A composite underwater cutting drilling equipment

Abstract

The application provides a composite underwater cutting drilling equipment, and belongs to the technical field of underwater engineering equipment and special robots. The equipment comprises a tracked chassis, a cruising propulsion module, a drilling module, a cutting module, a shore station system and an electrical control module. The cruising propulsion module is detachably designed and can be independently used as an underwater observation equipment. The cruising propulsion module is internally provided with a buoyancy adjusting cylinder and the buoyancy state is coordinated with the operation process depth. The drilling and cutting modules share an electric push rod as a feeding driving element. The push rod is extended or retracted to switch the drilling and cutting operation modes. The installation direction of the cutting module is adjustable. The electrical control adopts a three-layer distributed architecture. The whole system is remotely controlled through a zero-buoyancy optical-electric composite umbilical cable. The application can complete the integrated operation of underwater exploration, drilling and cutting in a single deployment, improves the safety and operation efficiency of underwater maintenance, and is suitable for underwater maintenance of ship locks, dams, ports and other hydraulic structures.

Description

Technical Field

[0001] This invention belongs to the field of underwater engineering equipment and special robot technology, specifically relating to a composite underwater operation equipment that integrates underwater patrol and observation, underwater stable walking, concrete drilling and metal component cutting functions. It is particularly suitable for the inspection and maintenance of hydraulic structures such as locks, dams, and port terminals when water cannot be drained. Background Technology

[0002] As the service life of my country's water conservancy and waterway projects increases, the need for underwater maintenance of hydraulic structures such as locks and dams is becoming increasingly urgent. Due to the limitations of hydraulic structure design and on-site navigation conditions, key areas such as energy dissipation ditches, water conveyance corridor sidewalls, and emergency maintenance gate slots cannot be dry-landed for construction by stopping navigation and pumping out the water. Maintenance work such as concrete drilling and rebar cutting must be carried out in the original underwater environment.

[0003] Currently, such underwater operations mainly rely on divers manually using hydraulic or pneumatic tools, which has significant technical drawbacks: First, the safety risks are extremely high, as turbid water obstructs visibility and easily leads to accidents such as tool injuries and saw blade breakage; second, the efficiency is low, as divers' effective underwater working time is limited by human physiological limits, and it is difficult to maintain a stable posture for a long time while holding heavy tools, resulting in significant physical exertion; third, the accuracy of the operation is difficult to guarantee, as water buoyancy and current interference can easily cause borehole axis deviation and uneven cuts, failing to meet the accuracy requirements for hydraulic structure construction.

[0004] Existing underwater operation equipment also has significant limitations: First, its functions are singular and fragmented. Most equipment only has the single function of floating observation or tracked movement, lacking a comprehensive operation platform that integrates environmental survey, precise positioning, drilling and cutting. A single deployment can only complete a single process, resulting in low operational efficiency. Second, switching between operation modes is difficult. Floating equipment is greatly affected by water flow and cannot provide the stable support required for cutting and drilling, while tracked equipment has poor mobility and is difficult to quickly move to the operation site. Third, the modular integration is low. Drilling and cutting modules are set up independently, requiring two independent feed drive mechanisms, which increases the size, weight and failure rate of the equipment. Fourth, the coordination between buoyancy adjustment and operational stability is poor. There is a lack of dynamic buoyancy adjustment means that it is impossible to quickly switch between light-load cruising and heavy-load operation states. During operation, the equipment is prone to sliding or capsizing due to reaction forces.

[0005] Therefore, it is necessary to develop a composite underwater cutting and drilling equipment that can replace manual labor and integrate multiple functions to solve the technical problems of high safety risks, low efficiency and poor accuracy in complex underwater environments, and improve the level of intelligent maintenance of hydraulic structures underwater. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a composite underwater cutting and drilling equipment that integrates underwater patrol and observation, underwater walking, concrete drilling and metal cutting functions, enabling multi-process integrated operations to be completed in a single deployment; at the same time, it improves the integration of modules, optimizes buoyancy and operational synergy, and solves the technical problems of high safety risks, low efficiency and poor accuracy in traditional manual underwater operations, as well as the single function, cumbersome mode switching and insufficient stability of existing equipment.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a composite underwater cutting and drilling equipment, comprising a tracked chassis, a cruising propulsion module, a drilling module, a cutting module, a shore station system, and an electrical control module; The tracked chassis is used to carry the cruise propulsion module and enable the equipment to move underwater. The cruise propulsion module is detachably mounted on the tracked chassis and can be separated from the tracked chassis to monitor the surrounding environment underwater, perform underwater observation operations, and control the overall underwater movement of the equipment. The drilling module and the cutting module are integrated and installed inside the tracked chassis, and perform underwater drilling and cutting operations respectively. The cruise propulsion module has a built-in dynamic buoyancy adjustment mechanism. The working state of the dynamic buoyancy adjustment mechanism is coordinated with the operation process of the equipment. In the underwater cruise state, it provides positive buoyancy to reduce the underwater movement resistance, and in the drilling / cutting operation state, it reduces buoyancy to improve the operation stability of the equipment. The shore station system is used for the hoisting, deployment, and recovery of equipment, as well as buoyancy control and power supply control. The electrical control module adopts a distributed control architecture to realize power transmission, communication transmission and remote control between the surface end and the various underwater functional modules.

[0008] Preferably, the tracked chassis includes a square tube chassis frame, which serves as the overall load-bearing base. Track assemblies are fixedly installed on both sides of the square tube chassis frame, and the track assemblies are connected to the track drive motor for driving the equipment to move. Side cover plates are symmetrically fixed on both sides of the top of the square tube chassis frame, and a mounting top plate is fixed to the top of the side cover plates to form an upper mounting platform. The two ends of the side cover plates, located at the bottom of the mounting top plate, are respectively fixed to the front cover plate and the rear cover plate, which together form a mounting cavity for accommodating the drilling module and the cutting module. Reinforcing ribs are provided at the connection between the side cover plates and the mounting top plate.

