Integrated underwater rock drilling and splitting device

Abstract

Integrated underwater rock drilling and splitting device, characterized in that it comprises: a supporting structure (1); a drilling unit (2) mounted on the support structure (1); a splitting unit (3) mounted on the support structure (1), wherein the splitting unit (3) and drilling unit (2) are arranged at intervals; and wherein the splitting unit (3) comprises a splitting rod (301) provided with a plurality of telescopic piston segments (302); a positioning and borehole alignment system comprising a positioning pin (401) and at least one auxiliary positioning device, wherein the positioning pin (401) is designed to bear against and be fixed to a rock body (7) and the auxiliary positioning device is arranged relatively fixedly on the support structure (1); a workstation switching mechanism (5), wherein the support structure (1) is arranged on the drive side at a switching end of the workstation switching mechanism (5); wherein the workstation switching mechanism (5) is configured as a rotary switching mechanism or a translation switching mechanism; wherein the rotary switching mechanism is configured to drive the support structure (1) to rotate so that the splitting unit (3) is able to move and be aligned with the drilling position of the drilling unit (2); and wherein the translation switching mechanism is configured to drive the support structure (1) to translate so that the splitting unit (3) is able to move and be aligned with the drilling position of the drilling unit (2); and a connecting rod (6), wherein the connecting rod (6) is adapted to be connected to a ship-based manipulator arm in order to adjust the underwater depth of the device.

Description

Technical area

[0001] The present utility model relates to the field of underwater rock breaking and, in particular, to an integrated underwater rock drilling and splitting device. Background technology

[0002] In underwater construction of waterway construction, river and lake improvement, and marine engineering, in view of the excavation and cleaning needs of hard underwater bedrock or reef, pyrotechnic blasting methods or mechanical means are generally used to excavate by mechanical means, such as using underwater explosives to blast rocks and then using dredgers to remove slag, using dredgers or grab boats to use dredgers or grabs to excavate rocks underwater, using hydraulic hammers or milling equipment to break rocks and then excavating with cutting ships to suck out slag after crushing rock, etc.

[0003] The above-mentioned methods can meet the requirements of underwater rock excavation in normal working environments, but they are subject to environmental limitations and safety risks, are poorly adaptable to confined working environments, and result in efficiency and cost constraints; for example, the pyrotechnic blasting method has significant negative impacts in the form of vibration and noise and is restricted or prohibited in rivers near urban areas or in working environments where requirements apply to protect rare underwater fish and other animals. For example, mechanical heavy excavation methods such as excavators, grab boats, hydraulic hammers, or milling machines have the disadvantages of low excavation performance on hard rock or reefs, high tool loss, high excavation costs, and significant noise pollution. For example, the suction power of a suction boat depends on the vessel's size. Small suction boats do not have sufficient suction power for hard rock, and large suction boats cannot adapt to narrow waterways or narrow working areas, both during navigation and during suction.

[0004] Therefore, for special working environments such as rivers in densely populated areas, narrow working areas, high requirements for construction efficiency, underwater protection of animals and plants, high environmental protection requirements and the need for noise and vibration control, an efficient and reliable construction machine is required. Contents of the utility model

[0005] Against this background, the present utility model provides an integrated underwater rock drilling and splitting device to solve the problems posed by the above-mentioned background technology.

[0006] In a first aspect, the present utility model provides an integrated underwater rock drilling and splitting apparatus comprising: a support structure; a drilling unit mounted on the supporting structure; a splitting unit mounted on the support structure, wherein the splitting unit and drilling unit are arranged at intervals; and wherein the splitting unit comprises a splitting rod provided with a plurality of telescopic piston segments; a positioning and borehole alignment system comprising a positioning pin and at least one auxiliary positioning device, wherein the positioning pin is configured to engage and fixate against a rock body, and the auxiliary positioning device is arranged relatively fixedly on the support structure; a workstation switching mechanism, wherein the support structure is arranged on the drive side at a switching end of the workstation switching mechanism; wherein the workstation switching mechanism is configured as a rotary switching mechanism or a translational switching mechanism; wherein the rotary switching mechanism is configured to drive the support structure to rotate so that the splitting unit is able to move and be aligned with the drilling position of the drilling unit;and wherein the translational switching mechanism is configured to drive the support structure for translational displacement so that the splitting unit is capable of moving and being aligned with the drilling position of the drilling unit; and a connecting rod, wherein the connecting rod is configured to be connected to a ship-based manipulator arm to adjust the underwater depth of the device.

[0007] Advantageous effects: The drilling work is carried out by the drilling unit, and the splitting unit takes the position where the drilling operation is completed, the positions of the drilling unit and the splitting unit are quickly switched on the same device through the workstation switching mechanism, so that the splitting unit can be aligned with the drilling position of the drilling unit, and the positioning and borehole alignment system ensures the precise insertion of the splitting rod into the borehole;The blast-free drilling and splitting method reduces vibration and noise and meets the environmental protection requirements for urban rivers and nature reserves. The switching method of the drilling unit and splitting unit enables continuous connecting splitting after drilling. This application contributes to improving operational efficiency and reducing the time and labor required for frequent jig replacement. The positioning and wellbore alignment system can accurately align the hole, ensure drilling and splitting accuracy, and reduce errors and repetitive operations. The connecting rod is connected to the ship-based manipulator arm to adjust the underwater depth, allowing the jig to adapt to the requirements of operations at different water depths.The present application uses a compact integrated design to reduce the size of the device, the workstation switching mechanism enables on-site function switching and avoids the movement of large devices, and the connecting rod is adapted to the ship-based manipulator arm to enable depth adjustment suitable for narrow environments.

[0008] In some embodiments, the support structure is disc-shaped and the positioning pin is fixedly arranged on the support structure; the drilling unit and the splitting rod are arranged symmetrically in the direction of the diameter of the support structure, and the rotary switching mechanism is designed to drive the support structure to rotate by 180° in the circumferential direction; or exactly one auxiliary positioning device is provided, the drilling unit, the splitting rod, and the auxiliary positioning device are arranged at three equidistant points on the circumference of the disk of the support structure, and the rotary switching mechanism is designed to drive the support structure to rotate by 120° in the circumferential direction.

