An underwater trenching method based on mobile adsorption technology

Abstract

The application discloses a kind of underwater slotting operation method of underwater slotting platform based on mobile adsorption technology.Water slotting platform is carried to underwater area to be operated, and the underwater slotting platform is adsorbed on the wall surface to be operated by starting, and the underwater slotting platform is controlled to move forward to the designated position on the wall surface to be operated.Adjust the joint motor, and move the sliding platform and the sliding plate backward and downward on the moving sliding platform by the transmission action between gear and rack, one end of the slotting machine installed on the sliding platform and the sliding plate passes through the U-shaped through slot on the rear side of the chassis plate, and cuts into the wall surface to be operated.Adopt waterproof stepper motor to control the underwater slotting platform to move forward along the preset slotting route on the wall surface to be operated, and carry out slotting operation.The underwater slotting platform can slot the dam surface within a certain depth range, and can freely move and slot on any crack dam surface.

Description

[0001] This application is a divisional application of patent application No. 2023118191572, filed on December 27, 2023, entitled "Underwater Trenching Platform and Trenching Method Based on Mobile Adsorption Technology". Technical Field

[0002] This invention relates to the field of underwater reinforcement and hazard mitigation technology in water conservancy projects such as reservoirs and dams, and specifically to an underwater trenching method based on mobile adsorption technology. Background Technology

[0003] Due to my country's numerous river systems, its water conservancy infrastructure is highly developed, with various dams and related facilities serving as crucial measures for river flood control. However, since dams are primarily made of concrete, cracks inevitably develop in the dam structure over the years. These cracks not only lead to water seepage but can also cause more serious damage if left unrepaired, potentially even causing dam breaches and threatening the safety of people downstream. Therefore, underwater treatment of concrete cracks has gradually gained attention.

[0004] Currently, underwater repair of concrete cracks mostly uses grouting. The construction process involves cutting, grooving, drilling, embedding pipes, sealing, and grouting. The cutting and grooving can be rectangular, V-shaped, or U-shaped. The accuracy of the grooving size and angle directly affects the treatment effect of the entire crack and plays an important role in the entire construction process.

[0005] Current underwater concrete cutting and grooving methods mostly involve divers descending to the corresponding crack location and using a hydraulic or pneumatic cutting machine to groove along the crack's perimeter. The size and angle of the grooving rely heavily on the diver's experience, leading to some deviation in the direction and dimensions of the grooving. Furthermore, continuous underwater operation of tools causes physical fatigue for divers, resulting in reduced work efficiency. The entire process places high demands on divers, especially for technicians who need to remain underwater for extended periods, which is clearly very unsafe.

[0006] Therefore, the existing technology has the following shortcomings: (1) At present, the maintenance and repair of concrete structures such as reservoirs and dams are mainly done manually. Since manual repair has many unsafe and inconvenient aspects, there are many advantages to using underwater robots to meet the relevant needs.

[0007] (2) There is little research on underwater robot equipment for underwater cutting and grooving. Existing underwater operation robots are also difficult to adapt to underwater concrete walls or small-range inclined walls with a certain angle for cutting and grooving. Summary of the Invention

[0008] To overcome the shortcomings of existing technologies, this invention provides an underwater trenching method based on mobile adsorption technology.

[0009] The technical solution adopted in this invention is: The underwater trenching operation method of the underwater trenching platform of the present invention includes the following steps: 1) After carrying the underwater grooving platform to the underwater work area, turn on the centrifugal impeller underwater suction cup to make the underwater grooving platform adhere to the vertical or any angle of the work wall. Then turn on the waterproof stepper motor to control the underwater grooving platform to move forward to the designated position on the work wall. 2) Adjust the rotation angle of the joint output shaft of the joint motor. Through the transmission action between the gear and the rack, the slide plate moves backward and downward on the moving slide. The end of the grooving machine with the disc saw fixed on the slide plate passes through the U-shaped through groove on the back of the chassis plate and cuts into the wall surface to be worked. 3) A waterproof stepper motor is used to control the underwater grooving platform to move along the preset grooving route on the wall surface to be worked, and to carry out grooving operations; 4) After the operation is completed, return to the working water surface.