[0009] Preferably, the cruising propulsion module includes a mounting base plate, on which side plates are fixedly mounted to form the overall frame of the cruising propulsion module; a buoyancy block is installed between two side plates to provide basic positive buoyancy; multiple underwater cameras are mounted on the overall frame, at least three of which face forward and to the left and right sides of the equipment for environmental reconnaissance, and at least two of which face downward toward the drilling and cutting areas for real-time image acquisition during the operation; multiple horizontal thrusters are fixed to the mounting base plate to provide horizontal thrust; multiple vertical thrusters are fixed to the outer walls of the side plates to provide vertical thrust; a battery compartment is fixed to the mounting base plate to provide power during operation; and a dynamic buoyancy adjustment mechanism is installed inside the overall frame.

[0010] Preferably, the dynamic buoyancy adjustment mechanism includes multiple sets of buoyancy adjustment cylinders fixedly connected to the mounting base plate. Each buoyancy adjustment cylinder includes a cylinder barrel, with a piston slidably mounted inside the cylinder barrel via a sealing ring. Sealing end caps and permeable end caps are mounted at both ends of the cylinder barrel via sealing rings. Air pipe connectors are installed on the sealing end caps for connecting to an air source, and filter screens are installed on the permeable end caps to prevent impurities from entering the cylinder barrel. The sealing end caps and permeable end caps are fixedly connected by a through-type fixing rod and a nut. The air pipe connectors are used to pressurize or depress the cylinder barrel to change the internal gas volume, thereby adjusting the overall buoyancy of the equipment. When the equipment switches to the working state, the buoyancy adjustment cylinder depresses to reduce buoyancy, while the vertical thruster reverses to generate a downward additional thrust, which, together with the weight of the tracked chassis, resists the axial reaction force of drilling and the lateral reaction force of cutting.

[0011] Preferably, the drilling module includes a drilling mounting base plate fixed inside the tracked chassis. The top two sides of the drilling mounting base plate are fixedly mounted with first optical axis sliding guide rails via guide rail auxiliary mounting seats. A propulsion platform is slidably mounted on the first optical axis sliding guide rails via multiple first sliding mounting sliders. An electric push rod for driving the propulsion platform to slide is installed between the propulsion platform and the drilling mounting base plate. A non-powered spindle is mounted on the propulsion platform. A drill bit is mounted on one end of the non-powered spindle, and the other end is connected to a drilling motor via a first coupling. The drilling motor is fixed to the propulsion platform via a drilling motor mounting seat.

[0012] Preferably, the cutting module and the drilling module share a common propulsion platform, including a cutting mounting base fixed on the propulsion platform. A second optical axis sliding guide rail is mounted on the cutting mounting base, and a cutting moving platform is slidably mounted on the second optical axis sliding guide rail via a second sliding mounting slider. A lead screw drive motor is fixedly mounted in the middle of the cutting mounting base via a lead screw motor mounting base. The output end of the lead screw drive motor is connected to a lead screw via a second coupling. The two ends of the lead screw are rotatably supported on the cutting mounting base via lead screw fixing seats. The lead screw and the nut seat fixed on the cutting moving platform form a lead screw transmission engagement. A cutting motor is fixedly mounted on the cutting moving platform via a cutting motor mounting base, and a cutting saw blade is fixedly mounted on the output end of the cutting motor via a saw chuck.

[0013] Preferably, the shore station system includes a mobile crane, a winch, an electric flatbed truck, a winding reel, a ground control box, an air compressor, and a vacuum pump. The mobile crane is used for lifting, launching, and recovering the equipment, and has a 360° rotation function and boom extension / retraction adjustment capability. The winch is mounted on the mobile crane and is used to control the lifting and lowering of the equipment. The electric flatbed truck is equipped with a winding reel, a ground control box, an air compressor, and a vacuum pump. The winding reel is used for winding and unwinding the umbilical cable and is electrically operated. The ground control box is connected to the air pipe connector of the buoyancy adjustment cylinder through an air pipe to provide inflation and deflation power to achieve dynamic buoyancy adjustment.

[0014] Preferably, the unpowered spindle includes an ER32 chuck, an ER32 nut, a front pressure cap, a front end cap, a spring seal ring, an O-ring, a housing, a mounting bracket, a rear end cap, a rear pressure cap, a spindle, a lock nut, angular contact bearings, and a bushing. The angular contact bearings are assembled in pairs on the spindle, and axial preload is achieved through the bushing and lock nut. Both the front and rear end caps are equipped with sealing elements, which, together with the housing, constitute the sealing and protection structure of the spindle. The ER32 chuck is placed in the tapered hole at the end of the spindle, and the drill bit is quickly clamped by locking it with the ER32 nut. The mounting bracket is fixed to the outside of the housing and is used to install the unpowered spindle onto the propulsion platform.

[0015] Preferably, the electrical control module includes an integrated ground power supply and control console, an umbilical cable, watertight connectors, an industrial computer, a switch, an operating handle, and a power module. The integrated ground power supply and control console serves as the control center of the entire system, establishing power and communication connections with the cruising propulsion module and the tracked chassis simultaneously via a zero-buoyancy optoelectronic composite umbilical cable. The zero-buoyancy optoelectronic composite umbilical cable integrates power transmission and fiber optic communication functions, possessing neutral buoyancy characteristics, and can meet the high-power power supply and high-speed bidirectional transmission requirements for high-definition video and control commands during underwater operations. The watertight connectors have high pressure resistance and waterproof performance, used to achieve a sealed and reliable electrical connection between various underwater modules. The industrial computer is built into the console and is responsible for control. The system handles command parsing and processing, underwater data transmission, and human-machine interface operation. The industrial switch employs a dual-power redundant design, constructing a high-speed Ethernet communication backbone between the ground and underwater equipment to ensure data transmission stability and reliability. The dual control handles are designed for independent control of the underwater multi-degree-of-freedom motion of the cruise propulsion module and the walking, positioning, and operation execution of the tracked chassis. The power module provides tiered and stable power to the ground control console and all underwater electrical equipment. Control commands, after being parsed by the industrial computer, are transmitted to the corresponding underwater execution units via the switch and umbilical cable. The operating status parameters and real-time video data of the underwater equipment are transmitted back to the control console for display via the same link, achieving remote centralized closed-loop management of the entire system.

[0016] Preferably, the electrical control module adopts a three-layer distributed architecture: the ground control console is the control center, the cruising propulsion module is the transfer hub, and the tracked chassis is the execution terminal; the ground control console establishes high-speed communication with the cruising propulsion module through an umbilical cable fiber optic link, the cruising propulsion module controls the thrusters through a CAN bus, controls the lighting system through PWM signals, communicates with the tracked chassis through an RS485 bus, and drives the drilling module, the cutting module, and the track drive motor.

