CN111926873B - Underwater rock cleaning platform with controllable rock drilling rod drilling speed and cleaning method - Google Patents
Underwater rock cleaning platform with controllable rock drilling rod drilling speed and cleaning method Download PDFInfo
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- CN111926873B CN111926873B CN202010608491.3A CN202010608491A CN111926873B CN 111926873 B CN111926873 B CN 111926873B CN 202010608491 A CN202010608491 A CN 202010608491A CN 111926873 B CN111926873 B CN 111926873B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/02—Stream regulation, e.g. breaking up subaqueous rock, cleaning the beds of waterways, directing the water flow
- E02B3/026—Removing solid rocks
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/30—Auxiliary apparatus, e.g. for thawing, cracking, blowing-up, or other preparatory treatment of the soil
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Abstract
The invention discloses an underwater rock cleaning platform with controllable rock drilling rod chiseling speed and a cleaning method, wherein the underwater rock cleaning platform comprises a ship body, a rock drilling control room, a rock drilling rod and a grab bucket are arranged on a deck of the ship body, a suspension arm used for controlling the construction positions of the rock drilling rod and the grab bucket is arranged on the rock drilling control room, a rock drilling rod speed control mechanism is arranged below the suspension arm and comprises a cantilever and an actuator, the rear end of the cantilever is fixed on the deck through a rotary table, and the front end of the cantilever is connected with the actuator; the actuator comprises an actuating rod and a servo motor, the axial direction of the actuating rod is the impact direction of the rock drilling rod, the front end of the actuating rod adsorbs the rock drilling rod through electromagnetism, and the servo motor provides power for the actuating rod, applies vertical load to the rock drilling rod and improves the initial speed of the rock drilling rod. In the rock drilling process, the drilling speed of the rock drilling rod can be accurately controlled by controlling the lifting height of the rock drilling rod or the load applied by the actuator according to the strength, the water depth and the submarine landform characteristics of the rock, and the abrasion of the rock drilling rod is reduced under the condition of meeting the rock drilling requirement.
Description
Technical Field
The invention relates to an underwater rock cleaning platform and an underwater rock cleaning method based on the same, in particular to an underwater rock cleaning platform with controllable rock drilling rod chiseling speed and an underwater rock cleaning method based on the same, and belongs to the technical field of ocean dredging engineering.
Background
Dredging refers to underwater excavation by using a dredger or other machines and workers, and earthwork engineering is performed for widening and deepening water areas, and is mainly applied to dredging of harbor and harbor channels and reef cleaning construction of seabed foundation troughs and underwater pipelines. Generally, a trailing suction dredger, a cutter suction dredger or a grab dredger is preferably adopted for dredging soft soil and loose sand, and if a hard rock stratum such as medium weathering or slightly weathering is encountered, the rock stratum needs to be broken by a process such as reef explosion and the like and then removed by using the grab bucket for removing slag, but the reef explosion has great influence on the surrounding environment, and is not suitable for areas such as dangerous goods or marine ecological protection areas existing around.
The conventional treatment scheme in the industry at present is that a grab dredger is matched with a rock drilling rod to crush a hard rock stratum and then the hard rock stratum is removed by the grab dredger, specifically, the rock drilling rod is lifted to a certain height and then falls freely, and the gravitational potential energy of the rock drilling rod is converted into huge impact force to crush the rock. However, the method has low applicability in shallow water depth and offshore areas, is limited to the lifting height of a rock drilling rod of a rock drilling platform, has low gravitational potential energy of the rock drilling rod, cannot provide high impact speed when the rock is dug, and cannot achieve good rock breaking effect.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems that the existing rock drilling rod breaking reef cleaning method cannot provide high impact speed and is not suitable for cleaning rocks in shallow water areas, the invention provides an underwater rock cleaning platform with controllable rock drilling rod drilling speed and an underwater rock cleaning method based on the platform.
