CN113090256B - A collect and take out integrated gripper device for combustible ice exploration - Google Patents
A collect and take out integrated gripper device for combustible ice exploration Download PDFInfo
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- CN113090256B CN113090256B CN202110309365.2A CN202110309365A CN113090256B CN 113090256 B CN113090256 B CN 113090256B CN 202110309365 A CN202110309365 A CN 202110309365A CN 113090256 B CN113090256 B CN 113090256B
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- 238000007789 sealing Methods 0.000 claims abstract description 181
- 210000000078 claw Anatomy 0.000 claims abstract description 86
- 238000000605 extraction Methods 0.000 claims abstract description 4
- 239000011248 coating agent Substances 0.000 claims description 8
- 238000000576 coating method Methods 0.000 claims description 8
- 238000004804 winding Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 238000005192 partition Methods 0.000 claims description 5
- 230000000295 complement effect Effects 0.000 claims description 4
- 108010053481 Antifreeze Proteins Proteins 0.000 claims 1
- 230000002528 anti-freeze Effects 0.000 claims 1
- 238000009413 insulation Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 8
- 238000003860 storage Methods 0.000 description 7
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 6
- 238000007710 freezing Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000001308 synthesis method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000011084 recovery Methods 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
- 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
- E21B49/001—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 specially adapted for underwater installations
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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
- 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
- E21B49/08—Obtaining fluid samples or testing fluids, in boreholes or wells
- E21B49/081—Obtaining fluid samples or testing fluids, in boreholes or wells with down-hole means for trapping a fluid sample
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- 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)
- Revetment (AREA)
Abstract
The invention discloses an integrated mechanical claw device for collecting and taking out combustible ice, which comprises a mechanical claw unit, a sealing cover unit, a mechanical claw driving device and a sealing cover driving device, wherein a sealing piece is arranged on the mechanical claw unit, the mechanical claw driving device controls the mechanical claw unit to open and close, the sealing cover driving device controls the sealing cover unit to open and close, a space for containing the combustible ice is formed when the mechanical claw unit is closed, and the sealing cover unit can close the space. The collection and extraction integration of the invention is mainly embodied in that the mechanical claw unit and the sealing cover unit are opened and closed through the mechanical claw driving device and the sealing cover driving device, meanwhile, the sealing element is used for ensuring the sealing property, the combustible ice is collected, stored and extracted in the exploration process through the combination of different states of the mechanical claw unit and the sealing cover unit, and the mechanical claw device has important application prospect in the deep sea combustible ice exploration field.
Description
Technical Field
The invention relates to the technical field of combustible ice exploration devices, in particular to a collecting and taking-out integrated mechanical gripper device for combustible ice exploration.
Background
The principle of the in-situ synthesis method is that under the low-temperature and high-pressure environment of deep sea, a collecting container with a downward opening is placed above emerging methane gas, and the methane gas is solidified in the container to form the combustible ice. The method generally needs an additional mechanical claw for assistance, after the combustible ice is collected, the collecting container needs to be stored in a storage container with low temperature and high pressure conditions to ensure the stable state of the combustible ice, and finally, the storage container is recovered by using the independent mechanical claw and is taken to a sea level platform. The method is relatively complicated to operate, and the combustible ice is finally taken out from the container with low efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a collecting and taking-out integrated mechanical claw device for combustible ice exploration, wherein the mechanical claw integrates a collecting container, a storage container and an independent mechanical claw into a whole, and meanwhile, combustible ice can be taken out from the container with higher efficiency.
The technical scheme of the invention is as follows: the utility model provides a collect and take out integrated gripper device for combustible ice exploration, includes gripper unit, sealed lid unit, gripper drive arrangement and sealed lid drive arrangement, is equipped with the sealing member in the gripper unit, and gripper drive arrangement controls opening and shutting of gripper unit, and the sealed lid drive arrangement controls opening and shutting of sealed lid unit, and the gripper unit forms the space that holds combustible ice when closing, and sealed lid unit can be closed the space.
