CN109025824A - Drilling machine people is surveyed in a kind of armor crab seabed - Google Patents
Drilling machine people is surveyed in a kind of armor crab seabed Download PDFInfo
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- CN109025824A CN109025824A CN201810932719.7A CN201810932719A CN109025824A CN 109025824 A CN109025824 A CN 109025824A CN 201810932719 A CN201810932719 A CN 201810932719A CN 109025824 A CN109025824 A CN 109025824A
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- 238000005553 drilling Methods 0.000 title claims abstract description 86
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- 210000000707 wrist Anatomy 0.000 claims description 9
- 210000000245 forearm Anatomy 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 239000011664 nicotinic acid Substances 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 239000011435 rock Substances 0.000 abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 13
- 238000005070 sampling Methods 0.000 abstract description 8
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- 238000004458 analytical method Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000011707 mineral Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
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- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/12—Underwater drilling
- E21B7/124—Underwater drilling with underwater tool drive prime mover, e.g. portable drilling rigs for use on underwater floors
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/02—Supports for the drilling machine, e.g. derricks or masts specially adapted for underwater drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
Drilling machine people is surveyed in a kind of armor crab seabed, belong to mine detecting set field, running gear 2 is installed in the lower end of car body 1, four angles of the car body 1 are equipped with fixed device 3, the center of the car body 1 is equipped with drilling rig 4, the vehicle body surrounding of the car body 1 is equipped with sensing device 8, and hydraulic device 6 is equipped with inside the car body 1, and hydraulic device 6 is connect with running gear 2, fixed device 3, drilling rig 4；The robot is suitable for the sea area of depth of water 100m, it can be achieved that seabed hard rock is explored automatically, and to sea bed progress drill hole sampling, sample length 20m reduces exploration cost, promotes marine resources development.
Description
Technical field:
The present invention relates to a kind of seabed mine locating robots, belong to mine detecting set field.
Background technique:
Ocean is the huge treasure-house of the mankind, buries a large amount of mineral resources, and sea floor exploration is still world-technology problem so far；It is close several
Marine technology development in 10 years, various countries find non-renewable resources abundant in coastal waters, such as: combustible ice, non-ferrous metal；China
It is utilization of resources big country, the "Oceanic" strategy will become the mainstay of China's future development.
It takes the lead in marching to deep-sea headed by developed country at present, research vessel, drilling ship (platform), all kinds of detection instruments, dress
Standby, nobody is/manned/to be remotely controlled bathyscaph, underwater robot, sampling equipment, seabed monitoring net etc. and comes out one after another, detect range and depth
Degree constantly refreshes；In recent years, underwater robot technology is fast-developing, has obtained answering extensively in deep sea mineral resources Exploration Domain
With, but these seabottom geology surveying devices are only limitted to submarine surface and shallow-layer sampling, not up to deep layer samples, both at home and abroad still
Do not find that similar product can be realized sea-bottom survey drilling machine people.
Summary of the invention:
In view of the deficiency of the prior art, purpose seeks to provide a kind of shallow sea sea at low cost, achievable the present invention
Bottom exploration sampling reaches 20m, is detected to nonferrous metal resource, carries out sea suitable for the sea area drilling depth of 100 m of the depth of water
Resource big data statistical analysis in bottom realizes Haiti ensaying, reduces exploration cost, improving exploration efficiency and exploration quality
Armor crab drilling machine people.
The technical scheme to solve the above technical problems is that drilling machine people is surveyed in a kind of armor crab seabed, including
Car body, which is characterized in that the lower end of the car body is equipped with running gear, and four angles of the car body are equipped with fixed device,
The center of the car body is equipped with drilling rig, and the vehicle body surrounding of the car body is equipped with sensing device, in the car body
Portion is equipped with hydraulic device, and hydraulic device is connect with running gear, fixed device, drilling rig；
The running gear includes right-handed screw I, backpitch I, backpitch II, right-handed screw II and mobile holder, the right-handed screw I,
Backpitch I forms a spiral group, backpitch II, and right-handed screw II forms a spiral group, and two spiral groups and bracket are connected in one
It rises, and is connect with hydraulic device；
The fixed device includes spiral anchor rod I, spiral anchor rod II, spiral anchor rod III, spiral anchor rod IV, hydraulic drive motor I,
Hydraulic drive motor II, hydraulic drive motor III, hydraulic drive motor IV, the spiral anchor rod I and hydraulic drive motor I,
Spiral anchor rod II and hydraulic drive motor II, spiral anchor rod III and hydraulic drive motor III, spiral anchor rod IV and hydraulic-driven horse
A spiral fixed point is separately constituted up to IV, four groups of spiral fixed points are connected with hydraulic device；
The drilling rig includes fixed block, sliding block, hydraulic motor, drilling rod, drilling rod group, drill main body composition, the fixation
Block is fixed on drill main body pedestal, and sliding block is nested on fixed block, and drilling rod is fixed on hydraulic motor by connector, drilling rod group
It is fixed on drill main body inner wall, sliding block is connect with hydraulic device.
