CN110847823B - Autonomous drilling robot for deep stratum of seabed - Google Patents
Autonomous drilling robot for deep stratum of seabed Download PDFInfo
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- CN110847823B CN110847823B CN201911173366.8A CN201911173366A CN110847823B CN 110847823 B CN110847823 B CN 110847823B CN 201911173366 A CN201911173366 A CN 201911173366A CN 110847823 B CN110847823 B CN 110847823B
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- 238000005553 drilling Methods 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000007789 sealing Methods 0.000 claims description 6
- 239000002689 soil Substances 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 4
- 230000006872 improvement Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 108010066278 cabin-4 Proteins 0.000 description 4
- 238000005065 mining Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- NMJORVOYSJLJGU-UHFFFAOYSA-N methane clathrate Chemical compound C.C.C.C.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O NMJORVOYSJLJGU-UHFFFAOYSA-N 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- PWHULOQIROXLJO-UHFFFAOYSA-N Manganese Chemical compound [Mn] PWHULOQIROXLJO-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 229910052748 manganese Inorganic materials 0.000 description 1
- 239000011572 manganese Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
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
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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
- E21B10/00—Drill bits
- E21B10/42—Rotary drag type drill bits with teeth, blades or like cutting elements, e.g. fork-type bits, fish tail bits
- E21B10/43—Rotary drag type drill bits with teeth, blades or like cutting elements, e.g. fork-type bits, fish tail bits characterised by the arrangement of teeth or other cutting elements
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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
- 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
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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
- E21B4/00—Drives for drilling, used in the borehole
- E21B4/02—Fluid rotary type drives
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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
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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
The invention relates to a robot, in particular to an autonomous drilling robot for a deep stratum of a seabed. An autonomous drilling robot for deep stratum in seabed sequentially comprises a head drilling mechanism, a front support body section, a propelling body section, a rear support body section and a tail control cabin from top to bottom; the front support body section and the rear support body section both comprise support outer cylinders, and a plurality of straight notches are symmetrically arranged on the support outer cylinders at equal intervals along the axial direction; a hydraulic cylinder is arranged in the supporting outer cylinder corresponding to the straight notch, and the hollow hydraulic cylinder is positioned and fixed through a connecting flange; two supporting baffle plates are vertically arranged on the outer edge of each straight groove opening, and one ends of the two supporting baffle plates are connected to form a hinge rotating mechanism; the bottom end of the supporting baffle at the lower end is positioned and fixed at the tail part of the outer wall of the supporting outer cylinder through a rectangular fixing sheet, and the top end of the supporting baffle at the upper end is positioned and fixed at the front end of the piston rod of the hollow hydraulic cylinder through a rectangular fixing sheet. The invention is designed into a multi-section structure, each section has independent function, and the interference problem during assembly and operation is effectively avoided.
Description
Technical Field
The invention relates to the field of robots, in particular to an autonomous drilling robot for deep seabed strata.
Background
With the gradual depletion of non-renewable resources on land, the exploration and development of natural gas hydrate and manganese nodule, deep sea oil and gas, hydrothermal deposit and other resources rich in seabed reserves become a focus. At present, the exploration of seabed resources in China enters a detailed examination and trial production stage, and direct operation on deep seabed strata by means of autonomous drilling equipment is urgently needed, for example, extensive geological investigation and resource exploration are carried out on the seabed of each sea area; embedding a non-recovered sensor carrying device in a seabed deep stratum of a combustible ice trial mining area to carry out seabed environment change monitoring for a long time; the monitoring and early warning of natural disasters such as ocean bottom earthquakes and the like are carried out in the offshore coast or continental shelf range.
