecting plate one, an output end of the servo motor two is fixedly provided with an input end of a shaft coupling, an output end of the shaft coupling is connected with a quick connector, and a drill bit is connected with the quick connector.

[0010] Further, the blasting agent placing unit comprises a front-back moving assembly, a rotating assembly, a clamping assembly for clamping blasting agent storage barrels of different sizes, and a placing assembly for accurately placing the blasting agent in the blasting agent storage barrel.

[0011] Further, the rotating assembly comprises a connecting plate two, which is fixedly installed on the sliding plate, one side of the connecting plate two is fixedly installed with a servo motor six, the other side of the connecting plate two is rotatably installed with an incomplete gear one, a gear five, an incomplete gear two, a gear six and a gear seven, the teeth on the incomplete gear one and the incomplete gear two are alternately engaged with the teeth on the gear five, the gear six is engaged with the gear seven, and the output end of the gear six is fixedly connected with the connecting plate two.

[0012] Further, the rotating assembly further comprises a rotating rod, a belt pulley one, a belt pulley two, a belt pulley three and a belt pulley four, one end of the rotating rod is fixedly connected with the gear five, the other end of the rotating rod is fixedly installed with a connecting rod, the connecting rod is fixedly installed with a blocking plate, the belt pulley one is fixedly installed on the incomplete gear one, the belt pulley two is fixedly installed on the belt pulley two, the belt pulley three is fixedly installed on the gear six, the belt pulley four is fixedly installed on the gear seven, the belt pulley one is connected with the belt pulley three through a belt two, and the belt pulley two is connected with the belt pulley four through a belt one.

[0013] Further, the clamping assembly comprises a connecting plate three, which is fixedly installed on the connecting plate two, the connecting plate three is fixedly installed with a servo motor four, the output end of the servo motor four is fixedly installed with a gear three, the clamping assembly further comprises a rack one and a rack two, both the rack one and the rack two are slidably installed on the connecting plate three, both the rack one and the rack two are engaged with the gear three, a connecting rod one is fixedly installed on the rack one, a clamping piece one is fixedly installed on the connecting rod one, a connecting rod two is fixedly installed on the rack two, and a clamping piece two is fixedly installed on the connecting rod two.

[0014] Further, the placing assembly comprises a mounting plate three, which is fixedly installed on the sliding plate, the mounting plate three is fixedly installed with a connecting barrel, one end of the connecting barrel is fixedly installed with a funnel, the funnel is located directly below the blasting agent storage barrel, a sliding barrel is slidably installed in the connecting barrel, and a fixed plate is fixedly installed on the sliding barrel.

[0015] Furthermore, the delivery assembly also includes a mounting plate four and a connecting plate four. The mounting plate four is fixedly mounted on the connecting plate two. A servo motor five is fixedly mounted on the mounting plate four. The first end of the connecting plate four is fixedly connected to the mounting plate three. A gear four is fixedly connected to the output end of the servo motor five. The gear four meshes with a rack three. The rack three is slidably connected to the connecting plate four and is fixedly connected to the fixing plate.

[0016] The beneficial effects of this invention compared with the prior art are as follows: (1) This invention integrates underwater drilling and blasting functions into one, changing the traditional step-by-step operation mode of equipment, reducing equipment replacement and debugging time, and improving construction efficiency by more than 50% compared with the traditional step-by-step construction method, greatly shortening the construction cycle of waterway dredging, port construction and other projects, and accelerating project progress; (2) The integrated design of this invention avoids the costs of transporting, installing and debugging multiple pieces of equipment separately, reducing construction costs by about 30%. At the same time, the efficient operation of the equipment reduces labor input and equipment wear, further saving resources and improving the economic benefits of engineering construction; (3) The equipment of this invention adopts an intelligent control system, which can automatically optimize the operating parameters of each component according to underwater geological data and operation feedback, enabling the equipment to operate stably in complex and changeable underwater environments, such as undercurrents and reef tilt distribution, enhancing the adaptability of the equipment to different underwater environments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the lifting drilling arm, drill pipe propulsion arm, and drilling unit structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of the explosive charge storage cylinder and explosive charge placement unit of the present invention.

[0020] Figure 4 This is a schematic diagram of the explosive placement unit structure of the present invention.