The beneficial effects of the present invention are: running gear is installed present invention employs the lower end of car body, the four of the car body
A angle is equipped with fixed device, and the center of the car body is equipped with drilling rig, and the vehicle body surrounding of the car body is equipped with
Sensing device, the vehicle body are equipped with hydraulic device, and hydraulic device is connect with running gear, fixed device, drilling rig
Structure type, thus, structure is simple, at low cost, it can be achieved that seabed is unattended, it can be achieved that amphibious walking, is suitable for
The sea area of 100 m of the depth of water is drilled.
The present invention includes right-handed screw I, backpitch I, backpitch II, right-handed screw II and mobile holder, institute using running gear
State right-handed screw I, backpitch I forms a spiral group, backpitch II, and right-handed screw II forms a spiral group, two spiral groups with
Bracket connects together, and the structure type connecting with hydraulic device, thus, helical wheel is realized using two groups of works, four helical wheels,
Four helical wheels are respectively driven by hydraulic motor, the movement such as can be advanced, be retreated, turned left, turned right；The spiral of every group of helical wheel
Symmetric design, the cross force that two helical wheels can be offset while being generated when rotating so that robot motion is more stable, no matter water
In, all can be freely moved on sandy beach, on mud.
The present invention includes spiral anchor rod I, spiral anchor rod II, spiral anchor rod III, spiral anchor rod IV using fixed device, hydraulic
Drive motor I, hydraulic drive motor II, hydraulic drive motor III, hydraulic drive motor IV, the spiral anchor rod I with it is hydraulic
Drive motor I, spiral anchor rod II and hydraulic drive motor II, spiral anchor rod III and hydraulic drive motor III, spiral anchor rod IV with
Hydraulic drive motor IV separately constitutes a spiral fixed point, the structure type that four groups of spiral fixed points are connected with hydraulic device,
Thus, spiral foot is driven by hydraulic motor, it can be achieved that forward and reverse turn using four groups of helical stent compositions, each helical mount
It is dynamic, it is fixed for car body in offshore drilling；When reaching target seabed, four helical mounts are rotated forward, and spiral foot pierces seabed
In mud layer, the rotation of some helical mount can be individually adjusted according to attitude transducer signal and is allowed to start to carry out in horizontality
Probing；When probing is completed, four spiral foot reversions generate upward motive force, car body are extracted in bottom silt；The design
Advantage is that spiral foot steadily penetrates seabed, and when drilling machine is drilled downwards, the upward impact force of generation is unlikely to influence probing.
The present invention using drilling rig include fixed block, sliding block, hydraulic motor, drilling rod, drilling rod group, drill main body composition,
The fixed block is fixed on drill main body pedestal, and sliding block is nested on fixed block, and drilling rod is fixed on hydraulic horse by connector
Up to upper, drilling rod group is fixed on drill main body inner wall, the structure type that sliding block is connect with hydraulic device, thus, it can be achieved that automatic
Probing, drilling depth reach 20m.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the car body uses bionic design, is in the flat figure of Bionic crab.
Beneficial effect using above-mentioned further scheme is, using the flat body state of similar crab figure, airflow design,
The resistance of underwater exercise, especially transverse movement can be effectively reduced, while reducing impact of the ocean current to car body, ensures car body
Stability in water.
Further, the sensing device includes four cameras, nine axle acceleration attitude transducers, a pressure
Transmitter, two ultrasonic range finder sensors, ground a magnetic detector, two temperature sensors.
