Self-balancing variable-attitude recoverable anchoring device

Abstract

The application discloses a self-balancing variable-attitude recyclable anchoring device and belongs to the technical field of anchoring equipment for ocean engineering, comprising a self-balancing propeller system, a direction-changing system, a force-holding enhancement system, a power system and a self-balancing double-bit system; the force-holding enhancement system is composed of a first force-holding enhancement system and a second force-holding enhancement system; the self-balancing propeller system is used for providing propelling force or recycling lift; the direction-changing system is used for enabling the structure connected to the upper part of the direction-changing joint to deflect relative to the lower anchoring device in the force direction of the cable after the anchoring device completes drilling anchoring; the force-holding enhancement system is used for unfolding outwardly and forming interaction with the surrounding soil after the anchoring device drills into the target soil layer; the power system is used for providing controllable axial self-providing compensation thrust; and the self-balancing double-bit system is used for breaking and discharging the target soil layer through the collaborative reverse rotation of the inner bit and the outer bit.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering anchoring equipment technology, and specifically relates to a self-balancing, variable attitude, and retrievable anchoring device. Background Technology

[0002] With the increasing development of floating offshore wind power, deep-sea oil and gas development, and marine energy equipment in the deep sea, floating platforms face higher demands on the bearing capacity, installation efficiency, service stability, and reusability of their anchoring foundations. Existing deep-sea anchoring devices typically rely on towing, suction, gravity sinking, or mechanical penetration to reach the seabed, forming anchoring force through the interaction of the anchor body, anchor plate, or deployable components with the soil. While these devices can meet mooring requirements under certain conditions, in complex marine environments, the coupling effects of wind, waves, and currents cause the direction of force on the mooring cables to constantly change with the movement of the floating platform. This leads to changes in the load direction and working attitude of the anchoring device, potentially resulting in insufficient installation penetration stability, limited interaction range with the soil, inadequate anchoring bearing capacity, insufficient adaptability to different service attitudes, and significant resistance during anchoring and retrieval.

[0003] CN108423123A discloses a bidirectional deployable suction-driven penetrating anchor foundation. This method involves penetrating the anchor foundation into the seabed using a barrel-shaped foundation and then pulling it back, causing the arc-shaped rotating plate and the straight rotating plate to unfold, thereby increasing the contact area between the anchor foundation and the seabed soil and improving the pull-out bearing capacity. While this scheme improves anchoring effectiveness through plate unfolding, its installation process mainly relies on suction penetration and pull-back actions, requiring auxiliary structures such as suction cylinders during construction, making the installation method relatively complex. Furthermore, the unfolding structure is mainly achieved through pull-back after penetration, lacking active soil breaking and stable guiding capabilities during the penetration phase. Additionally, the unfolded components are difficult to actively retract into the anchor body during anchor retrieval, resulting in significant overall retrieval resistance. CN110510067B discloses a double-anchor plate suction-driven penetrating normal bearing anchor and its installation method. This method uses two symmetrical anchor plates in conjunction with the anchor shank and completes installation with the aid of a suction caisson, allowing the anchor plates to form a large bearing area in the working state. This scheme can increase the interaction area between the anchor plate and the soil and enhance the normal bearing capacity, but its installation still relies on suction caissons, and the installation equipment and construction process are relatively complex and time-consuming. At the same time, the anchor plate structure is mainly used to form a fixed bearing surface, and it does not adequately consider the active drilling during the penetration stage, the attitude adaptation to the change of the cable force direction after anchoring, and the reduction of soil resistance during the recovery stage.

[0004] Therefore, existing deployable or plate-type anchoring foundations mainly focus on increasing the bearing area, suction-assisted installation, or forming a bearing posture after loading, lacking integrated consideration of penetration, anchoring, service posture adaptation, and recycling. For engineering scenarios such as floating offshore wind power, deep-water mooring, and offshore oil and gas development that require long-term service and recycling, it is still necessary to propose a recyclable anchoring device that can improve soil penetration efficiency and stability during the penetration stage, enhance the interaction with the soil during the anchoring stage, adapt to changes in cable force direction during service, and reduce anchoring resistance after operation. Summary of the Invention

[0005] In view of the problems and shortcomings of the existing technology, the purpose of this invention is to provide a self-balancing, variable attitude, and retrievable anchoring device, which aims to improve the penetration stability, anchoring reliability, retrieval convenience, and operational efficiency of the anchoring device, so as to meet the needs of deep-water mooring and floating marine engineering equipment for efficient, stable, and reusable anchoring foundations.

[0006] A self-balancing, variable attitude, and retrievable anchoring device includes a self-balancing propeller system, a directional system, a load-bearing enhancement system, a power system, and a self-balancing dual-drill bit system. The holding force enhancement system consists of a first holding force enhancement system and a second holding force enhancement system; The self-balancing dual-bit system consists of an outer bit assembly, an inner bit assembly, and a torsion isolation and pressure transmission assembly. The self-balancing propeller system, the directional change system, the first load-bearing enhancement system, and the power system are sequentially fitted together along the axial direction; the lower part of the power system is fitted together with the inner drill bit assembly, and the upper and lower parts of the torsion isolation and pressure transmission assembly are fitted together with the inner drill bit assembly respectively; the upper end of the second load-bearing enhancement system is fitted together with the inner drill bit assembly, and the inner drill bit assembly and the outer drill bit assembly are fitted together along the axial direction and placed at the lower end of the second load-bearing enhancement system; The self-balancing propeller system is used to provide auxiliary propulsion force toward the target soil layer during the sinking and positioning of the anchoring device in the water, and to provide recovery lift force opposite to the sinking direction when the anchoring device is retrieved or the sinking speed is adjusted. The reversing system is used to change the shape after the anchoring device has completed drilling and anchoring, so that the direction of force on the cable is deflected relative to the lower anchoring device, in order to adapt to the attitude changes caused by ocean currents, waves and installation deviations, and to reduce the impact of bending moment and eccentric load on the lower anchoring structure. The load-bearing enhancement system is used to extend outward after the anchoring device has drilled into the target soil layer and interact with the surrounding soil, thereby increasing the overall anchoring force of the anchoring device. The power system is used to provide controllable axial self-feeding thrust to the lower drilling components according to the drilling pressure during the drilling process, so as to help maintain the drilling pressure and drilling stability. When the drilling pressure reaches the set value, the power system reaches the travel limit, or the lower drilling components are obstructed, the power system stops feeding or reverses to avoid the upper structure from moving upwards in the opposite direction due to continued pushing. The self-balancing dual-bit system is used to break and remove soil from the target soil layer by coordinating the counter-rotation of the inner and outer bits. By canceling or partially canceling the drilling counter-torques of the two bits, the system reduces the rotation, deflection and sway of the anchoring device during the penetration process, thereby improving drilling stability and soil penetration efficiency.

[0007] Preferably, the self-balancing propeller system includes a forward propeller, a reverse propeller, a propulsion motor cover, a propulsion motor one, a propulsion motor two, a propulsion drive shaft one, a propulsion drive shaft two, and a cable; The upper cover of the propulsion motor is fixed to the upper end of propulsion motor one, and the upper end of propulsion motor two is fixed to the lower end of propulsion motor two; propulsion drive shaft one is fixed inside the rotor of propulsion motor one and extends upward to be fixed to the forward propeller, propulsion drive shaft two is fixed inside the rotor of propulsion motor two and extends upward through propulsion drive shaft one and the forward propeller to be fixed to the reverse propeller, and the lower end of the cable is fixed to the base at the lower end of propulsion motor two, and the upper end of the cable passes through propulsion drive shaft two and extends to the outside.

[0008] Preferably, the reversing system includes a reversing positioning motor, a reversing limit upper connector, a reversing limit lower connector, a reversing limit lead screw, a reversing joint one, and a reversing joint two; The upper end of the reversing positioning motor is fixedly connected to the lower end of the second propulsion motor, and the lower end of the reversing positioning motor is fixedly connected to the upper end of the reversing limit joint. The lower reversing limit joint is fixedly connected to the first reversing joint, and both are axially slidingly connected within the inner wall of the upper reversing limit joint. They can only slide axially relative to the upper reversing limit joint, and cannot rotate relative to it. The reversing limit screw is fixedly connected inside the rotor of the reversing positioning motor and threadedly connected to the lower reversing limit joint and the first reversing joint. The ball head at the lower end of the joint is connected to the ball joint of the second directional joint. The upper end of the second directional joint is provided with a plug-in part. The lower end of the upper directional limit connector is slidably connected to the upper plug-in part of the second directional joint. Before drilling downward, the upper plug-in part of the second directional joint is embedded in the upper directional limit connector. The lower end of the directional limit screw is located in the groove cavity of the first directional joint. After the entire drilling is completed, the upper directional limit connector is separated from the upper plug-in part of the second directional joint, and the first directional joint and the second directional joint can move relative to each other.

[0009] Preferably, the first bearing capacity enhancement system includes a self-anchoring support one, a self-anchoring plunger one, a plurality of self-anchoring fastener units, a self-anchoring support two, a self-anchoring plunger two, a self-anchoring motor and a transmission screw. Self-anchoring support one and self-anchoring support two are hollow cylindrical structures, with several axially extending strip-shaped openings on their side walls. The self-anchoring motor is axially fixed between self-anchoring support one and self-anchoring support two, and the transmission screw is fixed to the rotor of the self-anchoring motor. Self-anchoring plunger one and self-anchoring plunger two are threadedly connected to the transmission screw. Self-anchoring plunger one and self-anchoring plunger two are provided with several spherical guide limiting parts along their radial direction. The spherical guide limiting parts are respectively limited and slidably engaged with the guide grooves on several self-anchoring fastener units. The self-anchoring fastener units are all set in the strip-shaped openings, and their lower ends are all hinged to the lower end of self-anchoring support one or self-anchoring support two. The self-anchoring fastener unit is a slender strip-shaped component with an overall outer contour that is approximately leaf-shaped.

