CN109899061B - Drilling and pushing type robot for in-situ seabed stratum real-time measurement - Google Patents
Drilling and pushing type robot for in-situ seabed stratum real-time measurement Download PDFInfo
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- CN109899061B CN109899061B CN201910247226.4A CN201910247226A CN109899061B CN 109899061 B CN109899061 B CN 109899061B CN 201910247226 A CN201910247226 A CN 201910247226A CN 109899061 B CN109899061 B CN 109899061B
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- 238000005259 measurement Methods 0.000 title claims abstract description 13
- 238000011065 in-situ storage Methods 0.000 title claims abstract description 10
- 238000005553 drilling Methods 0.000 title abstract description 5
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000002775 capsule Substances 0.000 claims 2
- 238000002360 preparation method Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000007774 longterm Effects 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 19
- 241000282346 Meles meles Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
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- 241001631030 Explorator Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012625 in-situ measurement Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention relates to the robot technology, and aims to provide a drill-push type robot for in-situ seabed stratum real-time measurement. The drilling machine comprises a hollow cylindrical machine body and a drill bit, wherein a drill bit motor is fixed in the machine body; a plurality of push plates are arranged in the middle of the machine body barrel shell at equal intervals along the circumferential direction; the middle part of the push plate is arranged on the cylinder shell through a hinge or a shaft, and two ends of the push plate are respectively positioned at the inner side and the outer side of the cylinder shell; the transmission gear, the connecting rod and the sliding push plate form a crank-slider mechanism, and the sliding push plate can make linear reciprocating motion under the action of the push plate motor and simultaneously drive the push plate to swing in a reciprocating manner. The invention provides a new solution for realizing in-situ seabed bottom layer real-time measurement, the robot can automatically realize forward movement and steering under the control of a control module, can drill and bury in a silt layer for long-term measurement, reduces laying difficulty, saves labor cost and is convenient for changing the layout and recovery of an observation network.
Description
Technical Field
The invention relates to a robot technology, in particular to a drill-push type robot for in-situ submarine stratum real-time measurement.
Background
The real-time measuring robot for deep stratum in seabed is a very important robot. Badger type drilling technology has been proposed by Badger explorator asa company in norway, and is designed aiming at rock type geology and used for oil and gas resource exploitation. The cost is extremely high, the drilling speed is very slow, and the method is not suitable for large-scale in-situ measurement. The mode that realizes normal position seabed stratum (mainly under silt environment) real-time measurement at present mostly is laid and is plugged into the box under water, and it is laid the degree of difficulty and big, with high costs, and once can not remove after laying, the flexibility is poor. Robot research aiming at the application scenes is little, and no related technical report exists.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and provides a drilling-pushing type robot for in-situ seabed stratum real-time measurement.
In order to solve the technical problem, the solution of the invention is as follows:
the drilling-pushing type robot for in-situ real-time measurement of the seabed stratum comprises a machine body arranged at the rear end and a drill bit arranged at the front end; the drill motor is fixed in the machine body and is connected with the drill through a coupling;
the machine body is in a hollow cylindrical shape, and a plurality of push plates are arranged in the middle of the cylinder shell at equal intervals along the circumferential direction; the middle part of the push plate is arranged on the cylinder shell through a hinge or a shaft, and two ends of the push plate are respectively positioned at the inner side and the outer side of the cylinder shell and can rotate around the hinge or the shaft;
a plurality of push plate motors are fixedly arranged in the machine body cylinder shell at equal intervals along the circumferential direction, the output shafts of the push plate motors are provided with gears and meshed with the transmission gears, and the surfaces of the transmission gears are provided with first rotating shafts; the inner side of the middle part of the machine body cylinder shell is provided with sliding push plates parallel to the axis of the machine body, and the number of the sliding push plates is the same as that of the push plates; two ends of the sliding push plate are movably arranged in a support frame arranged on the machine body cylinder shell, and one end of the sliding push plate is provided with a second rotating shaft; a push plate hole is formed in the middle of the sliding push plate, and the end of the inner side of the push plate is movably arranged in the push plate hole; two ends of the connecting rod are respectively sleeved on the first rotating shaft and the second rotating shaft, and the transmission gear, the connecting rod and the sliding push plate form a slider-crank mechanism which can make the sliding push plate do linear reciprocating motion under the driving of the push plate motor and simultaneously drive the push plate to do reciprocating swing.