[0009] Advantages: The disc-shaped support structure design combined with the rotary switching mechanism enables fast and stable 180° or 120° rotation switching. It is easy to operate and precisely positioned, allowing workstation switching to be performed with a minimal rotation angle, thus shortening the operating cycle. The drilling unit and the splitting unit are arranged symmetrically or at three equidistant points and firmly connected to the support structure via a positioning pin. The reference point remains unchanged during the rotation process, reducing repeated positioning errors, which has a positive effect on the balance and stability of the fixture structure and reduces vibration and deviation during the work process.The present application can maximize the function of the device within a limited working space, improve the flexibility and reliability of operation, and is particularly designed for underwater rock excavation work in narrow waterways or on narrow working areas.

[0010] In some embodiments, the support structure is cuboid-shaped and the positioning pin is fixedly arranged on the translation switching mechanism; the drilling unit and the splitting rod are arranged along the rectilinear direction.

[0011] Advantages: The linearly arranged drilling unit and splitting unit are subjected to a more direct force, increasing structural rigidity and allowing for use in extremely hard rock. The positioning pin is firmly connected to the translational switching mechanism, and the reference point remains unchanged during movement, reducing repeated positioning errors. The translational switching mechanism is suitable for long-distance drilling and ensures stability during deep drilling operations.

[0012] In some embodiments, the positioning and borehole alignment system comprises a first auxiliary positioning device and a second auxiliary positioning device, wherein the first auxiliary positioning device is fixedly arranged on the insertion end of the split rod and the second auxiliary positioning device is fixedly arranged on the support structure, and the first auxiliary positioning device and the second auxiliary positioning device are arranged on the same side of the support structure; wherein the first auxiliary positioning device and the second auxiliary positioning device are configured to assist in positioning and borehole alignment, and the first auxiliary positioning device and the second auxiliary positioning device form a binocular positioning system.

[0013] Advantageous effects: The first auxiliary positioning device and the second auxiliary positioning device provide redundancy design and can use each other for positioning control; at the same time, the first auxiliary positioning device and the second auxiliary positioning device form a binocular positioning system to enable three-dimensional spatial perception of the drilling position and improve the accuracy of drilling; the arrangement of the first auxiliary positioning device and the second auxiliary positioning device on the same side facilitates data acquisition and processing, reduces signal interference, and improves the reliability of drilling positioning.In complex subsea environments, this solution can precisely align the splitting rod to the drilling position, ensure the effectiveness of the splitting operation, and reduce the problem of rock splitting errors or incompleteness due to inaccurate positioning.

[0014] In some embodiments, the first auxiliary positioning device and the second auxiliary positioning device are configured as at least one of the following sensors: laser, sonar, multi-beam, or visual sensor.

[0015] In some embodiments, the positioning and wellbore alignment process of the positioning and wellbore alignment system includes: Recording the coordinates of the borehole position through the binocular system after drilling is completed;

[0016] Moving the splitting rod of the splitting unit through the workstation switching mechanism to calculate the relative distance between the splitting rod and the drilling position in real time;

[0017] Verifying the accuracy of the borehole alignment using the first auxiliary positioning device and the second auxiliary positioning device when the distance between the split rod and the borehole is ≤ a distance threshold.

[0018] Benefits: The relative distance is continuously calculated during the movement of the splitting rod to ensure that the drilling accuracy is less than or equal to the distance threshold, enabling dynamic calibration in real time. This solution improves movement accuracy through the three-step process of coordinate recording, real-time tracking, and threshold verification, ensuring the alignment of the splitting rod and the drilling position, reducing the risk of negative forces on the splitting unit, and contributing to the standardization and automation of drilling operations.

[0019] In some embodiments, the support structure and the workstation switching mechanism are each provided with a sealing, waterproof housing; the material of the sealing, waterproof housing is metal, carbon fiber, or a high-molecular-weight polymer, and the joints of the sealing, waterproof housing are sealed with a sealing material; and the thickness of the sealing waterproof casing is set to ≥ 0.2 mm.

[0020] Advantages: The sealed waterproof housing prevents underwater pressure, corrosive substances, etc. from damaging the internal structure and components of the device, thereby increasing the service life and reliability of the device; various material options are available, with metal, carbon fiber, or polymer being optimized according to different operating environments and cost requirements; the sealing material seals the joints and ensures a housing thickness of ≥ 0.2 mm, which further improves the sealing and waterproof performance and ensures stable underwater operation of the device for a long time and adaptation to the operating requirements of different water depths and water qualities.

[0021] In some embodiments, a plurality of devices are provided and the plurality of devices are arranged in a single direction, wherein the distance G between adjacent devices when arranged in a row satisfies the following conditions: {G=f(P,d,e,f)nη={1ωWif 1−ωW≥gg if 1−ωW≤g where P is the splitting force of the splitting rod, d is the tensile strength of the rock, e is the elastic modulus of the rock, and f is the shear strength of the rock; and where η is the splitting reduction coefficient under underwater conditions, ω is the water depth of the target working environment, W is the maximum working water depth, and g is the splitting distance reduction coefficient at the maximum working water depth, with 0.1 ≤ g ≤ 0.2.

[0022] Advantages: By calculating the spacing of the jigs in a row and comprehensively considering factors such as the splitting force of the splitting rod, rock properties, and the reduction coefficient of underwater working conditions, a reasonable arrangement of the jigs can be achieved and overall operation efficiency can be improved. By optimizing the spacing of multiple jigs, the splitting capacity of each jig can be fully utilized, reducing rock waste and repetitive work. This solution can effectively organize multiple jigs for cooperation in large-scale underwater rock excavation work, forming an efficient construction line and reducing project costs and construction cycles.

[0023] In some embodiments, the connecting rod is pivotally connected to the ship-based manipulator arm to adjust the tilt angle of the device.