[0010] Preferably, the self-anchoring unit includes a main body extending along the length direction and fin-shaped wings symmetrically arranged on both sides of the main body. The guide groove is provided on the main body and extends along its length direction. The guide groove has a keyhole-shaped structure that is narrow at the top and wide at the bottom. The guide groove on the main body is closed on the side that is hinged to the self-anchoring support one or the self-anchoring support two. The fin-shaped wing surface includes a first wing surface and a second wing surface symmetrically arranged on both sides of the main body. The main body parts of the first wing surface and the second wing surface are inclined surfaces arranged at 45° relative to the horizontal direction. The first wing surface and the second wing surface gradually narrow towards the free end and fit into the main body.

[0011] Preferably, the power system includes a self-propelled motor, a self-propelled upper connector, a self-propelled lower connector, and a self-propelled transmission torsion shaft; The upper end of the self-feeding motor is fixedly connected to the lower end of the first force-enhancing system. The lower end of the self-feeding motor is fixedly connected to the upper end of the self-feeding upper connector. The self-feeding transmission torsion shaft is fixedly connected inside the rotor of the self-feeding motor. The self-feeding lower connector is threadedly connected to the self-feeding transmission torsion shaft, and the self-feeding lower connector is axially limited and slidably connected inside the annular cavity of the self-feeding upper connector. The self-feeding lower connector can only move axially relative to the self-feeding upper connector and cannot rotate.

[0012] Preferably, the external drill bit assembly includes an external drill bit motor, an external drill bit drive shaft, an external drill bit guide tube, an external bearing fixing, a first tapered roller bearing, a second tapered roller bearing, an external drill bit guide bearing limiting sleeve, a sealing sleeve fixing, a snap ring, a skeleton oil seal one, a sealing spacer, a skeleton oil seal two, and an external drill bit; The upper end of the external drill bit motor is fixedly connected to the lower end of the second force-enhancing system. The external drill bit drive shaft is fixedly connected inside the external drill bit motor rotor. The external drill bit guide tube is fixedly connected to the lower part of the external drill bit motor. The first tapered roller bearing and the second tapered roller bearing are fixed between the external drill bit guide tube and the external drill bit drive shaft. The upper and lower end faces of the external drill bit guide bearing limiting sleeve contact the lower end face of the inner ring of the first tapered roller bearing and the upper end face of the inner ring of the second tapered roller bearing, respectively. The retaining ring is embedded in the annular retaining groove of the external drill bit drive shaft and abuts against the upper end face of the inner ring of the first tapered roller bearing. The bearing is externally fixed and pressed against... The upper end face of the outer ring of the first tapered roller bearing is fixedly connected to the guide tube of the outer drill bit. The first skeleton oil seal, the sealing spacer, and the second skeleton oil seal are sequentially fixedly connected in the annular gap formed by the guide tube of the outer drill bit and the drive shaft of the outer drill bit. The sealing sleeve is fixedly connected to the lower end face of the guide tube of the outer drill bit and presses against the second skeleton oil seal. Multiple cutting teeth are provided on the outer circumferential surface of the outer drill bit. The multiple cutting teeth are spirally distributed along the axial and circumferential directions of the outer drill bit body. The spiral cutting teeth of the outer drill bit are arranged intermittently. The included angle α between the cutting teeth and the horizontal plane is between 15° and 45°.

[0013] Preferably, the internal drill bit assembly includes an internal drill bit pressure regulating motor, a pressure-isolation torsion screw, an internal drill bit motor, an internal drill bit drive shaft, an internal drill bit, an internal drill bit buffer spring, and a lower limit of the internal drill bit drive shaft. The lower end of the internal drill bit pressure regulating motor is fixedly connected to the upper end of the torque-isolation and pressure-transmitting upper connector. The pressure-isolation and torque-transmitting screw is threadedly connected to the rotor of the internal drill bit pressure regulating motor. The upper end of the internal drill bit motor is fixedly connected to the lower end of the torque-isolation and pressure-transmitting lower connector. The lower end of the internal drill bit motor is fixedly connected to the upper end of the second force-enhancing system. The internal drill bit drive shaft is slidably limited and connected inside the rotor of the internal drill bit motor. The rotor of the internal drill bit motor can drive the internal drill bit drive shaft to rotate and the internal drill bit drive shaft can move axially relative to the internal drill bit motor. The upper end face of the internal drill bit drive shaft is fixedly connected to the torque-isolation and pressure-transmitting lower shaft. The internal drill bit drive shaft passes through the central through hole of the internal drill bit motor, the second force-enhancing system and the external drill bit drive shaft in sequence and is then limited and inserted into the slot cavity of the internal drill bit. The internal drill bit drive shaft can move axially relative to the internal drill bit but cannot rotate relative to the internal drill bit. The internal drill bit buffer spring is installed in the slot cavity of the internal drill bit. The spring axis of the internal drill bit buffer spring is arranged in the vertical direction, and its upper end face abuts against the lower end face of the internal drill bit drive shaft.

[0014] Preferably, the upper part of the internal drill bit is provided with a lower limit position for the internal drill bit drive shaft, and multiple connecting holes are provided at intervals on it. Fastening bolts pass through the connecting holes and engage with threaded holes on the internal drill bit to achieve axial positioning of the lower limit position for the internal drill bit drive shaft. The soil-breaking part at the tip of the internal drill bit is a tapered structure with a gradually narrowing diameter. Several axial cutting teeth are arranged at intervals along the circumferential direction on the outer circumferential surface of the tapered structure. Each axial cutting tooth extends along the generatrix of the tapered structure, and a soil discharge channel is formed between two adjacent axial cutting teeth. When the internal drill bit rotates and drills, the axial cutting teeth scrape, break, and disturb the soil. After the linear velocity at its outer edge reaches the speed required for soil discharge, it drives the disturbed soil to be discharged backward along the soil discharge channel. The tapered structure is provided with a planing surface, which is an inwardly concave surface formed after the fan-shaped cutting area is cut along a predetermined stretching direction from the tapered structure. It is concave inward relative to the outer circumference of the tapered structure, with the fan-shaped center... With the pole as the pole and the center line of the sector as the polar axis, the sector-shaped excision region satisfies: ; in, Any point within the sector-shaped excision area to the center of the sector. distance, The radius of the sector is The angle between this point and the center line of the sector. It is the central angle of the sector.

[0015] Preferably, the torsion-isolation pressure transmission assembly includes an upper torsion-isolation pressure transmission connector, a lower torsion-isolation pressure transmission connector, a pressure regulating screw, an inner tube straightening ring, several U-rings, a sealing ring gasket, an upper torsion-isolation pressure transmission shaft, a lower torsion-isolation pressure transmission shaft, an upper torsion-isolation pressure transmission bearing seat, a lower torsion-isolation pressure transmission bearing seat, an upper connector for the drilling pressure regulating pressure sensor, a lower connector for the drilling pressure regulating pressure sensor, a drilling pressure regulating pressure sensor cable copper sliding support, a drilling pressure sensor cable copper sliding component, an upper pressure block for the drilling pressure sensor cable copper sliding support, a lower pressure block for the drilling pressure sensor cable copper sliding support, several torsion-isolation pressure transmission bearings, and an embedded copper sliding component. The upper and lower connectors of the torque-isolating pressure transmission system are coaxially fixed. The pressure-regulating screw is fixed to the lower end of the torque-isolating screw. An embedded copper sliding member is fixed to the inner wall of the lower connector. The inner tube straightening ring is fixed to the inner wall of the pressure-regulating screw. The upper end of the torque-isolating pressure transmission upper shaft is fixed to the lower end of the pressure-regulating screw. Several torque-isolating pressure transmission bearings are fixed between the upper shaft and the upper bearing seat. The copper sliding support for the drill pressure sensor cable is embedded in the protrusion of the upper bearing seat. Two copper sliding members for the drill pressure sensor cable are fixed to the limiting groove of the copper sliding support. The two wires of the drill pressure regulating pressure sensor are respectively connected to the two copper sliding members of the drill pressure sensor cable. The upper and lower ends of the copper sliding support for the drill pressure sensor cable are respectively connected to the copper sliding support for the drill pressure sensor cable. The upper pressure block and the lower pressure block are fixedly connected to the copper sliding support of the drill pressure sensor cable. The upper bearing seat of the torsion-isolated pressure transmission, the upper connector of the drill pressure regulating pressure sensor, the drill pressure regulating pressure sensor, the lower connector of the drill pressure regulating pressure sensor, and the lower bearing seat of the torsion-isolated pressure transmission are fixedly connected in sequence. The lower shaft of the torsion-isolated pressure transmission extends axially through the lower bearing seat of the torsion-isolated pressure transmission, the lower connector of the drill pressure regulating pressure sensor, the drill pressure regulating pressure sensor, the upper connector of the drill pressure regulating pressure sensor, the upper bearing seat of the torsion-isolated pressure transmission, and the upper shaft of the torsion-isolated pressure transmission, and is rotatably connected to the inner tube straightening ring. A torsion-isolated pressure transmission bearing is fixedly connected between the lower shaft of the torsion-isolated pressure transmission and the lower bearing seat of the torsion-isolated pressure transmission. Two U-shaped rings are symmetrically arranged on both sides of the sealing ring gasket and placed in the strip-shaped receiving cavity surrounded by the inner tube straightening ring, the lower shaft of the torsion-isolated pressure transmission, and the upper shaft of the torsion-isolated pressure transmission.