The four mechanical claw units and the four sealing cover units are respectively provided with four, the four mechanical claw units are uniformly distributed along the circumferential direction, the four sealing cover units are respectively installed on the four corresponding mechanical claw units, the four mechanical claw units are driven by a mechanical claw driving device, and the four sealing cover units are driven by a sealing cover driving device. The four mechanical claw units and the four sealing cover units are respectively driven by one mechanical claw driving device and one sealing cover driving device, the structure is simple, and the used driving quantity is small.
The gripper unit includes bracing piece, sealed curb plate, sealing bottom plate and extension board, two blocks of sealed curb plates are vertical to be installed on the bracing piece, and sealing bottom plate horizontal installation is on the bracing piece, and the contained angle between two arbitrary blocks in two blocks of sealed curb plates and the sealing bottom plate is the right angle and is sealing connection, the extension board is located the outside of sealed curb plate, and sealed lid unit is installed on the extension board. When the four gripper units are closed, the sealing bottom plate and the sealing side plate form a space for containing combustible ice, and the sealing element and the sealing cover unit ensure the sealing property.
The sealing member includes first sealing strip, second sealing strip, third sealing strip and fourth sealing strip, first sealing strip is located the terminal surface of two sealed curb plates, and the second sealing strip is located the side of one of them sealed curb plate, and the third sealing strip is located the side of another sealed curb plate, and the fourth sealing strip is located sealing bottom plate's side. Wherein, the material of sealing strip is flexible material, like rubber, realizes extrusion seal, and the sealing plate material is rigid material, like the steel sheet, when realizing sealed, guarantees that the sealing plate can not damaged by seabed pressure.
The inner sides of the sealing side plates, the sealing bottom plate and the sealing element are all provided with an anti-freezing coating and a heat-insulating coating, the first sealing strip and the fourth sealing strip are all L-shaped, and the surfaces of the second sealing strip and the third sealing strip are in complementary sawtooth shapes.
The supporting device is characterized by further comprising a top main board and a third fixing block, wherein a first bearing seat is arranged on the top main board and hinged to the third fixing block, and the supporting rod is fixedly connected with the third fixing block.
The sealing cover unit comprises a fixing plate, a second bearing seat, a torsion spring and a cover body, the fixing plate is installed on the gripper unit, the second bearing seat is installed on the fixing plate, the cover body is hinged to the second bearing seat through the torsion spring, and the cover body comprises a boss and a bottom flat plate which are matched with the gripper unit.
The gripper driving device comprises an electric push rod, a first fixed block, a second fixed block and a connecting rod, wherein the fixed end of the electric push rod is installed on the top main board, the movable end of the electric push rod is connected with the first fixed block through a push rod connecting piece, the second fixed block is fixedly sleeved on the supporting rod, and two ends of the connecting rod are hinged to the first fixed block and the second fixed block respectively. The movable end of the electric push rod extends and retracts to drive the first fixing block to move, the second fixing block is driven through the connecting rod to drive the mechanical claw unit to move, the mechanical claw unit rotates around the first bearing seat along with the third fixing block, opening and closing of the mechanical claw unit are achieved, and the electric push rod mechanical gripper is simple in structure and easy to control.
Sealed lid drive arrangement includes driving motor, reel, assembly pulley, terminal mounting panel, middle part baffle and drive rope, the upper end and the top mainboard fixed connection of middle part baffle, and the lower extreme of middle part baffle passes through guiding axle support and guiding axle fixed connection with terminal mounting panel, driving motor installs on the middle part baffle, and reel and driving motor's output shaft, and the one end of drive rope is fixed on the reel, and the drive rope is connected with sealed lid unit behind the assembly pulley. One end of the driving rope is fixedly connected with the reel, passes through the outer side of the first fixed pulley, passes through the inner side of the second fixed pulley, passes through the triangular empty groove of the fixed plate and is fixedly connected with the winding post on the sealing cover unit through the arc-shaped wire guide groove, and a torsion spring is arranged at the second bearing seat; the driving motor drives the reel to rotate, the driving rope drives the sealing cover unit to rotate around the second bearing seat, and the sealing cover unit is opened and closed in a large range through the driving rope and the torsion spring.