[0021] Figure 5 for Figure 4 Enlarged schematic diagram of the structure at point A in the middle.

[0022] Figure 6 This is a schematic diagram of a portion of the explosive placement unit of the present invention. Figure 1 .

[0023] Figure 7 for Figure 6 Enlarged schematic diagram of the structure at point B.

[0024] Figure 8 This is a schematic diagram of a portion of the explosive placement unit of the present invention. Figure 2 .

[0025] Figure 9 Structure diagram of the explosive placement unit of the present application Figure 3 .

[0026] Figure 10 Structure diagram of the explosive placement unit of the present application Figure 4 .

[0027] Reference numeral: 1-base platform; 2-liftable drilling arm; 3-drill rod pushing arm; 4-drilling unit; 5-explosive package storage cylinder; 6-explosive placement unit; 7-intelligent detonation system; 8-ship; 9-control center; 201-mounting plate one; 202-fixed rod; 203-screw rod; 204-stepping motor; 301-servo motor one; 302-gear one; 303-gear two; 304-connection plate one; 305-mounting plate two; 401-servo motor two; 402-drill bit; 403-coupling; 404-quick connector; 601-bottom plate; 602-screw rod; 603-servo motor three; 604-clamping piece one; 605-clamping piece two; 606-connection rod one; 607-rack one; 608-gear three; 609-rack two; 610-connection rod two; 611-servo motor four; 612-rotating rod; 613-connection rod; 614-plugging plate; 615-sliding plate; 616-connection plate two; 617-connection plate three; 618-hopper; 619-connection cylinder; 620-sliding cylinder; 621-gear four; 622-fixed plate; 623-rack three; 624-incomplete gear one; 625-gear five; 626-incomplete gear two; 627-gear six; 628-gear seven; 629-servo motor five; 630-servo motor six; 631-pulley one; 632-pulley two; 633-belt one; 634-belt two; 635-pulley three; 636-pulley four; 637-mounting plate three; 638-mounting plate four; 639-connection plate four. DETAILED DESCRIPTION

[0028] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] Example: Figure 1As shown, an underwater drilling and reef blasting integrated machine, comprising a ship 8, the bottom of the ship 8 is provided with a sonar, the ship 8 is loaded with a base platform 1, the base platform 1 is installed with a liftable drilling arm 2 for lifting or lowering, the liftable drilling arm 2 is installed with a drill rod propulsion arm 3 for rotating left or right, the drill rod propulsion arm 3 is installed with a drilling unit 4 for drilling, one side of the liftable drilling arm 2 is fixedly installed with a blasting agent placing unit 6 for placing blasting agent, the blasting agent placing unit 6 is installed with a blasting agent storage cylinder 5 for storing blasting agent, one side of the blasting agent placing unit 6 is installed with an intelligent detonation system 7 for detonating blasting agent, the intelligent detonation system 7 is fixedly connected with the base platform 1, one side of the intelligent detonation system 7 is fixedly installed with an antenna, the intelligent detonation system 7 is connected with the blasting agent through wireless communication, the intelligent detonation system 7 has safety protection functions of short circuit protection, overvoltage protection and signal shielding, the short circuit protection function monitors the circuit state in real time through the current monitoring module, and when the current abnormally increases or short circuits is detected, the circuit is quickly cut off; the overvoltage protection module continuously monitors the power supply voltage, and when the safety threshold is exceeded, the voltage reduction or isolation measures are automatically started, and the signal shielding function prevents external signals from affecting the explosion control of the blasting agent; the end of the ship 8 away from the liftable drilling arm 2 is fixedly installed with a control center 9, the ship 8 is provided with a dynamic positioning system for keeping the ship stable, ensuring accurate operation to the reef blasting position, the dynamic positioning system in the ship 8 automatically adjusts the power and the running direction, through the above scheme, the blasting agent placing unit 6 accurately places the blasting agent into the drill hole drilled by the drilling unit 4, realizes the accurate placement of the blasting agent, and then the intelligent detonation system 7 makes the blasting agent explode through wireless communication, ensuring the safety and controllability of the blasting operation.