At present, equipment and technical means for autonomous drilling to explore or monitor deep seabed stratum are not formed. Most of the existing equipment for seabed drilling are large drilling ships or ship-borne seabed drilling machines, multi-station sampling or large-scale mining is carried out aiming at a specific seabed mining area, the operation period is long, the equipment volume is large, the destructive power of a drilling tool is strong, and the instant exploration and monitoring tasks of seabed deep strata cannot be met. And the mud attacking robot is used for offshore or inland river sunken ship salvaging and consists of a control unit, a motor or a hydraulic drive and mud attacking device, and the mud attacking operation is carried out at an underwater appointed position according to a set signal and an appointed route. However, the working environment of the mud-attacking robot is limited to offshore or inland rivers, the driving device mainly comprises a motor, the motor needs to be additionally provided with a sealing shell under water, and the size and the weight of the robot can be greatly increased if the thickness of the shell is larger in deep sea. And the existing mud attacking robot mostly uses a hydraulic impact head, so that the damage to the stratum is large, and the existing mud attacking robot does not have the autonomous drilling capability.
Therefore, the autonomous drilling robot capable of being used for the deep stratum of the sea bottom is developed, the blank of equipment in the fields of submarine geological exploration, terrain and environment monitoring and the like in China is filled, and the autonomous drilling robot can be widely applied to geological research and environment monitoring of trial production target areas such as natural gas hydrate and the like in sea areas in China. The equipment has good mobility and expansibility, and can be widely popularized and applied in the fields of ocean engineering, deep sea ecology, deep sea geological science research and the like.
Disclosure of Invention
The invention aims to solve the problem of filling the blank of the field of the existing autonomous drilling equipment for the deep stratum of the seabed and provides an autonomous drilling robot for the deep stratum of the seabed.
In order to solve the technical problem, the solution of the invention is as follows:
the autonomous drilling robot for the deep stratum of the seabed is integrally of a multi-section structure and sequentially comprises a head drilling mechanism, a front support body section, a propelling body section, a rear support body section and a tail control cabin from top to bottom;
the head drilling mechanism comprises a drill bit, the tail end of the drill bit is connected with a hydraulic motor through an output shaft, and the hydraulic motor is arranged in the power cabin;
the front support body section and the rear support body section both comprise support outer cylinders, and a plurality of straight notches are symmetrically arranged on the support outer cylinders at equal intervals along the axial direction; a hydraulic cylinder is arranged in the supporting outer cylinder corresponding to the straight notch, and the hollow hydraulic cylinder is positioned and fixed through a connecting flange; two supporting baffle plates are vertically arranged on the outer edge of each straight groove opening, and one ends of the two supporting baffle plates are connected to form a hinge rotating mechanism; the bottom end of the supporting baffle at the lower end is positioned and fixed at the tail part of the outer wall of the supporting outer cylinder through a rectangular fixing piece, and the top end of the supporting baffle at the upper end is positioned and fixed at the front end of the piston rod of the hollow hydraulic cylinder through a rectangular fixing piece;
the outer supporting cylinder of the front supporting body section is connected with the power cabin through a connecting flange;
the propelling body section comprises a propelling outer cylinder, the propelling outer cylinder is fixedly connected with a supporting outer cylinder of the rear supporting body section through a flange, and a hydraulic cylinder is arranged in the propelling outer cylinder; the front end of a piston rod of the hydraulic cylinder is simultaneously connected and fixed with the propelling outer cylinder and the front support body joint support outer cylinder;
an inner supporting barrel is further arranged in the rear supporting body section, the inner supporting barrel is arranged in a supporting outer barrel of the rear supporting body section through a connecting flange, and the front end of the inner supporting barrel is fixedly connected with the tail part of the propelling hydraulic cylinder through the connecting flange;
the tail control cabin is connected with the supporting outer barrel of the rear supporting body section, and the control system is fixedly arranged in the tail control cabin.
As an improvement, the drill bit main body is of a conical structure, the outer part of the drill bit main body is provided with a uniform-pitch spiral chip guide groove, and the front end of the drill bit is provided with a certain cutting angle.
