Self-balancing variable attitude recoverable anchoring device with automatic pressure regulation double drill head

Abstract

The application discloses an automatic pressure regulating double-bit head of a self-balancing variable-attitude recyclable anchoring device, and belongs to the technical field of drilling. The self-balancing double-bit head system is composed of an outer bit assembly, an inner bit assembly and a torque isolation and pressure transmission assembly. The power system is used for providing a controllable axial self-providing compensation thrust to the lower torque isolation and pressure transmission assembly according to the drilling pressure state in the drilling process. When the drilling pressure reaches a set value, the power system reaches a stroke limit or the self-balancing double-bit head system is blocked, the power system stops feeding or reverses and retreats. The self-balancing double-bit head system is used for breaking and discharging soil of a target soil layer.

Description

Technical Field

[0001] This invention belongs to the field of drilling technology, and specifically relates to a self-balancing, variable attitude, retrievable anchoring device with an automatic pressure-adjusting dual drill bit. Background Technology

[0002] As floating offshore wind power, deep-sea oil and gas development, marine ranching, and marine energy equipment gradually expand into deeper and more remote seas, floating offshore structures place higher demands on the load-bearing capacity, ease of installation, long-term mooring stability, and post-construction recycling capabilities of their anchoring devices. Existing marine anchoring devices mostly employ methods such as towed embedding, suction penetration, and gravity sinking to enter the seabed soil, relying on the friction, end resistance, and bearing pressure between the anchor body and the soil to generate anchoring force.

[0003] For self-balancing, variable-attitude, retrievable anchoring devices that use a drill bit to penetrate the seabed, the drill bit structure directly affects the device's penetration efficiency and installation reliability. Seabed soil typically exhibits uneven hardness, local sand inclusions, hard interlayers, and variations in soil strength with depth. If the drilling pressure on the drill bit cannot be adjusted promptly according to changes in soil layers, problems such as idle spinning, slippage, and low penetration efficiency can easily occur when the drilling pressure is insufficient. Conversely, excessive drilling pressure or encountering hard soil layers can easily cause drill bit jamming, overload of the drive mechanism, or damage to components.

[0004] Furthermore, a single drill bit is prone to generating counter-torque during the rotating soil-breaking process. This counter-torque, transmitted to the main body of the anchoring device, may cause the device to rotate, tilt, or become unstable, thus affecting the deployment of subsequent anchoring components and the overall anchoring effect. Therefore, it is necessary to propose an automatically pressure-adjusting dual drill bit suitable for this type of recyclable anchoring device. This would improve the soil-breaking efficiency, reduce the impact of counter-torque on the device's attitude, and automatically adjust the working state according to changes in drilling pressure, thereby improving the installation stability and reliability of the anchoring device. Summary of the Invention

[0005] The purpose of this invention is to provide a self-balancing, variable attitude, retrievable anchoring device with an automatic pressure-adjusting dual drill bit to solve the above-mentioned technical problems.

[0006] A self-balancing, variable attitude, retrievable anchoring device with automatic pressure adjustment dual drill bit, comprising a power system and a self-balancing dual drill bit 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 lower part of the power system is sleeved with the inner drill bit assembly, and the upper and lower parts of the torque isolation and pressure transmission assembly are respectively sleeved with the inner drill bit assembly; the upper end of the force-bearing enhancement system is sleeved with the inner drill bit assembly, and the inner drill bit assembly and the outer drill bit assembly are sleeved with each other along the axial direction and placed at the lower end of the force-bearing enhancement system; The power system is used to provide controllable axial self-feeding compensating thrust to the lower torque transmission assembly according to the drilling pressure during the drilling process; when the drilling pressure reaches the set value, the power system reaches the stroke limit, or the self-balancing dual drill bit system is blocked, the power system stops feeding or reverses. 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.

[0007] 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 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.

[0008] 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 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 first... The upper end face of the outer ring of a 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 fixed 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°.