[0032] As shown, Figure 2 The liftable drilling arm 2 comprises three evenly distributed fixed rods 202, the first ends of the three fixed rods 202 are fixedly installed on the base platform 1, the second ends of the three fixed rods 202 are fixedly installed with a mounting plate one 201, the mounting plate one 201 is fixedly installed with a stepping motor 204, the output end of the stepping motor 204 is fixedly installed with a lead screw 203, the first end of the lead screw 203 is connected with the base platform 1 through a bearing, the second end of the lead screw 203 is connected with the mounting plate one 201 through a bearing, through the above scheme, the stepping motor 204 is started, the output end of the stepping motor 204 drives the lead screw 203 to rotate, the lead screw 203 drives the mounting plate two 305 to slide on the fixed rod 202 through the thread, and then the mounting plate two 305 drives the drilling unit 4 to ascend or descend.

[0033] As shown, Figure 2As shown, the drill pipe pushing arm 3 includes a mounting plate two 305, the mounting plate two 305 is in sliding connection with the three fixed rods 202, the mounting plate two 305 is in threaded connection with the lead screw 203, the mounting plate two 305 is rotatably provided with a connecting plate one 304, the connecting plate one 304 is rotatably connected with the mounting plate two 305, and the connecting plate one 304 is provided with a gear one 302 at the rotating connection position of the connecting plate one 304 and the mounting plate two 305, the gear one 302 is fixedly connected with the mounting plate two 305, the drill pipe pushing arm 3 further includes a servo motor one 301, the servo motor one 301 is fixedly installed on the connecting plate one 304, the output end of the servo motor one 301 is fixedly provided with a gear two 303, the gear two 303 is engaged with the gear one 302, through the above scheme, the servo motor one 301 is started, the output end of the servo motor one 301 drives the gear two 303 to rotate, the gear two 303 drives the mounting plate two 305 to rotate around the rotating connection position of the connecting plate one 304 and the mounting plate two 305 through the gear one 302, so as to drive the drilling unit 4 to rotate, and the drilling unit 4 is realized to drill the multi-directional reefs.

[0034] As shown in the figure, Figure 2 The drilling unit 4 includes a servo motor two 401, the servo motor two 401 is fixedly installed on the connecting plate one 304, the output end of the servo motor two 401 is fixedly provided with an input end of a shaft coupling 403, the output end of the shaft coupling 403 is connected with a quick connector 404, the quick connector 404 is connected with a drill bit 402, the quick connector 404 is provided with a pressure sensor and a displacement sensor, the pressure sensor senses the resistance received by the drill bit 402, the displacement sensor accurately measures the pushing distance of the drill bit 402, when encountering rocks and geological changes with different hardness, the pressure sensor and the displacement sensor quickly feed back data to the control center 9, the control center 9 issues instructions to the servo motor two 401, and automatically adjusts the rotating speed to ensure the smooth drilling, through the above scheme, the servo motor two 401 is started, the servo motor two 401 drives the quick connector 404 to rotate through the shaft coupling 403, the quick connector 404 drives the drill bit 402 to rotate, and the quick connector 404 and the drill bit 402 are convenient to disassemble.

[0035] As shown in the figure, Figures 3-10As shown, the blasting agent placing unit 6 comprises a front-back moving assembly, a rotating assembly, a clamping assembly for clamping blasting agent storage barrels 5 of different sizes, and a placing assembly for accurately placing the blasting agent in the blasting agent storage barrel 5. The front-back moving assembly comprises a bottom plate 601 fixedly installed on the base platform 1. One side of the bottom plate 601 is fixedly installed with a servo motor three 603. The output end of the servo motor three 603 is fixedly installed with a lead screw 602. The lead screw 602 is rotationally connected with the bottom plate 601. The lead screw 602 is threadedly connected with a sliding plate 615. The sliding plate 615 is slidingly connected with the bottom plate 601. Through the above scheme, the front-back moving assembly moves the placing assembly to the top of the drilling hole, ensuring accurate placement of the blasting agent. The rotating assembly realizes placing and not placing the blasting agent in the blasting agent storage barrel 5. The clamping assembly realizes clamping of the blasting agent storage barrels 5 of different sizes, improving the practicability of the device. After the drilling unit 4 finishes drilling, the ship 8 drives the drilling unit 4 to the next drilling hole through the dynamic positioning system. The servo motor three 603 is started. The output end of the servo motor three 603 drives the sliding plate 615 to slide on the bottom plate 601 through the lead screw 602, moving the placing assembly to the top of the drilling hole.