Beneficial effect using above-mentioned further scheme is that ambient enviroment real time monitoring video recording, motion process may be implemented
Middle car body state is kept and control, and detection control submerged depth prevents from hitting a submerged reef in motion process, detection submarine geological environment etc..
Further, the hydraulic device is by including dynamical element: motor, oil pump；Executive component: hydraulic motor；Control member
Part: hydraulic valve, relay, reversal valve；Auxiliary element: oil cylinder, oil pipe, sealing ring, quick-release connector, pressure gauge and hydraulic oil group
At.
Beneficial effect using above-mentioned further scheme is, by hydraulic device drive four helical wheels, four spiral feet,
Matter drilling machine moves the equipment such as boring rod set, floating propeller, it can be achieved that unattended, realization offshore drilling certainly.
It further, further include ocean current canceller, the ocean current canceller includes four communication passages, inside sets adjustable speed
Propeller, driving mechanism provide and laterally urge power, and car body stress balance is kept when underwater drilling, stablize car body.
It further, further include manipulator, the manipulator includes mechanical gripping portion, manipulator cut portion, manipulator
Articular portion, manipulator coupling part, manipulator power section.
Beneficial effect using above-mentioned further scheme is that manipulator can cut hard rock sampling by cutting machine.
Further, it is additionally provided with control system in the car body, the control system and sensing device, hydraulic device, emergency fill
It sets and is respectively connected with.
Beneficial effect using above-mentioned further scheme is passed through when advancing steady control, anticollision control, catastrophe failure
Standby battery starting emergency gas bag device independently emerges.
Further, further include emergency set, the emergency set include waterproof case part, cell parts, counterweight part,
Cell parts are located at waterproof case upper, and counterweight part is located at below car body.
Beneficial effect using above-mentioned further scheme is, waterproof case makes drilling rig from impregnating in water, once
Drag that download cable breaks down or car body breaks down when can not walk, emergency set unloads counterweight, air bag is opened, in air bag
Compressed air expansion, band motor vehicles bodies automatic floating go out sea.
The present invention also drags download cable, drags download cable to have and provides power, communication, weight-bearing function, including cable core, blocks water
Layer, enhancement layer, waterstop etc. extrude oversheath in cable core outermost layer, and cable core is by a communication core, is extruded in communication line
Power unit and two water leakage detection lines outside core are twisted；Pressure resistance, water preventing ability are good, that is, meet communicating requirement, and guarantee
Power transmission supply, at the same when also acting similar wirerope towing load-bearing effect cable.
Detailed description of the invention:
Fig. 1: for concrete structure schematic diagram of the present invention；
Fig. 2: for running gear schematic diagram of the present invention；
Fig. 3: for fixing device schematic diagram of the present invention；
Fig. 4: for drilling rig schematic diagram of the present invention；
Fig. 5 is manipulator schematic diagram of the invention；
Fig. 6 is inside arrangement schematic diagram of the invention；
In figure: 1, car body；2, running gear；2-1, right-handed screw I；2-2, backpitch I；2-3, backpitch II；2-4, right-handed screw II；
2-5 mobile holder, 2-6 mobile holder, 2-7 mobile holder, 2-8 mobile holder；3, fixed device；3-1, spiral anchor rod I；3-2,
Spiral anchor rod II；3-3, spiral anchor rod III；3-4, spiral anchor rod IV；3-5, hydraulic drive motor I；3-6, hydraulic drive motor
Ⅱ；3-7, hydraulic drive motor III；3-8, hydraulic drive motor IV；4 drilling rigs；4-1, fixed block；4-2, sliding block；4-3, liquid
Pressure motor；4-4, drilling rod；4-5, drilling rod group；4-6 drill main body；5, ocean current canceller；6, hydraulic device；7, control system；
8, sensing device；9, emergency set；10, manipulator；10-1, gripping portion, 10-2, cut portion, 10-3, cut portion, 10-
4, wrist, 10-4, articular portion, 10-5, ultrasonic sensor, 10-6, coupling part.
Specific embodiment:
Principles and features of the present invention are described below in conjunction with example, the given examples are served only to explain the present invention, not uses
In limiting the scope of the invention.