[0009] 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 torque-isolation and pressure-transmitting screw is threadedly connected inside 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 also fixedly connected to the upper end of the force-bearing enhancement system. An 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 connector. The internal drill bit drive shaft passes sequentially through the internal drill bit motor, the force-bearing enhancement system, and... The outer drill bit drive shaft is inserted into the groove cavity of the inner drill bit after the center through hole is limited. The inner drill bit drive shaft can move axially relative to the inner drill bit, but cannot rotate relative to the inner drill bit. The inner drill bit buffer spring is installed in the groove cavity of the inner drill bit. The spring axis of the inner drill bit buffer spring is arranged in the vertical direction, and its upper end face abuts against the lower end face of the inner drill bit drive shaft. The upper part of the inner drill bit is provided with the lower limit of the inner drill bit drive shaft, and multiple connecting holes are provided on it at intervals. The fastening bolt passes through the connecting holes and is connected with the threaded hole on the inner drill bit to realize the axial limit of the inner drill bit drive shaft by the lower limit of the inner drill bit drive shaft.

[0010] Preferably, the shape of the soil-breaking section at the tip of the inner drill bit is a tapered structure with a gradually narrowing diameter. Several axial cutting teeth are arranged circumferentially 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 inner 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 soil-cutting curved surface.

[0011] Preferably, the excavated surface is an inwardly concave surface formed after the conical structure is cut away along a predetermined stretching direction in a fan-shaped excavation area, and is concave inward relative to the outer periphery of the conical structure, with the fan-shaped center as the 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.

[0012] 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.

[0013] 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 reverse rotation of the inner and outer drill bits 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 self-rotation, deflection and sway of the anchoring device during the penetration process, thus improving the penetration stability and soil entry efficiency. Based on stable penetration, this invention can actively adjust and self-compensate according to the drilling pressure status. 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 retraction, thereby avoiding ineffective pushing and improving the controllability and safety of the drilling process. This invention has the advantages of good penetration stability and strong drilling controllability. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention installed on the entire anchoring device; Figure 2 This is a cross-sectional schematic diagram of the power system; Figure 3 This is a cross-sectional schematic diagram of the torsion-isolation and pressure-transmitting assembly; Figure 4 This is a partial cross-sectional schematic diagram of the torsion-isolation and pressure-transmitting assembly; Figure 5 yes Figure 4 A magnified view of a section at point F in the middle; Figure 6 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-isolated pressure transmission bearing seat. Figure 7 This is a three-dimensional schematic diagram of an embedded copper sliding component installed on a torque-isolated pressure-transmitting connector; Figure 8 This is a cross-sectional schematic diagram of the internal drill bit assembly; Figure 9 This is a cross-sectional schematic diagram of the external drill bit assembly; Figure 10 This is a three-dimensional schematic diagram of an internal drill bit; Figure 11 This is the front view of the internal drill bit; Figure 12 This is the front view of the external drill bit; Figure 13 This is a schematic diagram of the area formed by the excavation surface on the conical structure of the internal drill bit.

[0015] 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; E1: External drill bit assembly; E2: Internal drill bit assembly; E3: Torque transmission assembly; 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

[0016] Please see Figures 1 to 13 A self-balancing, variable attitude, retrievable anchoring device with automatic pressure adjustment dual drill bit, comprising a power system D and a self-balancing dual drill bit system E; 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 lower part of the power system D is sleeved with the inner drill bit assembly E2, and the upper and lower parts of the torque-isolating and pressure-transmitting assembly E3 are respectively sleeved with the inner drill bit assembly E2; the upper end of the bearing capacity enhancement system C is sleeved with the inner drill bit assembly E2, and the inner drill bit assembly E2 and the outer drill bit assembly E1 are sleeved with each other along the axial direction and placed at the lower end of the bearing capacity enhancement system C. The power system D is used to provide controllable axial self-feeding compensation thrust to the lower torque transmission component 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 the target soil layer through the coordinated counter-rotation of the inner bit E205 and the outer bit E113. 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 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 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 cannot rotate 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 force-enhancing system C. 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 E10... 7. The upper and lower end faces respectively 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. The 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. The skeleton oil seal one E110, the sealing spacer 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 to seal the outer drill bit guide tube. The gap between 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 fixes E108 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. This structural 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.