[0036] The rotating assembly comprises a connecting plate two 616 fixedly installed on the sliding plate 615, one side of the connecting plate two 616 fixedly installed with a servo motor six 630, the other side of the connecting plate two 616 rotatably installed with an incomplete gear one 624, a gear five 625, an incomplete gear two 626, a gear six 627 and a gear seven 628, the teeth on the incomplete gear one 624 and the incomplete gear two 626 alternately mesh with the teeth on the gear five 625, the gear six 627 meshes with the gear seven 628, the gear six 627 is fixedly connected with the output end of the connecting plate two 616, the rotating assembly further comprises a rotating rod 612, a belt pulley one 631, a belt pulley two 632, a belt pulley three 635 and a belt pulley four 636, the rotating rod 612 is rotatably installed on the connecting plate two 616, one end of the rotating rod 612 is fixedly connected with the gear five 625, the other end of the rotating rod 612 is fixedly installed with a connecting rod 613, the connecting rod 613 is fixedly installed with a blocking plate 614, the belt pulley one 631 is fixedly installed on the incomplete gear one 624, the belt pulley two 632 is fixedly installed on the belt pulley two 632, the belt pulley three 635 is fixedly installed on the gear six 627, the belt pulley four 636 is fixedly installed on the gear seven 628, the belt pulley one 631 is connected with the belt pulley three 635 through a belt two 634, the belt pulley two 632 is connected with the belt pulley four 636 through a belt one 633, adjustable suction vacuum cleaners are arranged on the blocking plate 614 and in the blasting charge storage cylinder 5, the suction of the vacuum cleaner is flexibly adjusted according to the shape, weight and material of the blasting charge, so as to ensure that the blasting charge is firmly adsorbed and the blasting charge is not damaged due to excessive suction, through the above scheme, the servo motor six 630 is started, the output end of the servo motor six 630 drives the gear six 627 to rotate, the gear six 627 drives the gear seven 628 to rotate, the gear six 627 drives the belt two 634 to move through the belt pulley three 635, the gear seven 628 drives the belt one 633 to move through the belt pulley four 636, the belt two 634 drives the incomplete gear one 624 to rotate through the belt pulley one 631, the belt one 633 drives the incomplete gear two 626 to rotate through the belt pulley two 632, the incomplete gear one 624 and the incomplete gear two 626 alternately mesh with the gear five 625, the gear five 625 drives the connecting rod 613 to rotate through the rotating rod 612, the connecting rod 613 drives the blocking plate 614 to contact or separate from the blasting charge storage cylinder 5, the vacuum cleaner on the blocking plate 614 drives the blasting charge in the blasting charge storage cylinder 5 to move through suction, when the blocking plate 614 separates from the blasting charge storage cylinder 5, the vacuum cleaner in the blasting charge storage cylinder 5 is started, the blocking plate 614 rotates to above the funnel 618, the vacuum cleaner on the blocking plate 614 is closed, and the blasting charge falls into the funnel 618.

[0037] The clamping assembly comprises a connecting plate three 617 fixedly installed on the connecting plate two 616, a servo motor four 611 fixedly installed on the connecting plate three 617, an output end of the servo motor four 611 fixedly installed with a gear three 608, and a rack one 607 and a rack two 609. The rack one 607 and the rack two 609 are both slidingly installed on the connecting plate three 617 and are both engaged with the gear three 608. The rack one 607 is fixedly installed with a connecting rod one 606, and the connecting rod one 606 is fixedly installed with a clamping piece one 604. The rack two 609 is fixedly installed with a connecting rod two 610, and the connecting rod two 610 is fixedly installed with a clamping piece two 605. Through the above scheme, the servo motor four 611 is started, the output end of the servo motor four 611 drives the gear three 608 to rotate, the gear three 608 drives the rack one 607 and the rack two 609 to slide on the connecting plate three 617, the rack one 607 drives the clamping piece one 604 to move through the connecting rod one 606, and the rack two 609 drives the clamping piece two 605 to move through the connecting rod two 610. The clamping piece one 604 and the clamping piece two 605 cooperate to clamp the blasting charge storage cylinder 5 of different sizes.