The technical scheme is as follows: the underwater rock cleaning platform with the controllable rock drilling rod chiseling speed comprises a ship body capable of driving to a construction area, wherein a rock drilling device is arranged on a deck of the ship body and comprises a rock drilling control chamber, a suspension arm, a rock drilling rod, a grab bucket and a rock drilling rod speed control mechanism, one end of the suspension arm is movably connected with the rock drilling control chamber, and the other end of the suspension arm is connected with the rock drilling rod or the grab bucket to control the construction position of the suspension arm; the rock drilling rod speed control mechanism is positioned below the cantilever and comprises a cantilever and an actuator which are horizontally arranged, the rear end of the cantilever is fixed on the deck through a rotary table and can rotate around the rotary table, the front end of the cantilever is connected with the actuator, and the actuator can horizontally move along the front end of the cantilever; the actuator comprises an actuating rod and a servo motor, wherein the axial direction of the actuating rod is the impact direction of the rock drilling rod, the front end of the actuating rod is used for adsorbing the rock drilling rod through electromagnetism, the servo motor provides power for the actuating rod, vertical load is applied to the rock drilling rod, and the initial speed of the rock drilling rod is improved.
Preferably, the suspension arm comprises two connecting ends, the first end is hinged with the rock drilling control chamber, and the second end is used for suspending a rock drilling rod or a grab bucket through a cable; the rock drilling device also comprises a traction device, wherein the traction device is connected with the second end of the suspension arm and is used for adjusting the lifting angle of the suspension arm and controlling the operable range of the suspension arm; the traction equipment is also connected with a cable for suspending the rock drilling rod or the grab bucket and used for dragging the rock drilling rod or the grab bucket to lift.
Preferably, the bottom of the rock drilling control room is fixedly connected with the deck through a turntable, the turntable rotates, and the suspension arm rotates along with the rock drilling control room to control the chiseling position and the cleaning position of the rock drilling rod and the grab bucket.
The underwater rock cleaning method based on the underwater rock cleaning platform comprises the following steps:
(1) obtaining a submarine rock sample in a construction area, and measuring the uniaxial compressive strength of the rock;
(2) calculating the impact speed of a rock drilling rod required by rock impact crushing according to the uniaxial compressive strength of the rock;
(3) establishing a three-dimensional landform graph of a construction area, and calculating the water depth of the construction area;
(4) judging whether the kinetic energy required by rock breaking can be provided by the rock drilling rod independently, and if so, calculating the lifting height of the rock drilling rod according to the impact speed; otherwise, calculating the load which needs to be applied to the rock drilling rod by the actuator according to the impact speed;
(5) determining other parameters of rock drilling construction according to the three-dimensional landform graph and the calculation result of the step (4), wherein the other parameters comprise the times of chiseling of rock drilling points and the row spacing and the bit spacing between the rock drilling points;
(6) installing a rock drilling rod, and performing rock drilling operation of a construction area; after the rock is impacted and crushed, installing a grab bucket, and cleaning the crushed rock;
(7) and (4) establishing the three-dimensional landform graph of the construction area again, and performing rock drilling construction on the area which does not reach the design elevation again until all the areas reach the design elevation.
In step (2) above, the impact velocity v' of the drill rod required for impact breaking of the rock may be calculated according to the following formula:
in the formula: f is the minimum pressure required for rock breaking, m is the mass of the rock drilling rod, t is the contact time of the rock drilling rod and the rock during impact breaking, P is the uniaxial compressive strength of the rock, and S is the area of the tip of the rock drilling rod.
Specifically, in the step (4), the method for judging whether the kinetic energy required for rock breaking can be provided by the rock drilling rod alone is as follows: when the kinetic energy of the rock drilling rod when the rock drilling rod drills the rock is larger than or equal to the kinetic energy required by rock crushing, the kinetic energy required by the rock crushing can be provided by the rock drilling rod independently; instead, the actuator needs to apply a load to the drill rod to increase the entry rate of the drill rod.
When the kinetic energy of the rock drilling rod when it strikes the rock is greater than or equal to the kinetic energy required for breaking the rock, the hoisting height h of the rock drilling rod can be calculated according to the following formula:
in the formula: m is the mass of the rock drilling rod, g is the acceleration of gravity of the construction area, rhoLiquid for treating urinary tract infectionV' is the impact velocity of the rock drilling rod, which is the density of water in the construction area.