[0016] The beneficial effects of this invention are: Compared with the prior art, the present invention achieves preliminary planing, secondary cutting in the circumferential area and soil removal by coordinating the inner and outer drill bits to rotate in opposite directions during the penetration stage. The reverse torque generated by the two bits is used to offset or partially offset the drilling reverse torque, thereby reducing the rotation, deflection and sway of the anchoring device during the penetration process, thus improving the penetration stability and soil entry efficiency.

[0017] Based on stable penetration, this invention can actively adjust and compensate for the feed according to the drilling pressure. When the drilling pressure is insufficient, it can supplement the axial feed force to maintain drilling continuity. When the drilling pressure reaches the set value, reaches the stroke limit, or the lower drilling component is blocked, it can stop the feed or reverse the direction, thereby avoiding ineffective pushing and improving the controllability and safety of the drilling process.

[0018] After drilling into the target soil layer, the present invention expands outward from the self-anchor unit, increasing the interaction area between the anchoring device and the surrounding soil, and interacting with the soil to allow more soil to participate in bearing, thereby improving the anchoring bearing capacity and pull-out resistance. At the same time, the bearing capacity enhancement system can be modularly added according to engineering needs, enhancing the adaptability of the device to different anchoring force requirements and different soil conditions.

[0019] Meanwhile, the present invention enables the upper connecting structure to deflect relative to the lower anchoring structure according to the direction of the cable force, reducing the influence of bending moment and eccentric load caused by ocean currents, waves and installation deviations on the lower anchoring structure, thereby improving the attitude adaptability and stress stability of the anchoring device under marine dynamic load environment.

[0020] When recycling is required, the present invention enables the self-anchoring unit to retract into the corresponding self-anchoring support, reducing its interaction with the surrounding soil. Combined with the external traction force and the recovery lift provided by the self-balancing propeller system, the anchoring resistance is reduced, realizing the overall recycling and reuse of the anchoring device.

[0021] Therefore, the present invention has the advantages of good penetration stability, strong drilling controllability, high anchoring bearing capacity, good attitude adaptability, low recovery resistance, and reusability. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a cross-sectional schematic diagram of a self-balancing propeller system; Figure 3 This is a cross-sectional schematic diagram of the reversing system; Figure 4 This is a cross-sectional schematic diagram of the load-bearing enhancement system; Figure 5 This is a schematic diagram showing the connection between the self-anchoring plunger and the self-anchoring fastener unit. Figure 6 This is a three-dimensional schematic diagram of a self-anchoring fastener unit; Figure 7 This is a partial three-dimensional schematic diagram of the guide groove being set on the self-anchoring fastener unit; Figure 8 This is a cross-sectional schematic diagram of the power system; Figure 9 This is a cross-sectional schematic diagram of the torsion-isolation and pressure-transmitting assembly; Figure 10 This is a partial cross-sectional schematic diagram of the torsion-isolation and pressure-transmitting assembly; Figure 11 yes Figure 10 A magnified view of a section at point F in the middle; Figure 12 This is a three-dimensional schematic diagram of the copper sliding support and copper sliding component of the drill pressure sensor cable connected to the torsion-isolation pressure transmission bearing seat. Figure 13 This is a three-dimensional schematic diagram of an embedded copper sliding component installed on a torsion-isolated pressure-transmitting connector; Figure 14 This is a cross-sectional schematic diagram of the internal drill bit assembly; Figure 15 This is a cross-sectional schematic diagram of the external drill bit assembly; Figure 16 This is a three-dimensional schematic diagram of an internal drill bit; Figure 17 This is the front view of the internal drill bit; Figure 18 This is the front view of the external drill bit; Figure 19 This is a schematic diagram of the area formed by the excavation surface on the conical structure of the internal drill bit.

[0023] In the diagram: A: Self-balancing propeller system; B: Direction changing system; C: Bearing enhancement system; D: Power system; E: Self-balancing dual drill bit system; C1: First holding power enhancement system; C2: Second holding power enhancement system; E1: External drill bit assembly; E2: Internal drill bit assembly; E3: Torque transmission assembly; A101: Forward propeller; A102: Reverse propeller; A103: Propulsion motor cover; A104: Propulsion motor one; A105: Propulsion motor two; A106: Propulsion drive shaft one; A107: Propulsion drive shaft two; A108: Cable; B101: Reversing positioning motor; B102: Reversing limit upper connector; B103: Reversing limit lower connector; B104: Reversing limit lead screw; B105: Reversing joint one; B106: Reversing joint two; C101: Self-anchoring support one; C102: Self-anchoring plunger one; C103: Self-anchoring fastener unit; C104: Self-anchoring support two; C105: Self-anchoring plunger two; C106: Self-anchoring motor; C107: Transmission screw; D101: Self-contained feed motor; D102: Self-contained feed upper connector; D103: Self-contained feed lower connector; D104: Self-contained feed transmission torsion shaft; E101: External drill bit motor; E102: External drill bit drive shaft; E103: External drill bit guide tube; E104: Bearing external fixation; E105: First tapered roller bearing; E106: Second tapered roller bearing; E107: External drill bit guide bearing limiting sleeve; E108: Sealing sleeve fixation; E109: Snap ring; E110: First skeleton oil seal; E111: Sealing spacer; E112: Second skeleton oil seal; E113: External drill bit; E201: Internal drill bit pressure regulating motor; E202: Pressure isolation torsion screw; E203: Internal drill bit motor; E204: Internal drill bit drive shaft; E205: Internal drill bit; E206: Internal drill bit buffer spring; E207: Lower limit of internal drill bit drive shaft; E301: Torque-isolated pressure transmission upper connector; E302: Torque-isolated pressure transmission lower connector; E303: Pressure regulating transmission screw; E304: Inner tube straightening ring; E305: U-ring; E306: Sealing ring spacer; E307: Torque-isolated pressure transmission upper shaft; E308: Torque-isolated pressure transmission lower shaft; E309: Torque-isolated pressure transmission upper bearing seat; E310: Torque-isolated pressure transmission lower bearing seat; E311: Drilling pressure regulating pressure sensor upper connector; E312: Drilling pressure regulating pressure sensor lower connector; E313: Drilling pressure regulating pressure sensor; E314: Drilling pressure sensor cable copper slide support; E315: Drilling pressure sensor cable copper slide; E316: Drilling pressure sensor cable copper slide support upper pressure block; E317: Drilling pressure sensor cable copper slide support lower pressure block; E318: Torque-isolated pressure transmission bearing; E319: Embedded copper slide. Detailed Implementation

[0024] Please see Figures 1 to 19 A self-balancing, variable attitude, and retrievable anchoring device includes a self-balancing propeller system A, a directional system B, a load-bearing enhancement system C, a power system D, and a self-balancing dual-drill bit system E. The holding force enhancement system C consists of a first holding force enhancement system C1 and a second holding force enhancement system C2; The self-balancing dual drill bit system E consists of an outer drill bit assembly E1, an inner drill bit assembly E2, and a torsion isolation and pressure transmission assembly E3. The self-balancing propeller system A, the directional system B, the first load-bearing enhancement system C1, and the power system D are sequentially fitted together along the axial direction; the lower part of the power system D is fitted together with the inner drill bit assembly E2, and the upper and lower parts of the torsion isolation and pressure transmission assembly E3 are fitted together with the inner drill bit assembly E2 respectively; the upper end of the second load-bearing enhancement system C2 is fitted together with the inner drill bit assembly E2, and the inner drill bit assembly E2 is fitted together with the outer drill bit assembly E1 along the axial direction and placed at the lower end of the second load-bearing enhancement system C2; Self-balancing propeller system A is used to provide propulsion power and recovery lift for the anchoring device; The directional system B is used to enable the self-balancing propeller system A to adapt to attitude changes caused by ocean currents, waves and installation deviations, and to prevent bending moments and off-center loads from being directly transmitted to the lower part, thereby improving the attitude adaptability, stress stability and anchoring reliability of the anchoring device under marine dynamic load environment. The load-bearing reinforcement system C is used to interact with the target soil layer and provide the main anchoring force; The power system D is used to assist in providing axial thrust to the second force-enhancing system C2 and to control its forward speed, displacement and force state; The self-balancing dual-bit system E is used for ground-breaking drilling, allowing the anchoring device to stably and efficiently enter the seabed and reach the target bearing layer.