The assembly pulley includes first fixed pulley, second fixed pulley, the first fixed pulley support of installation first fixed pulley and the second fixed pulley support of installation second fixed pulley, and first fixed pulley support is located the terminal mounting panel, and the second fixed pulley support is located the bracing piece of gripper unit, and the drive rope passes through the outside of first fixed pulley earlier, passes through the inboard of second fixed pulley again.
The mechanical claw driving device and the sealing cover driving device are independent from each other and can be driven respectively, and the mechanical claw device can be switched between different working states. The mechanical claw device has three working states, namely an initial state for collecting combustible ice, a sealing state for collecting the combustible ice and a taking-out state for collecting the combustible ice; the three working states are respectively realized under different driving combinations of the mechanical claw driving device and the sealing cover driving device; for the initial state of collecting the combustible ice, the mechanical claw unit keeps a closed state at the moment, the sealing cover unit keeps a fully-opened state, and the opening range of the sealing cover unit is large at the moment, so that the combustible ice can be effectively and accurately collected; for the sealing state of the collected combustible ice, the mechanical claw unit and the sealing cover unit are both in a closed state at the moment, so that the collected combustible ice is stored; for the taking-out state of the collected combustible ice, the mechanical claw unit and the sealing cover unit are both in an open state, so that the combustible ice can be taken out from the container with high efficiency.
Compared with the prior art, the invention has the following beneficial effects:
the invention relates to an integrated mechanical claw device for collecting and taking out combustible ice, which uses an electric push rod and a connecting rod structure as a mechanical claw driving device, and has simple structure and easy control; the sealing cover driving device is driven by the motor, combines the winding wheel and the pulley block, adopts the driving rope and the torsion spring as the sealing cover driving device, has simple structure, and realizes the opening and closing of the sealing cover unit in a large range; the mechanical claw driving device and the sealing cover driving device are mutually independent and can respectively and independently realize driving, so that the mechanical claw can be switched between different states; all the gripper units and the sealing cover units can be driven by using one driving device respectively, and the driving quantity is small; according to the invention, the sealing cover unit and the sealing element are combined, so that the whole mechanical claw can be sealed, meanwhile, under the sealing condition, the temperature and pressure conditions are kept, and the stability of the collected combustible ice is ensured; the invention can be applied to the exploration work of the deep sea combustible ice, has simple principle and structure and stable operation, integrates a collecting container, a storage container and an independent mechanical claw, and can realize the extraction of the combustible ice from the container with higher efficiency.
Drawings
FIG. 1 is a schematic structural view of the present integrated collecting and extracting gripper device for combustible ice exploration.
Fig. 2 is a schematic structural view of the gripper unit, the seal cover unit, and the gripper driving device.
Fig. 3 is a schematic structural view of the gripper unit.
Fig. 4 is a schematic structural view of the gripper driving device.
FIG. 5 is a front view of the present integrated collecting and extracting gripper apparatus for combustible ice exploration.
Fig. 6 is a schematic structural view of the sealing cover unit.
Fig. 7 is a schematic structural view of the fixing plate.
Fig. 8 is an initial state of collecting combustible ice according to the present invention.
Fig. 9 is a sealed state of collecting combustible ice according to the present invention.