When the kinetic energy of the rock drilling rod when drilling rock is less than the kinetic energy required for breaking rock, the load F to be applied to the rock drilling rod by the actuator can be calculated according to the formula1：
In the formula: s is the working length of the actuator, m is the mass of the rock drilling rod, g is the gravitational acceleration of the construction area, h1For the falling height of the rock drilling rod in the atmosphere, h2For depth of water, rho, in the construction zoneLiquid for treating urinary tract infectionIs the density of water in the construction area, vRow boardThe volume of water discharged by the rock drilling rod, and v' is the impact velocity of the rock drilling rod.
Preferably, in the step (3) and the step (7), the three-dimensional topographic map of the construction area can be established by performing multi-beam bathymetry on the construction area.
Has the advantages that: compared with the prior art, the invention has the advantages that: (1) the actuator is additionally arranged on the underwater rock cleaning platform, and can apply vertical load to the rock drilling rod, so that the impact speed of the rock drilling rod is improved, and a better rock breaking effect can be realized in a shallow water area; (2) the underwater rock cleaning method has the characteristics of convenience in operation and simplicity in construction, and the rock drilling speed of the rock drilling rod can be accurately controlled by controlling the lifting height of the rock drilling rod or the applied load of the actuator according to the strength, the water depth and the submarine topographic features in the rock drilling process, so that the abrasion of the rock drilling rod is reduced under the condition of meeting the rock drilling requirement, and the rock drilling rod better meets the requirements of high efficiency and environmental protection.
Drawings
FIG. 1 is a schematic illustration of a deep water rock drilling operation using the underwater rock cleaning platform of the present invention;
FIG. 2 is a schematic illustration of shallow water rock drilling operations using the underwater rock cleaning platform of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2;
fig. 4 is a flow chart of a rock cleaning method of the present invention.
Detailed Description
The technical solution of the present invention is further explained with reference to the drawings and the embodiments.
The underwater rock cleaning platform with the controllable rock drilling rod drilling speed improves the rock drilling ship commonly used by the existing underwater heavy hammer impact rock drilling method, so that the platform can be simultaneously suitable for shallow water areas, and realizes a better rock breaking effect in the shallow water areas.
Referring to fig. 1-3, the underwater rock cleaning platform comprises a ship body 1 capable of driving to a specific construction area, and a rock drilling device and a living area 9 are arranged on a deck 2 of the ship body. The rock drilling device comprises a rock drilling control room 8, a rotary table 3, a suspension arm 4, a rock drilling rod 5, a grab bucket 6 and a rock drilling rod speed control mechanism.
The rock drilling control room 8 is arranged at one side of the ship body 1, is connected with the suspension arm 4, and controls the rock drilling process by controlling the movement of the suspension arm 4. The suspension arm 4 comprises two connecting ends, the first end is hinged with the rock drilling control chamber 8, and the second end is provided with a cable rope which can suspend the rock drilling rod 5 or the grab bucket 6; when rock drilling and crushing are needed, the rock drilling rod 5 is hung at the bottom of the cable, the grab bucket 6 is placed on the deck 2, after the crushing is completed, the rock drilling rod 5 is taken down, the grab bucket 6 is hung, and the crushed reef is cleaned. The second end of the suspension arm 3 is also connected with a traction device 14, the traction device 14 can pull the second end of the suspension arm 4 through a traction cable to adjust the lifting angle of the suspension arm, control the operable range of the suspension arm 4 and further control the distance between the rock drilling rod 5 or the grab bucket 6 and the ship body; the pulling device 14 may also comprise a second pulling rope connected to the cable on the boom for pulling the rock drilling rod 5 or the grab bucket 6 up and down.
The bottom of the rock drilling control chamber 8 is fixedly connected with the deck 2 through the rotary table 3, the rotary table 3 rotates, the rock drilling control chamber 8 rotates, and the suspension arm 4 connected with the rotary table drives the rock drilling rod 5 and the grab bucket 6 to rotate so as to change the position of chiseling or cleaning.
