CN108386188A - A kind of underwater robot can portable horizontal direction geological sampling drilling tool - Google Patents
A kind of underwater robot can portable horizontal direction geological sampling drilling tool Download PDFInfo
- Publication number
- CN108386188A CN108386188A CN201810333821.5A CN201810333821A CN108386188A CN 108386188 A CN108386188 A CN 108386188A CN 201810333821 A CN201810333821 A CN 201810333821A CN 108386188 A CN108386188 A CN 108386188A
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- Prior art keywords
- sampling
- underwater robot
- drilling
- bearing
- angular contact
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- 238000005070 sampling Methods 0.000 title claims abstract description 54
- 238000005553 drilling Methods 0.000 title claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 239000011435 rock Substances 0.000 claims description 5
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000011065 in-situ storage Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000013049 sediment Substances 0.000 description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
- E21B49/02—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells by mechanically taking samples of the soil
- E21B49/025—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells by mechanically taking samples of the soil of underwater soil, e.g. with grab devices
-
- 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
- E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
- E21B49/02—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells by mechanically taking samples of the soil
-
- 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
- E21B7/04—Directional drilling
- E21B7/043—Directional drilling for underwater installations
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (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)
- Soil Sciences (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of underwater robot can portable horizontal direction geological sampling drilling tool, the present invention includes connect base, hydraulic motor, gear unit, drilling and sampling unit；Hydraulic motor and gear unit are installed, hydraulic motor connects drilling and sampling unit by gear unit in connect base.The beneficial effects of the invention are as follows realizing seabed special geomorphology body geological sample sampling work, and Mr. Yu marine site hole wall original position sample is applied to obtain.
Description
Technical field
The invention belongs to marine survey technology fields, and being related to one kind can be existed using ROV (having cable robot under water) operations
The drilling tool that horizontal direction obtains geological sample in situ is carried out on the palisades of seabed.
Background technology
As marine survey technology is gradually to far-reaching sea development, seabed resources are carried out using ROV (having cable robot under water)
Detection and scientific research of seas are also increasingly becoming important technological means.The acquisition of geological sample in situ is to carry out submarine science to grind
One of important technical studied carefully.It is main at present that tubular type gravity corer is relied on to carry out unconsolidated sediment sampling, or utilize sea
Foreign drilling platforms lays geotechnical boring and carries out core sample collecting work.In the method for relying on ROV to carry out geological sampling, mainly
It is to carry the vertical unconsolidated sediment sampling of PUSHCORE progress and carry drilling tool vertically to be crept into and sampled.Horizontal directional drill
ROV equipment into sampling then has not been reported.Submarine geomorphy form is changeable, existing wide sea-bottom plain, and has isolated towering
Seamount, or even have seabed Shen Dong, above-mentioned vertical sampling technique relies on existing seabed drilling tool, is applied in sea-bottom plain, basin
Extensively, but in special geomorphologies regions such as seamount, deep holes then because causing sampling difficult without suitable drilling tool.
Invention content
The purpose of the present invention is to provide a kind of underwater robot can portable horizontal direction geological sampling drilling tool, the present invention
Advantageous effect be to realize seabed special geomorphology body geological sample sampling work, and applied Mr. Yu marine site hole wall original position sample
It obtains.
The technical solution adopted in the present invention be include drill body, drill body includes connect base, hydraulic motor, biography
Moving cell, drilling and sampling unit；Hydraulic motor and gear unit are installed, hydraulic motor passes through gear unit in connect base
Connection drilling and sampling unit.
Further, connect base is made of angle steel, square tube and riser, and angle steel and riser are welded in square tube, and being used for will be horizontal
Direction geological sampling drilling tool, that is, drill body is connected on underwater robot ROV.
Further, hydraulic motor is equipped with several hydraulic interfaces and a spline, hydraulic interface are connected by hydraulic oil pipe
Underwater robot ROV obtains hydraulic power by hydraulic interface from underwater robot ROV, is then exported outward by spline
Torque.
Further, gear unit is by bearing block, transmission shaft, thrust ball bearing, the first adjustment pad, the first single-row angular contact axis
It holds, the second single-row angular contact bearing, second adjustment pad, bearing cap composition；Its bottom bracket is mounted in connect base, transmission shaft
On bearing block, transmission axis connection spline obtains torque from spline, and transmission shaft is equipped with thrust ball bearing, thrust ball bearing
It is used to support transmission shaft, and bears horizontal rotate into and axial force when sampling, thrust ball bearing and the first single-row angular contact bearing
Between be equipped with the first adjustment pad, the first adjustment pad is used for the positioning of thrust ball bearing and the first single-row angular contact bearing, and first is single
Between row angular contact bearing and the second single-row angular contact bearing be equipped with second adjustment pad, setting two single-row angular contact bearings be for
Ensure that concentricity when drilling is rotated with sampling unit, second adjustment pad are used for the positioning of two single-row angular contact bearings, axis
It holds lid to be mounted on bearing block, the end of transmission shaft is equipped with threaded hole.
