CN113843806A - Submarine sediment stratum space drilling robot - Google Patents
Submarine sediment stratum space drilling robot Download PDFInfo
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- CN113843806A CN113843806A CN202110963460.4A CN202110963460A CN113843806A CN 113843806 A CN113843806 A CN 113843806A CN 202110963460 A CN202110963460 A CN 202110963460A CN 113843806 A CN113843806 A CN 113843806A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B10/00—Drill bits
- E21B10/44—Bits with helical conveying portion, e.g. screw type bits; Augers with leading portion or with detachable parts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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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- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to a soil drilling robot, and aims to provide a drilling robot for a submarine sediment stratum space. The lateral mud discharging drill bit mechanism is positioned at the front end of the front excavating support body section; and the tail end of the rear excavating support body section is provided with a tail oil cable connector. The front digging propelling body section comprises an outer cylinder, a hydraulic cylinder is arranged on the outer cylinder, and the running mode of the telescopic claw can be changed through the matching of the adsorption effect of the electromagnet and the connecting flange and the push rod of the hydraulic cylinder. The rear digging support segment has the same structural components as the front digging propulsion segment but arranged in the opposite axial direction, with the push rods and the telescoping jaws of both having opposite directions of action. The body sections of the invention have independent functions, and the excavating propulsion body section can be added according to specific working conditions to improve the movement capability; the novel excavation mode is created, and soil around the robot can be extruded, pushed and excavated backwards.
Description
Technical Field
The invention relates to a soil drilling robot, in particular to a drilling robot for a submarine sediment stratum.
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. The south China sea breeds rich natural gas hydrate resources, and the reserved quantity of the natural gas hydrate which is proved in the south China sea currently reaches 700 hundred million tons of oil equivalent, which is equal to half of the total quantity of oil and gas resources which are proved in China. At present, the exploration of seabed natural gas hydrate resources in China enters a detailed investigation and trial production stage, in order to meet the demand that the detection capability and the precision in the aspects of seabed hydrate deposit space distribution, space medium migration, geological structure change and the like are urgently required to be improved, direct operation is required to be carried out in a seabed stratum space by means of autonomous drilling equipment, and a sensor for in-situ dynamic detection and long-term topographic deformation monitoring is embedded in the seabed stratum space of a hydrate trial production area to carry out seabed environment change monitoring.
Currently, the most common geophysical exploration methods for the exploration of natural gas hydrates and other submarine minerals are seismic exploration, well logging, and drilling coring surveys. The seismic exploration mainly carries out investigation on occurrence conditions of regional hydrates, belongs to preliminary investigation and provides reference for subsequent other geophysical exploration and drilling investigation. Because the natural gas hydrate is unstable and easy to decompose under underground conditions, the coring difficulty is high, and the decomposition of the hydrate in the drilling coring process can cause disturbance to further destroy the primary structure of the sediment. Therefore, the investigation of the natural gas hydrate sedimentary deposit mainly depends on the logging technology to make up the defects of core analysis. The mode can provide continuous high-resolution geophysical observation records of the hydrate-containing stratum near the logging hole, and provides important basis for understanding the in-situ characteristics of the marine hydrate and host sediments thereof, estimating the saturation of the hydrate and predicting the distribution of the hydrate. However, the logging equipment is mainly put down while drilling, and the measurement depth and the measurement range of the logging equipment are completely dependent on the implementation condition of the ocean drilling. Over the years, although the technology of ocean drilling has matured, the limitations are also prominent, for example, the drilling direction can only be vertical to the seabed plane, and only one hole can be drilled by a single drilling.
Therefore, the autonomous drilling robot capable of being used for the stratum space of the submarine sediments is developed, and the blank of equipment in the fields of submarine geological exploration, terrain and environment monitoring and the like is filled.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and provides a drilling robot for a submarine sediment stratum space.
In order to solve the technical problem, the solution of the invention is as follows:
the drilling robot for the stratum space of the submarine sediments comprises a lateral mud discharging drill bit mechanism consisting of a drill bit and a transmission system; the drilling robot further comprises a front excavating support body section and a rear excavating support body section which are arranged along the axis, and the lateral mud-discharging drill bit mechanism is positioned at the front end of the front excavating support body section;
the front digging propelling body section comprises an outer cylinder, a hydraulic cylinder is axially arranged in the front digging propelling body section, and a push rod of the front digging propelling body section faces to the direction of a drill bit; the end part of the push rod is provided with a left push rod electromagnet and a right push rod electromagnet in parallel, the end part of the cylinder body of the hydraulic cylinder is provided with a left fixed electromagnet and a right fixed electromagnet in parallel, and the push rod is movably sleeved with a left connecting flange and a right connecting flange; the two connecting flanges can respectively displace along with the push rod under the attraction of the push rod electromagnet or the fixed electromagnet which respectively corresponds to the two connecting flanges; the front excavating propulsion body section also comprises at least 2 telescopic claws, one part of each telescopic claw extends into the inner cavity from a notch on the outer cylinder wall, and the inner end part of each telescopic claw is movably connected to the connecting flange; each connecting flange is connected with at least 1 telescopic claw, when the connecting flange is displaced along with the push rod, the connecting flange can drive the telescopic claws to extend out of or retract into the outer cylinder from the notches on the outer cylinder, and the movement track of the connecting flange is limited by the notches;
the rear excavating support body section is provided with a structural component which is the same as the front excavating propulsion body section but is arranged along the reverse direction of the shaft, and the end parts of the outer cylinders of the rear excavating support body section and the front excavating propulsion body section are relatively and fixedly connected; the two hydraulic cylinders have opposite installation directions, so that the push rods and the telescopic claws of the two hydraulic cylinders have opposite action directions;
the tail end of the rear excavating support body section is provided with a tail oil cable interface; after the oil cable passes through the tail oil cable connector, the oil cable is respectively connected with a lateral mud discharging drill bit mechanism, a hydraulic cylinder and an electromagnet which are arranged in the front excavating propulsion body section and the rear excavating propulsion body section.