[0010] The underwater grooving platform is attached to the wall surface to be worked on, and includes a mobile adsorption chassis module and a grooving propulsion module.

[0011] The mobile adsorption chassis module includes a wheeled mobile chassis and multiple centrifugal impeller-type underwater suction cups. The wheeled mobile chassis includes a chassis plate arranged parallel to and spaced apart from the wall surface to be worked on. Multiple centrifugal impeller-type underwater suction cups are fixedly installed on the bottom surface of the chassis plate near the wall surface to be worked on. Each centrifugal impeller-type underwater suction cup has a suction cup opening at its bottom end near the wall surface to be worked on, with the suction cup opening facing the wall surface to be worked on and spaced apart from it. A U-shaped through groove is provided on the rear side of the chassis plate in the direction of movement of the underwater grooving platform, and a grooving propulsion module is placed in the U-shaped through groove.

[0012] The grooving propulsion module includes a grooving machine, a movable slide, and a slide plate. The movable slide is obliquely placed on the top surface of the chassis plate away from the wall surface to be worked, and the rear end of the movable slide is located in the direction of movement of the underwater grooving platform as the connection point. The slide plate is slidably arranged on the top surface of the movable slide, and the slide plate is fixedly connected to the front end of the grooving machine. The rear end of the grooving machine passes through the U-shaped groove and contacts the wall surface to be worked. The grooving propulsion module also includes a circular saw, a joint motor, and a rack; the connection between the rear end of the movable slide and the chassis plate is a hinged connection, and the front end of the movable slide is supported upward by a straight rod fixed to the top surface of the chassis plate, so that the movable slide is placed obliquely on the top surface of the chassis plate; a slide plate is slidably arranged on the top of the movable slide, and the slide plate can reciprocate between the front and rear ends of the movable slide; a grooving machine is fixedly installed on the top surface of the slide plate, and a circular saw is provided at the end of the grooving machine. The circular saw passes through the U-shaped groove with the rear end of the grooving machine and contacts the wall surface to be worked on to perform grooving operations; a joint motor is fixedly installed on one side of the slide plate, and a rack is arranged on the side wall of the same side of the movable slide, and the rack is meshed with the joint motor.

[0013] The number of circular saws can be adjusted.

[0014] The rear end of the movable slide is hinged to the top surface of the chassis plate via a hinge. The straight rod is a telescopic straight rod, and the straight rod and the hinge are arranged in conjunction to adjust the tilt angle between the movable slide and the chassis plate. The tilt angle of the front side between the movable slide and the chassis plate can be adjusted between 0 and 90 degrees. In specific implementation, the tilt angle between the movable slide and the chassis plate can be adjusted by adjusting the length of the straight rod on the rear side of the slide.

[0015] The grooving depth of the underwater grooving platform in this invention can be controlled by controlling the advancing distance of the grooving machine through the control of the joint motor, thereby precisely controlling the grooving depth of the underwater concrete wall.

[0016] The racks are arranged parallel to each other below the slide plate, and have teeth on their top surface. The length direction and transmission direction of the racks are consistent with the movement direction of the slide plate. A joint output shaft of a joint motor is arranged between the slide plate and the racks. One end of the joint output shaft is fixed to the joint motor and driven by the joint motor. A gear is sleeved on the outside of the other end. The end with the gear extends towards the moving slide, so that the gear is above the rack and meshes with the rack. The axis of the joint output shaft is perpendicular to the side wall of the moving slide. After the joint motor drives the joint output shaft to rotate in a counterclockwise / clockwise direction, since the moving slide is fixedly installed on the chassis plate, the sliding plate is driven to move from the rear / front end to the front / rear end of the moving slide through the cooperation between the gear and the rack.

[0017] The slide plate is slidably connected to the movable slide plate through multiple matching slide rails and sliders.

[0018] The wheeled mobile chassis also includes a waterproof stepper motor, rubber wheels, and chassis side plates. The waterproof stepper motor is mounted on the bottom surface of the chassis plate. A chassis side plate is vertically arranged on each of the left and right sides of the chassis plate. Multiple rubber wheels are respectively mounted on the two chassis side plates, and the rubber wheels roll in contact with the wall surface to be worked on. On the chassis side plates, the two rubber wheels at the foremost position are front drive wheels, and each of the two front drive wheels is electrically connected to a waterproof stepper motor.