[0025] Specifically, the self-balancing propeller system A includes a forward propeller A101, a reverse propeller A102, a propulsion motor cover A103, a first propulsion motor A104, a second propulsion motor A105, a first propulsion drive shaft A106, a second propulsion drive shaft A107, and a cable A108. The propulsion motor cover A103 is fixedly connected to the upper stepped surface of propulsion motor A104; the upper end of propulsion motor A105 is fixedly connected to the lower stepped surface of propulsion motor A104; propulsion drive shaft A106 is fixedly connected to the rotor of propulsion motor A104 and extends upward to be fixedly connected to the forward propeller A101; propulsion drive shaft A107 is fixedly connected to the rotor of propulsion motor A105 and extends upward through propulsion drive shaft A106 and forward propeller A101 before being fixedly connected to the reverse propeller A102; propulsion motor A104 drives propulsion drive shaft A106 to rotate, thereby rotating the forward propeller A101; propulsion motor A105 drives propulsion drive shaft A107 to rotate, thereby rotating the reverse propeller A102; the lower end of cable A108 is fixedly connected to the base at the lower end of propulsion motor A105, and the upper end of cable A108 passes through propulsion drive shaft A107 and extends to the outside; The reversing system B includes a reversing positioning motor B101, a reversing limit upper connector B102, a reversing limit lower connector B103, a reversing limit lead screw B104, a reversing joint one B105, and a reversing joint two B106. The upper end of the reversing positioning motor B101 is fixedly connected to the receiving cavity at the lower end of the propulsion motor A105, and the lower end of the reversing positioning motor B101 is fixedly connected to the upper receiving cavity of the reversing limiting upper connector B102; the reversing limiting lower connector B103 is fixedly connected to the reversing joint B105, and the two are axially slidably connected together in the inner wall of the reversing limiting upper connector B102; the two can only slide axially relative to the reversing limiting upper connector B102, and cannot slide relative to the reversing limiting upper connector. When B102 rotates, the reversing limit screw B104 is fixedly connected to the rotor of the reversing positioning motor B101 and threadedly connected to the reversing limit lower connector B103 and the reversing joint one B105; the ball head at the lower end of the reversing joint one B105 is ball-jointed to the reversing joint two B106; the upper end of the reversing joint two B106 is provided with a plug-in part, and the lower end of the reversing limit upper connector B102 is slidably connected to the plug-in part at the upper end of the reversing joint two B106; before drilling downwards, the reversing joint two B102... The upper connector of 106 is embedded inside the upper directional limit connector B102, and the lower end of the directional limit screw B104 is located in the groove of the directional joint B105. After the overall drilling is completed, the directional positioning motor B101 drives the directional limit screw B104 to rotate, while the directional joint B105 and the lower directional limit connector B103 remain stationary. The upper directional limit connector B102, the directional positioning motor B101, and the directional limit screw B104 are relative to the directional joint. When B105 moves upward with the lower directional limit joint B103, the upper directional limit joint B102 separates from the upper insertion part of the second directional joint B106. The first directional joint B105 and the second directional joint B106 can move relative to each other, and change direction under the action of external traction force. This adapts to the attitude changes caused by ocean currents, waves and installation deviations, thereby improving the attitude adaptability, stress stability and anchoring reliability of the anchoring device in the dynamic load environment of the ocean. The first bearing capacity enhancement system C1 includes a self-anchoring support C101, a self-anchoring plunger C102, several self-anchoring fastener units C103, a second self-anchoring support C104, a second self-anchoring plunger C105, a self-anchoring motor C106, and a transmission screw C107. Self-anchoring support one C101 and self-anchoring support two C104 are hollow cylindrical structures, each with several (six in this invention) axially extending strip-shaped openings on its sidewalls. A self-anchoring motor C106 is axially fixed between self-anchoring support one C101 and self-anchoring support two C104. A transmission screw C107 is fixed to the rotor of the self-anchoring motor C106. Self-anchoring plunger one C102 and self-anchoring plunger two C105 are threadedly connected to the transmission screw C107. The upper edges of self-anchoring plunger one C102 and self-anchoring plunger two C105... Each of them has several spherical guide limiting parts (six in this invention) in the radial direction; the spherical guide limiting parts are respectively limited and slidably engaged with the guide grooves on several self-anchoring fastener units C103; each self-anchoring fastener unit C103 is set in the strip opening, and its lower end is hinged to the lower end of self-anchoring support one C101 or self-anchoring support two C104; the self-anchoring fastener unit C103 is a slender strip member with an overall outer contour that is approximately leaf-shaped; the self-anchoring fastener unit C103 includes a main body extending along the length direction and fin-shaped wings symmetrically arranged on both sides of the main body; Specifically, the guide groove is set on the main body and extends along its length. The guide groove has a keyhole-shaped structure that is narrower at the top and wider at the bottom. The guide groove on the main body is closed on the side that is hinged to the self-anchoring support C101 or the self-anchoring support C104 to prevent the spherical guide limiting part from detaching from the guide groove. The fin-shaped wing surface includes a first wing surface and a second wing surface symmetrically arranged on both sides of the main body. The main body parts of the first wing surface and the second wing surface are inclined surfaces arranged at 45° relative to the horizontal direction. The first wing surface and the second wing surface gradually narrow towards the free end and fit into the main body. The self-anchoring motor C106 drives the transmission screw C107 to rotate. When the self-anchoring plunger C102 and the self-anchoring plunger C105 move axially, the spherical guide limit part pushes or pulls several self-anchoring fastener units C103 to unfold or retract relative to the self-anchoring support C101 and the self-anchoring support C104. The second bearing capacity enhancement system C2 has the same structure as the first bearing capacity enhancement system C1; The power system includes a self-propelled motor D101, a self-propelled upper connector D102, a self-propelled lower connector D103, and a self-propelled transmission torsion shaft D104; The upper end of the self-feeding motor D101 is fixedly connected to the lower end of the first force-enhancing system C1. The lower end of the self-feeding motor D101 is fixedly connected to the upper end of the self-feeding upper connector D102. The self-feeding transmission torsion shaft D104 is fixedly connected inside the rotor of the self-feeding motor D101. The self-feeding lower connector D103 is threadedly connected to the self-feeding transmission torsion shaft D104. The self-feeding lower connector D103 is axially limited and slidably connected to the annular cavity of the self-feeding upper connector D102. The self-feeding lower connector D103 can only move axially relative to the self-feeding upper connector D102 and cannot rotate (the relevant mechanism that limits the movement of the two only along the axis and prevents rotation is existing technology and will not be elaborated on here. It can be achieved by setting an axially extending sliding key on the self-feeding lower connector D103 and setting an axially extending sliding groove on the self-feeding upper connector D102, or by other means). This achieves radial positioning. The external drill bit assembly E1 includes an external drill bit motor E101, an external drill bit drive shaft E102, an external drill bit guide tube E103, an external bearing fixing E104, a first tapered roller bearing E105, a second tapered roller bearing E106, an external drill bit guide bearing limiting sleeve E107, a sealing sleeve fixing E108, a snap ring E109, a skeleton oil seal one E110, a sealing spacer E111, a skeleton oil seal two E112, and an external drill bit E113; The upper end of the external drill motor E101 is fixedly connected to the lower end of the second force-enhancing system C2. The external drill drive shaft E102 is fixedly connected inside the rotor of the external drill motor E101. The external drill guide tube E103 is fixedly connected to the lower part of the external drill motor E101. The external drill guide tube E103 restricts the radial displacement of the external drill drive shaft E102, ensuring its stable axial movement along the device and guaranteeing its coaxiality with the upper external drill motor E101 and the lower external drill E113. The first tapered roller bearing E105 and the second tapered roller bearing E106 are fixed between the external drill guide tube E103 and the external drill drive shaft E102. The external drill guide bearing limiting sleeve E... The upper and lower end faces of bearing 107 contact the lower end face of the inner ring of the first tapered roller bearing E105 and the upper end face of the inner ring of the second tapered roller bearing E106, respectively. A retaining ring E109 is embedded in the annular groove of the outer drill bit drive shaft E102 and abuts against the upper end face of the inner ring of the first tapered roller bearing E105. The bearing outer fixing E104 is pressed against the upper end face of the outer ring of the first tapered roller bearing E105 and is fixedly connected to the outer drill bit guide tube E103. A first skeleton oil seal E110, a sealing spacer E111, and a second skeleton oil seal E112 are sequentially fixed within the annular gap formed by the outer drill bit guide tube E103 and the outer drill bit drive shaft E102, used to seal the outer drill bit guide. The gap between tube E103 and the external drill bit drive shaft E102 prevents external impurities, mud, dust, or liquids from entering the anchoring device, and also prevents leakage of internal lubricating medium. The sealing sleeve E108 is fixed to the lower end face of the external drill bit guide tube E103 and presses against the skeleton oil seal E112. The external drill bit E113 is a hollow cylindrical structure, with an internal cavity for accommodating the internal drill bit assembly E2. Multiple cutting teeth are arranged on the outer circumference of the external drill bit E113, spirally distributed along the axial and circumferential directions of the external drill bit body. The spiral cutting teeth of the external drill bit E113 are arranged intermittently, rather than as continuous spiral blades. The plate structure, in this arrangement, allows multiple cutting teeth to form a continuous soil guiding and discharging trend along the helical direction. Furthermore, it creates soil-accommodating, guiding, and discharging gaps between adjacent cutting teeth, facilitating the reception of soil loosened by the irregularly shaped planed surface of the inner drill bit. Simultaneously, it reduces the continuous contact area between the outer drill bit E113 and the soil, minimizing the coating and adhesion of cohesive deposits on the surface of the outer drill bit E113, preventing clogging or drill bit jamming on the continuous helical surface of the outer drill bit E113, and improving cutting efficiency, soil discharging efficiency, and drilling stability during deep-sea drilling. The angle α between the cutting teeth and the horizontal plane is between 15° and 45°.After drilling begins, the outer drill bit E113 and the inner drill bit E205 rotate synchronously in opposite directions and advance along the drilling direction. Because the inner drill bit E205 is equipped with a pointed soil-breaking section, it can more easily penetrate the high-water-content, low-strength seabed soft soil during deep-sea drilling, playing a role in initial soil breaking and guiding the drilling. This facilitates the smooth entry of the inner drill bit E205 into the soil. The irregularly shaped planed surface on the outer surface of the inner drill bit E205 rotates synchronously with it, producing a planing, loosening, and guiding effect on the soil in the central area. Simultaneously, it reduces rotational resistance, causing the soil in the central area at the front end of the inner drill bit E205 to be loosened and moved from the central area towards the front end and outer perimeter of the outer drill bit E113. The soil loosened by the inner drill bit E205 enters the peripheral area of ​​the front end of the outer drill bit E113 and the inter-tooth discharge groove formed between adjacent helical cutting teeth. Because the outer drill bit E113 rotates in opposite directions to the inner drill bit E205, there is significant relative movement between the loosened soil and the helical cutting teeth on the outer drill bit E113. This causes the soil to undergo stronger shearing, crushing, and disturbance after entering the working area of ​​the outer drill bit E113, preventing it from stagnating at the front end of the outer drill bit E113 due to the synchronous rotation of the drill bit as a whole. The helical cutting teeth on the outer drill bit E113 continue to perform secondary cutting on the soil, and with the guiding and pushing effect generated by their helical arrangement, the soil is transported and discharged along the inter-tooth discharge groove to the rear of the outer drill bit E113.