In the invention, at least 4 empennages are arranged at equal intervals along the circumferential direction on the outer side of the rear end of the cylinder shell.
In the invention, the push plate motors are positioned at the tail part of the machine body cylinder shell, and the number of the push plate motors is at least 4.
In the invention, two groups of crank slide block mechanisms are oppositely arranged on two sides of an output shaft of a push plate motor and are used for driving two sets of sliding push plates and push plates simultaneously; the rotation directions of the transmission gears on the two sides of the output shaft of the motor are opposite, so that the reciprocating swing of the two push plates is asynchronous.
In the invention, the push plate is vertical to the axial direction of the machine body; the push plate is an arc plate, and the inner arc surface of the push plate faces the tail of the machine body cylinder shell.
In the invention, the end part sandwich plate and the sliding push plate are both arc-shaped plates, and the radian of the arc-shaped plates is the same as or similar to that of the cylinder shell of the machine body.
In the invention, a sealed cabin is fixedly arranged in the machine body, and a control module and a sensor module are arranged in the sealed cabin; the cable is connected to the control module through the tail of the machine body, and the control module is respectively connected with the sensor module, the push plate motor and the drill bit motor through the cable; the cable comprises a power line and a signal line.
In the invention, the machine body cylinder shell comprises a front cylinder shell, a middle cylinder shell and a rear cylinder shell; the middle cylinder shell is composed of fixed plate groups and sliding push plate groups which are arranged at intervals along the circumferential direction, and the fixed plate groups are fixedly arranged between the front cylinder shell and the rear cylinder shell in a bolt or buckle mode; each sliding push plate group comprises an end part sandwich plate and a push plate, wherein two ends of the end part sandwich plate are provided with sandwich structures and are respectively clamped and installed on the front part cylinder shell and the rear part cylinder shell, and the middle part of the push plate is installed in the middle part of the end part sandwich plate through a hinge or a shaft.
In the invention, the machine body cylinder shell comprises a front cylinder shell, a middle cylinder shell and a rear cylinder shell; the main body of the middle cylinder shell is an annular fixed plate, and the sliding push plate groups are arranged on the fixed plate at equal intervals along the circumferential direction; each sliding push plate group comprises an end part sandwich plate and a push plate, wherein two ends of the sandwich plate are provided with sandwich structures and are respectively clamped and installed on the front barrel shell and the rear barrel shell, and the middle part of the push plate is installed in the middle of the sandwich plate through a hinge or a shaft.
In the invention, the sandwich structures at two ends of the end sandwich plate are in clearance fit with the front cylinder shell and the rear cylinder shell; the inner sides of two ends of the end sandwich plate are respectively provided with a vertical bracket, two bracket holes are correspondingly arranged on the sliding push plate, and the end part of the vertical bracket is movably arranged in the bracket hole; when the sliding push plate makes linear reciprocating motion, the push plate is driven to swing and the end sandwich plate is driven to displace relative to the cylinder shell.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a new solution for realizing in-situ seabed bottom layer real-time measurement, the robot can automatically realize forward movement and steering under the control of a control module, can drill and bury in a silt layer for long-term measurement, reduces laying difficulty, saves labor cost and is convenient for changing the layout and recovery of an observation network.
Drawings
Fig. 1 is an axial sectional view of the robot (taken along the rear motor position).
Fig. 2 is a rotated sectional view of section a-a.
Fig. 3 is a schematic structural diagram of the slider-crank mechanism.
Fig. 4 is a schematic diagram of a robot motion cycle.
In the figure: 1 drill bit, 2 anterior barrel casings, 3 bolts, 4 tip sandwich panels, 5 push plates, 6 rear barrel casings, 7 drive gears, 8 push plate motors, 9 motor support frames, 10 cables, 11 first rotating shafts, 12 connecting rods, 13 second rotating shafts, 14 sliding push plates, 15 support frames, 16 control modules, 17 sensor modules, 18 drill bit motors, 19 connecting support pieces, 20 couplers, 21 connecting support pieces, 22 empennages, 23 fixed plate groups, 24 motor gears, 25 support holes, 26 push plate holes and 27 support holes.