[0017] The present invention has the following beneficial effects: 1. This invention integrates four major functions: patrol observation, underwater walking, concrete drilling, and metal cutting. A single deployment can complete the entire process of environmental survey, positioning, drilling, and cutting, greatly improving the efficiency of underwater maintenance operations and reducing the number of equipment deployments and retrievals.

[0018] 2. The drilling module and cutting module of this invention share the same feed drive mechanism, and the dual operation mode switching is realized through a single linear drive element, which reduces the number of drive components, reduces the size, weight and failure rate of the equipment, and makes the structure compact and reliable.

[0019] 3. The dynamic buoyancy adjustment mechanism of this invention is linked with the operation process. In the cruising state, it provides positive buoyancy to improve maneuverability, and in the operation state, it reduces buoyancy and enhances stability by cooperating with the thruster's downforce. It takes into account both the equipment's maneuverability and its ability to resist reaction forces during operation, thus solving the problem that traditional equipment cannot balance maneuverability and stability.

[0020] 4. The cruise propulsion module of this invention can be used independently. It can be mounted on a tracked chassis to perform comprehensive operations, or it can be used alone as an underwater observation robot, improving the equipment's adaptability and utilization rate.

[0021] 5. The three-layer distributed electrical architecture of this invention reduces the impact of single-node failures, the zero-buoyancy photoelectric composite umbilical cable ensures high-power power supply and high-speed communication, the dual operating handles provide division of labor for operation, making operation intuitive and convenient, and the remote closed-loop control ensures operational safety and accuracy. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a schematic diagram of the overall system structure of the composite underwater cutting and drilling equipment of the present invention; Figure 2 This is a schematic diagram of the overall structure of the cruise propulsion module of the present invention; Figure 3 This is a schematic cross-sectional view of the buoyancy regulating cylinder of the present invention. Figure 4 This is a schematic diagram of the overall structure of the drilling module of the present invention; Figure 5 This is a cross-sectional structural diagram of the unpowered spindle of the present invention; Figure 6 This is a schematic diagram of the overall structure of the cutting module of the present invention; Figure 7 This is a schematic diagram of the overall structure of the tracked chassis of the present invention; Figure 8 This is a schematic diagram of the overall structure of the mobile crane in the shore station system of the present invention; Figure 9 This is a schematic diagram of the overall structure of the ground control box of the shore station system of the present invention. Figure 10 This is a schematic diagram of the electrical control principle of the present invention.

[0024] In the diagram: 1. Buoyancy block; 2. Mounting side plate; 3. Vertical thruster; 4. Horizontal thruster; 5. Mounting base plate; 6. Underwater camera; 7. Buoyancy adjustment cylinder; 8. Battery compartment; 9. Propulsion platform; 10. First optical axis sliding guide rail; 11. Guide rail auxiliary mounting seat; 12. First sliding mounting slider; 14. Electric push rod; 15. Drilling motor; 16. Drilling motor mounting seat; 17. First coupling; 18. Unpowered spindle; 19. Drilling mounting base plate; 20. Drill bit; 21. Lead screw drive motor; 22. Lead screw motor mounting seat; 23. Second coupling; 24. Cutting mounting seat; 25. Lead screw fixing seat; 26. Lead screw; 27. Second optical axis sliding guide rail; 28. Second sliding mounting slider; 29. ​​Nut seat; 30. Cutting motor mounting seat; 31. Cutting moving platform; 32. Saw chuck; 33. 34. Cutting saw blade; 35. Side cover plate; 36. Mounting top plate; 37. Front cover plate; 38. Reinforcing rib; 39. Square tube chassis frame; 40. Track assembly; 41. Rear cover plate; 42. Track drive motor; 43. Mobile crane; 44. Winch; 45. Electric flatbed truck; 46. Winding reel; 47. Ground control box; 48. Air compressor; 49. Vacuum pump; 50. Air pipe connector; 51. Sealing end cover; 52. Cylinder; 53. Piston; 54. Sealing ring; 55. Filter screen; 56. Water-permeable end cover; 57. Fixing rod; 58. ER32 nut; 59. ER32 chuck; 60. Main shaft; 61. Front pressure cover; 62. Spring sealing ring; 63. Front end cover; 64. Housing; 65. Angular contact bearing; 66. Bushing; 67. Locking nut; 68. O-ring; 69. Mounting support; 70. Rear end cover; 71. Rear pressure cover. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0026] Example 1: Overall Equipment System Composition Combination Figure 1 As shown in the figure, this embodiment illustrates the overall composition and connection relationship of the composite underwater cutting and drilling equipment.

[0027] The composite underwater cutting and drilling equipment adopts a modular integrated design, mainly composed of six functional units: a cruising propulsion module A, a drilling module B, a cutting module C, a tracked chassis D, a shore station system E, and an electrical control module. Each module connects via standardized mechanical and electrical interfaces, facilitating disassembly, transportation, maintenance, and functional upgrades.

[0028] Among them, the patrol propulsion module A is detachably installed on the top mounting surface of the tracked chassis D by bolts, and the two can be separated and used independently; the drilling module B and the cutting module C are integrated and installed in the internal accommodating space of the tracked chassis D, and the cutting module C is fixed on the moving part of the drilling module. The two share the same feed drive mechanism, namely the electric push rod 14.

[0029] The shore station system E is deployed on the shore working surface and is connected to the underwater main equipment through a zero-buoyancy photoelectric composite umbilical cable, providing power supply, communication transmission and buoyancy control air source; the ground part of the electrical control module is integrated into the shore station system, and the underwater part is arranged in the cruise propulsion module and the tracked chassis respectively, forming a distributed control system.

[0030] The overall operation logic of the equipment is as follows: After the equipment is deployed into the water through the shore station system, the patrol propulsion module drives the entire equipment to patrol and explore underwater to locate the operation point; after reaching the target location, the buoyancy is adjusted to make the tracked chassis fall to the bottom of the water and switch to the operation mode; first, drilling operation is performed, then cutting operation is switched, and the equipment is recovered after all the processes are completed.