[0026] The internal drill bit assembly E2 includes an internal drill bit pressure regulating motor E201, a pressure-isolation torsion transmission screw E202, an internal drill bit motor E203, an internal drill bit drive shaft E204, an internal drill bit E205, an internal drill bit buffer spring E206, and an internal drill bit drive shaft lower limit E207. The lower end of the internal drill bit pressure regulating motor E201 is fixedly connected to the upper end of the torque-isolating and pressure-transmitting upper connector E301. The torque-isolating and pressure-transmitting screw E202 is threadedly connected inside the rotor of the internal drill bit pressure regulating motor E201. The internal drill bit pressure regulating motor E201 can drive the torque-isolating and pressure-transmitting screw E202 to move axially and act on the torque-isolating and pressure-transmitting assembly E3, thereby providing drilling pressure for the internal drill bit E205. The upper end of the internal drill bit motor E203 is fixedly connected to the lower end of the torque-isolating and pressure-transmitting lower connector E302. The lower end of the internal drill bit motor E203 is fixedly connected to the upper end of the second force-enhancing system C2. The internal drill bit drive shaft E204 is slidably limited and connected inside the rotor of the internal drill bit motor E203. The rotor of the internal drill bit motor E203 can drive the internal drill bit drive shaft E204 to rotate, and the internal drill bit drive shaft E204 can move axially relative to the internal drill bit motor E203. The end face is fixedly connected to the lower shaft E308 for torque transmission and pressure isolation. The inner drill bit drive shaft E204 passes through the central through hole of the inner drill bit motor E203, the second force enhancement system C2, and the outer drill bit drive shaft E102 in sequence and is then limited and inserted into the slot cavity of the inner drill bit E205. The inner drill bit buffer spring E206 is installed in the slot cavity of the inner drill bit E205. The spring axis of the inner drill bit buffer spring E206 is arranged in the vertical direction, and its upper end face abuts against the lower end face of the inner drill bit drive shaft E204. The inner drill bit drive shaft E204 is fixedly connected to the lower shaft E308 for torque transmission and pressure isolation. The inner drill bit drive shaft E204 and the inner drill bit E205 form a circumferentially limited and axially movable torque transmission and cooperation relationship, so that the inner drill bit drive shaft E204 can both drive the inner drill bit E205 to rotate and generate axial displacement relative to the inner drill bit E205. During drilling, when the rotational speeds of the outer drill bit E113 and the inner drill bit E205 become mismatched, the inner drill bit pressure regulating motor E201 drives the pressure-isolating torsion transmission screw E202 to move axially, and through the pressure-isolating torsion transmission assembly E3, drives the pressure-isolating lower shaft E308 to move axially, thereby causing the inner drill bit drive shaft E204 to generate axial displacement, thus changing the elastic deformation of the inner drill bit buffer spring E206, and realizing adaptive adjustment of the drilling pressure of the inner drill bit E205.The upper part of the internal drill bit E205 is equipped with a lower limit position E207 for the internal drill bit drive shaft, which has multiple connecting holes spaced apart. Fastening bolts pass through these connecting holes and engage with threaded holes on the internal drill bit E205, thereby achieving axial positioning of the lower limit position E207 for the internal drill bit drive shaft E204. The soil-breaking section at the tip of the internal drill bit E205 is a tapered structure with a gradually narrowing diameter. Several axial cutting teeth are spaced circumferentially on the outer circumferential surface of the tapered structure. Each axial cutting tooth... The conical structure extends along the generatrix direction, and a soil discharge channel is formed between two adjacent axial cutting teeth. When the inner drill bit rotates and drills, the axial cutting teeth scrape, break, and disturb the soil. After the linear velocity of its outer edge reaches the speed required for soil discharge, it drives the disturbed soil to be discharged backward along the soil discharge channel. The conical structure is provided with a soil-cutting surface. The soil-cutting surface is an inward concave surface formed after the fan-shaped cutting area cuts the conical structure along the predetermined stretching direction. It is concave inward relative to the outer periphery of the conical structure, with the fan-shaped center. With the pole as the pole and the center line of the sector as the polar axis, the sector-shaped excision region satisfies: ; in, Any point within the sector-shaped excision area to the center of the sector. distance, The radius of the sector is The angle between this point and the center line of the sector. It is the central angle of the sector.

[0027] The torsion-isolation pressure transmission assembly E3 includes an upper torsion-isolation pressure transmission connector E301, a lower torsion-isolation pressure transmission connector E302, a pressure regulating and transmission screw E303, an inner tube straightening ring E304, several U-shaped rings E305, a sealing ring gasket E306, an upper torsion-isolation pressure transmission shaft E307, a lower torsion-isolation pressure transmission shaft E308, an upper torsion-isolation pressure transmission bearing seat E309, a lower torsion-isolation pressure transmission bearing seat E310, an upper connector for the drilling pressure regulating pressure sensor E311, a lower connector for the drilling pressure regulating pressure sensor E312, a drilling pressure regulating pressure sensor E313, a copper sliding support for the drilling pressure sensor cable E314, a copper sliding component for the drilling pressure sensor cable E315, an upper pressure block for the copper sliding support for the drilling pressure sensor cable E316, a lower pressure block for the copper sliding support for the drilling pressure sensor cable E317, several torsion-isolation pressure transmission bearings E318, and an embedded copper sliding component E319. The upper torsion-isolating pressure transmission connector E301 and the lower torsion-isolating pressure transmission connector E302 are coaxially fixedly connected. The pressure-adjusting transmission screw E303 is fixedly connected to the lower end of the pressure-isolating torsion transmission screw E202. The embedded copper sliding member E319 is fixedly connected to the inner wall of the lower torsion-isolating pressure transmission connector E302. The inner tube straightening ring E304 is fixed to the inner wall of the pressure-adjusting transmission screw E303. The upper end of the upper torsion-isolating pressure transmission shaft E307 is fixedly connected to the lower end of the pressure-adjusting transmission screw E303. Several torsion-isolating pressure transmission bearings E318 are fixedly connected between the upper torsion-isolating pressure transmission shaft E307 and the upper torsion-isolating pressure transmission bearing seat E309. The drill pressure sensor cable copper sliding support E... The 314 is embedded in the protruding part of the upper bearing seat E309 of the torque-isolation pressure transmission assembly. Two copper sliding parts E315 for drilling pressure sensor cables are fixedly connected to the limiting groove of the copper sliding support E314. The two wires of the drilling pressure regulating pressure sensor E313 are respectively connected to the two copper sliding parts E315. When the torque-isolation pressure transmission assembly E3 moves axially, the copper sliding parts E315 and the embedded copper sliding parts E319 maintain relative sliding contact, thereby achieving continuous supply of pressure to the drilling pressure regulating pressure sensor E313 without affecting the axial movement. Electrical and signal transmission; the upper and lower ends of the copper sliding support E314 for the drill pressure sensor cable are respectively fixed to the upper pressure block E316 and the lower pressure block E317 of the copper sliding support for the drill pressure sensor cable; the upper bearing seat E309 for torque transmission, the upper connector E311 for the drill pressure regulating pressure sensor, the lower connector E312 for the drill pressure regulating pressure sensor, and the lower bearing seat E310 for torque transmission are sequentially fixed; the lower shaft E308 for torque transmission extends axially through the lower bearing seat E310 for torque transmission and the drill pressure regulating pressure sensor. The lower connector E312, the drilling pressure regulating pressure sensor E313, the upper connector of the drilling pressure regulating pressure sensor E311, the upper bearing seat of the torque-isolating pressure transmission E309, and the upper shaft of the torque-isolating pressure transmission E307 are rotatably connected to the inner tube centralizing ring E304. The lower shaft of the torque-isolating pressure transmission E308 and the lower bearing seat of the torque-isolating pressure transmission E310 are fixedly connected to the torque-isolating pressure transmission bearing E318. Two U-shaped rings E305 are symmetrically arranged on both sides of the sealing ring spacer E306 and placed in the strip-shaped receiving cavity formed by the inner tube centralizing ring E304, the lower shaft of the torque-isolating pressure transmission E308, and the upper shaft of the torque-isolating pressure transmission E307.