Detailed Description
In the invention, the drill-push type robot for in-situ seabed stratum real-time measurement comprises a machine body arranged at the rear end and a drill bit 1 arranged at the front end; the drill motor 18 is fixed in the machine body and is connected with the drill bit 1 through a coupling 20; the machine body is hollow and cylindrical, and a plurality of push plates 5 are arranged in the middle of the cylinder shell at equal intervals along the circumferential direction; the middle part of the push plate 5 is arranged on the cylinder shell through a hinge or a shaft, and two ends of the push plate are respectively positioned at the inner side and the outer side of the cylinder shell and can rotate around the hinge or the shaft;
a plurality of push plate motors 8 are fixedly arranged in the cylinder shell of the machine body at equal intervals along the circumferential direction, the output shafts of the push plate motors 8 are provided with gears and are meshed with the transmission gear 7, and the surface of the transmission gear 7 is provided with a first rotating shaft 11; the inner side of the middle part of the cylinder shell of the machine body is provided with sliding push plates 14 which are parallel to the axis of the machine body and the number of the sliding push plates is the same as that of the push plates 5; two ends of the sliding push plate 14 are movably arranged in a support frame 15 arranged on the barrel shell of the machine body, and one end of the sliding push plate is provided with a second rotating shaft 13; the middle part of the sliding push plate 14 is provided with a push plate hole 26, and the end part of the inner side of the push plate 5 is movably arranged in the push plate hole 26; two ends of the connecting rod 12 are respectively sleeved on the first rotating shaft 11 and the second rotating shaft 13, the transmission gear 7, the connecting rod 12 and the sliding push plate 14 form a crank-slider mechanism, the sliding push plate 14 can make linear reciprocating motion under the driving of the push plate motor 8, and the push plate 5 is driven to swing in a reciprocating manner.
In order to realize control, a sealed cabin is fixedly arranged in the machine body, and a control module 16 and a sensor module 17 are arranged in the sealed cabin; the cable 10 is connected to the control module 16 through the tail part of the machine body, and the control module 16 is respectively connected with the sensor module 17, the push plate motor 8 and the drill bit motor 18 through cables; the cable 10 includes a power line and a signal line for supplying power and transmitting signals, respectively.
At least 4 tail fins 22 are arranged at equal intervals in the circumferential direction on the outer side of the rear end of the casing for stable operation. The push plate motor 8 can be arranged at the tail part of the machine body cylinder shell, and the number of the push plate motor is at least 4. Two groups of crank slide block mechanisms can be oppositely arranged on two sides of an output shaft of the push plate motor 8 and are used for driving two sets of sliding push plates 14 and push plates 5 simultaneously; the rotation directions of the transmission gears 7 on the two sides of the output shaft of the motor are opposite, so that the reciprocating swing of the two push plates 5 is asynchronous. The push plate 5 should be perpendicular to the axis direction of the machine body. The push plate 5 can be an arc plate, and the inner arc surface of the push plate faces the tail of the machine body cylinder shell. The end sandwich plates 4 and the sliding push plates 14 can both be selected to be arc-shaped plates, and the radian of the arc-shaped plates is the same as or similar to that of the barrel shell of the machine body.
For convenient transportation, the machine body cylinder shell can be split into a front cylinder shell, a middle cylinder shell and a rear cylinder shell; there are several implementations of the middle cartridge shell.
For example: the device is composed of fixed plate groups 23 and sliding push plate groups which are arranged at intervals along the circumferential direction, wherein the fixed plate groups 23 are fixedly arranged between the front cylinder shell and the rear cylinder shell in a bolt or buckle mode; each sliding push plate group comprises an end part sandwich plate 4 and a push plate 5, wherein two ends of the end part sandwich plate 4 are provided with sandwich structures and are respectively clamped and installed on the front barrel shell and the rear barrel shell, and the middle part of the push plate 5 is installed in the middle part of the end part sandwich plate 4 through a hinge or a shaft.