[0031] Example 2: Structure of the Cruise Propulsion Module Combination Figure 2 As shown, this embodiment details the specific structure of the cruise propulsion module.

[0032] The cruise propulsion module includes a mounting side plate 2, a mounting base plate 5, a buoyancy block 1, an underwater camera 6, a horizontal thruster 4, a vertical thruster 3, and a battery compartment 8.

[0033] The mounting side plate 2 and the mounting base plate 5 are constructed from high-strength aluminum alloy to form an open modular frame, balancing lightweight design and structural strength. The buoyancy block 1, made of closed-cell foam material, is fixed in the upper space between the two mounting side plates 2 to provide basic positive buoyancy for the equipment.

[0034] Four horizontal thrusters 4 are installed, each a waterproof brushless DC thruster. They are mounted on the four corners of the mounting base plate 5 via flanges, arranged in a rectangular vector configuration, enabling horizontal forward, backward, left and right translation, and turning in place. Four vertical thrusters 3 are installed symmetrically at the front and rear ends of the two mounting side plates 2, used to achieve vertical heave and pitch movements, as well as roll and pitch attitude adjustments.

[0035] The underwater camera system 6 is equipped with five high-definition waterproof industrial cameras and LED supplementary lights. Three of them are installed at the front and left and right sides of the module, respectively, covering the area around the equipment for underwater environmental surveys; the other two are rigidly mounted downwards, respectively aimed at the cutting and drilling areas, to collect real-time video of the operation process for operators to monitor the operation status.

[0036] The battery compartment 8 adopts a cylindrical pressure-resistant and sealed structure, housing a lithium battery pack and battery management system, and is fixed to the center of the mounting base plate 5. During normal operation, it is powered by an umbilical cable. When the umbilical cable power supply is interrupted, the battery compartment 8 can provide emergency power to the camera, thrusters, and control system, ensuring the equipment's safe ascent.

[0037] Example 3: Buoyancy Adjustment Cylinder Structure and Buoyancy Coordination Mechanism Combination Figure 3 As shown, this embodiment illustrates the specific structure of the dynamic buoyancy adjustment mechanism and its coordination principle with the operation process.

[0038] In this embodiment, the dynamic buoyancy adjustment mechanism employs four buoyancy adjustment cylinders 7, symmetrically installed below the mounting base of the cruising propulsion module. Each buoyancy adjustment cylinder 7 includes a sealing end cap 51, an air pipe connector 50, a piston 53, a cylinder barrel 52, a sealing ring 54, a water-permeable end cap 56, a filter screen 55, and a fixing rod 57.

[0039] The cylinder 52 is made of seamless stainless steel tubing with a polished inner wall to reduce piston movement resistance. Sealing end caps 51 and permeable end caps 56 are respectively located at both ends of the cylinder 52, secured by four stainless steel fixing rods 57, with double nuts at both ends to prevent loosening. A gas pipe connector 50 is installed on the sealing end cap 51 for connecting to the shore station's gas supply pipeline; two sealing rings 54 are installed between the sealing end cap and the cylinder to achieve a static seal.

[0040] The piston 53 is installed inside the cylinder. A lip seal 54 is provided between the piston and the inner wall of the cylinder to achieve dynamic sealing and ensure sealing performance under underwater pressure. The water-permeable end cap 56 has a water-permeable hole and is equipped with a stainless steel filter screen 55, which allows water to enter and exit while preventing mud and debris from entering the cylinder.

[0041] The coordinated control logic between buoyancy adjustment and the operation process is as follows: When the equipment is in underwater cruising mode, the shore-based air compressor 48 fills the cylinder 52 with compressed air through the air pipe connector 50, pushing the piston 53 to move to its limit position. The gas volume in the cylinder is at its maximum, providing additional positive buoyancy to the equipment, causing the tracked chassis to leave the bottom of the water, greatly reducing motion resistance and improving the equipment's maneuverability.

[0042] When the equipment switches to underwater walking or working mode, the shore-based vacuum pump 49 extracts the air from the cylinder, and the external water pressure pushes the piston to the other end. The gas volume in the cylinder is at its minimum, and the overall weight of the equipment is greater than the buoyancy, so the tracked chassis falls smoothly to the bottom of the water. At the same time, the vertical thruster 3 is reversed to generate additional downward thrust, which, together with the weight of the tracked chassis, provides downforce for operation, effectively resisting the axial reaction force of drilling and the lateral reaction force of cutting, and preventing the equipment from sliding or overturning during operation.

[0043] Example 4: Overall Structure of Drilling Module Combination Figure 4 As shown, this embodiment illustrates the specific structure of the drilling module and the working principle of the drilling feed.

[0044] The drilling module includes a drilling mounting base plate 19, a guide rail auxiliary mounting seat 11, a first optical axis sliding guide rail 10, a first sliding mounting slider 12, an electric push rod 14, a push rod connector 13, a propulsion platform 9, a non-powered spindle 18, a drill bit 20, a first coupling 17, a drilling motor mounting seat 16, and a drilling motor 15.

[0045] The drilling mounting base plate 19 is made of high-strength steel plate and is bolted to the mounting beam inside the tracked chassis. Eight guide rail auxiliary mounting seats 11 are arranged in two groups and fixed to both sides of the drilling mounting base plate; two first optical axis sliding guide rails 10 are installed parallel to each other on the two guide rail auxiliary mounting seats. Eight first sliding mounting sliders 12 are evenly distributed on the two guide rails, with their tops fixedly connected to the bottom of the propulsion platform 9, forming a linear sliding pair to ensure smooth feed movement.

[0046] The electric push rod 14 is a high-thrust waterproof electric push rod with a built-in position sensor. One end of the push rod is connected to the middle of the drilling mounting base plate 19 through the push rod connector 13, and the other end is connected to the bottom center of the propulsion platform 9. It serves as a feed drive mechanism shared by the drilling module and the cutting module, driving the propulsion platform 9 to perform linear reciprocating motion along the guide rail.

[0047] The unpowered spindle 18 is fixed to the front end of the propulsion platform by a mounting bracket, and a carbide drill bit 20 is installed at the output end. The drilling motor 15 is a waterproof servo motor, which is fixed to the rear end of the propulsion platform by a drilling motor mounting bracket 16. Its output shaft is connected to the input end of the unpowered spindle 18 through a first coupling 17. The first coupling is an elastic coupling, which can compensate for axial, radial and angular installation deviations and absorb vibration and impact.