[0028] Working principle and process of this invention: This invention achieves stable anchoring and retrievable operation in deep-sea soil layers through the following methods: "self-weight sinking and forward propeller A101 assisting in positioning; self-balancing dual drill bit system E rotating in the opposite direction to achieve self-balancing low-disturbance penetration; drilling pressure adjustment and self-feeding compensation to achieve stable drilling; bearing capacity enhancement system C deploying to achieve reliable anchoring; direction change system B unlocking to achieve dynamic load adaptation; and self-anchoring unit C103 retracting and cooperating with external traction to achieve recovery."

[0029] Specific process: After being released from the floating platform, the self-balancing, variable attitude, and self-recovery anchoring device is in the sinking and positioning phase in the water before it comes into contact with the deep-sea soil. During this stage, the anchoring device mainly relies on its own weight to sink downwards in the seawater, and is provided with auxiliary propulsion by the self-balancing propeller system A. Specifically, propulsion motor A104 drives propulsion drive shaft A106 to rotate, which in turn drives forward propeller A101 to rotate, generating propulsion force in the direction of deep-sea soil. This assists the anchoring device in moving towards the predetermined anchoring area and approaching the deep-sea soil. When recovery or sinking speed control is required, propulsion motor A105 drives propulsion drive shaft A107 to rotate, which in turn drives reverse propeller A102 to rotate, generating recovery lift force opposite to the sinking direction. This, in conjunction with external traction force, enables the device to be recovered, or the sinking speed of the anchoring device can be assisted in controlling according to the actual working conditions. Through the combined action of the anchoring device's own weight, the propulsion force of forward propeller A101, and the recovery lift force of reverse propeller A102, the anchoring device can sink in the seawater, approach the deep-sea soil, and find a suitable point of action for drilling and anchoring. When the inner drill bit E205 contacts the deep-sea soil layer, the anchoring device enters the drilling penetration stage. At this time, the self-balancing propeller system A stops working to avoid the thrust of the forward propeller A101 interfering with the drilling process. Subsequently, the outer drill bit motor E101 starts and drives the outer drill bit drive shaft E102 to rotate, which in turn drives the outer drill bit E113 to rotate. Simultaneously, the inner drill bit motor E203 starts and drives the inner drill bit drive shaft E204 to rotate, which in turn drives the inner drill bit E205 to rotate. 4. Drive the inner drill bit E205 to rotate, so that the inner drill bit E205 can cut and break the soil in the deep sea. During the drilling process, the outer drill bit E113 and the inner drill bit E205 work together by rotating in opposite directions. Through the opposite rotation of the outer drill bit E113 and the inner drill bit E205, the opposite torque generated by the two during the drilling process can cancel each other or partially cancel each other, thereby reducing the self-rotation, deflection and swing of the anchoring device during the penetration process, and improving the penetration stability and soil entry efficiency of the anchoring device. The drilling pressure required for drilling comes from the weight of the anchoring device itself, and is actively compensated by the internal drill bit pressure regulating motor E201. Specifically, when it is necessary to increase or adjust the drilling pressure acting on the internal drill bit E205, the internal drill bit pressure regulating motor E201 drives the pressure isolation torsion transmission screw E202 to move axially. Since the pressure isolation torsion transmission screw E202 is fixedly connected to the pressure regulating transmission screw E303, the axial movement of the pressure isolation torsion transmission screw E202 can be transmitted to the pressure regulating transmission screw E303, and further transmitted to the upper shaft of the pressure isolation torsion transmission E307, the upper connector of the drilling pressure regulating pressure sensor E311, the drilling pressure regulating pressure sensor E313, the lower connector of the drilling pressure regulating pressure sensor E312, and the lower shaft of the pressure isolation torsion transmission E308, thereby finally transmitting the pressure adjustment to the internal drill bit E205, realizing the adjustment and compensation of the drilling pressure of the internal drill bit E205. To ensure the controllability of the drill pressure regulation process, a drill pressure regulation sensor E313 is installed along the drill pressure transmission path. During drilling, the drill pressure regulation sensor E313 monitors the drill pressure transmitted to the inner drill bit E205 in real time to obtain the stress state of the inner drill bit E205 during drilling. The two wires of the drill pressure regulation sensor E313 are connected to two drill pressure sensor cable copper slides E315 respectively. The drill pressure sensor cable copper slides E315 and the embedded copper slides E319 are kept in close contact. By maintaining relative sliding contact, even when the pressure-isolating torsion screw E202, pressure-regulating torsion screw E303, pressure-isolating upper shaft E307, drilling pressure regulating pressure sensor upper connector E311, drilling pressure regulating pressure sensor E313, drilling pressure regulating pressure sensor lower connector E312, and pressure-isolating lower shaft E308 undergo axial movement, the drilling pressure regulating pressure sensor E313 can still maintain continuous power supply and signal transmission, thus avoiding the axial movement from affecting the cable connection of the drilling pressure regulating pressure sensor E313. During drilling, when the rotational speeds of the outer drill bit E113 and the inner drill bit E205 become mismatched, the inner drill bit pressure regulating motor E201 drives the pressure-isolating torsion transmission screw E202 to move axially, and through the pressure-isolating torsion transmission assembly E3, drives the pressure-isolating lower shaft E308 to move axially, thereby causing the inner drill bit drive shaft E204 to generate axial displacement, thus changing the elastic deformation of the inner drill bit buffer spring E206, and realizing adaptive adjustment of the drilling pressure of the inner drill bit E205. When the rotational speed of the outer drill bit E113 is higher than that of the inner drill bit E205, the inner drill bit drive shaft E204 applies a larger axial force to the inner drill bit E205, increasing the compression of the inner drill bit buffer spring E206. This, in turn, provides greater axial elastic drilling pressure to the inner drill bit E205, enhancing its soil-breaking ability and increasing its rotational speed. When the rotational speed of the outer drill bit E113 is lower than that of the inner drill bit E205, the axial load on the inner drill bit E205 by the inner drill bit drive shaft E204 decreases, and the compression of the inner drill bit buffer spring E206 decreases accordingly. This reduces the axial elastic pressure acting on the inner drill bit E205, thereby reducing the drilling pressure and lowering its rotational speed. Through the aforementioned axial pressure adjustment and elastic compensation, the rotational speeds of the outer drill bit E113 and the inner drill bit E205 can be matched, and the reverse torques generated by the two during drilling can be mutually canceled or partially canceled, thereby improving the stability and penetration efficiency of the drilling process.

[0030] During drilling, when the drill pressure regulating sensor E313 detects that the drill pressure acting on the inner drill bit E205 is lower than the set lower limit, and the self-feeding lower connector D103 has not reached its maximum extension stroke, the self-feeding motor D101 starts and drives the self-feeding transmission torsion shaft D104 to move downward, thereby providing compensating thrust to the lower drilling components to help maintain drilling pressure and drilling stability. During the self-feeding compensation process, the self-weight of the anchoring device, the side friction resistance between the already inserted part and the surrounding soil, and the contact constraint between the drill bit and the soil serve as reaction force support; when the drill pressure regulating sensor E313 detects that the drill pressure has reached the set upper limit, indicating that the lower drilling components are obstructed or the self-feeding transmission torsion shaft D104 can no longer continue to advance downward, the self-feeding motor D101 stops outputting or rotates in the reverse direction, causing the self-feeding lower connector D103 to stop extending or retract, preventing the self-feeding lower connector D103 from continuing to push and causing the upper structure to move upward in the opposite direction.

[0031] After drilling is completed, the first bearing capacity enhancement system C1 and the second bearing capacity enhancement system C2 begin to work to enhance the bearing capacity performance of the anchoring device in deep-sea soil. Taking the first bearing capacity enhancement system C1 as an example, the self-anchoring motor C106 starts and drives the transmission screw C107 to rotate. Self-anchoring plunger one C102 and self-anchoring plunger two C105 are both threadedly connected to the transmission screw C107. Due to the self-anchoring support one C101 and self-anchoring support two C102... 04 respectively acts as a circumferential limiter for self-anchoring plunger one C102 and self-anchoring plunger two C105, preventing them from rotating with the transmission screw C107, but only allowing them to move axially along the transmission screw C107 under the action of threaded transmission. During the axial movement of self-anchoring plunger one C102 and self-anchoring plunger two C105, the self-anchoring plunger one C102 and self-anchoring plunger two C105 are respectively positioned to limit their movement. The spherical guide limiting part on the second plug C105 moves along the guide groove on the self-anchoring unit C103. The guide groove is used to guide and limit the movement direction of the spherical guide limiting part, so that the axial displacement of the first self-anchoring plunger C102 and the second self-anchoring plunger C105 can be stably transmitted to the several self-anchoring units C103. When the transmission screw C107 rotates in the first direction, the first self-anchoring plunger C102 and the second self-anchoring plunger C105 move axially in the set direction, and push the several self-anchoring units C103 to unfold outward relative to the first self-anchoring support C101 and the second self-anchoring support C104 through the spherical guide limiting part. After unfolding, the self-anchoring unit C103 inserts into or presses against the surrounding soil layer, forming mechanical interlocking, lateral compression or friction with the soil layer, thereby increasing the contact and constraint between the bearing capacity enhancement system C and the soil layer, and improving the bearing capacity and pull-out resistance of the anchoring device. When the anchoring device needs to be retrieved, the self-anchoring motor C106 can drive the transmission screw C107 to rotate in the opposite direction, causing the self-anchoring plunger one C102 and the self-anchoring plunger two C105 to move axially in the opposite direction. At this time, the spherical guide limiting part pulls several self-anchoring fastener units C103 to retract relative to the self-anchoring support one C101 and the self-anchoring support two C104, so that the self-anchoring fastener units C103 gradually detach from the soil layer or reduce the supporting effect on the soil layer, thereby reducing the retrieval resistance and facilitating the retrieval of the anchoring device from the soil layer. The working process of the second bearing capacity enhancement system C2 is the same as or corresponds to the first bearing capacity enhancement system C1, and will not be described in detail here. After the first bearing enhancement system C1 and the second bearing enhancement system C2 are deployed and in place, the reversing positioning motor B101 drives the reversing limit screw B104 to rotate. Since the reversing joint one B105 and the reversing limit lower joint B103 remain relatively fixed under the support of the anchoring end, the reversing limit upper joint B102, the reversing positioning motor B101, and the reversing limit screw B104 move upward relative to the reversing joint one B105 and the reversing limit lower joint B103 under the action of threaded transmission. This causes the reversing limit upper joint B102 to separate from the upper insertion part of the reversing joint two B106. After separation, the limit between the reversing joint one B105 and the reversing joint two B106 is released, and the two can rotate or deflect relative to each other under the action of external traction force. This allows the anchoring device to adapt to the attitude changes caused by ocean currents, waves, and installation deviations, thereby improving its attitude adaptability, stress stability, and anchoring reliability under marine dynamic load environment.