For convenience of description, the front end and the rear end are referred to in the specification in relation to the rock drilling rod, wherein the end close to the rock drilling rod is referred to as the front end, and the end far away from the rock drilling rod is referred to as the rear end. The rock drilling rod speed control mechanism is located below the boom 4 and comprises a horizontally arranged boom 10 and an actuator. The front end of the cantilever 10 is connected to an actuator, and the actuator can generate horizontal displacement along the front end of the cantilever 10, for example, sliding grooves can be chiseled on both sides of the front end of the cantilever 10, and the actuator can move back and forth along the cantilever 10 through a guide rail. The actuator is a servo actuator and comprises an actuating rod 15 and a servo motor 11, and the axial direction of the actuating rod 15 is the impact direction of the rock drilling rod. The front end of the actuating rod 15 can be provided with an electromagnetic adsorption component 16 which is connected with the rock drilling rod 5 through electromagnetic suction; the electromagnetic attraction member 16 may be a metal sheet, and may generate an attraction force by applying an electromagnetic field, thereby attracting the rock drilling rod 5. The servo motor 11 provides power for the actuating rod 15, for example, hydraulic pressure can be controlled through servo, a vertical load is applied to the rock drilling rod 5 through the actuating rod 15, the electromagnetic suction force of the actuator is overcome, the initial speed is increased for the rock drilling rod, the falling water speed of the rock drilling rod is increased, and the impact strength of the rock drilling rod is improved. The rear end of the cantilever 10 may be fixed to the deck 2 by a turntable 12, and the turntable 12 may be a rotating shaft, so that the cantilever 10 can rotate around the turntable 12 to drive the actuator to change positions.
The underwater rock cleaning method based on the underwater rock cleaning platform can specifically comprise the following steps as shown in fig. 4:
the impact velocity v' of the rock drilling rod required for impact breaking of rock may be calculated according to the following formula:
the intensity calculation formula is as follows:
law of conservation of momentum: ft ═ mv
So the minimum pressure F ═ PS required for rock breaking and the chiseling speed required for rock breaking are
In the formula: f is the minimum pressure required for rock breaking, m is the mass of the rock drilling rod, t is the contact time of the rock drilling rod and the rock during impact breaking, P is the uniaxial compressive strength of the rock, and S is the area of the tip of the rock drilling rod.
when the kinetic energy of the rock drilling rod when the rock drilling rod drills the rock is larger than or equal to the kinetic energy required by rock crushing, the kinetic energy required by the rock crushing can be provided by the rock drilling rod independently; instead, the actuator needs to apply a load to the drill rod to increase the entry rate of the drill rod.
(1) If the depth of water in the construction area is large, the lifting height of the rock drilling rod is controlled, the gravitational potential energy of the free falling body of the rock drilling rod is converted into kinetic energy, when the kinetic energy of the rock drilling rod when the rock drilling rod strikes the rock is larger than or equal to the kinetic energy required by the rock breaking, the actuator does not need to apply load to the rock drilling rod, and the lifting height h of the rock drilling rod is calculated by the following method:
law of conservation of momentum:
buoyancy calculation formula: fFloating body＝ρLiquid for treating urinary tract infectiongvRow board
In water, the rock drilling rod is subjected to gravity G and buoyancy FFloating bodySo that the hoisting height h of the rock drilling rod can be calculated by:
in the formula: m is the mass of the rock drilling rod, g is the acceleration of gravity of the construction area, rhoLiquid for treating urinary tract infectionV' is the impact velocity of the rock drilling rod, which is the density of water in the construction area.
(2) If the water depth of the construction area is shallow, the gravitational potential energy of the free falling body of the rock drilling rod is converted into kinetic energy by controlling the lifting height of the rock drilling rod, when the kinetic energy of the rock drilling rod when the rock drilling rod strikes the rock is smaller than the kinetic energy required by rock breaking, the actuator needs to apply load to the rock drilling rod so as to improve the water entering speed of the rock drilling rod, and the applied load corresponding to the actuator is calculated by the following method:
newton's second law: f ═ m α
Velocity formula: v ═ v0+at
Displacement formula:
according to the Newton's second law, the velocity formula and the displacement formula, the velocity of the rock drilling rod when the rock drilling rod is separated from the actuator can be calculated
When the rock drilling rod is separated from the actuator and descends in the atmosphere, the rock drilling rod is accelerated by the downward free falling body under the action of gravity G and is subjected to upward buoyancy F after entering waterFloating bodyAccording to the law of conservation of momentum, the applied load F of the actuator can be calculated by using the following formula1：
In the formula: s is the working length of the actuator, m is the mass of the rock drilling rod, g is the gravitational acceleration of the construction area, h1For the falling height of the rock drilling rod in the atmosphere, h2For depth of water, rho, in the construction zoneLiquid for treating urinary tract infectionIs the density of water in the construction area, vRow boardThe volume of water discharged by the rock drilling rod, and v' is the impact velocity of the rock drilling rod.
and 8, performing multi-beam bathymetry again, establishing a three-dimensional landform graph of a construction area, and performing rock drilling construction again on the area which does not reach the design elevation until all the areas reach the design elevation.