[0048] Drilling operation process: The drilling motor 15 is started to drive the spindle and rotate the drill bit 20 at high speed; the electric push rod 14 extends to drive the propulsion platform 9 to feed towards the workpiece at a constant speed, performing concrete drilling; after drilling is completed, the electric push rod 14 quickly retracts to drive the drill bit out of the workpiece, and the drilling motor stops. During the drilling process, a "feed-half retraction" step control strategy is adopted, and water flow is used to flush concrete debris out of the hole to prevent debris accumulation and drill jamming.

[0049] Example 5: Structure of a non-powered spindle assembly Combination Figure 5 As shown, this embodiment details the internal structure and performance characteristics of the unpowered spindle.

[0050] The unpowered spindle 18 includes an ER32 chuck 59, an ER32 nut 58, a front pressure cover 61, a front end cover 63, a spring seal ring 62, an O-ring 68, a housing 64, a mounting bracket 69, a rear end cover 70, a rear pressure cover 71, a spindle 60, a locking nut 67, an angular contact bearing 65, and a bushing 66.

[0051] The spindle 60 is made of alloy steel and has undergone quenching and tempering, giving it both strength and toughness. Two pairs of diagonal contact bearings 65 are installed face-to-face in the middle of the spindle, and axial preload is achieved through bushings 66 and locking nuts 67. This allows it to simultaneously withstand the axial cutting force and radial vibration load generated during drilling, ensuring the drill bit's rotational accuracy and operational stability.

[0052] The outer casing 64 is made of stainless steel, with a front cover 63 and a rear cover 70 installed at each end. An O-ring 68 is installed between the end cover and the outer casing to achieve a static seal, and a spring sealing ring 62 is installed between the end cover and the spindle to achieve a dynamic seal, forming a multi-layer sealing protection structure that effectively prevents underwater sediment and water from entering the bearing and extends the service life of the spindle.

[0053] The spindle output end is machined with an ER32 tapered hole and has an internal ER32 chuck 59, which is locked in place by an ER32 nut 58. It can hold drill bits 20 of different diameters, enabling quick tool clamping and changing to meet drilling requirements of different hole diameters. The mounting bracket 69 is fixed to the bottom of the outer side of the housing and is used to mount and fix the unpowered spindle 18 as a whole onto the feed platform 9.

[0054] During operation, the control system monitors the current of the drilling motor 15 and the thrust of the electric push rod 14 in real time. When abnormalities such as stuck drill or overload occur, the system automatically stops feeding and quickly retracts the drill bit, executing the shutdown protection procedure to prevent equipment damage.

[0055] Example 6: Switching between cutting module structure and operation mode Combination Figure 6 As shown, this embodiment illustrates the structure of the cutting module, its lateral adjustment function, and the mode switching principle with the drilling module.

[0056] The cutting module includes a cutting mounting base 24, a lead screw drive motor 21, a lead screw motor mounting base 22, a second coupling 23, a lead screw 26, a lead screw fixing base 25, a nut seat 29, a second optical axis sliding guide rail 27, a second sliding mounting slider 28, a cutting moving platform 32, a cutting motor 31, a cutting motor mounting base 30, a saw chuck 33, and a cutting saw blade 34.

[0057] The cutting mounting base 24 is fixed to the side of the drilling module's propulsion platform 9 by bolts and moves along with the propulsion platform. Two second optical axis sliding guide rails 27 are installed in parallel on the cutting mounting base, and four second sliding mounting sliders 28 are evenly distributed on the guide rails and fixed to the bottom of the cutting moving platform 32, forming a transverse sliding pair.

[0058] The lead screw drive motor 21 is a waterproof stepper motor, which is fixed to the middle of the cutting mounting base through the lead screw motor mounting base 22. The output end is connected to the lead screw 26 through the second coupling 23. The lead screw is a ball screw, which is supported and installed through the lead screw fixing bases 25 at both ends. The nut seat 29 is fixed to the bottom center of the cutting moving platform and cooperates with the lead screw 26 to convert the rotational motion of the lead screw into the lateral linear motion of the cutting moving platform, so as to realize the precise lateral adjustment of the cutting position and adapt to the cutting of workpieces of different widths.

[0059] The cutting motor 31 is a high-speed waterproof motor, which is fixed to the cutting moving platform by the cutting motor mounting base 30; one end of the saw chuck 33 clamps the diamond cutting saw blade 34, and the other end is firmly connected to the output shaft of the cutting motor, driving the saw blade to rotate at high speed to perform cutting.

[0060] Drilling-cutting mode switching principle: The cutting module is fixed on the propulsion platform 9 of the drilling module, sharing the electric push rod 14 as the feed drive. When the electric push rod 14 extends, the drill bit 20 protrudes forward beyond the saw blade to perform drilling. After drilling is completed, the electric push rod retracts, the propulsion platform moves backward to align the cutting saw blade 34 with the workpiece, and the electric push rod continues to retract to provide cutting feed force, which, in conjunction with the lateral movement of the lead screw, completes the cutting. The two operating modes can be switched by the extension and retraction of a single electric push rod, without the need for an additional cutting feed drive.

[0061] The cutting module's installation direction is adjustable: Loosen the connecting bolts between the cutting mounting base 24 and the propulsion platform 9, rotate the cutting mounting base 90°, and then tighten it again to change the saw blade's working plane. When installed horizontally, the saw blade is in a vertical plane and performs vertical cutting; when installed vertically, the saw blade is in a horizontal plane and performs horizontal cutting, adapting to different cutting needs under different working conditions.

[0062] Example 7: Tracked Chassis Structure Combination Figure 7 As shown, this embodiment illustrates the load-bearing structure and walking function of the tracked chassis.

[0063] The tracked chassis includes a track assembly 40, a square tube chassis frame 39, a track drive motor 42, side cover plates 35, a mounting top plate 36, a front cover plate 37, a rear cover plate 41, and reinforcing ribs 38.

[0064] The square tube chassis frame 39 is welded from high-strength rectangular steel tubes and serves as the load-bearing base for the entire equipment. The welded joints are treated with rust prevention and have sufficient load-bearing capacity and structural rigidity. Two sets of track assemblies 40 are fixed to the left and right sides of the frame, respectively. They are made of rubber track material with anti-slip patterns on the surface, providing good grip and terrain adaptability, and can move stably on hard water bottoms such as concrete and rocks.