Survey drilling machine people in a kind of armor crab seabed, including car body 1, and the lower end of the car body 1 is equipped with running gear 2,
Four angles of the car body 1 are equipped with fixed device 3, and the center of the car body 1 is equipped with drilling rig 4, the car body 1
Vehicle body surrounding sensing device 8 is installed, hydraulic device 6 is installed inside the car body 1, hydraulic device 6 and running gear 2,
Fixed device 3, drilling rig 4 connect；
The running gear 2 includes I 2-1 of right-handed screw, I 2-2 of backpitch, II 2-3 of backpitch, II 2-4 of right-handed screw and mobile holder
2-5, mobile holder 2-6, mobile holder 2-7, mobile holder 2-8, bearing 2-9, bearing 2-10, the right-handed screw 2-1, backpitch
2-2 forms a spiral group, is mounted on axis 2-9, backpitch 2-3, and right-handed screw 2-4 forms a spiral group, is mounted on axis 2-
On 10, two spiral groups are connect with hydraulic device 6；
The fixed device 3 includes I 3-1 of spiral anchor rod, II 3-2 of spiral anchor rod, III 3-3 of spiral anchor rod, IV 3-4 of spiral anchor rod,
I 3-5 of hydraulic drive motor, II 3-6 of hydraulic drive motor, III 3-7 of hydraulic drive motor, hydraulic drive motor IV 3-8, it is described
I 3-1 of spiral anchor rod and II 3-6 of I 3-5 of hydraulic drive motor, II 3-2 of spiral anchor rod and hydraulic drive motor, III 3-3 of spiral anchor rod
A spiral fixed point is separately constituted with III 3-7 of hydraulic drive motor, IV 3-4 of spiral anchor rod and IV 3-8 of hydraulic drive motor, four
Group spiral fixed point is connected with hydraulic device 6；
The drilling rig 4 includes fixed block 4-1, sliding block 4-2, hydraulic motor 4-3, drilling rod 4-4, drilling rod group 4-5, drill main body
4-6 composition, the fixed block 4-1 are fixed on drill main body 4-6 pedestal, and sliding block 4-2 is nested on fixed block 4-1, drilling rod
4-4 is fixed on hydraulic motor 4-3 by connector, and drilling rod group 4-5 is fixed on drill main body 4-6 inner wall, sliding block 4-2 with it is hydraulic
Device 6 connects.
Further, the car body 1 uses bionic design, is in the flat figure of Bionic crab.
Further, the sensing device 8 includes four cameras, a nine axle acceleration attitude transducers, a pressure
Power transmitter, ground a magnetic detector, two ultrasonic range finder sensors, two temperature sensors；Four camera positions
In on the shell middle position of car body four sides, all spaces around car body can be monitored；The nine axle accelerations attitude transducer position
In car body center, body movement state can be perceived, adjusts moving equilibrium；The pressure transmitter is located at car body inferoanterior
The depth of water is measured for perceiving hydraulic pressure in position；Detector is surveyed describedly and is located at car body inferoanterior position, for perceiving GEOMAGNETIC CHANGE；
The ultrasonic distance-measuring sensor one is located at car body lower position, lands and detects for seabed；Before another is located at car body
Orientation is set, and is detected for preceding object；The temperature sensor one is located at vehicle body, for perceiving vehicle body temperature,
Another is located at front position outside car body, for perceiving ambient ocean environment temperature.
Further, the hydraulic device 6 is by including dynamical element: motor, oil pump；Executive component: hydraulic motor；Control member
Part: hydraulic valve, relay, reversal valve；Auxiliary element: oil cylinder, oil pipe, sealing ring, quick-release connector, pressure gauge and hydraulic oil group
At；Motor is driven the movement of hydraulic device oil pump, is provided power, car body walking dress for execution unit by dragging download cable to provide power
2, fixed device 3, drilling rig 4, ocean current canceller 5, manipulator 10 is set to be connected by fluid pressure line with hydraulic device 6 respectively
It connects, provides power by the hydraulic motor in hydraulic device 6.
It further, further include ocean current canceller 5, the ocean current canceller 5 includes four communication passages, is inside set adjustable
Fast propeller, driving mechanism provide and laterally urge power, and car body stress balance is kept when underwater drilling, stablize car body；The ocean current
Two are located at central location on the upper side in front of car body in canceller 5, penetrate into car body rear central location on the upper side；Other two position
In car body side central location on the upper side, the other one side side central location on the upper side of run-through channel car body.