Fig. 10 illustrates a state where combustible ice is taken out in the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Examples
To facilitate a uniform view of the various reference numbers in the drawings, reference numbers appearing in the drawings are now described collectively as follows:
the mechanical claw unit comprises a mechanical claw unit 1, a sealing side plate 2, a sealing bottom plate 3, a first sealing strip 4, a second sealing strip 5, a third sealing strip 6, a fourth sealing strip 7, an electric push rod 8, a push rod connecting piece 9, a first fixing block 10, a connecting rod 11, a second fixing block 12, a third fixing block 13, a first bearing seat 14, a top main plate 15, a middle partition plate 16, a guide shaft seat 17, a guide shaft 18, a driving motor 19, a reel 20, a driving rope 21, a tail end mounting plate 22, a first fixed pulley support 23, a first fixed pulley 24, a second fixed pulley support 25, a second fixed pulley 26, a fixing plate 27, a second bearing seat 28, a torsion spring 29, a cover body 30, a winding post 31 and an arc-shaped lead groove 32.
The embodiment provides a collect and take out integrated gripper device for combustible ice exploration, including gripper unit, sealed lid unit, gripper drive arrangement and sealed lid drive arrangement, is equipped with the sealing member in the gripper unit, and gripper drive arrangement controls opening and shutting of gripper unit, and the sealed lid drive arrangement controls opening and shutting of sealed lid unit, and the gripper unit forms the space that holds combustible ice when closing up, and sealed lid unit can be closed the space.
The four mechanical claw units and the four sealing cover units are respectively provided with four, the four mechanical claw units are uniformly distributed along the circumferential direction, the four sealing cover units are respectively installed on the four corresponding mechanical claw units, the four mechanical claw units are driven by a mechanical claw driving device, and the four sealing cover units are driven by a sealing cover driving device. The four mechanical claw units and the four sealing cover units are respectively driven by one mechanical claw driving device and one sealing cover driving device, the structure is simple, and the used driving quantity is small.
The gripper unit includes bracing piece, sealed curb plate 2, sealing bottom plate 3 and extension board, two vertical installations of sealed curb plate are on the bracing piece, and sealing bottom plate horizontal installation is on the bracing piece, and the contained angle between two arbitrary blocks in two sealed curb plates and the sealing bottom plate is the right angle and is sealing connection, the extension board is located the outside of sealed curb plate, and sealed lid unit is installed on the extension board. When the four gripper units are closed, the sealing bottom plate and the sealing side plate form a space for containing combustible ice, and the sealing piece and the sealing cover ensure the sealing property.
The sealing member includes first sealing strip 4, second sealing strip 5, third sealing strip 6 and fourth sealing strip 7, first sealing strip is located the terminal surface of two sealed curb plates, and the second sealing strip is located the side of one of them sealed curb plate, and the third sealing strip is located the side of another sealed curb plate, and the fourth sealing strip is located sealing bottom plate's side. Wherein, the material of sealing strip is flexible material, like rubber, realizes extrusion seal, and the sealing plate material is rigid material, like the steel sheet, when realizing sealed, guarantees that the sealing plate can not damaged by seabed pressure.
The inner sides of the sealing side plates, the sealing bottom plate and the sealing element are all provided with an anti-freezing coating and a heat-insulating coating, the first sealing strip and the fourth sealing strip are all L-shaped, and the surfaces of the second sealing strip and the third sealing strip are in complementary sawtooth shapes. The anti-freezing coating ensures that the combustible ice solidified in the mechanical claw unit can be simply taken out. The heat preservation coating guarantees that the internal temperature of gripper unit keeps stable.
When the mechanical claw driving device and the sealing cover driving device drive the mechanical claw unit and the sealing cover unit to be closed, the temperature and pressure conditions are kept in the mechanical claw, and the state of combustible ice is stable in the recovery process.
The supporting device is further provided with a top main board 15 and a third fixing block 13, a first bearing seat 14 is arranged on the top main board, the first bearing seat is hinged to the third fixing block, and the supporting rod is fixedly connected with the third fixing block.
The sealing cover unit comprises a fixing plate 27, a second bearing seat 28, a torsion spring 29 and a cover body 30, the fixing plate is arranged on the gripper unit, the second bearing seat is arranged on the fixing plate, the cover body is hinged with the second bearing seat through the torsion spring, and the cover body comprises a boss and a bottom flat plate which are matched with the gripper unit. The lid is equipped with wrapping post 31 and arc metallic channel 32, wrapping post and drive rope fixed connection, and the arc metallic channel is used for guiding the drive rope.