[0065] The track drive motor 42 is a high-torque waterproof servo motor, directly connected to the drive wheel of the track assembly 40, eliminating the need for a reduction gear, simplifying the transmission structure, and improving reliability. Through dual-motor differential control, the equipment can move forward, backward, and turn on the spot, offering excellent maneuverability.

[0066] The side cover plates 35 are fixed to the exterior of both sides of the frame using stainless steel plates. The mounting top plate 36 connects the side cover plates to form an upper mounting surface for installing the cruise propulsion module. The front cover plate 37 and the rear cover plate 41 are fixed to the front and rear end faces respectively, forming a closed internal space together with the side cover plates and the mounting top plate to accommodate the drilling and cutting modules. Rubber sealing strips are installed at the joints of each cover plate to prevent underwater sediment from entering the chassis and protect the internal operating mechanisms.

[0067] Angle steel reinforcing ribs 38 are welded at the connection between the side cover plate 35 and the mounting top plate 36 to enhance the overall structural strength and rigidity of the chassis and prevent structural deformation during heavy-load operations.

[0068] Example 8: Composition of the shore station system Combination Figures 8-9 As shown in the figure, this embodiment illustrates the equipment composition and functions of the shore station system.

[0069] The shore station system adopts a mobile integrated design, with all equipment arranged on an electric flatbed truck 45, facilitating overall relocation to the work site. The system mainly includes a mobile crane 43, a winch 44, a winding reel 46, a ground control box 47, an air compressor 48, and a vacuum pump 49.

[0070] Mobile crane 43 is a small vehicle-mounted hydraulic crane, installed at the front of an electric flatbed truck. It has a rated lifting capacity of no less than 500 kg, 360° rotation, and boom extension / retraction capabilities. It is used for lifting, launching, and recovering equipment, and is suitable for lifting conditions at different docks and locks. Winch 44 is installed at the base of the boom, is electrically controlled, and equipped with an electromagnetic brake for precise control of the lifting and lowering depth of the equipment.

[0071] The winding reel 46 is an electrically operated winding reel used for deploying and retrieving the zero-buoyancy optical-electric composite umbilical cable, equipped with an automatic cable routing mechanism to prevent cable tangling and knotting. The ground control box 47 integrates a display screen, operating buttons, indicator lights, and an emergency stop switch for basic equipment control and real-time display of underwater video information.

[0072] Air compressor 48 and vacuum pump 49 constitute an air source unit, which is connected to the air pipe connector 50 of underwater buoyancy adjustment cylinder 7 via a high-pressure air pipe. A solenoid valve is installed on the pipeline to automatically control the cylinder's inflation and deflation, precisely adjusting the equipment's underwater buoyancy. Electric flatbed truck 45 serves as a mobile carrier, enabling the rapid transfer of all shore station equipment to different work locations, improving equipment relocation efficiency.

[0073] Example 9: Electrical Control System Architecture Combination Figure 10 As shown, this embodiment illustrates the three-layer distributed architecture and control principle of the electrical control module.

[0074] The electrical control module adopts a three-layer distributed control architecture: the top layer is an integrated control console for ground power supply and control, the middle layer is a transfer control unit in the cruise propulsion module, and the bottom layer is an execution control unit in the tracked chassis.

[0075] The top-floor ground control console serves as the central control hub for the entire system, housing an industrial computer, industrial switch, power supply module, and display device. The industrial computer is equipped with underwater operation control software, enabling control command parsing, data processing, video display, parameter setting, and fault alarm functions. The industrial switch employs a dual-power redundant design, constructing a gigabit Ethernet communication backbone to ensure stable and reliable data transmission. The power supply module features a modular design, providing tiered and stable power supply with overcurrent, overvoltage, short-circuit, and leakage protection.

[0076] The top and middle layers are connected by a zero-buoyancy optical-electric composite umbilical cable. This umbilical cable integrates a power transmission core and a single-mode optical fiber communication core, and has neutral buoyancy characteristics, which can reduce the resistance of the cable to the underwater movement of the equipment, while meeting the requirements of high-power power supply and high-speed bidirectional transmission of high-definition video and control commands.

[0077] The middle-level cruise propulsion module is equipped with a main control unit, which controls the speed and direction of the eight thrusters via CAN bus, controls the brightness of underwater lighting via PWM signal, and communicates with the execution control unit of the bottom tracked chassis via RS485 bus to forward the top-level control commands to the bottom-level actuators.

[0078] After receiving the command, the bottom-level execution control unit drives the drilling motor 15, cutting motor 31, electric push rod 14, lead screw drive motor 21 and track drive motor 42 to perform corresponding actions, and transmits the equipment operating status and sensor data back to the middle layer, and then transmits them to the top-level control panel for display via umbilical cable, forming a remote centralized closed-loop control of the entire system.

[0079] The system is equipped with dual industrial control handles, with a division of labor design: the left handle is dedicated to controlling the underwater multi-degree-of-freedom movement and attitude adjustment of the cruise propulsion module; the right handle is dedicated to controlling the tracked chassis movement, drilling feed, cutting lateral movement, and operation start and stop. The operation logic is clear, reducing the learning cost for operators.

[0080] This distributed architecture disperses control functions to nodes at various levels, effectively reducing the impact of single-node failures on the entire system, improving the reliability and scalability of the control system, and facilitating subsequent function upgrades and module expansions.

[0081] The complete operation process of the composite underwater cutting and drilling equipment of this invention is as follows: Before operation, check that all module connections are secure, watertight connectors are properly sealed, the zero-buoyancy photoelectric composite umbilical cable is undamaged, and the power supply to the shore station equipment is normal. Install the drill bit 20 and cutting saw blade 34 in place, and adjust the installation direction of the cutting module to meet operational requirements. Fill the buoyancy regulating cylinder 7 with gas using the shore station air compressor 48 to bring the equipment into a positive buoyancy state. Connect the equipment to the hook of the mobile crane 43 using a special lifting tool, and start the mobile crane 43 to lift the equipment above the operating area. Start the winch 44 to slowly lower the equipment underwater, while simultaneously releasing the umbilical cable through the winding reel 46. During the lowering process, observe the surrounding environment of the equipment through the underwater camera 6 to avoid collisions with obstacles.