[0024] Advantages: The connecting rod is connected to the ship-based manipulator arm to flexibly adjust the rig's inclination angle, making it more adaptable to rock surfaces with different inclinations and angles, improving operational adaptability and flexibility. Furthermore, the splitting direction and force can be controlled by the ship-based manipulator arm to improve the effectiveness and quality of rock splitting. This solution ensures good operating condition even in complex terrain and with irregular rock distribution, expands the rig's application possibilities, and offers superior practicality. Figures

[0025] To more clearly illustrate the specific embodiments of the present utility model and the technical solutions in the prior art, the figures required for use in the specific embodiments and the description of the prior art are briefly presented below. Obviously, the figures described below represent some embodiments of the present utility model. For general technical personnel in this field, additional figures can be created based on these figures without any creative effort. Fig. 1 shows a three-dimensional representation of one of the exemplary embodiments of the device according to the embodiment of the present utility model; Fig. 2 shows a plan view of one of the exemplary embodiments of the device according to the embodiment of the present utility model; Fig. 3 shows a three-dimensional representation of a second exemplary embodiment of the device according to the embodiment of the present utility model; Fig. 4 shows a plan view of a second exemplary embodiment of the device according to the embodiment of the present utility model; Fig. 5 is a schematic diagram showing the structure of the splitting unit in the apparatus according to the embodiment of the present invention; Fig. 6 shows a first flowchart of the workstation rotation switching of the device according to the embodiment of the present utility model; Fig. 7 shows a second flowchart of the workstation rotation switching of the apparatus according to the embodiment of the present utility model; Fig. 8 shows a schematic representation of the operation of the workstation rotation switching of a plurality of devices in series according to the embodiment of the present utility model; Fig. 9 shows a three-dimensional representation of a third exemplary embodiment of the device according to the embodiment of the present utility model; Fig. 10 shows a plan view of the third exemplary embodiment of the device according to the embodiment of the present utility model; Fig. 11 shows a first flowchart of the workstation translation switching of the apparatus according to the embodiment of the present utility model; Fig. 12 shows a second flowchart of the workstation translation switching of the apparatus according to the embodiment of the present utility model; Fig. 13 shows a schematic representation of the operation of the workstation translation switching of a plurality of devices in series division according to the embodiment of the present utility model. Reference symbols in the figures:

[0026] 1. Support structure; 2. Drilling unit; 3. Splitting unit; 301. Splitting rod; 302. Piston segment; 401. Positioning pin; 402. First auxiliary positioning device; 403. Second auxiliary positioning device; 5. Work station switching mechanism; 6. Connecting rod; 7. Rock body; 701. Rock block. Specific embodiments

[0027] In order to clarify the purpose, technical solution, and advantages of the embodiments of the present utility model, the technical solutions in the embodiments of the present utility model are described clearly and completely below in conjunction with the attached drawings in the embodiments of the present utility model. It is obvious that the described embodiments are some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments that a person skilled in the art can derive without creative effort fall within the scope of the present utility model.

[0028] The embodiments of the present utility model are described below in conjunction with the Fig. 1 to 13 described. Example 1

[0029] According to an embodiment of the present utility model, this embodiment provides an integrated underwater rock drilling and splitting device having automatic underwater drilling, positioning and borehole alignment, and hydraulic fracturing, the device being as shown in Fig. 1, in particular, comprises a support structure 1, a drilling unit 2, a splitting unit 3, a positioning and wellbore alignment system, a workstation switching mechanism 5, and a connecting rod 6. Among them, the support structure 1 provides an installation and connection area, the drilling unit 2 performs the drilling operation, the splitting unit 3 moves into the drilling position to perform pressure splitting, the positioning and wellbore alignment system enables positioning and position verification, and the connecting rod 6 is designed to connect the ship-based manipulator arm and thus adjust the underwater depth of the device.

[0030] In this embodiment, the drilling unit 2 comprises a drilling machine, a drilling rod, and a drilling head; the drilling unit 2 and the splitting unit 3 are arranged at intervals and are each mounted on the support structure 1.

[0031] In this embodiment, as in Fig. As shown in Figure 5, the splitting unit 3 comprises a splitting rod 301 and piston segments 302. Several piston segments 302 are arranged on the splitting rod 301, and each piston segment 302 can be arranged telescopically on the splitting rod 301. The splitting unit 3 can be specifically designed as a hydraulic splitting machine.

[0032] In this embodiment, the positioning and borehole alignment system comprises a positioning pin 401 and one or more auxiliary positioning devices, wherein the positioning pin 401 is designed to bear against and be fixed to a rock body 7 and the auxiliary positioning device is arranged relatively firmly on the support structure 1.

[0033] In this embodiment, the support structure 1 is arranged on the drive side at a switching end of the workstation switching mechanism (5). The workstation switching mechanism 5 is designed to switch the relative positions of the drilling unit 2 and the splitting unit 3 on the support structure 1. After the drilling operation of the drilling unit 2 is completed, the workstation switching mechanism 5 drives the support structure 1 to move the splitting unit 3 into the drilling position.

[0034] In the apparatus provided in this embodiment, the drilling work is performed by the drilling unit 2, and the splitting unit 3 assumes the position where the drilling operation is completed. The positions of the drilling unit 2 and the splitting unit 3 are quickly switched on the same apparatus via the work station switching mechanism 5, so that the splitting unit 3 can be aligned with the drilling position of the drilling unit 2, and the positioning and borehole alignment system ensures the precise insertion of the splitting rod 301 into the borehole; the blast-free drilling and splitting method reduces vibration and noise and meets the environmental protection requirements for urban rivers and nature reserves.

[0035] By promoting continuous connecting fracturing after drilling by switching between drilling unit 2 and fracturing unit 3, the present application contributes to improving operation efficiency and reducing the time and labor required for frequent jig replacement; the positioning and wellbore alignment system can accurately align the hole, ensure drilling and fracturing accuracy, and reduce errors and repetitive operations; the connecting rod 6 is connected to the ship-based manipulator arm to adjust the underwater depth, allowing the jig to adapt to the requirements of operations at different water depths.