[0038] The feeding assembly comprises a mounting plate three 637 fixedly installed on the sliding plate 615, a connecting cylinder 619 fixedly installed on the mounting plate three 637, a funnel 618 fixedly installed at one end of the connecting cylinder 619, the funnel 618 being located directly below the blasting charge storage cylinder 5, a sliding cylinder 620 slidingly installed in the connecting cylinder 619, and a fixed plate 622 fixedly installed on the sliding cylinder 620. The feeding assembly further comprises a mounting plate four 638 and a connecting plate four 639. The mounting plate four 638 is fixedly installed on the connecting plate two 616, and a servo motor five 629 is fixedly installed on the mounting plate four 638. The first end of the connecting plate four 639 is fixedly connected with the mounting plate three 637. An output end of the servo motor five 629 is fixedly connected with a gear four 621. The gear four 621 is engaged with a rack three 623. The rack three 623 is slidingly connected with the connecting plate four 639. The rack three 623 is fixedly connected with the fixed plate 622. Through the above scheme, when the feeding assembly moves to the drilling directly above, the servo motor five 629 is started. The output end of the servo motor five 629 drives the gear four 621 to rotate. The gear four 621 drives the rack three 623 to slide on the connecting plate four 639. The rack three 623 drives the sliding cylinder 620 to move through the fixed plate 622. Then the sliding cylinder 620 is inserted into the drilling. The blocking plate 614 is separated from the blasting charge storage cylinder 5 through the rotating assembly. At this time, the blocking plate 614 drives the blasting charge to enter the funnel 618. The blasting charge enters the drilling through the connecting cylinder 619 and the sliding cylinder 620. Then the feeding assembly is reset.

[0039] Working principle: the power positioning system in the ship 8 automatically adjusts the power and running direction, the ship 8 runs through the power positioning system, when the sonar at the bottom of the ship 8 detects the existence of the reef and affects the operation of the ship 8, the stepping motor 204 starts, the output end of the stepping motor 204 drives the screw rod 203 to rotate, the screw rod 203 drives the mounting plate two 305 to slide on the fixed rod 202 through the thread, then drives the drilling unit 4 to rise and fall through the mounting plate two 305, the servo motor one 301 starts, the output end of the servo motor one 301 drives the gear two 303 to rotate, the gear two 303 drives the mounting plate two 305 to rotate through the gear one 302 around the rotating connection between the mounting plate two 305 and the connecting plate one 304, so as to drive the drilling unit 4 to rotate, realize the drilling unit 4 to drill the reef in multiple directions, the servo motor two 401 starts, the servo motor two 401 drives the quick connector 404 to rotate through the shaft coupling 403, the quick connector 404 drives the drill bit 402 to rotate, the quick connector 404 and the drill bit 402 are convenient to disassemble, the pressure sensor and the displacement sensor on the quick connector 404 perceive the resistance received by the drill bit 402 and accurately measure the advancing distance of the drill bit 402, when encountering rocks and geological changes with different hardness, the pressure sensor and the displacement sensor quickly feed back the data to the control center 9, the control center 9 issues instructions to the servo motor two 401, automatically adjusts the rotating speed, ensures the smooth drilling, when the drilling unit 4 finishes drilling, the ship 8 drives the drilling unit 4 to the next drilling position through the power positioning system, starts the servo motor three 603, the output end of the servo motor three 603 drives the sliding plate 615 to slide on the bottom plate 601 through the lead screw 602, moves the launching assembly to directly above the drilling hole, when the launching assembly moves to directly above the drilling hole, the servo motor five 629 starts, the output end of the servo motor five 629 drives the gear four 621 to rotate, the gear four 621 drives the rack three 623 to slide on the connecting plate four 639, the rack three 623 drives the sliding cylinder 620 to move through the fixed plate 622, then the sliding cylinder 620 is inserted into the drilling hole, the servo motor six 630 starts, the output end of the servo motor six 630 drives the gear six 627 to rotate, the gear six 627 drives the gear seven 628 to rotate, the gear six 627 drives the belt two 634 to move through the belt pulley three 635, the gear seven 628 drives the belt one 633 to move through the belt pulley four 636, the belt two 634 drives the incomplete gear one 624 to rotate through the belt pulley one 631, the belt one 633 drives the incomplete gear two 626 to rotate through the belt pulley two 632, the incomplete gear one 624 and the incomplete gear two 626 alternately engage with the gear five 625, the gear five 625 drives the connecting rod 613 to rotate through the rotating rod 612, the connecting rod 613 drives the blocking plate 614 to contact or separate from the blasting cap storage cylinder 5, the vacuum cleaner on the blocking plate 614 drives the blasting cap in the blasting cap storage cylinder 5 to move through the suction force, when the blocking plate 614 separates from the blasting cap storage cylinder 5, the vacuum cleaner in the blasting cap storage cylinder 5 starts,When the blocking plate 614 rotates to above the funnel 618, the vacuum cleaner on the blocking plate 614 is closed, the blasting charge falls into the funnel 618, and then the launching assembly is reset. After the reef operation is completed, the liftable drilling arm 2 is lifted, the running states of various components are checked through a sonar and other detection equipment, the reef breaking effect is evaluated, if the expected effect is not achieved, the above drilling, charging, reef blasting and other operation processes are re-performed until the engineering requirements are met.