Example 1
The underwater cleaning method of the present invention will be described by taking rock drilling construction in a certain deepwater zone as an example.
The diagram of the rock drilling construction in the deep water area is shown in figure 1. Wherein the mass m of the adopted rock drilling rod is 35000kg, and the area S of the rock drilling rod tip is 0.039m2The ground gravity acceleration g is 9.81m/s2Density of water ρLiquid for treating urinary tract infection＝1.0×103kg/m3Density of iron ρIron＝7.8×103kg/m3The contact time t of the rock drilling rod and the rock is 0.2s, and the uniaxial compressive strength sigma of the rock in the construction area187.3MPa, depth h of construction area2＝35m。
According to the intensity calculation formula
The minimum pressure F-PS-3404.7 KN required for rock breaking is calculated, and the minimum speed required for rock breaking is
Due to gravitational potential energy E of rock drilling rodP＝mgh212017.25KJ, the rock drilling rod applies work by buoyancy
Kinetic energy required for rock breaking
At this time
So the actuator does not need to apply load to the rock drilling rod, the lifting height h of the rock drilling rod is calculated by using the following formula:
in the formula:
m: mass of rock drilling rod, (kg); g: gravitational acceleration of the ground (m/s)2) (ii) a h: the hoisting height of the rock drilling rod, (m); rhoLiquid for treating urinary tract infection: density of water, (kg/m)3) (ii) a v': chisel for rock drilling rodImpact velocity, (m/s).
The hoisting height h of the drill rod was determined to be 22.11 m.
And determining parameters of rock drilling construction, specifically, the lifting height of a rock drilling rod is 22.11m, the number of times of rock drilling at a rock drilling point is 2 times, the row spacing of the rock drilling point is 2.5m, and the position spacing of the rock drilling point is 1.7 m.
A rock drilling rod 5 is arranged below a cable 7 of the suspension arm 4, the cable is lowered to a height of 22.11m away from the rock surface, and rock drilling operation of a construction area is carried out; after the rock is impacted and crushed, installing a grab bucket 6, and cleaning the crushed rock;
and performing multi-beam bathymetry again, establishing a three-dimensional landform graph of a construction area, and performing rock drilling construction again on the area which does not reach the design elevation until all the areas reach the design elevation.
Example 2
The underwater cleaning method of the present invention will be described by taking rock drilling construction in a shallow water area as an example.
The schematic diagram of the rock drilling construction in the shallow water area is shown in figure 2. Wherein the mass m of the adopted rock drilling rod is 35000kg, and the area S of the rock drilling rod tip is 0.039m2The working length S of the actuator is 0.3m, and the gravity acceleration g is 9.81m/S2Density of water ρLiquid for treating urinary tract infection＝1.0×103kg/m3Density of iron ρIron＝7.8×103kg/m3The contact time t of the rock drilling rod and the rock is 0.2s, and the uniaxial compressive strength sigma of the rock in the construction area187.3MPa, the height h of the rock drill rod falling in the atmosphere13m, depth of water h in construction area2＝10m。
According to the intensity calculation formula
The minimum pressure F-PS-3404.7 KN required for rock breaking is calculated, and the minimum speed required for rock breaking is
Due to gravitational potential energy E of rock drilling rodP＝mgh23433.5KJ, the rock drilling rod applies work by buoyancy
Kinetic energy required for rock breaking
At this time
Therefore, the actuator needs to apply load to the rock drilling rod, and the applied load F of the actuator is calculated by using the following formula1：
In the formula:
F1: applied load of the actuator, (KN); s: the working length of the actuator, (m); m: mass of rock drilling rod, (kg); g: gravitational acceleration of the ground (m/s)2)；h1: the drop height of the rock drilling rod in the atmosphere, (m); h is2: construction area water depth, (m); rhoLiquid for treating urinary tract infection: density of water, (kg/m)3)；vRow board: volume of water drained by rock drilling rod (m)3) (ii) a v': the speed of the drilling of the rock drilling rod, (m/s).