Or the main body of the middle cylinder shell is an annular fixed plate, and the sliding push plate groups are arranged on the fixed plate at equal intervals along the circumferential direction; each sliding push plate group comprises an end part sandwich plate 4 and a push plate 5, wherein two ends of the end part sandwich plate 4 are provided with sandwich structures and are respectively clamped and installed on the front barrel shell and the rear barrel shell, and the middle part of the push plate 5 is installed in the middle part of the end part sandwich plate 4 through a hinge or a shaft.
The sandwich structures at the two ends of the end sandwich plate 4 and the front cylinder shell and the rear cylinder shell can be fixedly installed or movably installed in a clearance fit mode. If the installation is movable, the end sandwich plate 4 and the front and rear cylinder shells can slide relatively. The push plate 5 is pushed up due to the orientation during the movement, and then the end sandwich plate 4 can provide the pushing force (the same is true during the resetting). The inner sides of the two ends of the end sandwich plate 4 can be respectively provided with a vertical bracket, the sliding push plate 14 is correspondingly provided with two bracket holes 25 and 27, and the end parts of the vertical brackets are movably arranged in the bracket holes 25 and 27; through the structural design, when the sliding push plate 14 makes linear reciprocating motion, the push plate 5 can be driven to swing back and forth and the end sandwich plate 5 can be driven to make reciprocating displacement relative to the cylinder shell. The purpose of design like this is to let push pedal 5 and tip sandwich panel 5 take place the displacement together, avoids push pedal 5 to become only to outer atress mechanism, prolongs its life.
The control module 16 is conventional and may include an MCU and associated driver boards; the sensor module 17 may include a depth sensor, an orientation sensor, etc. required for self-adjustment. The control module 16 is connected to each sensor and the set of simple processing sensors to collect information, and is also used to regulate and control the speed of the push plate motor 8 and the drill motor 18. The push plate motors 8 should be independently controlled so that the four motors maintain similar rotational speeds when the robot drills down vertically and are fine-tuned according to the data of the direction sensors. When the robot reaches a specified position and needs to turn, the control module 16 judges the current posture according to the data of the direction sensor (namely, judges the head orientation according to the gravity direction), and adjusts the rotating speed of each push plate motor 8 above and below the robot, so as to adjust the sand pushing power of each push plate 5 on the upper side and the lower side, and the robot can slowly turn when advancing and gradually reach the required position.
Description of the method of use:
the push plate motor 8 drives the transmission gear 7 to rotate through a gear at the shaft end. The transmission gear 7 drives the connecting rod 12 and the sliding push plate 14 to change the rotation motion of the gear into the linear reciprocating motion of the sliding push plate 14. The sliding push plate 14 is movably mounted on the support frame and acts on the push plate 5 through the push plate hole 26.
In a movement period, the sliding push plate 14 moves backwards under the driving of the connecting rod 12, and the push plate 5 is driven to rotate firstly and reaches a position vertical to the cylinder wall from a position of being attached to the cylinder wall, and the plate opening process is performed at the moment. The sliding push plate 14 continues to move, and drives the push plate 5 to move backwards, which is the push plate process. The sliding push plate 14 moves to the end and then moves to the front part, so as to drive the push plate 5 to rotate to the position of being attached to the cylinder wall, and the plate collection process is performed at the moment. The sliding push plate 14 continues to move to drive the retracted push plate 5 to advance, and the resetting process is performed at the moment. Two transmission gears 7 driven by the same motor gear rotate in opposite directions, so that the adjacent two push plate processes are asynchronous, and when one push plate 5 is in the reset process, the other push plate is in the push plate process to counteract the backward friction force in the reset process. In order to reduce the moment effect, 4 groups of sliding push plate mechanisms are arranged, and the total number of the sliding push plate mechanisms is 8, so that the robot can drill downwards more stably. The tail part is provided with 8 tail wings, so that the stability is further enhanced, and the direction deviation is prevented.