[0040] The above embodiments only express one or several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. An integrated underwater drilling and reef blasting machine, comprising a vessel (8), characterized in that: The vessel (8) is equipped with a base platform (1), on which a liftable drilling arm (2) for raising or lowering is installed. A drill rod propulsion arm (3) for rotating to the left or right is installed on the liftable drilling arm (2). A drilling unit (4) for drilling is installed on the drill rod propulsion arm (3). A blasting charge placement unit (6) for placing blasting charges is fixedly installed on one side of the liftable drilling arm (2). A blasting charge storage cylinder (5) for storing blasting charges is installed on the blasting charge placement unit (6). An intelligent detonation system (7) for detonating blasting charges is installed on one side of the blasting charge placement unit (6). The intelligent detonation system (7) is fixedly connected to the base platform (1). An antenna is fixedly installed on one side of the intelligent detonation system (7). The intelligent detonation system (7) is connected to the blasting charge via wireless communication. The vessel (8) has a control center (9) fixedly installed at the end away from the liftable drilling arm (2), and the vessel (8) is equipped with a dynamic positioning system for maintaining the stability of the vessel.

2. The underwater drilling and reef blasting integrated machine as described in claim 1, characterized in that: The liftable drilling arm (2) includes three evenly distributed fixed rods (202). The first ends of the three fixed rods (202) are all fixedly installed on the base platform (1). The second ends of the three fixed rods (202) are all fixedly installed on the mounting plate (201). A stepper motor (204) is fixedly installed on the mounting plate (201). A lead screw (203) is fixedly installed on the output end of the stepper motor (204). The first end of the lead screw (203) is connected to the base platform (1) through a bearing, and the second end of the lead screw (203) is connected to the mounting plate (201) through a bearing.

3. The underwater drilling and reef blasting integrated machine as described in claim 2, characterized in that: The drill rod propulsion arm (3) includes a second mounting plate (305), which is slidably connected to three fixed rods (202). The second mounting plate (305) is threadedly connected to a lead screw (203). A first connecting plate (304) is rotatably mounted on the second mounting plate (305). A first gear (302) is provided at the rotatable connection between the first connecting plate (304) and the second mounting plate (305). The first gear (302) is fixedly connected to the second mounting plate (305). The drill rod propulsion arm (3) also includes a first servo motor (301), which is fixedly mounted on the first connecting plate (304). A second gear (303) is fixedly mounted on the output end of the first servo motor (301). The second gear (303) meshes with the first gear (302).

4. The underwater drilling and reef blasting integrated machine as described in claim 3, characterized in that: The drilling unit (4) includes a second servo motor (401), which is fixedly mounted on a first connecting plate (304). The output end of the second servo motor (401) is fixedly mounted with the input end of a coupling (403). A quick connector (404) is connected to the output end of the coupling (403), and a drill bit (402) is connected to the quick connector (404).