[0036] The present application uses a compact integrated design to reduce the size of the device, wherein the workstation switching mechanism 5 enables on-site function switching and avoids the movement of large devices, and the connecting rod 6 is adapted to the ship-based manipulator arm to enable depth adjustment suitable for narrow environments.

[0037] In some embodiments, the positioning and borehole alignment system comprises a first auxiliary positioning device 402 and a second auxiliary positioning device 403, wherein the first auxiliary positioning device 402 is fixedly arranged at the insertion end of the split rod 301 and the second auxiliary positioning device 403 is fixedly arranged at the support structure 1, and the first auxiliary positioning device 402 and the second auxiliary positioning device 403 are arranged on the same side of the support structure 1; wherein the first auxiliary positioning device 402 and the second auxiliary positioning device 403 are configured to assist in positioning and borehole alignment, and the first auxiliary positioning device 402 and the second auxiliary positioning device 403 form a binocular positioning system.

[0038] The first auxiliary positioning device 402 and the second auxiliary positioning device 403 provide a redundant design and can use each other for positioning control; at the same time, the first auxiliary positioning device 402 and the second auxiliary positioning device 403 form a binocular positioning system to enable three-dimensional spatial perception of the drilling position and improve the accuracy of drilling. The arrangement of the first auxiliary positioning device 402 and the second auxiliary positioning device 403 on the same side facilitates data acquisition and processing, reduces signal interference, and improves the reliability of drilling positioning.In complex subsea environments, this solution can precisely align the 301 splitting rod to the drilling position, ensure the effectiveness of the splitting operation, and reduce the problem of rock splitting errors or incompleteness due to inaccurate positioning.

[0039] In some embodiments, the first auxiliary positioning device 402 and the second auxiliary positioning device 403 are configured as at least one of the following sensors: laser, sonar, multi-beam, or visual sensor.

[0040] The positioning and hole alignment system uses a variety of positioning and sensing technologies, such as laser, sonar, multi-beam, and visual sensors, which can adapt to different underwater environments and operating conditions and improve the adaptability and robustness of the positioning and hole alignment system; different technologies can complement and verify each other to improve positioning accuracy and reliability.

[0041] In some embodiments, the positioning and wellbore alignment process of the positioning and wellbore alignment system includes: Recording the coordinates of the borehole position through the binocular system after drilling is completed;

[0042] Moving the splitting rod 301 of the splitting unit 3 by the workstation switching mechanism 5 to calculate the relative distance between the splitting rod 301 and the drilling position in real time;

[0043] Verifying the accuracy of the borehole alignment by means of the first auxiliary positioning device 402 and the second auxiliary positioning device 403 when the distance between the split rod 301 and the borehole is ≤ a distance threshold.

[0044] By continuously calculating the relative distance during the movement of the splitting rod 301, it ensures that the drilling accuracy is less than or equal to the distance threshold to perform dynamic calibration in real time. This solution improves movement accuracy through the three-step process of coordinate recording, real-time tracking, and threshold verification, ensuring the alignment of the splitting rod 301 and the drilling position, reducing the risk of negative forces on the splitting unit 3, and contributing to the standardization and automation of drilling operations.

[0045] In some embodiments, the support structure 1 and the workstation switching mechanism 5 are each provided with a sealing waterproof casing; the material of the sealing waterproof casing is metal, carbon fiber, or a high-molecular polymer, and the joints of the sealing waterproof casing are sealed with a sealing material; and the thickness of the sealing waterproof casing is set to ≥ 0.2 mm.

[0046] The sealed waterproof housing prevents underwater pressure, corrosive substances, etc., from damaging the internal structure and components of the device, thereby increasing the service life and reliability of the device. Various material options are available, including metal, carbon fiber, or polymer, which can be optimized according to different operating environments and cost requirements. The sealing material seals the joints and ensures a housing thickness of ≥ 0.2 mm, which further improves the sealing and waterproof performance and ensures stable underwater operation of the device for a long time and adapts to the operating requirements of different water depths and water qualities.

[0047] Regarding the design rules for the watertightness of the device: Since the device is deployed entirely underwater and operates in deep waters, for example, at depths of 20 meters, the entire device and all components must be waterproof. Specific designs include: The underwater operating structures and parts of the device should be divided into waterproof and water-contact parts according to their water contact. For example, the core components of the electric drive, the electronic processors, and the underwater power lines are waterproof; the joints and gears of the underwater moving manipulator arm are water-contact parts. Among them, the waterproof parts must have a waterproof rating above IPX8, and the water-contact parts can be simply waterproof or non-waterproof.

[0048] The waterproof parts of the device, such as the core components of the electric drive, the electronic processors and other current-carrying parts, should be housed in the support structure 1 and the workstation switching mechanism 5.

[0049] The support structure 1 and the workstation switching mechanism 5 should have a fully sealed, thicker housing made of metal, carbon fiber, polymer, and other materials; the connections or flexible joints of the support structure 1 and the workstation switching mechanism 5 should be sealed underwater with high-performance sealing materials such as rubber, polymer, and other materials.

[0050] For power lines, high-performance, insulating, waterproof, and pressure-resistant flexible materials should be used for sheathing and sealing the joints, with specific materials including, but not limited to, thick rubber, polymers, etc.

[0051] Regarding the design rules for the water pressure resistance of the device: The device should be water pressure resistant overall, with the specific water pressure resistance determined based on the nominal water depth. For example, a device with a nominal water depth of 20 m should be able to withstand a water pressure of more than 0.2 MPa.

[0052] To ensure the water pressure resistance of the device, the design parameters such as the materials and thickness of the device housing, the pipeline casing, and the sealing point must be calculated according to the intended underwater operation depth. In combination with the material properties, these must be determined and verified through underwater physical tests. If the support structure 1 of the device has a disc-shaped steel housing and meets the requirements for underwater operation at a water depth of 20 m, the corresponding water pressure of 0.2 MPa can be calculated based on the steel material properties. To withstand the external pressure of 0.2 MPa, the steel housing must be at least 0.2 mm thick, so the housing thickness of the support structure 1 should be greater than 0.2 mm.