As an improvement, a sealing ring is arranged between the drill bit and the power cabin.
As an improvement, the hydraulic cylinders in the front support body section, the rear support body section and the propelling body section are all hollow hydraulic cylinders.
As an improvement, four linear notches are formed in the supporting outer cylinders of the front supporting body section and the rear supporting body section.
As an improvement, the propelling outer cylinder, the propelling hydraulic cylinder piston rod and the front support body section support outer cylinder are connected through bolts, and axial transmission from the propelling body section to the head is achieved.
Compared with the prior art, the invention has the beneficial effects that:
(1) the robot is designed into a multi-section structure, and each section has independent functions, so that the interference problem during assembly and operation is effectively avoided;
(2) the drill bit adopts a novel soil-arching spiral drill bit, the main body of the drill bit is of a conical structure, the uniform-pitch spiral chip guide grooves are distributed outside the main body, and the front end of the drill bit is provided with a certain cutting angle, so that chips are guided backwards and compacted to the surrounding soil during drilling, and the drilling resistance caused by accumulation of drill cuttings is effectively reduced;
(3) the support and the propulsion body section both use hollow hydraulic cylinders, so that the usable space is greatly increased while the functions are met;
(4) four groups of hinge type baffle mechanisms symmetrically arranged on the front and rear support body sections synchronously slide axially and arch radially under the drive of a piston rod of a hydraulic cylinder, the arched baffles can stabilize the machine body, offset drilling resistance in soil and provide enough supporting force and friction force when each body section advances;
(5) the outer cylinder of the support body section is symmetrically provided with straight notches, so that the support baffle mechanism can be symmetrically arranged on the outer surface of the robot, and simultaneously, the hollow hydraulic cylinder inside the support body section is protected;
(6) the hydraulic motor replaces motor drive, effectively avoids the motor sealing problem, and the hydraulic motor can have wider rotating speed range and larger power, and can directly drive the main transmission shaft to rotate without using a speed reducer.
Drawings
FIG. 1 is an axial cross-sectional view of the present invention;
FIG. 2 is an overall effect diagram of the drilling robot;
fig. 3 is a partial schematic view of a sliding end connection of a robot support fence.
In the figure: 1-a drill bit; 2-a power compartment flange; 3-sealing ring; 4-a power cabin; 5-front end flange of front support section; 6. 12-a fixing sheet; 7. 18-supporting the outer cylinder; 8. 19-a support baffle; 9. 20-a straight notch; 10. 15, 21-hydraulic cylinder; 11-front support section rear end flange; 13-a front end flange of the propulsion body section; 14-propelling the outer cylinder; 16-propeller body section rear end flange; 17-rear support section front end flange; 22-rear support section rear end flange; 23-supporting the inner cylinder; 24-a control cabin; 25-composite cable.
Detailed Description
The following examples are presented to enable those skilled in the art to more fully understand the present invention and are not intended to limit the invention in any way.
Referring to fig. 1, the present invention is a multi-section structure, which comprises a head drilling mechanism, a front support section, a propulsion body section, a rear support section and a tail control cabin from top to bottom.
The head drilling mechanism comprises a spiral drill bit 1, the tail end of the drill bit 1 is connected with a hydraulic motor through an output shaft, the hydraulic motor is installed in a power cabin 4, the main body of the drill bit 1 is of a conical structure, and a uniform-pitch spiral chip guide groove is formed in the outer portion of the drill bit. A sealing ring 3 is arranged between the drill bit 1 and the power cabin 4, and a power cabin flange 2 is arranged at the front end of the power cabin 4.