Further, drilling and sampling unit are hollow drill form, and wherein there are limit holes for one end, using on transmission shaft
The two is connected as one at threaded hole, drilling is made to obtain torque with sampling unit, the other end is alloy bit, increases drilling rock
The crushing force of layer.
Description of the drawings
Fig. 1 is whole implementation schematic diagram of the present invention；
Fig. 2 is the dimensional structure diagram of the present invention；
Base schematic diagram in Fig. 3 present invention for being connect with ROV；
Power unit-hydraulic motor schematic diagram in Fig. 4 present invention；
Fig. 5 is gear unit structural schematic diagram in the present invention；
Fig. 6 is drilling and sampling unit schematic diagram in the present invention.
In figure, 1. drill bodies, 2. connect bases, 3. hydraulic motors, 4. gear units, 5. drilling and sampling unit, 6.
Underwater robot ROV, 7. hydraulic oil pipes, 201. angle steel, 202. square tubes, 203. risers, 301. hydraulic interfaces, 302. splines,
401. bearing blocks, 402. transmission shafts, 403. thrust ball bearings, 404. the first adjustment pads, 405. first single-row angular contact bearings,
406. second single-row angular contact bearings, 407. second adjustment pads, 408. bearing caps, 409. threaded holes, 501. limit holes, 502. close
Golden drill bit.
Specific implementation mode
The present invention is described in detail With reference to embodiment.
The present invention is as shown in Figures 1 to 6, including drill body 1, drill body 1 include connect base 2, hydraulic motor 3,
Gear unit 4, drilling and sampling unit 5；Hydraulic motor 3 and gear unit 4 are installed, hydraulic motor 3 passes through in connect base 2
The connection of gear unit 4 drilling and sampling unit 5.Wherein, connect base 2 is made of angle steel 201, square tube 202 and riser 203, side
Angle steel 201 and riser 203 are welded on pipe 202, for horizontal direction geological sampling drilling tool, that is, drill body 1 to be connected machine under water
On device people ROV 6, hydraulic motor 3 is equipped with several hydraulic interfaces 301 and a spline 302, hydraulic interface 301 pass through hydraulic oil
Pipe 7 connects underwater robot ROV 6, obtains hydraulic power from underwater robot ROV6 by hydraulic interface 301, then passes through
302 outside output torque of spline.
Gear unit 4 is by bearing block 401, transmission shaft 402, thrust ball bearing 403, the first adjustment pad 404, the first single-row angle
Contact bearing 405, the second single-row angular contact bearing 406, second adjustment pad 407, bearing cap 408 form；Its bottom bracket 401 is pacified
In connect base 2, transmission shaft 402 is located on bearing block 401, and transmission shaft 402 connects spline 302, from 302 turns of spline
Square, transmission shaft 402 are equipped with thrust ball bearing 403, and thrust ball bearing 403 is used to support transmission shaft 402, and the level of bearing rotates into
With axial force when sampling, the first adjustment pad 404 is equipped between thrust ball bearing 403 and the first single-row angular contact bearing 405, the
One adjusting pad 404 is used for the positioning of thrust ball bearing 403 and the first single-row angular contact bearing 405, the first single-row angular contact bearing
405 and second are equipped with second adjustment pad 407 between single-row angular contact bearing 406, two single-row angular contact bearings of setting be in order to
Ensure that concentricity when drilling is rotated with sampling unit 5, second adjustment pad 407 are used for the positioning of two single-row angular contact bearings.
Bearing cap 408 is mounted on bearing block 401, and the end of transmission shaft 402 is equipped with threaded hole 409.Drilling is hollow with sampling unit 5
There are limit holes 501 for drilling rod form, wherein one end, are connected as one the two using at the threaded hole 409 on transmission shaft 402,
Drilling is set to obtain torque with sampling unit 5, the other end is alloy bit 502, increases the crushing force of drilling rock stratum.
It when drilling tool of the present invention work, is fixed on underwater robot ROV6 by connect base 2, hydraulic motor 3 is from underwater
Robot ROV6 obtains hydraulic power.Complete deck on to 1 Basic function testing of Sampling driller ontology after, by underwater robot
ROV6 is carried into water, reaches the target geological sample point of the special geomorphologies bodies such as the seabed holes Shen Dong wall, seamount cliff, submarine slope,
Drilling and sampling unit 5 and geological sampling point contact state are observed by camera on holder immediately ahead of underwater robot ROV6,
When contact condition is unsuitable for sampling operation, good contact condition is obtained by adjusting underwater robot ROV6 postures, then
Hydraulic control valve is opened, hydraulic motor 3 is started, when drilling is steady with 5 rotation status of sampling unit, underwater robot ROV6 is slow
Slowly it pushes ahead, the axial force that drilling is crept into forward with sampling unit 5 is provided, the sample obtained at this time can be stored in core drill
Bar.After drilling depth reaches depth needed for sampling operation, underwater robot ROV6 stoppings are pushed ahead, and close hydraulic control
Valve, drilling are stalled with sampling unit 5, and underwater robot ROV6 is slowly retreated at this time, and drilling is made to be moved back from rock stratum with sampling unit 5
Go out, be obstructed if exiting action, dynamic formula reversion drilling and sampling unit 5 can be put, it is ensured that exit slow in one's movements and coherent.Work as brill
Into after exiting rock stratum completely with sampling unit 5, drill body 1 will be carried and underwater robot ROV6 is recycled to deck.It will drilling
Sample can be collected from hollow drill by being disassembled from transmission shaft 402 with sampling unit 5, so as to complete geology sample in situ
The acquisition of product.