[0019] The underwater grooving platform also includes a grooving machine sealing chamber located outside the grooving machine, a joint motor sealing chamber located outside the joint motor, and a stepper motor sealing chamber located outside the waterproof stepper motor, for realizing underwater operation of the grooving machine.

[0020] The underwater trenching platform also includes multiple buoyancy blocks.

[0021] The underwater grooving platform also includes an external frame and accessories. The external frame is mainly constructed of aluminum profiles and aluminum alloys. The external frame is located on the top surface of the chassis plate. Accessories are installed on the external frame, including electrical control cabin, underwater light source and underwater camera and other accessories required for the grooving platform.

[0022] The underwater trenching platform also includes a control cabin, which is connected to a host computer PC via a carrier wave. After the carrier wave is resolved at the ground station, it is connected to the control computer of the host computer. Operators can control the underwater trenching platform by operating the computer through external devices.

[0023] Furthermore, the grooving machine can be replaced by impact-type tools such as drilling and flushing / dredging.

[0024] The beneficial effects of this invention are: (1) Based on the principle of non-contact swirling adsorption, this invention innovatively proposes a dynamic adsorption and fixation method for rough surfaces in deep water environments that combines a centrifugal impeller-type underwater suction cup with a wheel-type mobile chassis. It also develops an underwater impact tool adsorption and fixation platform. This invention uses a centrifugal impeller-type underwater suction cup to resist the working reaction force of the impact tool mounted on the mobile chassis. Therefore, this invention can move and adsorb on walls at any tilt angle underwater and perform underwater operations. (2) In this invention, the adsorption performance of the underwater trenching platform is not limited to material properties and is suitable for a variety of adsorption walls; (3) The pressure-resistant depth of this invention can reach 300 meters underwater; (4) This invention enables the underwater grooving platform to perform grooving operations within a certain depth range of the dam surface, and to move freely and groove on any crack in the dam surface. (5) The slot width and depth of the present invention can be adjusted according to the specified slot width and depth as required by the operation; (6) The underwater grooving platform of the present invention is modular and miniaturized. It can be carried to a designated location by a small vector thruster to cut and groove the inclined wall at any angle. It can be applied to the maintenance and reinforcement of hydraulic structures such as reservoirs and dams. Attached Figure Description

[0025] Figure 1 This is a front view of the underwater trenching platform based on mobile adsorption technology of the present invention. Figure 2 This is a side view of the underwater trenching platform based on mobile adsorption technology of the present invention. Figure 3 This is a top view of the underwater trenching platform based on mobile adsorption technology of the present invention; Figure 4 This is a schematic diagram showing the connection between the movable slide and the joint motor of the present invention.

[0026] In the diagram: 1. Sealed chamber of the grooving machine; 2. Centrifugal impeller type underwater suction cup; 3. Grooving machine; 4. Circular saw; 5. Waterproof stepper motor; 6. Straight rod; 7. Rubber wheel; 8. Hinge; 9. Chassis side plate; 10. Joint motor; 11. Moving slide; 12. Rack; 13. Chassis plate; 14. Slide slide; 15. Gear; 16. Slider; 17. Slide rail. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] The method of this invention employs an underwater grooving platform based on mobile adsorption technology. The underwater grooving platform is used to move back and forth on the underwater wall surface to be worked on and to perform grooving operations. The underwater grooving platform is adsorbed onto the wall surface to be worked on and includes a mobile adsorption chassis module and a grooving propulsion module.

[0029] The mobile adsorption chassis module includes a wheeled mobile chassis and multiple centrifugal impeller-type underwater suction cups 2. The wheeled mobile chassis includes a chassis plate 13 arranged parallel to and spaced apart from the wall surface to be worked on. Multiple centrifugal impeller-type underwater suction cups 2 are fixedly installed on the bottom surface of the chassis plate 13 near the wall surface to be worked on. The multiple centrifugal impeller-type underwater suction cups 2 are evenly arranged. Each centrifugal impeller-type underwater suction cup 2 has a suction cup opening at its bottom end near the wall surface to be worked on. The suction cup opening faces the wall surface to be worked on and is spaced apart from the wall surface to be worked on. A U-shaped through groove is opened on the rear side of the chassis plate 13 in the direction of movement of the underwater grooving platform. A grooving propulsion module is placed in the U-shaped through groove.