[0017] 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 force-enhancing system C. 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 force enhancement system C 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. This movement, via the torsion-isolating pressure transmission assembly E3, drives the lower torsion-isolating pressure transmission shaft E308 to move axially, thereby causing axial displacement of the inner drill bit drive shaft E204. This alters the elastic deformation of the inner drill bit buffer spring E206, achieving adaptive adjustment of the drilling pressure on the inner drill bit E205. The upper part of the inner drill bit E205 is equipped with a lower limit position E207 for the inner drill bit drive shaft, which has multiple connecting holes spaced apart. Fastening bolts pass through these connecting holes and engage with the threaded holes on the inner drill bit E205, thus enabling the lower limit position E207 to adjust the inner drill bit drive shaft's internal rotation. The drill bit drive shaft E204 is axially limited. The soil-breaking section of the inner 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 extends along the generatrix of the tapered structure, 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 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 is provided with a cutting surface, which is an inwardly concave surface formed after the fan-shaped cutting area is cut off from the tapered structure along a predetermined stretching direction. It is concave inward relative to the outer circumference of the tapered structure, with the center of the fan-shaped circle as the 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.

[0018] 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.

[0019] 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 self-balancing propeller system A assists in propulsion to achieve positioning; self-balancing dual drill bit system E rotates in the opposite direction to achieve self-balancing low-disturbance penetration; drill pressure adjustment and self-feed compensation achieve stable drilling; bearing capacity enhancement system C deploys to achieve reliable anchoring; direction change system B unlocks to achieve dynamic load adaptation; and the anchoring unit of bearing capacity enhancement system C is retracted and externally traction is used to achieve recovery."

[0020] Specific process: 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 propulsion force of the self-balancing propeller system A 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.

[0021] 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.

[0022] 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.

Claims

1. A self-balancing, variable attitude, retrievable anchoring device with an automatically adjusting dual-drill bit, characterized in that: Includes a power system (D) and a self-balancing dual-bit system (E); 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 lower part of the power system (D) is sleeved with the inner drill bit assembly (E2), and the upper and lower parts of the torque transmission assembly (E3) are respectively sleeved with the inner drill bit assembly (E2); the upper end of the load-bearing enhancement system (C) is sleeved with the inner drill bit assembly (E2), and the inner drill bit assembly (E2) and the outer drill bit assembly (E1) are sleeved along the axial direction and placed at the lower end of the load-bearing enhancement system (C); 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 the target soil layer by the coordinated counter-rotation of the inner bit (E205) and the outer bit (E113); 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 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 inside 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 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 force-enhancing system (C). 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) 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. 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 outer fixed bearing (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 fixed (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). The outer circumferential surface of the outer drill bit (E113) is provided with multiple cutting teeth. 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°.

2. The self-balancing, variable attitude, retrievable anchoring device with automatic pressure adjustment dual drill bit according to claim 1, 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 force-enhancing system (C). The rotor of the internal drill bit motor (E203)... An internal sliding limit connection is provided with an internal drill bit drive shaft (E204). 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 bearing capacity enhancement system (C) 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 only move axially relative to the inner drill bit (E205) and 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 position (E207) for the inner drill bit drive shaft, which is provided with multiple connecting holes 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 position (E207).

3. The self-balancing, variable attitude, retrievable anchoring device with automatic pressure adjustment dual drill bit according to claim 2, characterized in that: The cutting section of the inner drill bit (E205) is a tapered structure with a gradually narrowing diameter. Several axial cutting teeth are arranged circumferentially 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 inner drill bit (E205) 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 tapered structure is provided with a cutting surface.

4. The self-balancing, variable attitude, retrievable anchoring device with automatic pressure adjustment dual drill bit according to claim 3, characterized in that: The excavated surface is a concave surface formed after the conical structure is removed along a predetermined stretching direction within a fan-shaped excavation area. It is concave inward relative to the outer periphery of the conical structure, with the fan-shaped center as the focal point. 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.

5. The self-balancing, variable attitude, retrievable anchoring device with automatic pressure adjustment dual drill bit according to claim 4, 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 upper shaft (E307) and the upper torque-isolating and pressure-transmitting upper 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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