The front support body section and the rear support body section both comprise a support outer cylinder 7(18), and 4 straight groove openings 9(20) are symmetrically and equidistantly formed in the support outer cylinder 7(18) along the axial direction; a hollow hydraulic cylinder 10(21) is arranged in the support outer cylinder 7(18) corresponding to the straight notch 9(20), and the hollow hydraulic cylinder 10(21) is positioned and fixed through a connecting flange 5 (17); the supporting baffle plates 8(19) are provided with 8 blocks, and every two blocks are arranged outside the same straight notch 9 (20). One ends of two supporting baffle plates 8(19) in each group are connected to form a hinge rotating mechanism; the bottom end of the supporting baffle plate 8(19) at the lower end is positioned and fixed at the tail part of the outer wall of the supporting outer cylinder 7(18) through the rectangular fixing plate 12, and the top end of the supporting baffle plate 7(18) at the upper end is positioned and fixed at the front end of the piston rod of the hollow hydraulic cylinder 10(21) through the rectangular fixing plate 6; the sliding end of the supporting baffle plate 8(19) then supports the hydraulic cylinder 10(21) to synchronously move in the straight notch 9(20) so as to realize axial sliding and radial arching;
the outer supporting cylinder 7 of the front supporting body section is connected with the power cabin 4 through a connecting flange 5;
the propelling body section comprises a propelling outer cylinder 14, the propelling outer cylinder 14 is fixedly connected with a supporting outer cylinder 18 of the rear supporting body section through a flange 16, and a hydraulic cylinder 15 is arranged in the propelling outer cylinder 14; the front end of a piston rod of the hydraulic cylinder 15 is simultaneously connected and fixed with the propelling outer cylinder 14 and the front support body joint support outer cylinder 18;
an inner support barrel 23 is further arranged in the rear support body section, the inner support barrel 23 is arranged in a support outer barrel 18 of the rear support body section through a connecting flange 17, and the front end of the inner support barrel 23 is fixedly connected with the tail of the propelling hydraulic cylinder 15 through a connecting flange 16;
the tail control cabin 24 is connected with the supporting outer cylinder 18 of the rear support body section, and the control system is fixedly arranged in the tail control cabin and used for controlling the rotating speed of the head drill bit and the periodic matching motion between the front support body section, the rear support body section and the propelling body section, so that the flexible drilling of the robot is realized. The entire robot is powered by a composite cable 25.
The working steps of the embodiment are described below with reference to the accompanying drawings:
(1) releasing the drilling robot integrally in the submarine stratum by using a releaser;
(2) the hydraulic cylinder 21 is axially contracted, the supporting baffle 19 is radially arched and is inserted into the surrounding soil;
(3) the head spiral drill bit 1 starts to drill, the propelling hydraulic cylinder 15 extends out in the radial direction, and the front support section and the head drilling mechanism are pushed to drill downwards until the maximum stroke of the propelling hydraulic cylinder 15 is reached;
(4) when the maximum stroke of the propelling hydraulic cylinder 15 is reached, the piston rod of the hydraulic cylinder 10 axially contracts, the supporting baffle 8 radially arches and is inserted into the surrounding soil to stabilize the machine body;
(5) after the supporting baffle 8 is arched, the piston rod of the hydraulic cylinder 21 axially extends, and the supporting baffle 19 axially slides and radially returns to the surface of the machine body;
(6) the piston rod of the propelling hydraulic cylinder 15 axially contracts to an initial state, and drives the rear support section to move downwards to complete drilling in one period;
(7) and repeating the above process and starting the next period of drilling movement.
Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (2)
1. The autonomous drilling robot for the deep stratum of the seabed is characterized by integrally having a multi-section structure and sequentially comprising a head drilling mechanism, a front support body section, a propelling body section, a rear support body section and a tail control cabin from top to bottom;
the head drilling mechanism comprises a drill bit, the tail end of the drill bit is connected with a hydraulic motor through an output shaft, the hydraulic motor is arranged in the power cabin, and a sealing ring is arranged between the drill bit and the power cabin; the drill bit is an arch soil spiral drill bit, the main body of the drill bit is in a conical structure, the front end of the drill bit is provided with a cutting angle, and the outer part of the drill bit main body is provided with a uniform-pitch spiral chip guide groove;
the front support body section and the rear support body section both comprise support outer cylinders, and a plurality of straight notches are symmetrically arranged on the support outer cylinders at equal intervals along the axial direction; a hydraulic cylinder is arranged in the supporting outer cylinder corresponding to the straight notch, and the hollow hydraulic cylinder is positioned and fixed through a connecting flange; two supporting baffle plates are vertically arranged on the outer edge of each straight groove opening, and one ends of the two supporting baffle plates are connected to form a hinge rotating mechanism; the bottom end of the supporting baffle at the lower end is positioned and fixed at the tail part of the outer wall of the supporting outer cylinder through a rectangular fixing piece, and the top end of the supporting baffle at the upper end is positioned and fixed at the front end of the piston rod of the hollow hydraulic cylinder through a rectangular fixing piece;
the outer supporting cylinder of the front supporting body section is connected with the power cabin through a connecting flange;
the propelling body section comprises a propelling outer cylinder, the propelling outer cylinder is fixedly connected with a supporting outer cylinder of the rear supporting body section through a flange, and a hydraulic cylinder is arranged in the propelling outer cylinder; the front end of a piston rod of the hydraulic cylinder is simultaneously connected and fixed with the propelling outer cylinder and the front support body joint support outer cylinder;
an inner supporting barrel is further arranged in the rear supporting body section, the inner supporting barrel is arranged in a supporting outer barrel of the rear supporting body section through a connecting flange, and the front end of the inner supporting barrel is fixedly connected with the tail part of the propelling hydraulic cylinder through the connecting flange;
the hydraulic cylinders in the front support body section, the rear support body section and the propelling body section are hollow hydraulic cylinders;
the tail control cabin is connected with the supporting outer barrel of the rear supporting body section, and the control system is fixedly arranged in the tail control cabin.
2. The robot as claimed in claim 1, wherein the outer supporting cylinders of the front and rear supporting body sections are provided with four straight slots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911173366.8A CN110847823B (en) | 2019-11-26 | 2019-11-26 | Autonomous drilling robot for deep stratum of seabed |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911173366.8A CN110847823B (en) | 2019-11-26 | 2019-11-26 | Autonomous drilling robot for deep stratum of seabed |
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| Publication Number | Publication Date |
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| CN110847823A CN110847823A (en) | 2020-02-28 |
| CN110847823B true CN110847823B (en) | 2022-01-25 |
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| CN111502667A (en) * | 2020-05-09 | 2020-08-07 | 大连海洋大学 | Autonomous deep sea mining robot |
| CN111535745B (en) * | 2020-06-02 | 2021-10-08 | 浙江大学 | Double-helix type autonomous drilling robot for deep sea stratum |
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| CN113843806B (en) * | 2021-08-20 | 2023-10-20 | 浙江大学 | Submarine sediment stratum space drilling robot |
| CN114180010B (en) * | 2021-11-02 | 2022-11-18 | 浙江大学 | Submarine stratum space cable distribution robot |
| CN114715363B (en) * | 2022-04-02 | 2023-03-24 | 浙江大学 | Navigation method and system for submarine stratum space drilling robot and electronic equipment |
| CN115009427B (en) * | 2022-07-08 | 2023-07-07 | 浙江大学 | Self-propelled submarine active anchoring device |
| CN115123457B (en) * | 2022-07-08 | 2023-07-07 | 浙江大学 | Active anchoring device for miniature submarine stratum |
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2019
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| US7055625B1 (en) * | 2003-01-27 | 2006-06-06 | Honeybee Robotics, Ltd. | Self-propelled instrumented deep drilling system |
| CN102493763A (en) * | 2011-12-02 | 2012-06-13 | 同济大学 | Robot imitating earthworm to penetrate into earth |
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| CN110847823A (en) | 2020-02-28 |
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