[0030] Specifically, the underwater grooving platform uses the suction force generated by the centrifugal impeller suction cup 2 to stably adhere to the wall surface and provide a reaction force to resist the operation of the grooving machine.

[0031] In an embodiment of the present invention, the underwater grooving platform includes four centrifugal impeller-type underwater suction cups 2 arranged in a 2×2 configuration.

[0032] The grooving propulsion module includes a grooving machine 3, a movable slide 11, and a slide plate 14. The movable slide 11 is placed obliquely on the top surface of the chassis plate 13 away from the wall surface to be worked, and the rear end of the movable slide 11 is located in the direction of movement of the underwater grooving platform as the connection point. The slide plate 14 is slidably arranged on the top surface of the movable slide 11. The slide plate 14 is fixedly connected to the front end of the grooving machine 3, and the rear end of the grooving machine 3 passes through the U-shaped through groove and contacts the wall surface to be worked.

[0033] The grooving propulsion module also includes a disc saw 4, a joint motor 10, and a rack 12; the connection between the rear end of the movable slide 11 and the chassis plate 13 is a hinged connection, and the front end of the movable slide 11 is supported upward by a straight rod 6 fixed to the top surface of the chassis plate 13, so that the movable slide 11 is placed obliquely on the top surface of the chassis plate 13; a slide plate 14 is slidably arranged on the top of the movable slide 11, the slide plate 14 is arranged parallel to the movable slide 11 and can reciprocate between the front and rear ends of the movable slide 11 in a direction parallel to the movable slide 11; a grooving machine 3 is fixedly installed on the top surface of the slide plate 14, and a disc saw 4 is provided at the end of the grooving machine 3. The disc saw 4 passes through the U-shaped through groove with the rear end of the grooving machine 3 and contacts the wall surface to be worked and performs grooving operations; a joint motor 10 is fixedly installed on one side of the slide plate 14, and a rack 12 is arranged on the side wall of the same side of the movable slide 11, and the rack 12 is meshed with the joint motor 10.

[0034] Specifically, the rear end of the movable slide 11 is hinged to the top surface of the chassis plate 13 via a hinge 8. The straight rod 6 is a telescopic straight rod. The straight rod 6 and the hinge 8 are arranged in combination to adjust the tilt angle between the movable slide 11 and the chassis plate 13. The tilt angle of the front side between the movable slide 11 and the chassis plate 13 can be adjusted between 0 and 90 degrees.

[0035] Specifically, racks 12 are arranged in parallel at intervals below the slide plate 14, and have teeth on their top surface. The length direction and transmission direction of racks 12 are consistent with the movement direction of slide plate 14.

[0036] Specifically, a joint output shaft of a joint motor 10 is arranged between the slide plate 14 and the rack 12. One end of the joint output shaft is fixed to the joint motor 10 and driven by the joint motor 10. A gear 15 is sleeved on the outside of the other end. The end with the gear 15 extends towards the movable slide 11, so that the gear 15 is located above the rack 12 and the gear 15 is meshed with the rack 12. The axis of the joint output shaft is perpendicular to the side wall of the movable slide 11.

[0037] Specifically, the articulated motor 10 can be electrically controlled to rotate, thereby driving the articulated output shaft to rotate in a counterclockwise / clockwise direction. Since the movable slide 11 is fixedly mounted on the chassis plate 13, the gear 15 and rack 12 work together to move the slide plate 14 from the rear / front end of the movable slide 11 to the front / rear end. The grooving machine 3, which is fixedly mounted on the top surface of the slide plate 14, is placed on the wall surface to be worked on by the articulated motor 10.

[0038] Specifically, the slide plate 14 is slidably connected to the movable slide plate 11 through a plurality of coordinated slide rails 17 and sliders 16.