When the drill is vertically drilled, the four push plate motors 8 at the tail part keep close rotating speed, and fine adjustment is carried out according to the data of the direction sensor. In four processes of one movement period of the push plate 5, the push plate process mainly provides thrust required by advancing, the plate retracting process also provides smaller thrust, and the plate expanding process and the plate resetting process generate backward force. Therefore, the two transmission gears driven by the same motor gear rotate in opposite directions, so that the processes of two adjacent push plates are asynchronous, and when one push plate is in the reset process, the other push plate is in the process of offsetting the backward friction force in the reset process. In order to reduce the moment effect, 4 groups of 8 sliding push plate mechanisms are arranged, so that the robot can drill downwards more stably. The tail part is provided with 8 tail wings, so that the stability is further enhanced, and the direction deviation is prevented.
Claims (11)
1. A drilling-pushing type robot for in-situ real-time measurement of submarine strata comprises a machine body arranged at the rear end and a drill bit arranged at the front end; the drill motor is fixed in the machine body and is connected with the drill through a coupling; it is characterized in that the preparation method is characterized in that,
the machine body is in a hollow cylindrical shape, and a plurality of push plates are arranged in the middle of the cylinder shell at equal intervals along the circumferential direction; the middle part of the push plate is arranged on the cylinder shell through a hinge or a shaft, and two ends of the push plate are respectively positioned at the inner side and the outer side of the cylinder shell and can rotate around the hinge or the shaft;
a plurality of push plate motors are fixedly arranged in the machine body cylinder shell at equal intervals along the circumferential direction, the output shafts of the push plate motors are provided with gears and meshed with the transmission gears, and the surfaces of the transmission gears are provided with first rotating shafts; the inner side of the middle part of the machine body cylinder shell is provided with sliding push plates parallel to the axis of the machine body, and the number of the sliding push plates is the same as that of the push plates; two ends of the sliding push plate are movably arranged in a support frame arranged on the machine body cylinder shell, and one end of the sliding push plate is provided with a second rotating shaft; a push plate hole is formed in the middle of the sliding push plate, and the end of the inner side of the push plate is movably arranged in the push plate hole; two ends of the connecting rod are respectively sleeved on the first rotating shaft and the second rotating shaft, and the transmission gear, the connecting rod and the sliding push plate form a slider-crank mechanism which can make the sliding push plate do linear reciprocating motion under the driving of the push plate motor and simultaneously drive the push plate to do reciprocating swing.
2. The drill-push robot according to claim 1, wherein at least 4 tail wings are arranged at equal intervals in a circumferential direction on an outer side of a rear end of the casing.
3. The drill-push robot as recited in claim 1, wherein said push plate motor is located at the rear of the fuselage shell and is at least 4 in number.
4. The drill-push robot as recited in claim 1, wherein two sets of slider-crank mechanisms are oppositely disposed on both sides of the output shaft of the push plate motor for simultaneously driving the two sets of sliding push plates and push plates; the rotation directions of the transmission gears on the two sides of the output shaft of the motor are opposite, so that the reciprocating swing of the two push plates is asynchronous.
5. The drill-pushed robot as recited in claim 1, wherein said push plate is perpendicular to the fuselage axis direction; the push plate is an arc plate, and the inner arc surface of the push plate faces the tail of the machine body cylinder shell.
6. The drill-push robot as recited in claim 1, wherein said end sandwich plate and said sliding push plate are both arcuate plates having an arc of the same or similar arc as the fuselage shell.
7. The drill-push robot as recited in claim 1, wherein said body is fixedly provided with a capsule, and a control module and a sensor module are mounted in said capsule; the cable is connected to the control module through the tail of the machine body, and the control module is respectively connected with the sensor module, the push plate motor and the drill bit motor through the cable; the cable comprises a power line and a signal line.
8. The drill-push robot as recited in any one of claims 1 to 7, wherein the fuselage cartridge comprises a forward cartridge, a mid-cartridge, and a rear cartridge; the middle cylinder shell is composed of fixed plate groups and sliding push plate groups which are arranged at intervals along the circumferential direction, and the fixed plate groups are fixedly arranged between the front cylinder shell and the rear cylinder shell in a bolt or buckle mode; each sliding push plate group comprises an end part sandwich plate and a push plate, wherein two ends of the end part sandwich plate are provided with sandwich structures and are respectively clamped and installed on the front part cylinder shell and the rear part cylinder shell, and the middle part of the push plate is installed in the middle part of the end part sandwich plate through a hinge or a shaft.