It further, further include manipulator 10, drilling machine people is surveyed in a kind of armor crab seabed, which is characterized in that also
Including manipulator 10, the manipulator 10 includes mechanical gripping portion 10-1, cut portion 10-2, wrist 10-3, is stretched
Part 10-4, ranging unit 10-5, forearm part 10-6, articular portion 10-7, rear arm portion 10-8, coupling part 10-9；Specially
Area part 10-1, cut portion 10-2 are connected with wrist 10-3 respectively, and wrist 10-3 and forearm part 10-6 are logical
It crosses telescopic section 10-4 to be connected, ranging unit 10-5 is installed on the 10-6 of forearm part, forearm part 10-6 and rear arm portion
10-8 is connected by articular portion 10-7, and rear arm portion 10-8 is connected with coupling part 10-9, and entire manipulator 10 passes through
Rear arm portion 10-9 is connected with car body, and manipulator 10 is mounted on middle position in front of car body；Mechanical arm wrist part 10-4 can
Realize 180 degree rotation, 120 degree of movements may be implemented by coupling part 10-9 and 360 degree rotation acts, manipulator joint part 10-7
270 degree of flexure operations may be implemented, it can be achieved that sub-sea floor targets rock cutting sampling.
Further, it is additionally provided with control system 7 in the car body 1, the control system 7 and sensing device 8, are answered at hydraulic device 6
Anxious device 9 is respectively connected with；The control system 7 includes microprocessor, control mainboard, control circuit, aware circuit, battery
Group etc. is constituted；Microprocessor is mounted in control mainboard, is control device core, is connected to controller by control circuit, by
Controller realizes dynamic Control, and aware circuit connects each sensor, provides foundation for car body movement, battery respectively with drag load
Cable is connected with control circuit, as spare and emergency power supply；Affiliated control system 7 has intelligent control function, Ke Yishi
It is existing into steady control, the anti-functions such as control, troubleshooting of hitting a submerged reef.
Further, it is additionally provided with emergency set 9 in the car body 1, emergency set 9 is connected with control system 7；Emergency set
9 include two parts device, and a part of device is airbag apparatus, is connected with 9 upper end of emergency set, can be controlled by control system 7
Air bag expansion；Another part device is counter weight device, is connected with 1 bottom of car body, and it is de- can to control counterweight by control system 7
It falls；The function that emerges automatically when car body failure may be implemented in emergency set 9.
Design principle of the present invention is to design and develop control system, fortune is realized in research by selecting domestic reliable and stable chip
Row control key technology；Offshore drilling robot kinematics and kinetic model are established, robot motion's specificity analysis is carried out,
Control logic is carried out on the basis of this and control law designs, and is realized conduct programming and decision under condition of uncertainty, is controlled
Component computer emulation, Hardware-in-loop Simulation Experimentation and technical identification processed；Controller software exploitation and hardware design, sensor cloth
If, signal processing, executing agency improves, control system integration and Project Realization；The underground moving control of robot is realized in design,
Robot can be according to setting program autonomous operation, can also be by dragging download cable to be communicated with ground, by operator on ground
The long-range control of control room realization robot；By sensors such as vision, pressure, ultrasounds, real-time perception working environment,
And then study and realize advance guiding and automatic obstacle avoiding, and use Multi-source Information Fusion algorithm, realize Mobile Equipment under robot water
It is accurately positioned, navigation and intelligent barrier avoiding technology, the movement control technology combined based on multi-source information are studied and realized.