[0039] Specifically, the wheeled mobile chassis also includes a waterproof stepper motor 5, rubber wheels 7, and chassis side plates 9; the waterproof stepper motor 5 is installed on the bottom surface of the chassis plate 13 and is used to drive the grooving platform to move on the wall surface to be worked on. A chassis side plate 9 is vertically arranged on each of the left and right sides of the chassis plate 13, and multiple rubber wheels 7 are respectively installed on the two chassis side plates 9, and the rubber wheels 7 roll in contact with the wall surface to be worked on.

[0040] In an embodiment of the present invention, the number of rubber wheels 7 is four, with two rubber wheels 7 installed on each of the two chassis side plates 9.

[0041] Furthermore, the underwater grooving platform in this invention adopts a dual-wheel front-drive mode.

[0042] On the side plate 9 of the chassis, the two rubber wheels 7 at the front end are the front drive wheels, and each of the two front drive wheels is electrically connected to a waterproof stepper motor 5.

[0043] The grooving width of the underwater grooving platform in this invention is adjustable. The number of disc saws 4 can also be adjusted. In specific implementations, the grooving width of the wall to be grooved can be adjusted by controlling the number of disc saws 4 mounted on the head of the grooving machine 3.

[0044] The grooving depth of the underwater grooving platform in this invention can be controlled by adjusting the rotation angle of the joint motor 10 to control the advancing distance of the grooving machine, thereby precisely controlling the grooving depth of the underwater concrete wall. The outer shell of the grooving machine's sealed chamber 1 has bolt holes, and the grooving machine 3 is fixed to the sliding plate 14 using bolts and nuts. The upper surface of the sliding plate 14 is fixedly connected to the grooving machine 3, and the lower surface is connected to the slider 16 in the movable sliding table 11. The slider 16 is connected to the slide rail 17, thus allowing the grooving machine 3 to slide back and forth on the movable sliding table 11. The tilt angle between the movable slide 11 and the chassis plate 13 can be adjusted by adjusting the length of the straight rod 6 on the rear side of the slide.

[0045] Furthermore, the underwater grooving platform of the present invention also includes a grooving machine sealing chamber 1 disposed outside the grooving machine 3, a joint motor sealing chamber disposed outside the joint motor 10, and a stepper motor sealing chamber disposed outside the waterproof stepper motor 5, for realizing the underwater operation of the grooving machine 3.

[0046] Furthermore, the underwater trenching platform also includes multiple buoyancy blocks, enabling the platform to achieve a zero-gravity buoyancy balance on the wall surface to be worked on. In practice, the buoyancy blocks are pre-adjusted in a test pool on land, and the buoyancy balance is achieved by adjusting the volume of the buoyancy blocks to reach a zero-gravity buoyancy balance underwater.

[0047] Furthermore, the underwater grooving platform also includes an external frame and accessories. The external frame is mainly constructed from aluminum profiles and aluminum alloys. The external frame is located on the top surface of the chassis plate 13. Accessories are installed on the external frame, including electrical control cabins, underwater light sources, and underwater cameras, as well as other accessories required for the grooving platform.

[0048] Aluminum profiles and aluminum alloys ensure structural strength while significantly reducing the overall weight of the machine.

[0049] The underwater grooving platform can use underwater lights and underwater cameras to observe and identify the location of cracks and to monitor the grooving effect.

[0050] The underwater trenching platform of this invention also includes a control cabin, which is connected to the host computer PC via a carrier wave. After the carrier wave is resolved at the ground station, it is connected to the control computer of the host computer. Operators can control the underwater trenching platform by operating the computer through external devices.

[0051] The underwater trenching platform can withstand pressure depths up to 300 meters underwater.

[0052] Furthermore, the grooving machine 3 can be replaced with impact tools such as drilling, flushing and dredging.

[0053] The underwater trenching operation method of the underwater trenching platform based on mobile adsorption technology in this invention specifically includes the following steps: 1) Onshore operation: Install a certain number of disc saws 4 according to the specified grooving width of the actual operation, and adjust the tilt angle of the moving slide 11 by adjusting the length of the straight rod 6.

[0054] 2) After using an underwater robot (ROV) to carry the underwater grooving platform to the underwater work area, turn on all the centrifugal impeller underwater suction cups 2 to make the underwater grooving platform adhere to the vertical or any angle of the wall surface to be worked on. Then turn on the waterproof stepper motor 5 to control the underwater grooving platform to move forward on the wall surface to the designated position.