9. The drill-push robot as recited in claim 8, wherein the sandwich structures at both ends of said end sandwich plate are in clearance fit with the front and rear shells; the inner sides of two ends of the end sandwich plate are respectively provided with a vertical bracket, two bracket holes are correspondingly arranged on the sliding push plate, and the end part of the vertical bracket is movably arranged in the bracket hole; when the sliding push plate makes linear reciprocating motion, the push plate is driven to swing and the end sandwich plate is driven to displace relative to the cylinder shell.
10. The drill-push robot as recited in any one of claims 1 to 7, wherein the fuselage cartridge comprises a forward cartridge, a mid-cartridge, and a rear cartridge; the main body of the middle cylinder shell is an annular fixed plate, and the sliding push plate groups are arranged on the fixed plate at equal intervals along the circumferential direction; each sliding push plate group comprises an end part sandwich plate and a push plate, wherein two ends of the sandwich plate are provided with sandwich structures and are respectively clamped and installed on the front barrel shell and the rear barrel shell, and the middle part of the push plate is installed in the middle of the sandwich plate through a hinge or a shaft.
11. The drill-push robot as recited in claim 10, wherein the sandwich structures at both ends of said end sandwich plate are in clearance fit with the front and rear shells; the inner sides of two ends of the end sandwich plate are respectively provided with a vertical bracket, two bracket holes are correspondingly arranged on the sliding push plate, and the end part of the vertical bracket is movably arranged in the bracket hole; when the sliding push plate makes linear reciprocating motion, the push plate is driven to swing and the end sandwich plate is driven to displace relative to the cylinder shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910247226.4A CN109899061B (en) | 2019-03-29 | 2019-03-29 | Drilling and pushing type robot for in-situ seabed stratum real-time measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910247226.4A CN109899061B (en) | 2019-03-29 | 2019-03-29 | Drilling and pushing type robot for in-situ seabed stratum real-time measurement |
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| CN109899061A CN109899061A (en) | 2019-06-18 |
| CN109899061B true CN109899061B (en) | 2020-09-25 |
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| CN201910247226.4A Active CN109899061B (en) | 2019-03-29 | 2019-03-29 | Drilling and pushing type robot for in-situ seabed stratum real-time measurement |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111911149B (en) * | 2020-08-31 | 2021-08-24 | 中国科学院空间应用工程与技术中心 | Separated inner rod type deep lunar soil drilling device based on bionic technology |
| CN114856441B (en) * | 2022-05-10 | 2023-01-17 | 浙江大学 | Robot for walking and drilling on seabed |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2880966A (en) * | 1957-01-14 | 1959-04-07 | Jersey Prod Res Co | Charge-planting motor-bit drill |
| US6857486B2 (en) * | 2001-08-19 | 2005-02-22 | Smart Drilling And Completion, Inc. | High power umbilicals for subterranean electric drilling machines and remotely operated vehicles |
| US7392859B2 (en) * | 2004-03-17 | 2008-07-01 | Western Well Tool, Inc. | Roller link toggle gripper and downhole tractor |
| CN2821127Y (en) * | 2005-05-26 | 2006-09-27 | 四川省玉斧无杆自动钻井机有限公司 | Intermittent creeping pusher drilling machine |
| EP1857631A1 (en) * | 2006-05-19 | 2007-11-21 | Services Pétroliers Schlumberger | Directional control drilling system |
| EP1867831B1 (en) * | 2006-06-15 | 2013-07-24 | Services Pétroliers Schlumberger | Methods and apparatus for wireline drilling on coiled tubing |
| CN102493763A (en) * | 2011-12-02 | 2012-06-13 | 同济大学 | Robot imitating earthworm to penetrate into earth |
| CN207960486U (en) * | 2017-02-22 | 2018-10-12 | 武汉科技大学 | A kind of underground drilling robot |
| CN109470508B (en) * | 2018-10-19 | 2021-04-09 | 宁波大学 | Soil detection bionic robot |
| CN109519188B (en) * | 2018-12-25 | 2024-02-06 | 天津科技大学 | Bionic micro-aperture drilling-expanding type underground tunneling device |
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