It is also an advantage of the present invention that simple in structure, operating aspect, can seabed be completed with the help of robot under water
The acquisition of the geological sample in situ of the special geomorphologies bodies such as the holes Shen Dong wall, seamount cliff, submarine slope.Equipment can be in the seabed holes Shen Dong
Horizontal drilling is carried out on the special geomorphologies bodies such as wall, seamount cliff, submarine slope and obtains geological sample in situ.
The above is only the better embodiment to the present invention, not makees limit in any form to the present invention
System, every any simple modification that embodiment of above is made according to the technical essence of the invention, equivalent variations and modification,
Belong in the range of technical solution of the present invention.
Claims (5)
1. a kind of underwater robot can portable horizontal direction geological sampling drilling tool, it is characterised in that：Including drill body, drilling tool
Ontology includes connect base, hydraulic motor, gear unit, drilling and sampling unit；Be equipped in connect base hydraulic motor and
Gear unit, hydraulic motor connect drilling and sampling unit by gear unit.
2. can portable horizontal direction geological sampling drilling tool according to a kind of underwater robot described in claim 1, it is characterised in that：
The connect base is made of angle steel, square tube and riser, and angle steel and riser are welded in square tube, is used for horizontal direction geological sampling
Drilling tool, that is, drill body is connected on underwater robot ROV.
3. can portable horizontal direction geological sampling drilling tool according to a kind of underwater robot described in claim 1, it is characterised in that：
The hydraulic motor is equipped with several hydraulic interfaces and a spline, hydraulic interface connect underwater robot by hydraulic oil pipe
ROV obtains hydraulic power by hydraulic interface from underwater robot ROV, then passes through the outside output torque of spline.
4. can portable horizontal direction geological sampling drilling tool according to a kind of underwater robot described in claim 1, it is characterised in that：
The gear unit is by bearing block, transmission shaft, thrust ball bearing, the first adjustment pad, the first single-row angular contact bearing, second single-row
Angular contact bearing, second adjustment pad, bearing cap composition；Its bottom bracket is mounted in connect base, and transmission shaft is located at bearing block
On, transmission axis connection spline obtains torque from spline, and transmission shaft is equipped with thrust ball bearing, and thrust ball bearing is used to support biography
Moving axis, and bear it is horizontal rotate into axial force when sampling, the is equipped between thrust ball bearing and the first single-row angular contact bearing
One adjusting pad, the first adjustment pad are used for the positioning of thrust ball bearing and the first single-row angular contact bearing, the first single-row angular contact axis
It holds and is equipped with second adjustment pad between the second single-row angular contact bearing, two single-row angular contact bearings of setting are to ensure to creep into
Concentricity when being rotated with sampling unit, second adjustment pad are used for the positioning of two single-row angular contact bearings, and bearing cap is mounted on
On bearing block, the end of transmission shaft is equipped with threaded hole.
5. can portable horizontal direction geological sampling drilling tool according to a kind of underwater robot described in claim 1, it is characterised in that：
The drilling is hollow drill form with sampling unit, and wherein there are limit holes for one end, are incited somebody to action using at the threaded hole on transmission shaft
The two is connected as one, and drilling is made to obtain torque with sampling unit, and the other end is alloy bit, increases the broken of drilling rock stratum
Power.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810333821.5A CN108386188A (en) | 2018-04-13 | 2018-04-13 | A kind of underwater robot can portable horizontal direction geological sampling drilling tool |
| PCT/CN2018/089857 WO2019196184A1 (en) | 2018-04-13 | 2018-06-05 | Horizontal geological sampling drilling tool able to be carried by rov |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810333821.5A CN108386188A (en) | 2018-04-13 | 2018-04-13 | A kind of underwater robot can portable horizontal direction geological sampling drilling tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108386188A true CN108386188A (en) | 2018-08-10 |
Family
ID=63072890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810333821.5A Pending CN108386188A (en) | 2018-04-13 | 2018-04-13 | A kind of underwater robot can portable horizontal direction geological sampling drilling tool |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108386188A (en) |
| WO (1) | WO2019196184A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109083608A (en) * | 2018-11-01 | 2018-12-25 | 吉林大学 | A kind of ice shelf bottom uphole coring system and method based on underwater robot |
| CN112145168A (en) * | 2020-10-20 | 2020-12-29 | 中国电建集团成都勘测设计研究院有限公司 | Soil sampling device and sampling method suitable for vertical shaft |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113565496B (en) * | 2021-08-24 | 2023-11-21 | 连云港前沿重工机械有限公司 | Full-hydraulic drilling sampling mechanism acting on coal mine geological investigation |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019196184A1 (en) | 2019-10-17 |
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