[0082] After the equipment enters the water, the shore-based operator uses the left handle to control the horizontal thruster 4 and vertical thruster 3 of the patrol propulsion module, propelling the entire equipment underwater. Five underwater cameras 6 are used to comprehensively survey the work area and locate the target work site. During the patrol, the equipment maintains a light load, the buoyancy adjustment cylinder 7 is filled with gas, and the tracked chassis leaves the bottom, providing high maneuverability and allowing for rapid relocation to the work site. Upon reaching the target work site, the vacuum pump 49 is activated to extract the gas from the buoyancy adjustment cylinder 7, making the overall weight of the equipment greater than its buoyancy, and the tracked chassis slowly descends to the bottom. Simultaneously, the vertical thruster 3 is reversed to generate additional downward thrust, ensuring close contact between the tracks and the bottom, enhancing operational stability. The right handle is used to fine-tune the equipment position using the tracked chassis, aligning the drill bit 20 with the drilling location.

[0083] The drilling motor 15 is started to drive the drill bit 20 to rotate, while the electric push rod 14 is extended, driving the feed platform 9 forward to perform the drilling operation. During the drilling process, a "feed-half retraction" cycle is used to remove debris. The control system monitors the current of the drilling motor 15 and the thrust of the electric push rod 14 in real time, and automatically executes the shutdown protection program in case of abnormality. After drilling is completed, the electric push rod 14 quickly drives the drill bit 20 to withdraw from the workpiece, and the drilling motor 15 stops running. After drilling is completed, the electric push rod 14 retracts, driving the feed platform 9 and the cutting module to move backward, so that the cutting saw blade 34 is aligned with the workpiece to be cut. The cutting motor 31 is started to drive the cutting saw blade 34 to rotate, while the lead screw drive motor 21 is controlled to drive the cutting moving platform 32 to move laterally. The electric push rod 14 continues to retract to provide cutting feed force, completing the entire cutting process. After cutting is completed, the electric push rod 14 stops retracting, and the cutting motor 31 stops running.

[0084] After all operations are completed, start the air compressor 48 to inflate the buoyancy regulating cylinder 7 to restore positive buoyancy to the equipment; operate the vertical thruster 3 to rotate forward, driving the equipment to float to the water surface; use the winch 44 to lift the equipment above the water surface, and then use the mobile crane 43 to retrieve the equipment to the shore; turn off the power to all equipment, organize the umbilical cable and tools, and complete this operation.

Claims

1. A composite underwater cutting and drilling equipment, characterized in that, It includes a tracked chassis, a cruise propulsion module, a drilling module, a cutting module, a shore station system, and an electrical control module; The tracked chassis is used to carry the cruise propulsion module and enable the equipment to move underwater. The cruise propulsion module is detachably mounted on the tracked chassis and can be separated from the tracked chassis to monitor the surrounding environment underwater, perform underwater observation operations, and control the overall underwater movement of the equipment. The drilling module and the cutting module are integrated and installed inside the tracked chassis, and perform underwater drilling and cutting operations respectively. The cruise propulsion module has a built-in dynamic buoyancy adjustment mechanism. The working state of the dynamic buoyancy adjustment mechanism is coordinated with the operation process of the equipment. In the underwater cruise state, it provides positive buoyancy to reduce the underwater movement resistance, and in the drilling / cutting operation state, it reduces buoyancy to improve the operation stability of the equipment. The shore station system is used for the hoisting, deployment, and recovery of equipment, as well as buoyancy control and power supply control. The electrical control module adopts a distributed control architecture to realize power transmission, communication transmission and remote control between the surface end and the various underwater functional modules.

2. The composite underwater cutting and drilling equipment according to claim 1, characterized in that, The tracked chassis includes a square tube chassis frame (39), which serves as the overall load-bearing base. Track assemblies (40) are fixedly installed on both sides of the square tube chassis frame (39). The track assemblies (40) are connected to the track drive motor (42) for driving the equipment to move. Side cover plates (35) are symmetrically fixed on both sides of the top of the square tube chassis frame (39). A mounting top plate (36) is fixed at the top of the side cover plates (35) to form an upper mounting platform. The front cover plate (37) and the rear cover plate (41) are fixed at both ends of the side cover plates (35) and at the bottom of the mounting top plate (36) respectively, and together they form a mounting cavity for accommodating the drilling module and the cutting module. A reinforcing rib (38) is provided at the connection between the side cover plates (35) and the mounting top plate (36).

3. The composite underwater cutting and drilling equipment according to claim 1, characterized in that, The cruise propulsion module includes a mounting base plate (5), on which side plates (2) are fixed to form the overall frame of the cruise propulsion module; a buoyancy block (1) is installed between the two side plates (2) to provide basic positive buoyancy; multiple underwater cameras (6) are mounted on the overall frame, of which at least three face the front and left and right sides of the equipment respectively for environmental survey, and at least two face downwards to the drilling and cutting areas respectively for real-time acquisition of images of the operation process; multiple horizontal thrusters (4) are fixed on the mounting base plate (5) to provide horizontal thrust; multiple vertical thrusters (3) are fixed on the outer wall of the side plates (2) to provide vertical thrust; a battery compartment (8) is fixed on the mounting base plate (5) to provide electrical energy during the operation; and a dynamic buoyancy adjustment mechanism is installed inside the overall frame.

4. The composite underwater cutting and drilling equipment according to claim 3, characterized in that, The dynamic buoyancy adjustment mechanism includes multiple sets of buoyancy adjustment cylinders (7) fixedly connected to the mounting base plate (5). Each buoyancy adjustment cylinder (7) includes a cylinder barrel (52). Inside the cylinder barrel (52), a piston (53) is slidably mounted via a sealing ring (54). At both ends of the cylinder barrel (52), sealing end caps (51) and permeable end caps (56) are mounted via sealing rings. An air pipe connector (50) is installed on the sealing end cap (51) for connecting to an air source, and a filter screen (55) is installed on the permeable end cap (56) for preventing impurities. The material enters the cylinder (52); the sealing end cover (51) and the water-permeable end cover (56) are connected by a through fixed rod (57) and a nut; the internal gas volume is changed by filling or venting the cylinder (52) through the air pipe joint (50) to adjust the overall buoyancy of the equipment; when the equipment is switched to the working state, the buoyancy regulating cylinder (7) vents to reduce the buoyancy, and at the same time the vertical thruster (3) reverses to generate a downward additional thrust, which together with the self-weight of the track chassis resists the axial reaction force of drilling and the lateral reaction force of cutting.