Claims

1. A self-balancing, variable-attitude, retrievable anchoring device, characterized in that: It includes a self-balancing propeller system (A), a directional system (B), a load-bearing enhancement system (C), a power system (D), and a self-balancing dual-drill bit system (E). The holding force enhancement system (C) consists of a first holding force enhancement system (C1) and a second holding force enhancement system (C2); The self-balancing dual-bit system (E) consists of an outer bit assembly (E1), an inner bit assembly (E2), and a torsion isolation and pressure transmission assembly (E3); The self-balancing propeller system (A), the directional system (B), the first load-bearing enhancement system (C1), and the power system (D) are sequentially fitted together along the axial direction; the lower part of the power system (D) is fitted together with the inner drill bit assembly (E2), and the upper and lower parts of the torque-isolating pressure transmission assembly (E3) are fitted together with the inner drill bit assembly (E2); the upper end of the second load-bearing enhancement system (C2) is fitted together with the inner drill bit assembly (E2), and the inner drill bit assembly (E2) is fitted together with the outer drill bit assembly (E1) along the axial direction and placed at the lower end of the second load-bearing enhancement system (C2); The self-balancing propeller system (A) is used to provide auxiliary propulsion force toward the target soil layer during the sinking and positioning of the anchoring device in the water, and to provide recovery lift opposite to the sinking direction when the anchoring device is retrieved or the sinking speed is adjusted. The reversing system (B) is used to change its shape after the anchoring device has completed drilling and anchoring, so that the direction of force on the cable (A108) is deflected relative to the lower anchoring device. The bearing capacity enhancement system (C) is used to extend outward and interact with the surrounding soil after the anchoring device has drilled into the target soil layer; The power system (D) is used to provide controllable axial self-feeding compensation thrust to the lower torque transmission assembly (E3) according to the drilling pressure during the drilling process; when the drilling pressure reaches the set value, the power system (D) reaches the stroke limit, or the self-balancing dual drill bit system (E) is blocked, the power system (D) stops feeding or reverses. The self-balancing dual-bit system (E) is used to break and remove soil from a target soil layer by the coordinated counter-rotation of the inner bit (E205) and the outer bit (E113).

2. The self-balancing, variable-attitude, retrievable anchoring device according to claim 1, characterized in that: The self-balancing propeller system (A) includes a forward propeller (A101), a reverse propeller (A102), a propulsion motor cover (A103), a propulsion motor one (A104), a propulsion motor two (A105), a propulsion drive shaft one (A106), a propulsion drive shaft two (A107), and a cable (A108). The upper cover (A103) of the propulsion motor is fixed to the upper end of the first propulsion motor (A104), and the upper end of the second propulsion motor (A105) is fixed to the lower end of the first propulsion motor (A104). The first propulsion drive shaft (A106) is fixed inside the rotor of the first propulsion motor (A104) and extends upward to be fixed to the forward propeller (A101). The second propulsion drive shaft (A107) is fixed inside the rotor of the second propulsion motor (A105) and extends upward through the first propulsion drive shaft (A106) and the forward propeller (A101) before being fixed to the reverse propeller (A102). The lower end of the cable (A108) is fixed to the base at the lower end of the second propulsion motor (A105), and the upper end of the cable (A108) passes through the second propulsion drive shaft (A107) and extends to the outside.

3. The self-balancing, variable attitude, and retrievable anchoring device according to claim 2, characterized in that: The reversing system (B) includes a reversing positioning motor (B101), a reversing limit upper connector (B102), a reversing limit lower connector (B103), a reversing limit lead screw (B104), a reversing joint one (B105), and a reversing joint two (B106). The upper end of the reversing positioning motor (B101) is fixedly connected to the lower end of the second propulsion motor (A105), and the lower end of the reversing positioning motor (B101) is fixedly connected to the upper end of the reversing limit upper connector (B102). The reversing limit lower connector (B103) is fixedly connected to the first reversing joint (B105), and both are axially slidably connected to the inner wall of the reversing limit upper connector (B102). They can only slide axially relative to the reversing limit upper connector (B102) and cannot rotate relative to it. The reversing limit screw (B104) is fixedly connected inside the rotor of the reversing positioning motor (B101) and threadedly connected to the reversing limit lower connector (B103) and the first reversing joint (B105). The ball head at the lower end of joint one (B105) is connected to the ball joint of directional joint two (B106). The upper end of directional joint two (B106) is provided with a plug-in part. The lower end of the directional limiting upper connector (B102) is slidably connected to the plug-in part at the upper end of directional joint two (B106). Before drilling downward, the plug-in part at the upper end of directional joint two (B106) is embedded inside the directional limiting upper connector (B102). The lower end of the directional limiting screw (B104) is located in the groove cavity of directional joint one (B105). After the entire drilling is completed, the plug-in part at the upper end of directional limiting upper connector (B102) and directional joint two (B106) are separated, and directional joint one (B105) and directional joint two (B106) can move relative to each other.

4. The self-balancing, variable attitude, and retrievable anchoring device according to claim 1, characterized in that: The first bearing capacity enhancement system (C1) includes a self-anchoring support one (C101), a self-anchoring plunger one (C102), several self-anchoring fastener units (C103), a self-anchoring support two (C104), a self-anchoring plunger two (C105), a self-anchoring motor (C106), and a transmission screw (C107). Self-anchoring support one (C101) and self-anchoring support two (C104) are hollow cylindrical structures, each with several axially extending strip-shaped openings on its sidewalls. A self-anchoring motor (C106) is axially fixed between self-anchoring support one (C101) and self-anchoring support two (C104). A drive screw (C107) is fixed to the rotor of the self-anchoring motor (C106). Self-anchoring plunger one (C102) and self-anchoring plunger two (C105) are both threadedly connected to the drive screw (C107). Both self-anchoring plunger one (C102) and self-anchoring plunger two (C105) are provided with several spherical guide limiting parts along their radial direction. The spherical guide limiting parts are respectively limited and slidably engaged with the guide grooves on several self-anchoring fastener units (C103). The self-anchoring fastener units (C103) are all set in the strip opening, and their lower ends are all hinged to the lower ends of self-anchoring support one (C101) or self-anchoring support two (C104). The self-anchoring fastener unit (C103) is a slender strip component with an overall outer contour that is approximately leaf-shaped.

5. The self-balancing, variable-attitude, retrievable anchoring device according to claim 4, characterized in that: The self-anchoring unit (C103) includes a main body extending along the length direction and fin-shaped wings symmetrically arranged on both sides of the main body. The guide groove is provided on the main body and extends along its length direction. The guide groove has a keyhole-shaped structure that is narrow at the top and wide at the bottom. The guide groove on the main body is closed on the side that is hinged to the self-anchoring support one (C101) or the self-anchoring support two (C104). The fin-shaped wing surface includes a first wing surface and a second wing surface symmetrically arranged on both sides of the main body. The main body parts of the first wing surface and the second wing surface are inclined surfaces arranged at 45° relative to the horizontal direction. The first wing surface and the second wing surface gradually narrow towards the free end and fit into the main body.

6. The self-balancing, variable-attitude, retrievable anchoring device according to claim 1, characterized in that: The power system includes a self-propelled motor (D101), a self-propelled upper connector (D102), a self-propelled lower connector (D103), and a self-propelled transmission torsion shaft (D104). The upper end of the self-feeding motor (D101) is fixedly connected to the lower end of the first force-enhancing system (C1), the lower end of the self-feeding motor (D101) is fixedly connected to the upper end of the self-feeding upper connector (D102), the self-feeding transmission torsion shaft (D104) is fixedly connected inside the rotor of the self-feeding motor (D101), the self-feeding lower connector (D103) is threadedly connected to the self-feeding transmission torsion shaft (D104), and the self-feeding lower connector (D103) is axially limited and slidably connected in the annular cavity of the self-feeding upper connector (D102). The self-feeding lower connector (D103) can only move axially relative to the self-feeding upper connector (D102) and cannot rotate.