[0053] The device provided in this embodiment controls the borehole orientation of the split rod 301 during underwater operation by the movement of the support structure 1 using the detection function of the additional positioning device.

[0054] Taking the example of the auxiliary positioning device that uses a laser sensor to form a binocular positioning system, the first auxiliary positioning device 402, for example, a laser sensor installed at the tip of the split rod 301, can be designed to detect holes, and at the same time, it forms with the second auxiliary positioning device 403, for example, a laser sensor installed on the support structure 1, a binocular positioning system that has the ability to detect and perceive space.

[0055] The device’s borehole alignment process includes the following: After completion of the drilling and lifting and recovery of the drilling machine, the first auxiliary positioning device 402 and the second auxiliary positioning device 403 start operating, and the drilling position is first located and recorded by laser sensor data.

[0056] The workstation switching mechanism causes the movement of the support structure 1. The first auxiliary positioning device 402 and the second auxiliary positioning device 403 continue to operate to calculate the relative distance between the split rod 301 and the borehole.

[0057] When the relative distance between the splitting rod 301 and the borehole is almost 0, the movement of the support structure 1 can be stopped. At this time, the first auxiliary positioning device 402, that is, the laser sensor at the tip of the piston-type splitting rod 301, directly detects the drilled hole vertically downward and accurately judges whether the piston-type splitting rod 301 has completed the borehole alignment and positioning based on the drilling depth, the detection parameters, and the detection parameters of the second auxiliary positioning device 403.

[0058] If it is determined based on the laser sensor parameters of the first auxiliary positioning device 402 and the second auxiliary positioning device 403 that the piston-like splitting rod 301 has been precisely aligned with the hole, the next splitting operation can be performed. If it is determined that the borehole is not precisely aligned, the movement of the support structure 1 is judged to be too large or too small based on the relative position of the borehole. Based on this assessment, the rotation or translation of the support structure 1 is fine-tuned until the hole is precisely aligned and the next splitting operation can be performed.

[0059] In some embodiments, the connecting rod 6 is pivotally connected to the ship-based manipulator arm to adjust the inclination angle of the device. The connecting rod is connected to the ship-based manipulator arm 6 to flexibly adjust the inclination angle of the device, allowing it to better adapt to rock surfaces with different inclinations and angles and improving operational adaptability and flexibility. Furthermore, the splitting direction and force can be controlled by the ship-based manipulator arm to improve the effect and quality of rock splitting. This solution ensures good operating condition even in complex terrain and with irregular rock distribution, expands the device's application possibilities, and offers superior practicality.In one embodiment, the ship-based manipulator arm is configured as a hydraulic arm with a plurality of hydraulic joints, and the mechanical transmission end of the hydraulic arm can act on a connecting rod to perform a three-dimensional movement and thus adjust the position of the entire device. Example 2

[0060] This embodiment provides an operating method for an integrated underwater rock drilling and splitting device comprising the following steps: S1. Fastening the device by placing the positioning pin 401 on the rock body 7; S2. Aligning the drilling unit 2 to the support structure 1 for drilling to the target rock and resetting after drilling; S3. Moving the splitting rod 301 from the splitting unit 3 to the drilling position by the work station switching mechanism 5 and adjusting the borehole orientation by an auxiliary positioning device; S4. Inserting the splitting unit 3 on the support structure 1 into the borehole and extending it from the piston 302 to split the rock.

[0061] Through the standardized process of positioning, drilling, switching, and splitting, the device carries out construction work in a step-by-step manner, eliminating the need for repeated positioning for drilling and splitting operations. This working method replaces blasting with pressure splitting and replaces the step-by-step construction of multiple devices with an integrated design.

[0062] This effectively improves construction efficiency and the device can be adapted to tight environments. Example 3

[0063] In the apparatus provided in this embodiment, the work station switching mechanism 5 is specifically configured as a rotary switching mechanism; the rotary switching mechanism is adapted to drive the support structure 1 to rotate so that the splitting unit 3 is capable of moving and being aligned with the drilling position of the drilling unit 2.

[0064] In this embodiment, the support structure 1 is disc-shaped and the positioning pin 401 is fixedly arranged on the support structure 1.

[0065] The Fig. 1 and Fig. 2 shows an exemplary arrangement of a device with a rotary switching mechanism; drilling unit 2 and splitting rod 301 are arranged symmetrically to the diameter of the support structure 1. The rotary switching mechanism is designed for a 180° rotation of the support structure 1 in the circumferential direction in order to exchange the relative positions of drilling unit 2 and splitting rod 301 after completion of the drilling process.

[0066] Specifically, the drilling unit 2 and the splitting unit 3 are arranged symmetrically at two points on the disc-shaped support structure 1. The drilling unit 2 and the splitting unit 3 are located on either side of the axis of the support structure 1, and the centers of the drilling unit 2, the splitting unit 3, and the support structure 1 lie on the same straight line. After the hole is formed, the positioning and hole alignment process involves rotating the disc-shaped support structure 1 by 180° along the central axis, allowing the splitting rod 301 to be moved over the drilled hole to perform the hole alignment process.

[0067] In one embodiment, for example in Fig. 1, the workstation switching mechanism 5 and the support structure 1 are structurally arranged in a disc shape.

[0068] The Fig. 3 and Fig. 4 shows an exemplary arrangement of a device with a rotary switching mechanism. Drilling unit 2, splitting rod 301, and auxiliary positioning device are arranged at three equidistant points on the circumference of the disk of the support structure (1). The rotary switching mechanism is designed for a 120° rotation of the support structure 1 in the circumferential direction in order to exchange the relative positions of drilling unit 2 and splitting rod 301 after completion of the drilling process.