Determining the load F to be applied by the actuator1＝8656.43KN。
And determining parameters of rock drilling construction, specifically, applying load 8656.43KN by an actuator, drilling times of rock points for 2 times, row spacing of the rock drilling points for 2.5m, and location spacing of the rock drilling points for 1.7 m.
A rock drilling rod 5 is arranged below a cable 7 of the suspension arm 4 and is connected with an actuator, and the actuator applies a load 8656.43KN to carry out rock drilling operation on a target area; after the rock is impacted and crushed, installing a grab bucket 6, and cleaning the crushed rock;
and performing multi-beam bathymetry again, establishing a three-dimensional landform graph of a construction area, and performing rock drilling construction again on the area which does not reach the design elevation until all the areas reach the design elevation.
Claims (9)
1. An underwater rock cleaning platform with controllable rock drilling rod chiseling speed is characterized by comprising a ship body capable of driving to a construction area, wherein a rock drilling device is arranged on a deck of the ship body and comprises a rock drilling control room, a suspension arm, a rock drilling rod, a grab bucket and a rock drilling rod speed control mechanism, one end of the suspension arm is movably connected with the rock drilling control room, and the other end of the suspension arm is connected with the rock drilling rod or the grab bucket to control the construction position of the rock drilling rod or the grab bucket; the rock drilling rod speed control mechanism is positioned below the lifting arm and comprises a cantilever and an actuator which are horizontally arranged, the rear end of the cantilever is fixed on the deck through a rotary table and can rotate around the rotary table, the front end of the cantilever is connected with the actuator, and the actuator can horizontally move along the front end of the cantilever; the actuator comprises an actuating rod and a servo motor, wherein the axial direction of the actuating rod is the impact direction of the rock drilling rod, the front end of the actuating rod is used for absorbing the rock drilling rod through electromagnetism, the servo motor provides power for the actuating rod, vertical load is applied to the rock drilling rod, and the initial speed of the rock drilling rod is improved.
2. An underwater rock cleaning platform with controllable rock drilling rod striking speed according to claim 1, characterized in that the boom comprises two connecting ends, a first end is hinged with the rock drilling control room, and a second end is used for suspending the rock drilling rod or the grab bucket through a cable; the rock drilling device also comprises a traction device, wherein the traction device is connected with the second end of the suspension arm and is used for adjusting the lifting angle of the suspension arm and controlling the operable range of the suspension arm; the traction equipment is also connected with a cable for suspending the rock drilling rod or the grab bucket and used for dragging the rock drilling rod or the grab bucket to lift.
3. The underwater rock cleaning platform with the controllable rock drilling rod and rock drilling speed as claimed in claim 1, wherein the bottom of the rock drilling control chamber is fixedly connected with a deck through a rotary table, the rotary table rotates, and the suspension arm rotates along with the rock drilling control chamber to control the drilling position and the cleaning position of the rock drilling rod and the grab bucket.
4. An underwater rock cleaning method based on the underwater rock cleaning platform as claimed in claim 1, characterized by comprising the following steps:
(1) obtaining a submarine rock sample in a construction area, and measuring the uniaxial compressive strength of the rock;
(2) calculating the impact speed of a rock drilling rod required by rock impact crushing according to the uniaxial compressive strength of the rock;
(3) establishing a three-dimensional landform graph of a construction area, and calculating the water depth of the construction area;
(4) judging whether the kinetic energy required by rock breaking can be provided by the rock drilling rod independently, and if so, calculating the lifting height of the rock drilling rod according to the impact speed; otherwise, calculating the load which needs to be applied to the rock drilling rod by the actuator according to the impact speed;
(5) determining other parameters of rock drilling construction according to the three-dimensional landform graph and the calculation result of the step (4), wherein the other parameters comprise the times of chiseling of rock drilling points and the row spacing and the bit spacing between the rock drilling points;
(6) installing a rock drilling rod, and performing rock drilling operation of a construction area; after the rock is impacted and crushed, installing a grab bucket, and cleaning the crushed rock;
(7) and (4) establishing the three-dimensional landform graph of the construction area again, and performing rock drilling construction on the area which does not reach the design elevation again until all the areas reach the design elevation.