The mechanical claw unit and the sealing cover unit jointly form an integral structure of the mechanical claw, and meanwhile, the mechanical claw unit and the sealing cover unit jointly form a collecting container and a storage container of combustible ice, so that the integration of the collecting container, the storage container and the mechanical claw is realized. When the driving reel rotates towards the direction of releasing the driving rope, the sealing cover unit is closed under the driving of the torsion spring, a bottom flat plate of the sealing cover unit is tightly clamped with the first sealing strip, and a boss of the sealing cover unit is tightly clamped with the inside of the gripper unit and the adjacent sealing cover units, so that the upper part of the gripper is sealed; the side surfaces of the second sealing strip and the third sealing strip are in complementary sawtooth shapes, when the mechanical claw is closed, the contact surfaces of the second sealing strip and the third sealing strip are clamped mutually, and meanwhile, the sealing side plates are combined to realize the sealing of the side parts of the mechanical claw; when the gripper is closed, the fourth sealing strips are clamped with each other, and the sealing bottom plate is combined to realize the sealing of the bottom of the gripper. The sealing cover unit and the sealing piece jointly realize the sealing in all directions of the mechanical claw, and conditions are provided for collecting the collected combustible ice.
Gripper drive arrangement includes electric putter 8, first fixed block 10, second fixed block 12 and connecting rod 11, electric putter's stiff end is installed on the top mainboard, and electric putter's expansion end passes through push rod connecting piece 9 and is connected with first fixed block, and the fixed cover of second fixed block is established on the bracing piece, and the both ends of connecting rod are articulated with first fixed block and second fixed block respectively. The movable end of the electric push rod extends and retracts to drive the first fixing block to move, the second fixing block is driven through the connecting rod to drive the mechanical claw unit to move, the mechanical claw unit rotates around the first bearing seat along with the third fixing block, opening and closing of the mechanical claw unit are achieved, and the electric push rod mechanical gripper is simple in structure and easy to control.
Sealed lid drive arrangement includes driving motor 19, reel 20, assembly pulley, terminal mounting panel 22, middle part baffle 16 and drive rope 21, the upper end and the top mainboard fixed connection of middle part baffle, and the lower extreme and the terminal mounting panel of middle part baffle pass through guiding axle support 17 and guiding axle 18 fixed connection, driving motor 19 installs on the middle part baffle, and the reel is fixed on the reel with driving motor's output shaft, and the one end of drive rope is fixed on the reel, and the drive rope is connected with sealed lid unit behind the assembly pulley. One end of the driving rope is fixedly connected with the reel, passes through the outer side of the first fixed pulley, passes through the inner side of the second fixed pulley, passes through the triangular empty groove of the fixed plate and is fixedly connected with the winding post on the sealing cover unit through the arc-shaped wire guide groove, and a torsion spring is arranged at the second bearing seat; the driving motor drives the reel to rotate, the driving rope drives the sealing cover unit to rotate around the second bearing seat, and the sealing cover unit is opened and closed in a large range through the driving rope and the torsion spring.
The pulley block comprises a first fixed pulley 24, a second fixed pulley 26, a first fixed pulley support 23 for mounting the first fixed pulley and a second fixed pulley support 25 for mounting the second fixed pulley, the first fixed pulley support is positioned on the tail end mounting plate, the second fixed pulley support is positioned on the supporting rod of the gripper unit, and the driving rope firstly passes through the outer side of the first fixed pulley and then passes through the inner side of the second fixed pulley.