[0055] 3) Adjust the rotation angle of the joint motor 10. Through the transmission action between the gear 15 and the rack 12, the slide plate 14 moves backward and downward on the moving slide plate 11. The end of the grooving machine 3, which is fixedly installed on the slide plate 14, with the disc saw 4 installed, passes through the U-shaped through groove on the rear side of the chassis plate 13. The disc saw 4 cuts into the wall surface to be worked.

[0056] 4) A waterproof stepper motor 5 is used to control the underwater grooving platform to slowly advance along the preset grooving route on the wall surface to be worked on, and to carry out grooving operations.

[0057] 5) After the operation is completed, the ROV will be docked and fixed underwater with the grooving tool through the docking structure, and then return to the working surface with the grooving tool.

[0058] Specific embodiments of the present invention are as follows: like Figures 1-2 As shown, the underwater grooving platform in this embodiment mainly consists of a mobile adsorption chassis module, an external frame module, and a grooving propulsion module. The mobile adsorption chassis module includes a chassis, a centrifugal impeller-type underwater suction cup 2, a waterproof stepper motor, and rubber wheels 7. The grooving propulsion module consists of a mobile slide 11, a rack, a grooving machine, a grooving machine sealing chamber 1, and a joint motor 10.

[0059] In the mobile adsorption chassis module, four centrifugal impeller-type underwater suction cups 2 are evenly distributed on the lower surface of the chassis plate 13 to provide suction. A large U-shaped through slot is opened at the rear of the chassis plate 13 for placing the slotted propulsion module. Four rubber wheels 7 are placed in pairs on the chassis side plate 9, and two waterproof stepper motors are mounted on the front wheel of the chassis as front drive wheels.

[0060] In the grooving propulsion module, the grooving machine 3 can work in deep water by using the grooving machine sealed chamber 1. The grooving machine 3 is installed on the slide plate 14, the rack 12 is installed on the side plate of the slide plate, the joint motor 10 is fixed together with the slide plate 14, and the power transmission between the gear 15 and the rack 12 is used to control the overall movement and propulsion of the grooving machine 3.

[0061] In this embodiment, both the width and depth of the underwater grooving platform can be adjusted: The grooving width of the underwater grooving platform can be adjusted by changing the number of disc saws 4 mounted on the head of the grooving machine; the grooving depth of the underwater grooving platform can be controlled by controlling the rotation angle of the joint motor 10 to control the advancing distance of the grooving machine, thereby precisely controlling the grooving depth of the underwater concrete wall.

[0062] In this embodiment, the movable slide 11 is hinged to the movable adsorption base plate 13 via a hinge 8. The tilt angle between the movable slide 11 and the base plate 13 can be adjusted by adjusting the length of the straight rod 6 below the movable slide 11.

[0063] In this embodiment, the underwater grooving platform adjusts the buoyancy balance by increasing or decreasing the volume of the buoyancy blocks to achieve a zero-gravity buoyancy balance state underwater.

[0064] In this embodiment, the underwater grooving platform uses the suction force generated by the centrifugal impeller suction cup to stably adhere to the wall surface and provide a reaction force to resist the operation of the grooving machine.

[0065] In this embodiment, the adsorption performance of the underwater grooving platform is not limited to material properties and is suitable for various adsorption walls.

[0066] In this embodiment, the underwater grooving platform can withstand pressure depths up to 300 meters underwater.

[0067] In this embodiment, the underwater grooving platform also includes an external frame, which can be constructed from aluminum profiles, aluminum alloys, etc., ensuring structural strength while greatly reducing the overall weight. The electrical control cabin, underwater light source, underwater camera, etc. required for the grooving platform can be directly installed on the external frame.

[0068] In this embodiment, the underwater grooving platform can determine the location of cracks and observe the grooving effect by using underwater light sources and underwater cameras.