5. The composite underwater cutting and drilling equipment according to claim 1, characterized in that, The drilling module includes a drilling mounting base plate (19) fixed inside the tracked chassis. The top two sides of the drilling mounting base plate (19) are fixedly mounted with first optical axis sliding guide rails (10) via guide rail auxiliary mounting seats (11). The first optical axis sliding guide rails (10) are slidably mounted with a propulsion platform (9) via multiple first sliding mounting sliders (12). An electric push rod (14) for driving the propulsion platform (9) to slide is installed between the propulsion platform (9) and the drilling mounting base plate (19). A non-powered spindle (18) is installed on the propulsion platform (9). A drill bit (20) is installed at one end of the non-powered spindle (18), and the other end is connected to a drilling motor (15) via a first coupling (17). The drilling motor (15) is fixed to the propulsion platform (9) via a drilling motor mounting seat (16).

6. The composite underwater cutting and drilling equipment according to claim 5, characterized in that, The cutting module and the drilling module share a common propulsion platform (9), including a cutting mounting base (24) fixed on the propulsion platform (9). A second optical axis sliding guide rail (27) is mounted on the cutting mounting base (24). A cutting moving platform (32) is slidably mounted on the second optical axis sliding guide rail (27) via a second sliding mounting slider (28). A lead screw drive motor (21) is fixedly mounted on the middle part of the cutting mounting base (24) via a lead screw motor mounting base (22). The output end is connected to a lead screw (26) via a second coupling (23). The two ends of the lead screw (26) are rotatably supported on the cutting mounting base (24) via a lead screw fixing seat (25). The lead screw (26) and the nut seat (29) fixed on the cutting moving platform (32) form a lead screw transmission cooperation. The cutting moving platform (32) is fixedly mounted with a cutting motor (31) via a cutting motor mounting base (30). The output end of the cutting motor (31) is fixedly mounted with a cutting saw blade (34) via a saw chuck (33).

7. The composite underwater cutting and drilling equipment according to claim 4, characterized in that, The shore station system includes a mobile crane (43), a winch (44), an electric flatbed truck (45), a winding reel (46), a ground control box (47), an air compressor (48), and a vacuum pump (49). The mobile crane (43) is used for lifting, launching, and recovering equipment, and has a 360° rotation function and boom extension adjustment capability. The winch (44) is installed on the mobile crane (43) and is used to control the lifting and lowering of the equipment. The electric flatbed truck (45) is equipped with the winding reel (46), the ground control box (47), the air compressor (48), and the vacuum pump (49). The winding reel (46) is used for winding and unwinding the umbilical cable and is operated electrically. The ground control box (47) is connected to the air pipe connector (50) of the buoyancy adjustment cylinder (7) through an air pipe and is used to provide inflation and deflation power to achieve dynamic buoyancy adjustment.

8. A composite underwater cutting and drilling equipment according to claim 5, characterized in that, The unpowered spindle (18) includes an ER32 collet (59), an ER32 nut (58), a front pressure cap (61), a front end cap (63), a spring seal (62), an O-ring (68), a housing (64), a mounting bracket (69), a rear end cap (70), a rear pressure cap (71), a spindle (60), a lock nut (67), angular contact bearings (65), and a bushing (66); the angular contact bearings (65) are assembled in pairs on the spindle (60) and connected to the spindle via the bushing. (66) and locking nut (67) achieve axial pre-tightening; the front end cover (61) and rear end cover (70) are both equipped with sealing elements, which together with the outer shell (64) form a sealing and protective structure for the spindle (60); the ER32 chuck (59) is placed in the tapered hole at the end of the spindle, and the drill bit is quickly clamped by locking with the ER32 nut (58); the mounting bracket (69) is fixed to the outside of the outer shell (64) and is used to install the unpowered spindle (18) onto the propulsion platform (9).

9. The composite underwater cutting and drilling equipment according to claim 1, characterized in that, The electrical control module includes an integrated ground power supply and control console, an umbilical cable, watertight connectors, an industrial computer, a switch, an operating handle, and a power module. The integrated ground power supply and control console serves as the control center of the entire system, establishing power and communication connections with the cruising propulsion module and tracked chassis simultaneously via a zero-buoyancy optoelectronic composite umbilical cable. The zero-buoyancy optoelectronic composite umbilical cable integrates power transmission and fiber optic communication functions, possessing neutral buoyancy characteristics to meet the high-power power supply and high-speed bidirectional transmission requirements for high-definition video and control commands during underwater operations. The watertight connectors have high pressure resistance and waterproof performance, used to achieve sealed and reliable electrical connections between various underwater modules. The industrial computer, built into the console, is responsible for controlling commands. The system includes analytical operations, underwater data transmission processing, and human-machine interface operation. The industrial switch employs a dual-power redundant design, constructing a high-speed Ethernet communication backbone between the ground and underwater equipment to ensure data transmission stability and reliability. The dual operating handles are designed for independent control of the underwater multi-degree-of-freedom motion of the cruise propulsion module and the walking, positioning, and operation execution of the tracked chassis. The power module provides tiered and stable power supply to the ground control console and all underwater electrical equipment. Control commands are parsed by the industrial control computer and transmitted to the corresponding underwater execution units via the switch and umbilical cable. The operating status parameters and real-time video data of the underwater equipment are transmitted back to the control console for display via the same link, achieving remote centralized closed-loop management of the entire system.

10. A composite underwater cutting and drilling equipment according to claim 1, characterized in that, The electrical control module adopts a three-layer distributed architecture: the ground control console is the control center, the cruising propulsion module is the transfer hub, and the tracked chassis is the execution terminal; the ground control console establishes high-speed communication with the cruising propulsion module through an umbilical cable fiber optic link, the cruising propulsion module controls the thrusters through a CAN bus, controls the lighting system through PWM signals, communicates with the tracked chassis through an RS485 bus, and drives the drilling module, cutting module, and track drive motor.

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