The mechanical claw driving device and the sealing cover driving device are independent from each other and can be driven respectively, and the mechanical claw device can be switched between different working states. The mechanical claw device has three working states, namely an initial state for collecting combustible ice, a sealing state for collecting the combustible ice and a taking-out state for collecting the combustible ice; the three working states are respectively realized under different driving combinations of the mechanical claw driving device and the sealing cover driving device; for the initial state of collecting the combustible ice, the mechanical claw unit keeps a closed state at the moment, the sealing cover unit keeps a fully-opened state, and the opening range of the sealing cover unit is large at the moment, so that the combustible ice can be effectively and accurately collected; for the sealing state of the collected combustible ice, the mechanical claw unit and the sealing cover unit are both in a closed state at the moment, so that the collected combustible ice is stored; for the taking-out state of the collected combustible ice, the mechanical claw unit and the sealing cover unit are both in an open state, so that the combustible ice can be taken out from the container with high efficiency.
This a theory of operation that is used for collection of combustible ice exploration and takes out integrated gripper: referring to fig. 8, 9 and 10, the mechanical claw is in an initial state (as shown in fig. 8) in which combustible ice is collected, and both the mechanical claw driving means and the sealing cover driving means are in the initial state (i.e., the electric push rod is in a no-extension state of the movable rod, and the driving motor and the reel are in a no-winding state of the driving rope). When the mechanical claw is in an initial state of collecting the combustible ice, the opening of the mechanical claw is downwards placed above the methane gas which continuously emerges in the deep sea, and the combustible ice is solidified in the mechanical claw by utilizing an in-situ synthesis method. After the combustible ice is collected in the mechanical claw, the sealing cover driving device is controlled to drive the sealing cover unit to close, and after the sealing cover unit is completely closed, the deep sea environment is a low-temperature high-pressure environment, so that the temperature and pressure conditions are kept in the mechanical claw, and at the moment, the mechanical claw enters a sealing state for collecting the combustible ice (as shown in fig. 9). After the collection and the sealing of the combustible ice are completed, the collected combustible ice is recovered by the mechanical claw and is taken back to the sea level platform, then the sealing cover driving device is controlled to drive the sealing cover unit to open, then the mechanical claw driving device is controlled to drive the mechanical claw to open, at the moment, the mechanical claw is in a taking-out state (shown in figure 10) for collecting the combustible ice, and the collected combustible ice is taken out. The invention integrates the collecting container, the storage container and the mechanical claw into a whole, and can realize the extraction of the combustible ice from the container with higher efficiency.
As mentioned above, the present invention can be better realized, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present disclosure are intended to be covered by the scope of the claims of the present invention.
Claims (9)
1. An integrated mechanical claw device for collecting and taking out combustible ice is characterized by comprising a mechanical claw unit, a sealing cover unit, a mechanical claw driving device and a sealing cover driving device, wherein a sealing piece is arranged on the mechanical claw unit;
the gripper unit includes bracing piece, sealed curb plate, sealing bottom plate and extension board, and two sealed curb plates are vertical to be installed on the bracing piece, and sealing bottom plate horizontal installation is on the bracing piece, and the contained angle between two arbitrary blocks in two sealed curb plates and the sealing bottom plate is the right angle and is sealing connection, the extension board is located the outside of sealed curb plate, and sealed lid unit installation is on the extension board.
2. The integrated gripper unit for collecting and removing combustible ice according to claim 1, wherein the gripper units and the sealing cover units are four each, the four gripper units are evenly distributed along the circumferential direction, the four sealing cover units are respectively mounted on the corresponding four gripper units, the four gripper units are driven by the gripper driving device, and the four sealing cover units are driven by the sealing cover driving device.
3. The integrated gripper assembly for collecting and retrieving combustible ice for exploration according to claim 1, wherein said sealing means comprises a first sealing strip located at the end face of two sealing side plates, a second sealing strip located at the side of one sealing side plate, a third sealing strip located at the side of the other sealing side plate and a fourth sealing strip located at the side of the sealing bottom plate.
4. The integrated gripper unit for collection and extraction for combustible ice exploration according to claim 3, wherein the inner sides of said sealing side plates, sealing bottom plate and sealing element are provided with anti-freeze coating and thermal insulation coating, the first sealing strip and the fourth sealing strip are L-shaped, and the surfaces of the second sealing strip and the third sealing strip are in complementary saw tooth shape.