[0069] In this embodiment, the underwater trenching platform operates as follows: In actual underwater operations, the aforementioned underwater trenching platform is first carried to the deep-water operation area by an underwater ROV. Then, the four centrifugal impeller-type underwater suction cups 2 on the movable adsorption chassis are activated via a shore-based host computer, allowing the underwater trenching platform to adhere to the wall surface to be worked on. Next, the host computer connects to and activates underwater lights and underwater cameras, and uses waterproof stepper motors 5 to control the underwater trenching platform to move forward on the adsorbed wall surface. Once it reaches the designated position, the underwater trenching platform stops moving, and the host computer then controls the trenching propulsion module to perform the trenching operation.

[0070] like Figure 3As shown, the movable slide 11 is fixed to the movable adsorption base plate 13 by hinges 8. The tilt angle is controlled by the length of the straight rod 6 on the rear side of the movable slide 11. The slide plate 14 is fixed together with the grooving machine's sealed chamber 1 and also fixedly connected to the joint motor 10. The gear 15 on the joint output shaft meshes with the rack 12 installed on the side of the slide. Therefore, by controlling the rotation angle of the joint motor 10, the distance of the grooving machine's movement and advancement can be controlled, thereby controlling the grooving depth of the saw head 4 of the grooving machine 3 into the wall surface to be worked.

[0071] Meanwhile, the grooving width of the wall surface to be grooved can be adjusted by controlling the number of disc saws 4 mounted on the head of the grooving machine 3.

[0072] The working diagram of the mobile adsorption chassis is that the mobile chassis itself is in a zero buoyancy equilibrium state. Relying on the suction provided by the non-contact vortex suction cup, the mobile chassis body is stably adsorbed on the vertical wall or the wall at any angle and resists the working reaction force of the impact work tool loaded on the mobile chassis. At this time, the mobile chassis can move freely on the wall.

Claims

1. An underwater trenching operation method for an underwater trenching platform based on mobile adsorption technology, characterized in that, The method includes the following steps: 1) After carrying the underwater grooving platform to the underwater work area, turn on the centrifugal impeller underwater suction cup (2) to make the underwater grooving platform adhere to the wall surface to be worked on, and then turn on the waterproof stepper motor (5) to control the underwater grooving platform to move forward to the designated position on the wall surface to be worked on. 2) Adjust the joint motor (10), and through the transmission action between the gear (15) and the rack (12), make the slide plate (14) move backward and downward on the moving slide (11). The end of the grooving machine (3) with the disc saw (4) fixedly installed on the slide plate (14) passes through the U-shaped through groove on the rear side of the chassis plate (13) and cuts into the wall surface to be worked. 3) A waterproof stepper motor (5) is used to control the underwater grooving platform to move along the preset grooving route on the wall surface to be worked, and to carry out grooving operations; 4) After the operation is completed, return to the water surface.

2. The underwater trenching operation method of an underwater trenching platform based on mobile adsorption technology according to claim 1, characterized in that, The method employs an underwater trenching platform, which is attached to the wall surface to be worked on, and includes: The mobile adsorption chassis module includes a wheeled mobile chassis and multiple centrifugal impeller-type underwater suction cups (2). The wheeled mobile chassis includes a chassis plate (13) arranged parallel to and spaced apart from the wall surface to be worked on. Multiple centrifugal impeller-type underwater suction cups (2) are fixedly installed on the bottom surface of the chassis plate (13) near the wall surface to be worked on. The centrifugal impeller-type underwater suction cups (2) have suction cup openings at the bottom end near the wall surface to be worked on. The suction cup openings face the wall surface to be worked on and are spaced apart from the wall surface to be worked on. The chassis plate (13) has a U-shaped through groove on the rear side in the direction of movement of the underwater grooving platform. The grooving propulsion module includes a grooving machine (3), a movable slide (11), and a slide plate (14); the movable slide (11) is obliquely placed on the top surface of the chassis plate (13) away from the wall to be worked, and the rear end of the movable slide (11) in the direction of movement of the underwater grooving platform is the connection point; the slide plate (14) is slidably arranged on the top surface of the movable slide (11), and the slide plate (14) is fixedly connected to the front end of the grooving machine (3), and the rear end of the grooving machine (3) passes through the U-shaped through groove and contacts the wall to be worked.