[0069] Specifically, the drilling unit 2, the splitting rod 301, and the auxiliary positioning device are arranged at three equidistant points of the disc-shaped support structure 1. The arrangement principle is that the drilling unit 2, the splitting rod 301, and the auxiliary positioning device are located at three equidistant points of the disc-shaped support structure 1, and the center of the drilling machine, the center of the splitting rod 301, and the center of the auxiliary positioning device are each located on the trisection lines of the disc, with the center of the disc-shaped support structure 1 as the base point. After the hole is formed, the positioning and hole alignment process consists in rotating the disc-shaped support structure 1 by 120° along the central axis so that the splitting rod 301 can be moved over the drilled hole to perform the hole alignment process.Of course, other devices can also be arranged on the disc-shaped support structure 1, so that they can be arranged in a centered arrangement at four equidistant points, a centered arrangement at five equidistant points, etc. on the disc-shaped support structure 1.

[0070] The device provided in this embodiment adopts a disc-shaped support structure 1 in combination with the rotary switching mechanism. This enables fast and stable 180° or 120° rotation switching. It is easy to operate and precisely positioned, allowing workstation switching to be performed with a minimal rotation angle, thus shortening the operating cycle. The drilling unit 2 and the splitting unit 3 are arranged symmetrically or at three equidistant points and are rigidly connected to the support structure 1 via a positioning pin 401. The reference point remains unchanged during the rotation process, thereby reducing repeated positioning errors, which has a positive effect on the balance and stability of the device structure and reduces vibrations and deviations during the work process.The present application can maximize the function of the device within a limited working space, improve the flexibility and reliability of operation, and is particularly designed for underwater rock excavation work in narrow waterways or on narrow working areas.

[0071] In this embodiment, the drilling unit 2 and the splitting unit 3 are supported by the disc-shaped support structure 1 and are arranged transversely; the drilling unit 2 and the splitting unit 3 can be moved up and down by a moving mechanism based on the disc-shaped support structure 1 and is typically electrically operated.

[0072] The positioning pin 401 is fixed in the center of the disc-shaped support structure 1, has a fixed length and does not need to be changed or moved during operation.

[0073] The disc-shaped support structure 1 can be automatically rotated according to the control signal of the work station switching mechanism 5 to complete the positioning and hole alignment of the splitting rod 301 after drilling.

[0074] The first auxiliary positioning device 402 and the second auxiliary positioning device 403 together form a binocular positioning system for the precise positioning and hole alignment of the split rod 301 underwater after drilling. In particular: The first auxiliary positioning device 402 is located at the tip of the piston-like split rod 301 and is designed to detect the borehole and assist in rotational positioning and hole alignment; the second auxiliary positioning device 403 is arranged on the disc-shaped support structure 1 and is designed to detect the borehole and assist in rotational positioning and hole alignment. The first auxiliary positioning device 402 and the second auxiliary positioning device 403 may be equipped with, but are not limited to, sonar, laser, multi-beam, or visual sensors, among others, and may also be equipped with a parameter processor for acquiring parameters to provide a parameter analysis function.

[0075] The connecting rod 6 is connected to the ship-based manipulator arm, so that the device can work underwater, adapt to different water depths, and freely adjust the working surface as the water depth changes.

[0076] The connecting rod 6 and the positioning pin 401 are arranged relative to each other on the disc-shaped support structure 1 and are designed to connect the device to the ship-based manipulator arm, to bring the device on board, and to be able to be extended underwater with the help of the ship-based manipulator arm, so that work operations at different depths can be carried out underwater and the drilling and fracturing of underwater rock can be completed. Regarding the borehole alignment process: Step 1: The system drills with drilling unit 2. After the drilling process is completed, drilling unit 2 is raised and retracted; Step 2: The first auxiliary positioning device 402 and the second auxiliary positioning device 403 locate and detect the drilling position by binocular detection analysis; Step 3: By rotating the support structure 1, the first auxiliary positioning device 402 and the second auxiliary positioning device 403 detect and analyze the relative distance between the split rod 301 and the borehole; Step 4: When the relative distance between the split rod 301 and the borehole is close to 0, the rotation of the support structure 1 is stopped and an accurate borehole alignment analysis is performed; Step 5: If it is determined that the borehole is not accurately aligned, the movable support structure 1 is finely adjusted forward and backward until the borehole is accurately aligned; if it is determined that the borehole is accurately aligned, the precise borehole alignment of the device is completed.

[0077] The Fig. 6 and Fig. 7 show the workflow of the integrated rotating underwater rock drilling and splitting device:

[0078] Fig. 6 (from left to right): The device is aligned with a plane of the rock body 7 to be split. The positioning pin 401 will rest against the rock body 7 and be fixed relative to the rock body 7; the drilling unit 2 moves downward relative to the disc-shaped support structure 1, and the drill head drills; after completion of the drilling process, the drilling unit 2 moves upward relative to the disc-shaped support structure 1 and is withdrawn;

[0079] Fig. 7 (from left to right): The disc-shaped support structure 1 rotates until the piston-type splitting rod 301 reaches the drilling position. The first auxiliary positioning device 402 and the sensor positioning information of the auxiliary positioning device 402 are used to assist the rotation positioning and achieve precise borehole alignment. The piston-type splitting rod 301 moves downward relative to the disc-shaped support structure 1 and extends to the drilling position. The splitting rod 301 extends the piston to split the rock block 701 and is then retracted, completing the drilling and splitting process.

[0080] It should be noted that before splitting the rock, a volley surface must be formed in the splitting direction to complete the splitting process. In a specific embodiment (see Fig. 8) Multiple jigs are provided, and the multiple jigs are arranged in a single direction. When arranged side by side, they enable large-scale splitting operations in rows and can efficiently split underwater rock over large areas. Each connecting rod 6 of the jigs is connected to the ship-based manipulator arm. Example 4

[0081] In the apparatus provided in this embodiment, the workstation switching mechanism 5 is specifically configured as a translational switching mechanism; the translational switching mechanism is adapted to drive the support structure 1 for translational displacement so that the splitting unit 3 is capable of moving and being aligned with the drilling position of the drilling unit 2.

[0082] In this embodiment, the support structure 1 is cuboid-shaped, and the positioning pin 401 is fixedly arranged on the translation switching mechanism; the drilling unit 2 and the splitting rod 301 are arranged along the rectilinear direction.