7. The self-balancing, variable-attitude, retrievable anchoring device according to claim 1, characterized in that: The external drill bit assembly (E1) includes an external drill bit motor (E101), an external drill bit drive shaft (E102), an external drill bit guide tube (E103), an external bearing fixing (E104), a first tapered roller bearing (E105), a second tapered roller bearing (E106), an external drill bit guide bearing limiting sleeve (E107), a sealing sleeve fixing (E108), a snap ring (E109), a skeleton oil seal one (E110), a sealing spacer (E111), a skeleton oil seal two (E112), and an external drill bit (E113). The upper end of the external drill bit motor (E101) is fixedly connected to the lower end of the second force-enhancing system (C2). The external drill bit drive shaft (E102) is fixedly connected inside the rotor of the external drill bit motor (E101). The external drill bit guide tube (E103) is fixedly connected to the lower part of the external drill bit motor (E101). The first tapered roller bearing (E105) and the second tapered roller bearing (E106) are fixed between the external drill bit guide tube (E103) and the external drill bit drive shaft (E102). The upper and lower end faces of the external drill bit guide bearing limiting sleeve (E107) are in contact with the lower end face of the inner ring of the first tapered roller bearing (E105) and the upper end face of the inner ring of the second tapered roller bearing (E106), respectively. The snap ring (E109) ​​is embedded in the annular groove of the external drill bit drive shaft (E102) and abuts against the upper end face of the inner ring of the first tapered roller bearing (E105). The bearing external fixing (E104) is pressed against the upper end face of the outer ring of the first tapered roller bearing (E105) and fixedly connected to the outer drill bit guide tube (E103). The skeleton oil seal one (E110), the sealing sleeve (E111), and the skeleton oil seal two (E112) are sequentially fixed in the annular gap formed by the outer drill bit guide tube (E103) and the outer drill bit drive shaft (E102). The sealing sleeve fixing (E108) is fixed to the lower end face of the outer drill bit guide tube (E103) and presses against the skeleton oil seal two (E112). Multiple cutting teeth are provided on the outer circumferential surface of the outer drill bit (E113). The multiple cutting teeth are spirally distributed along the axial and circumferential directions of the outer drill bit body. The spiral cutting teeth of the outer drill bit (E113) are arranged intermittently. The angle α between the cutting teeth and the horizontal plane is between 15° and 45°.

8. The self-balancing, variable-attitude, retrievable anchoring device according to claim 7, characterized in that: The internal drill assembly (E2) includes an internal drill pressure regulating motor (E201), a pressure-isolated torsion screw (E202), an internal drill motor (E203), an internal drill drive shaft (E204), an internal drill (E205), an internal drill buffer spring (E206), and an internal drill drive shaft lower limit (E207). The lower end of the internal drill bit pressure regulating motor (E201) is fixedly connected to the upper end of the torque-isolation and pressure-transmitting upper connector (E301). The pressure-isolation and torque-transmitting screw (E202) is threadedly connected inside the rotor of the internal drill bit pressure regulating motor (E201). The upper end of the internal drill bit motor (E203) is fixedly connected to the lower end of the torque-isolation and pressure-transmitting lower connector (E302). The lower end of the internal drill bit motor (E203) is fixedly connected to the upper end of the second bearing force enhancement system (C2). An internal drill bit drive shaft (E204) is connected to the inner sliding limiter of the rotor. The rotor of the internal drill bit motor (E203) can drive the internal drill bit drive shaft (E204) to rotate, and the internal drill bit drive shaft (E204) can move axially relative to the internal drill bit motor (E203). The upper end face of the internal drill bit drive shaft (E204) is fixedly connected to the torque-isolation and pressure-transmitting lower shaft (E308). The internal drill bit drive shaft (E204) passes through the internal drill bit motor (E203) in sequence. The second bearing enhancement system (C2) and the outer drill bit drive shaft (E102) are inserted into the groove of the inner drill bit (E205) through the center through hole. The inner drill bit drive shaft (E204) can move axially relative to the inner drill bit (E205) but cannot rotate relative to the inner drill bit (E205). The inner drill bit buffer spring (E206) is installed in the groove of the inner drill bit (E205). The spring axis of the inner drill bit buffer spring (E206) is arranged in the vertical direction, and its upper end face abuts against the lower end face of the inner drill bit drive shaft (E204). The inner drill bit (E205) is provided with a lower limit of the inner drill bit drive shaft (E207) on the upper part, and multiple connecting holes are provided on it at intervals. The fastening bolt passes through the connecting holes and is connected to the threaded hole on the inner drill bit (E205) to realize the axial limit of the inner drill bit drive shaft (E204) by the lower limit of the inner drill bit drive shaft (E207).

9. A self-balancing, variable-attitude, retrievable anchoring device according to claim 8, characterized in that: The cutting section of the internal drill bit (E205) is a tapered structure with a gradually narrowing diameter. Several axial cutting teeth are spaced circumferentially on the outer surface of the tapered structure. Each axial cutting tooth extends along the generatrix of the tapered structure, and a soil discharge channel is formed between adjacent axial cutting teeth. When the internal drill bit (E205) rotates and drills, the axial cutting teeth scrape, break, and disturb the soil. Once the linear velocity at its outer edge reaches the speed required for soil discharge, the disturbed soil is driven to be discharged backward along the soil discharge channel. The tapered structure has a cutting surface, which is an inwardly concave surface formed after the fan-shaped cutting area is cut along a predetermined stretching direction from the tapered structure. This surface is concave inward relative to the outer circumference of the tapered structure, with the fan-shaped center... With the pole as the pole and the center line of the sector as the polar axis, the sector-shaped cut-off region S satisfies: ； in, Any point within the sector-shaped excision area to the center of the sector. distance, The radius of the sector is The angle between this point and the center line of the sector. It is the central angle of the sector.

10. A self-balancing, variable-attitude, retrievable anchoring device according to claim 8, characterized in that: Torque-isolation pressure transmission assembly (E3) includes an upper torque-isolation pressure transmission connector (E301), a lower torque-isolation pressure transmission connector (E302), a pressure regulating screw (E303), an inner tube centering ring (E304), several U-rings (E305), a sealing gasket (E306), an upper torque-isolation pressure transmission shaft (E307), a lower torque-isolation pressure transmission shaft (E308), an upper torque-isolation pressure transmission bearing seat (E309), a lower torque-isolation pressure transmission bearing seat (E310), and a drilling pressure regulating pressure. Sensor upper connector (E311), drill pressure regulating pressure sensor lower connector (E312), drill pressure regulating pressure sensor (E313), drill pressure sensor cable copper sliding support (E314), drill pressure sensor cable copper sliding component (E315), drill pressure sensor cable copper sliding support upper pressure block (E316) and drill pressure sensor cable copper sliding support lower pressure block (E317), several torsion-isolating pressure transmission bearings (E318) and embedded copper sliding component (E319); The upper torque-isolating and pressure-transmitting connector (E301) and the lower torque-isolating and pressure-transmitting connector (E302) are coaxially fixed together. The pressure-adjusting and pressure-transmitting screw (E303) is fixed to the lower end of the torque-isolating and pressure-transmitting screw (E202). The embedded copper sliding element (E319) is fixed to the inner wall of the lower torque-isolating and pressure-transmitting connector (E302). The inner tube straightening ring (E304) is fixed to the inner wall of the pressure-adjusting and pressure-transmitting screw (E303). The upper end of the upper torque-isolating and pressure-transmitting shaft (E307) is fixed to the lower end of the pressure-adjusting and pressure-transmitting screw (E303). A torque-isolating and pressure-transmitting shaft (E307) and the upper torque-isolating and pressure-transmitting bearing seat (E309) are fixedly connected. Several torsion-isolating pressure-transmitting bearings (E318); a copper sliding support for the drill pressure sensor cable (E314) is embedded in the protrusion of the upper bearing seat (E309) of the torsion-isolating pressure-transmitting bearing; two copper sliding parts (E315) for the drill pressure sensor cable are fixedly connected to the limiting groove of the copper sliding support for the drill pressure sensor cable (E314); two wires of the drill pressure regulating pressure sensor (E313) are respectively connected to the two copper sliding parts (E315) for the drill pressure sensor cable; the upper and lower ends of the copper sliding support for the drill pressure sensor cable (E314) are respectively connected to the upper pressure block (E316) of the copper sliding support for the drill pressure sensor cable. The lower pressure block (E317) of the copper sliding support for the drill pressure sensor cable is fixedly connected. The upper bearing housing (E309), the upper connector of the drill pressure regulating pressure sensor (E311), the drill pressure regulating pressure sensor (E313), the lower connector of the drill pressure regulating pressure sensor (E312), and the lower bearing housing (E310) of the torque-isolation transmission are sequentially fixedly connected. The lower shaft (E308) of the torque-isolation transmission extends axially through the lower bearing housing (E310), the lower connector of the drill pressure regulating pressure sensor (E312), the drill pressure regulating pressure sensor (E313), and the drill pressure regulating... The pressure sensor upper connector (E311), the torque-isolated pressure transmission upper bearing housing (E309), and the torque-isolated pressure transmission upper shaft (E307) are rotatably connected to the inner tube straightening ring (E304). The torque-isolated pressure transmission lower shaft (E308) and the torque-isolated pressure transmission lower bearing housing (E310) are fixedly connected to the torque-isolated pressure transmission bearing (E318). Two U-rings (E305) are symmetrically arranged on both sides of the sealing ring gasket (E306) and placed in the strip-shaped receiving cavity formed by the inner tube straightening ring (E304), the torque-isolated pressure transmission lower shaft (E308), and the torque-isolated pressure transmission upper shaft (E307).

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