3. The underwater trenching operation method of an underwater trenching platform based on mobile adsorption technology according to claim 2, characterized in that, The slotting propulsion module also includes a disc saw (4), a joint motor (10), and a rack (12); the connection between the rear end of the movable slide (11) and the chassis plate (13) is a hinge connection, and the front end of the movable slide (11) is supported by a straight rod (6) fixed to the top surface of the chassis plate (13), so that the movable slide (11) is placed obliquely on the top surface of the chassis plate (13); a slide plate (14) is slidably arranged on the top of the movable slide (11), and the slide plate (14) can move on the movable slide (11) 11) moves back and forth between the front and rear ends; a grooving machine (3) is fixedly installed on the top surface of the slide plate (14), and a disc saw (4) is provided at the end of the grooving machine (3). The disc saw (4) passes through the U-shaped groove with the rear end of the grooving machine (3) and contacts the wall surface to be worked and performs grooving operation; a joint motor (10) is fixedly installed on one side of the slide plate (14), and a rack (12) is arranged on the side wall of the same side of the moving slide (11). The rack (12) is meshed with the joint motor (10).

4. The underwater trenching operation method of an underwater trenching platform based on mobile adsorption technology according to claim 3, characterized in that, The rear end of the movable slide (11) is hinged to the top surface of the chassis plate (13) via a hinge (8). The straight rod (6) is a telescopic straight rod. The straight rod (6) and the hinge (8) are arranged together to adjust the tilt angle between the movable slide (11) and the chassis plate (13). The tilt angle between the movable slide (11) and the chassis plate (13) can be adjusted between 0 and 90 degrees.

5. The underwater trenching operation method of an underwater trenching platform based on mobile adsorption technology according to claim 3, characterized in that, The rack (12) is arranged parallel to each other below the slide plate (14), and the top surface is provided with gear teeth. The length direction and transmission direction of the rack (12) are consistent with the movement direction of the slide plate (14). The joint output shaft of the joint motor (10) is arranged between the slide plate (14) and the rack (12). One end of the joint output shaft is fixed on the joint motor (10) and driven by the joint motor (10). The other end is fitted with a gear (15) so that the gear (15) meshes with the rack (12). The axis of the joint output shaft is perpendicular to the side wall of the moving slide (11). The joint motor (10) can drive the joint output shaft to rotate in a counterclockwise / clockwise direction. After that, through the cooperation between the gear (15) and the rack (12), the slide plate (14) is driven to move from the rear end / front end of the moving slide (11) to the front end / rear end.

6. The underwater trenching operation method of an underwater trenching platform based on mobile adsorption technology according to claim 2, characterized in that, The slide plate (14) is slidably connected to the movable slide (11) through a plurality of matching slide rails (17) and sliders (16).

7. The underwater trenching operation method of an underwater trenching platform based on mobile adsorption technology according to claim 2, characterized in that, The wheeled mobile chassis also includes a waterproof stepper motor (5), rubber wheels (7) and chassis side plates (9); the waterproof stepper motor (5) is installed on the bottom surface of the chassis plate (13), and a chassis side plate (9) is arranged on each of the left and right sides of the chassis plate (13). Multiple rubber wheels (7) are respectively installed on the two chassis side plates (9), and the rubber wheels (7) roll in contact with the wall surface to be worked on; on the chassis side plate (9), the two rubber wheels (7) at the front end are the front drive wheels, and the two front drive wheels are electrically connected to a waterproof stepper motor (5).

8. The underwater trenching operation method of an underwater trenching platform based on mobile adsorption technology according to claim 2 or 7, characterized in that, The underwater grooving platform also includes a grooving machine sealing chamber (1) located outside the grooving machine (3), a joint motor sealing chamber located outside the joint motor (10), and a stepper motor sealing chamber located outside the waterproof stepper motor (5), for realizing the underwater operation of the grooving machine (3).

9. The underwater trenching operation method of an underwater trenching platform based on mobile adsorption technology according to claim 2, characterized in that, The underwater trenching platform also includes multiple buoyancy blocks.

10. The underwater trenching operation method of an underwater trenching platform based on mobile adsorption technology according to claim 2, characterized in that, The underwater grooving platform also includes an external frame and accessories. The external frame is mainly constructed of aluminum profiles and aluminum alloys. The external frame is located on the top surface of the chassis plate (13). Accessories are installed on the external frame, including an electrical control cabin, underwater light source and underwater camera.

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