[0083] The Fig. 9 and Fig. 10 shows an exemplary arrangement of a device with a translation switching mechanism;

[0084] In the device provided in this embodiment, the linearly arranged drilling unit 2 and splitting unit 3 are subjected to a more direct force, which increases structural rigidity and can be used in extremely hard rock. The positioning pin 401 is firmly connected to the translation switching mechanism, and the reference point remains unchanged during movement, thereby reducing repeated positioning errors. The translation switching mechanism is suitable for long-distance drilling and ensures stability during deep drilling operations.

[0085] The device provided in this embodiment adopts a cuboid support structure 1 in combination with the translation switching mechanism enables fast and stable linear switching and it is easy to operate and precisely positioned.

[0086] In this embodiment, the drilling unit 2 and the splitting unit 3 are supported by the disc-shaped support structure 1 and are arranged transversely; the drilling unit 2 and the splitting unit 3 can be moved up and down by a movement mechanism based on the cuboid-shaped support structure 1 and is usually electrically operated.

[0087] The positioning pin 401 is attached to the translational switching mechanism, has a fixed length, and does not need to be changed or moved during operation, but moves parallel to the cuboid support structure 1 when the translational switching mechanism moves parallel to the cuboid support structure 1.

[0088] The cuboid support structure 1 can move parallel to the motor switch arranged between the translation switching mechanism, whereby the positioning and hole alignment of the split bar 301 is automatically completed after drilling.

[0089] The first auxiliary positioning device 402 and the second auxiliary positioning device 403 together form a binocular positioning system for the precise positioning and hole alignment of the split rod 301 underwater after drilling. In particular: The first auxiliary positioning device 402 is located at the tip of the piston-like splitting rod 301 and is designed to detect the borehole and assist in rotational positioning and hole alignment; the second auxiliary positioning device 403 is arranged on the disc-shaped support structure 1 and is designed to detect the borehole and assist in rotational positioning and hole alignment. The first auxiliary positioning device 402 and the second auxiliary positioning device 403 may be equipped with, but are not limited to, sonar, laser, multi-beam, or visual sensors, among others, and may also be equipped with a parameter processor for acquiring parameters to provide a parameter analysis function.

[0090] The connecting rod 6 is connected to the ship-based manipulator arm, allowing the device to work underwater, adapt to different water depths, and freely adjust the working surface as the water depth changes. Specifically, the connecting rod 6 and the positioning pin 401 are arranged relative to each other on the translational switching mechanism and are configured to connect the device to the ship-based manipulator arm, bring the device on board, and extend it underwater with the aid of the ship-based manipulator arm, thus performing work operations at different depths underwater and completing drilling and splitting of underwater rocks.

[0091] In this embodiment, the translational switching mechanism of the device does not move relative to the rock body 7 during operation, while the cuboid-shaped support structure 1 moves parallel to the rock body 7 during borehole alignment.

[0092] About the borehole alignment process: Step 1: The system drills with drilling unit 2. After the drilling process is completed, drilling unit 2 is raised and retracted; Step 2: The first auxiliary positioning device 402 and the second auxiliary positioning device 403 locate and detect the drilling position by binocular detection analysis; Step 3: By rotating the support structure 1, the first auxiliary positioning device 402 and the second auxiliary positioning device 403 detect and analyze the relative distance between the split rod 301 and the borehole; Step 4: When the relative distance between the split rod 301 and the borehole is close to 0, the rotation of the support structure 1 is stopped and an accurate borehole alignment analysis is performed; Step 5: If it is determined that the borehole is not accurately aligned, the movable support structure 1 is fine-adjusted forward and backward until the borehole is accurately aligned; if it is determined that the borehole is accurately aligned, the precise borehole alignment of the device is completed.

[0093] The Fig. 11 and Fig. 12 show the workflow of the integrated rotating underwater rock drilling and splitting device:

[0094] Fig. 11 (from left to right): The device is aligned with a plane of the rock body 7 to be split. The positioning pin 401 will rest against the rock body 7 and be fixed relative to the rock body 7; the drilling unit moves downward relative to the cuboid support structure 1, and the drill head drills; after the drilling process is completed, the drilling unit moves upward relative to the cuboid support structure 1 and is withdrawn;

[0095] Fig. 12 (from left to right): The cuboid support structure 1 moves relative to the translational switching mechanism until the piston-type splitting rod 301 reaches the drilling position. The first auxiliary positioning device 402 and the sensor positioning information of the second auxiliary positioning device 403 are used to assist rotational positioning and achieve precise borehole alignment. The piston-type splitting rod 301 moves downward relative to the cuboid support structure 1 and extends to the drilling position. The splitting rod 301 extends the piston to split the rock block 701 and is then retracted, completing the drilling and splitting process.

[0096] It should be noted that before splitting the rock, a volley surface must be formed in the splitting direction to complete the splitting process.

[0097] In a specific embodiment (see Fig.13) provides multiple jigs, and the multiple jigs are arranged in a single direction. Arranged side by side, they enable large-scale splitting operations in rows and can efficiently split underwater rock over large areas. Each connecting rod 6 of the jigs is connected to the ship-based manipulator arm. Example 5

[0098] In the device provided in this embodiment, a plurality of devices are provided, and the plurality of devices are arranged in a single direction, and the distance G between adjacent devices when arranged in a row satisfies the following conditions: {G=f(P,d,e,f)nη={1ωWif 1−ωW≥gg if 1−ωW≤g where P is the splitting force of the splitting rod 301, d is the tensile strength of the rock, e is the elastic modulus of the rock, and f is the shear strength of the rock; and where η is the splitting reduction coefficient under underwater conditions, ω is the water depth of the target working environment, W is the maximum working water depth, and g is the splitting distance reduction coefficient at the maximum working water depth, with 0.1 ≤ g ≤ 0.2. P denotes the splitting force of the splitting rod 301 provided by the device with the splitting rod 301. d denotes the tensile strength parameter of the rock to be split, e is the elastic modulus, and f is the shear strength parameter, where the rock parameters are obtained from on-site geological surveys.w denotes the maximum working water depth of the device and g denotes the gap travel reduction coefficient of the device at maximum working water depth, which can be determined by analyzing underwater working tests with the configured device.