5. The underwater drilling and reef blasting integrated machine as described in claim 4, characterized in that: The explosive placement unit (6) includes a front-to-back moving assembly, a rotating assembly, a clamping assembly for clamping explosive charge storage cylinders (5) of different sizes, and a placement assembly for accurately placing explosive charges into the explosive charge storage cylinders (5). The front-to-back moving assembly includes a base plate (601), which is fixedly installed on the base platform (1). A servo motor (603) is fixedly installed on one side of the base plate (601). A lead screw (602) is fixedly installed at the output end of the servo motor (603). The lead screw (602) is rotatably connected to the base plate (601). A sliding plate (615) is threadedly connected to the lead screw (602). The sliding plate (615) is slidably connected to the base plate (601).

6. The underwater drilling and reef blasting integrated machine as described in claim 5, characterized in that: The rotating assembly includes a second connecting plate (616), which is fixedly mounted on a sliding plate (615). A servo motor (630) is fixedly mounted on one side of the second connecting plate (616), and an incomplete gear (624), a gear (625), an incomplete gear (626), a gear (627), and a gear (628) are rotatably mounted on the other side of the second connecting plate (616). The teeth on the incomplete gear (624) and the incomplete gear (626) alternately mesh with the teeth on the gear (625). The gear (627) meshes with the gear (628). The gear (627) is fixedly connected to the output end of the second connecting plate (616).

7. The underwater drilling and reef blasting integrated machine as described in claim 6, characterized in that: The rotating assembly further includes a rotating rod (612), a first pulley (631), a second pulley (632), a third pulley (635), and a fourth pulley (636). The rotating rod (612) is rotatably mounted on a second connecting plate (616). One end of the rotating rod (612) is fixedly connected to a fifth gear (625), and the other end of the rotating rod (612) is fixedly mounted with a connecting rod (613). A blocking plate (614) is fixedly mounted on the connecting rod (613). The first pulley (612)... 631) is fixedly installed on the incomplete gear one (624), the pulley two (632) is fixedly installed on the pulley two (632), the pulley three (635) is fixedly installed on the gear six (627), the pulley four (636) is fixedly installed on the gear seven (628), the pulley one (631) and the pulley three (635) are connected by the belt two (634), and the pulley two (632) and the pulley four (636) are connected by the belt one (633).

8. The underwater drilling and reef blasting integrated machine as described in claim 7, characterized in that: The clamping assembly includes a connecting plate three (617), which is fixedly mounted on a connecting plate two (616). A servo motor four (611) is fixedly mounted on the connecting plate three (617). A gear three (608) is fixedly mounted on the output end of the servo motor four (611). The clamping assembly also includes a rack one (607) and a rack two (609), both of which slide. Installed on connecting plate three (617), rack one (607) and rack two (609) are both meshed with gear three (608). A connecting rod one (606) is fixedly installed on rack one (607), a clamping piece one (604) is fixedly installed on connecting rod one (606), a connecting rod two (610) is fixedly installed on rack two (609), and a clamping piece two (605) is fixedly installed on connecting rod two (610).

9. The underwater drilling and reef blasting integrated machine as described in claim 8, characterized in that: The delivery assembly includes a mounting plate three (637), which is fixedly mounted on a sliding plate (615). A connecting cylinder (619) is fixedly mounted on the mounting plate three (637). A funnel (618) is fixedly mounted on one end of the connecting cylinder (619). The funnel (618) is located directly below the explosive charge storage cylinder (5). A sliding cylinder (620) is slidably mounted inside the connecting cylinder (619). A fixing plate (622) is fixedly mounted on the sliding cylinder (620).

10. The underwater drilling and reef blasting integrated machine as described in claim 9, characterized in that: The delivery assembly also includes a mounting plate four (638) and a connecting plate four (639). The mounting plate four (638) is fixedly mounted on the connecting plate two (616). A servo motor five (629) is fixedly mounted on the mounting plate four (638). The first end of the connecting plate four (639) is fixedly connected to the mounting plate three (637). The output end of the servo motor five (629) is fixedly connected to a gear four (621). The gear four (621) meshes with a rack three (623). The rack three (623) is slidably connected to the connecting plate four (639). The rack three (623) is fixedly connected to the fixing plate (622).

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