5. An underwater rock cleaning method as claimed in claim 4, wherein in step (2), the impact velocity v' of the rock drilling rod required for impact breaking of the rock is calculated according to the formula:
in the formula: f is the minimum pressure required for rock breaking, m is the mass of the rock drilling rod, t is the contact time of the rock drilling rod and the rock during impact breaking, P is the uniaxial compressive strength of the rock, and S is the area of the tip of the rock drilling rod.
6. An underwater rock cleaning method as claimed in claim 4, wherein in the step (4), the method for judging whether the kinetic energy required for rock breaking can be provided by the rock drilling rod alone is as follows: when the kinetic energy of the rock drilling rod when the rock drilling rod drills the rock is larger than or equal to the kinetic energy required by rock crushing, the kinetic energy required by the rock crushing can be provided by the rock drilling rod independently; instead, the actuator needs to apply a load to the drill rod to increase the entry rate of the drill rod.
7. An underwater rock cleaning method as claimed in claim 6, wherein in step (4), when the kinetic energy of the rock drilling rod when it strikes the rock is equal to or greater than the kinetic energy required for rock breaking, the hoisting height h of the rock drilling rod is calculated according to the following formula:
in the formula: m is the mass of the rock drilling rod, g is the acceleration of gravity of the construction area, rhoLiquid for treating urinary tract infectionV' is the impact velocity of the rock drilling rod, which is the density of water in the construction area.
8. An underwater rock cleaning method as claimed in claim 6, wherein in the step (4), when the kinetic energy of the rock drilling rod when it strikes the rock is smaller than the kinetic energy required for breaking the rock, the load F to be applied to the rock drilling rod by the actuator is calculated according to the following formula1：
In the formula: s is the working length of the actuator, m is the mass of the rock drilling rod, g is the gravitational acceleration of the construction area, h1For the falling height of the rock drilling rod in the atmosphere, h2For depth of water, rho, in the construction zoneLiquid for treating urinary tract infectionIs the density of water in the construction area, vRow boardThe volume of water discharged by the rock drilling rod, and v' is the impact velocity of the rock drilling rod.
9. The underwater rock cleaning method of claim 4, wherein in the steps (3) and (7), the three-dimensional topographic map of the construction area is established by performing multi-beam bathymetry on the construction area.
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| CN113481929A (en) * | 2021-06-22 | 2021-10-08 | 中交广州航道局有限公司 | Underwater hard rock excavation method and device based on hydraulic breaking hammer |
| CN115752339A (en) * | 2022-11-11 | 2023-03-07 | 广州市市政工程设计研究总院有限公司 | Underwater rock drilling penetration depth measuring method and rock drilling hammer |
| CN116220555A (en) * | 2023-02-01 | 2023-06-06 | 中交第四航务工程局有限公司 | Underwater rock drilling device and installation method thereof |
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| FR2780425B1 (en) * | 1998-06-25 | 2000-08-04 | Jean Daniel Despaux | AUTONOMOUS DREDGING AND DEROCTAGE DEVICE COMPOSED OF THE UPPER PART OF A LONG BOOM HYDRAULIC SHOVEL ATTACHED TO THE LEVEL OF ITS CROWN ON THE BRIDGE OF A MOTORIZED VALVE BARGE OR A FLOATING PONTOON |
| TW201313992A (en) * | 2011-09-30 | 2013-04-01 | Wan-Lai Chen | Gouging device of dredger |
| KR101221588B1 (en) * | 2012-06-26 | 2013-01-14 | (주)동원엔텍 | Apparatus for trenching a rock seabed |
| CN204753674U (en) * | 2015-04-17 | 2015-11-11 | 中交四航局第五工程有限公司 | Broken system suitable for reef is clear away under water |
| CN110284543A (en) * | 2019-07-02 | 2019-09-27 | 长江重庆航道工程局 | A kind of clear reef ship and its underwater reefs method for cleaning |
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