[0099] In the solution provided in this embodiment, by calculating the spacing of the devices in a row and comprehensively considering factors such as the splitting force of the splitting rod 301, the rock properties, and the reduction coefficient of the underwater working conditions, a reasonable arrangement of the devices can be achieved and the overall operating efficiency can be improved; by optimizing the spacing arrangement of multiple devices, the splitting capacity of each device can be fully utilized to reduce rock residue and repeated work.

[0100] The present utility model can effectively organize multiple devices for cooperation in large-scale underwater rock excavation work, thereby establishing an efficient construction line and reducing project costs and construction cycles.

[0101] Although the embodiments of the present utility model are described in conjunction with the figures, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present utility model, and such modifications and variations are all within the scope defined by the appended claims.

Claims

[1] Integrated underwater rock drilling and splitting device, characterized by that it includes: a supporting structure (1); a drilling unit (2) mounted on the support structure (1); a splitting unit (3) mounted on the support structure (1), wherein the splitting unit (3) and drilling unit (2) are arranged at intervals; and wherein the splitting unit (3) comprises a splitting rod (301) provided with a plurality of telescopic piston segments (302); a positioning and borehole alignment system comprising a positioning pin (401) and at least one auxiliary positioning device, wherein the positioning pin (401) is designed to bear against and be fixed to a rock body (7) and the auxiliary positioning device is arranged relatively fixedly on the support structure (1); a workstation switching mechanism (5), wherein the support structure (1) is arranged on the drive side at a switching end of the workstation switching mechanism (5); wherein the workstation switching mechanism (5) is configured as a rotary switching mechanism or a translation switching mechanism; wherein the rotary switching mechanism is configured to drive the support structure (1) to rotate so that the splitting unit (3) is able to move and be aligned with the drilling position of the drilling unit (2); and wherein the translation switching mechanism is configured to drive the support structure (1) to translate so that the splitting unit (3) is able to move and be aligned with the drilling position of the drilling unit (2); and a connecting rod (6), wherein the connecting rod (6) is adapted to be connected to a ship-based manipulator arm in order to adjust the underwater depth of the device. [2] Integrated underwater rock drilling and splitting device according to claim 1, characterized by that the support structure (1) is disc-shaped and the positioning pin (401) is fixedly arranged on the support structure (1); that the drilling unit (2) and the splitting rod (301) are arranged symmetrically in the direction of the diameter of the support structure (1) and the rotary switching mechanism is designed to drive the support structure (1) to rotate by 180° in the circumferential direction; or that exactly one auxiliary positioning device is provided, the drilling unit (2), the splitting rod (301) and the auxiliary positioning device are arranged at three equidistant points on the circumference of the disk of the support structure (1), and the Rotary switching mechanism is designed to drive the support structure (1) to rotate by 120° in the circumferential direction. [3] Integrated underwater rock drilling and splitting device according to claim 1, characterized bythat the support structure (1) is cuboid-shaped and the positioning pin (401) is fixedly arranged on the translation switching mechanism; that the drilling unit (2) and the splitting rod (301) are arranged along the rectilinear direction. [4] Integrated underwater rock drilling and splitting device according to claim 1, characterized by that the positioning and borehole alignment system, a first auxiliary positioning device (402) and a second auxiliary positioning device (403), wherein the first auxiliary positioning device (402) is fixedly mounted on the insertion end of the splitting rod (301) and the second auxiliary positioning device (403) is fixedly arranged on the support structure (1), and the first auxiliary positioning device (402) and the second auxiliary positioning device (403) are arranged on the same side of the support structure (1); wherein the first auxiliary positioning device (402) and the second auxiliary positioning device (403) are arranged to assist the positioning and borehole alignment and the first auxiliary positioning device (402) and the second auxiliary positioning device (403) form a binocular positioning system. [5] Integrated underwater rock drilling and splitting device according to claim 4, characterized by that the first auxiliary positioning device (402) and the second auxiliary positioning device (403) are configured as at least one of the following sensors: laser, sonar, multi-beam or visual sensor. [6] Integrated underwater rock drilling and splitting device according to claim 4, characterized by that the positioning and Borehole alignment process of the positioning and borehole alignment system includes: Recording the coordinates of the borehole position through the binocular system after drilling is completed; Moving the splitting rod (301) of the splitting unit (3) by the workstation switching mechanism (5) to calculate the relative distance between the splitting rod (301) and the drilling position in real time; Verifying the accuracy of the borehole alignment by means of the first auxiliary positioning device (402) and the second auxiliary positioning device (403), if the distance between the split rod (301) and the borehole is ≤ a distance threshold. [7] Integrated underwater rock drilling and splitting device according to claim 1, characterized bythat the support structure (1) and the workstation switching mechanism (5) are each provided with a sealing, waterproof housing; wherein the material of the sealing, waterproof housing is metal, carbon fiber, or a high-molecular polymer, and the joints of the sealing, waterproof housing are sealed with a sealing material; and wherein the thickness of the sealing waterproof casing is set to ≥ 0.2 mm. [8] Integrated underwater rock drilling and splitting device according to claim 1, characterized by that a plurality of devices are provided and the plurality of devices are arranged in a single direction, wherein the distance G between adjacent devices, when arranged in a row, satisfies the following conditions: {G=f(P,d,e,f)ηη={1ωWif 1−ωW≥gg if 1−ωW≤g where P is the splitting force of the splitting rod, d is the tensile strength of the rock, e is the elastic modulus of the rock, and f is the shear strength of the rock; and where η is the splitting reduction coefficient under underwater conditions, ω is the water depth of the target working environment, W is the maximum working water depth, and g is the splitting distance reduction coefficient at the maximum working water depth, with 0.1 ≤ g ≤ 0.

2. [9] Integrated underwater rock drilling and splitting device according to claim 1, characterized by that the connecting rod (6) is pivotally connected to the ship-based manipulator arm in order to adjust the angle of inclination of the device.

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