The present invention uses in this way, and when carrying out sea floor exploration operation, car body is transported to target sea area, car body by exploration vessel
Into the water, download cable is dragged to start to provide electric energy, car body starts dive, and dragging download cable, and then synchronous decentralization, running gear start,
Advance to target position, sensing device real-time detection surrounding enviroment, detection front obstacle, perception submerged depth, direction of travel,
Vehicle body attitude etc., control device constantly adjusts operating status, it is ensured that car body is advanced smooth；After reaching target position, fixed dress
Set starting, four spiral anchor rods start rotation and penetrate seabed, after fixing respectively, ocean current canceller starting, according to sensing
Ocean current size adjustment canceller power direction and power size, keep car body stress equalization, car body maintained to stablize；Vehicle on the spot
After body fixes, manipulator and drilling rig are started to work, and manipulator stretches to target rock, directly logical if it is fritter rock
It crosses gripping portion and catches rock, be put into the rock basket of car body front position on the lower side, if it is large rock mass, mechanical hand starting is cut
Device is cut, rock is cut, two cutters of cutter device act respectively, rock is cut from horizontal direction, after cutting, hand
Wrist point is rotated by 90 °, and cuts rock from vertical direction again, and after cutting, sampling rock is in vitro, catches sampling by gripping portion
Rock is put into the rock basket of car body front position on the lower side；Drilling rig is started to work, by moving boring rod set certainly for first
Drilling rod be fixed to drilling machine on, drilling machine is actuated for drilling, and first drilling rod is pierced rock, move certainly boring rod set by drilling machine from
It unloads on first drilling rod, then second drilling rod lower end is connected on first drilling rod, upper end is connected on drilling machine, is started
Probing, after second drilling rod pierces rock stratum, changes third root drilling rod, other drilling rods successively connect one by one, pierce sea
Bed rock layer starts to propose brill operation, drilling machine starting slowly above mentions, topmost a drilling rod after the completion of whole drilling rods pierce operation
After mentioning above car body, moves boring rod set certainly and unload a uppermost drilling rod, be fixed on drilling rig barrel, it is other
Drilling rod carries out same work flow, successively unloads and is fixed on drilling rig barrel in sequence, completes drilling operation；Probing is made
After the completion of industry, fixed device rotates anchor pole opposite direction, extracts seabed rock stratum, and car body begins to ramp up, drags download cable to synchronize and mention,
It until car body emerges, mentions on exploration vessel, sample is taken out from drilling rod, so far complete an exploration operation；Body movement
The data informations such as the video, water temperature, earth magnetism, the ocean current that record in the process can be used for scientific research analysis.
Aforesaid operations process is can be realized using conventional embedded control system or PLC control system.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. survey drilling machine people in a kind of armor crab seabed, including car body 1, which is characterized in that the lower end of the car body 1 is equipped with row
Walking apparatus 2, four angles of the car body 1 are equipped with fixed device 3, and the center of the car body 1 is equipped with drilling rig 4,
The vehicle body surrounding of the car body 1 is equipped with sensing device 8, and hydraulic device 6, hydraulic device 6 and row are equipped with inside the car body 1
Walking apparatus 2, fixed device 3, drilling rig 4 connect；
The running gear 2 includes I 2-1 of right-handed screw, I 2-2 of backpitch, II 2-3 of backpitch, right-handed screw II 2-4, mobile holder 2-
5, mobile holder 2-6, mobile holder 2-7, mobile holder 2-8, bearing 2-9, bearing 2-10, the right-handed screw 2-1, backpitch 2-
2 one spiral group of composition, are mounted on axis 2-9, backpitch 2-3, and right-handed screw 2-4 forms a spiral group, is mounted on axis 2-10
On, two spiral groups are connect with hydraulic device 6；
The fixed device 3 includes I 3-1 of spiral anchor rod, II 3-2 of spiral anchor rod, III 3-3 of spiral anchor rod, IV 3-4 of spiral anchor rod,
I 3-5 of hydraulic drive motor, II 3-6 of hydraulic drive motor, III 3-7 of hydraulic drive motor, hydraulic drive motor IV 3-8, it is described
I 3-1 of spiral anchor rod and II 3-6 of I 3-5 of hydraulic drive motor, II 3-2 of spiral anchor rod and hydraulic drive motor, III 3-3 of spiral anchor rod
A spiral fixed point is separately constituted with III 3-7 of hydraulic drive motor, IV 3-4 of spiral anchor rod and IV 3-8 of hydraulic drive motor, four
Group spiral fixed point is connected with hydraulic device 6；
The drilling rig 4 includes fixed block 4-1, sliding block 4-2, hydraulic motor 4-3, drilling rod 4-4, drilling rod group 4-5, drill main body
4-6 composition, the fixed block 4-1 are fixed on drill main body 4-6 pedestal, and sliding block 4-2 is nested on fixed block 4-1, drilling rod
4-4 is fixed on hydraulic motor 4-3 by connector, and drilling rod group 4-5 is fixed on drill main body 4-6 inner wall, sliding block 4-2 with it is hydraulic
Device 6 connects.