5. The integrated gripper device for collecting and removing combustible ice for exploration according to claim 1, further comprising a top main plate and a third fixed block, wherein the top main plate is provided with a first bearing seat, the first bearing seat is hinged to the third fixed block, and the support rod is fixedly connected to the third fixed block.
6. The integrated gripper unit for collecting and retrieving combustible ice according to claim 1, wherein the sealing cover unit comprises a fixing plate, a second bearing seat, a torsion spring and a cover body, wherein the fixing plate is mounted on the gripper unit, the second bearing seat is mounted on the fixing plate, the cover body is hinged with the second bearing seat through the torsion spring, and the cover body comprises a boss and a bottom plate which are matched with the gripper unit.
7. The integrated collecting and taking-out gripper device for combustible ice exploration according to claim 5, wherein the gripper driving device comprises an electric push rod, a first fixed block, a second fixed block and a connecting rod, wherein a fixed end of the electric push rod is mounted on the top main plate, a movable end of the electric push rod is connected with the first fixed block, the second fixed block is fixedly sleeved on the supporting rod, and two ends of the connecting rod are respectively hinged with the first fixed block and the second fixed block.
8. The integrated gripper device for collecting and removing combustible ice for exploration according to claim 5, wherein the sealing cover driving device comprises a driving motor, a winding wheel, a pulley block, a terminal mounting plate, a middle partition plate and a driving rope, the upper end of the middle partition plate is fixedly connected with the top main plate, the lower end of the middle partition plate is fixedly connected with the terminal mounting plate through a guide shaft support and a guide shaft, the driving motor is mounted on the middle partition plate, the winding wheel is connected with an output shaft of the driving motor, one end of the driving rope is fixed on the winding wheel, and the driving rope is connected with the sealing cover unit after passing through the pulley block.
9. The integrated gripper apparatus for collecting and removing combustible ice according to claim 8, wherein the pulley block comprises a first fixed pulley, a second fixed pulley, a first fixed pulley bracket for mounting the first fixed pulley, and a second fixed pulley bracket for mounting the second fixed pulley, the first fixed pulley bracket being disposed on the end mounting plate, the second fixed pulley bracket being disposed on the support bar of the gripper unit, and the driving rope passes through an outer side of the first fixed pulley and an inner side of the second fixed pulley.
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| CN202110309365.2A CN113090256B (en) | 2021-03-23 | 2021-03-23 | A collect and take out integrated gripper device for combustible ice exploration |
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| CN202110309365.2A CN113090256B (en) | 2021-03-23 | 2021-03-23 | A collect and take out integrated gripper device for combustible ice exploration |
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| CN117103312B (en) * | 2023-10-19 | 2023-12-22 | 江苏兴国气体有限公司 | Manipulator assembly for collecting combustible ice |
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| DE102011085192A1 (en) * | 2011-10-25 | 2013-04-25 | Technische Universität Berlin | Apparatus and method for sampling to obtain a pressure prevailing at the sampling site |
| CN105445053B (en) * | 2015-12-24 | 2018-03-30 | 浙江大学 | A kind of superficial layer ball-valve type fidelity deep sea sediment sampler |
| CN106257265B (en) * | 2016-08-04 | 2018-11-27 | 吉林大学 | A kind of single action rotation Sampling driller for ocean gas hydrate exploration |
| CN107559002A (en) * | 2017-08-17 | 2018-01-09 | 北京探矿工程研究所 | Pressure compensation device of pressure maintaining sampler |
| CN112127878B (en) * | 2019-06-24 | 2024-08-02 | 南京延长反应技术研究院有限公司 | Combustible ice sampling device |
| CN111735671A (en) * | 2020-05-22 | 2020-10-02 | 自然资源部第三海洋研究所 | Device and method for collecting deep sea seabed overflow gas |
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2021
- 2021-03-23 CN CN202110309365.2A patent/CN113090256B/en active Active
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