2. drilling machine people is surveyed in a kind of armor crab seabed according to claim 1, it is characterised in that the car body 1 uses
Bionic design is in the flat figure of Bionic crab.
3. drilling machine people is surveyed in a kind of armor crab seabed according to claim 1, it is characterised in that the sensing device 8
Surpass including four cameras, a nine axle acceleration attitude transducers, a pressure transmitter, a ground magnetic detector, two
Sound ranging sensor, two temperature sensors.
4. drilling machine people is surveyed in a kind of armor crab seabed according to claim 1, it is characterised in that the hydraulic device 6 by
Including dynamical element: motor, oil pump；Executive component: hydraulic motor；Control element: hydraulic valve, relay, reversal valve；Auxiliary member
Part: oil cylinder, oil pipe, sealing ring, quick-release connector, pressure gauge and hydraulic oil composition.
5. drilling machine people is surveyed in a kind of armor crab seabed according to claim 1, which is characterized in that further include that ocean current is offset
Device 8, the ocean current canceller 8 include four communication passages, inside set adjustable speed propeller, and driving mechanism is provided and laterally pushed away
Power keeps car body stress balance when underwater drilling, stablizes car body.
6. drilling machine people is surveyed in a kind of armor crab seabed according to claim 1, which is characterized in that further include manipulator
10, the manipulator 10 includes mechanical gripping portion 10-1, cut portion 10-2, wrist 10-3, telescopic section 10-4, is surveyed
Away from part 10-5, forearm part 10-6, articular portion 10-7, rear arm portion 10-8, coupling part 10-9；Prefecture part 10-1,
Cut portion 10-2 is connected with wrist 10-3 respectively, and wrist 10-3 and forearm part 10-6 pass through telescopic section
10-4 is connected, and ranging unit 10-5 is installed on the 10-6 of forearm part, and forearm part 10-6 and rear arm portion 10-8 pass through pass
Section part 10-7 is connected, and rear arm portion 10-8 is connected with coupling part 10-9, and entire manipulator 10 passes through rear arm portion 10-
9 are connected with car body.
7. drilling machine people is surveyed in a kind of armor crab seabed according to claim 1, it is characterised in that also set in the car body 1
There is control system, which is respectively connected with sensing device 8, hydraulic device 6, emergency set 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810932719.7A CN109025824A (en) | 2018-08-16 | 2018-08-16 | Drilling machine people is surveyed in a kind of armor crab seabed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810932719.7A CN109025824A (en) | 2018-08-16 | 2018-08-16 | Drilling machine people is surveyed in a kind of armor crab seabed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109025824A true CN109025824A (en) | 2018-12-18 |
Family
ID=64630633
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810932719.7A Pending CN109025824A (en) | 2018-08-16 | 2018-08-16 | Drilling machine people is surveyed in a kind of armor crab seabed |
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| CN109693773A (en) * | 2019-01-23 | 2019-04-30 | 湖南科技大学 | A kind of mobile base bottom device and its implementation |
| CN110259384A (en) * | 2019-07-25 | 2019-09-20 | 桂林航天工业学院 | A kind of movable engineering drilling machine chassis |
| CN112722218A (en) * | 2020-12-31 | 2021-04-30 | 六安乾稳环保科技有限公司 | Underwater transport vehicle for sundry fishing and river garbage fishing method |
| CN112983270A (en) * | 2021-04-01 | 2021-06-18 | 宿州市金鼎安全技术股份有限公司 | Drilling robot |
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| CN115045618A (en) * | 2022-08-11 | 2022-09-13 | 徐州中矿岩土技术股份有限公司 | Underwater rock-soil drilling equipment and underwater rock-soil exploration method |
| CN117967194B (en) * | 2024-03-29 | 2024-05-31 | 大庆市大展科技有限公司 | Underwater exploration device |
| CN117967194A (en) * | 2024-03-29 | 2024-05-03 | 大庆市大展科技有限公司 | Underwater exploration device |
| CN118549173A (en) * | 2024-05-22 | 2024-08-27 | 国家深海基地管理中心 | Deep sea self-balancing and self-pressurizing rock core sampling device based on manned submersible |
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Application publication date: 20181218 |