As a preferable scheme of the invention, in the lateral mud discharging drill bit mechanism, the drill bit is provided with a conical core column and a cylindrical helical blade; the transmission system comprises a hydraulic motor, the hydraulic motor is arranged in the outer barrel of the drilling body section, and a transmission shaft of the hydraulic motor penetrates through the flange of the drilling body section and is connected with the drill bit core column through a drill bit connector.
In a preferred embodiment of the present invention, the lateral mud-discharging drill mechanism is fixed to a front end of the outer cylinder of the front excavation support body section by a screw.
As a preferable scheme of the invention, the bottom of the hydraulic cylinder is fixed in the outer cylinder through a flange.
As a preferable scheme of the invention, a notch sealing block is arranged in a notch on the wall of the outer cylinder; the telescoping jaws can displace and maintain a seal between the slot seal blocks.
As a preferable scheme of the invention, the number of the telescopic claws is even, and the telescopic claws are arranged on the same section of the outer cylinder at intervals; a plurality of flexible claws divide into about two sets of, and the interior tip of every group flexible claw all passes through hinge mechanism and same flange swing joint.
As a preferable scheme of the invention, the main structure of the telescopic claw is an arc-shaped panel, and a supporting soil retaining structure is arranged between the outer end part of the telescopic claw and the outer cylinder; the supporting soil retaining structure comprises a spring and an elastic plate, wherein one end of the elastic plate is always in contact with the outer wall of the outer cylinder for supporting under the action of the spring, and the other end of the elastic plate is connected to the outer end part of the arc-shaped panel through the spring; the elastic plate can slide under the action of the spring to match the telescopic motion of the telescopic claw in the notch.
As a preferable scheme of the invention, the rear excavation support body section and the outer cylinder of the front excavation propelling body section are fixedly connected through a flange.
As the preferred scheme of the invention, the tail end oil cable interface comprises an interface main body, an end cover and a steering ball joint; the steering ball joint is positioned in the interface main body and is fixedly installed by the end cover; and the oil cable sequentially enters the rear excavating support body section, the front excavating support body section and the lateral mud discharging drill bit mechanism after passing through a center hole of the steering ball joint to realize oil supply or power supply.
As a preferable scheme of the invention, the tail end oil cable interface is fixed at the tail end of the outer cylinder of the rear excavation support body section through a screw.
According to the invention, the center of the drill bit of the lateral mud discharging drill bit mechanism is a core cone with an angle of 40 degrees, and the outer side of the lateral mud discharging drill bit mechanism is provided with the cylindrical helical blade, so that the lateral and rear sides can be extruded for chip removal during drilling, and the accumulation of drilling cuttings at the front end is avoided. One end of the telescopic claw moves along the axial direction along with the push rod of the hydraulic cylinder, and the other end of the telescopic claw performs telescopic motion in the notch of the outer cylinder and realizes backward soil compacting motion; one of the left and right groups of telescopic claws of the front excavating propulsion body section works independently under the fixing action of the electromagnet, and the robot realizes steering movement to the other side; the front digging propulsion body section and the rear digging propulsion body section are arranged in a reverse direction; when the robot drills forwards, the drill bit and the front excavating propulsion body section work, and only the rear excavating propulsion body section moves when the robot retreats along the original movement track reversely, so that the functions of advancing, steering and retreating of the robot in a sediment stratum are realized.
Compared with the prior art, the invention has the beneficial effects that:
(1) the stratum space robot scheme adopts a multi-section modular structure, each body section has independent functions, and excavation and propulsion body sections can be added according to specific working conditions to improve the movement capacity;
(2) the novel lateral mud discharging and chip guiding auger bit is designed and used, the center of the auger bit is of a conical core column structure, and the chip guiding grooves of the cylindrical helical blades are distributed outside the auger bit, so that front-end sediment soil can be drilled into the chip guiding grooves of the helical blades and extruded from the core cone to the lateral rear part during drilling, the drilling power is improved, and the drilling resistance caused by accumulation of drill chips is effectively reduced;
(3) a novel excavation mode is designed, a novel telescopic claw is pushed and pulled by a hydraulic cylinder, and the notch of a cylinder body is used as a support, so that soil around the robot can be extruded, pushed and excavated backwards;
(4) the novel telescopic claw adopts a novel arc design, the upper surface of the novel telescopic claw is prismatic to reduce resistance, and a sliding chute, a spring and an elastic plate are arranged in the novel telescopic claw, so that the maximum soil extrusion contact area can be ensured, and the influence of soil extruded into a crack on the movement of the telescopic claw can be prevented as much as possible;
(5) the plurality of telescopic claws uniformly distributed along the circumference are uniformly divided into two groups and connected to the left connecting flange and the right connecting flange, the left telescopic claw and the right telescopic claw are controlled by the electromagnet to move along with the push rod of the hydraulic cylinder, so that the digging mechanisms on the two sides of the robot are controlled to move independently, and the digging steering function of the robot can be realized by a structure which saves the most space;
(6) two same excavating propulsion body sections are reversely arranged and the tail parts of the two same excavating propulsion body sections are connected, so that the robot can advance along the drilling direction or reversely retreat along the original movement track by a simple structure.
(7) The device has good mobility and expansibility, can be widely applied to geological research and environmental monitoring of sea area natural gas hydrate trial production areas, and is suitable for wide popularization and application in the fields of ocean engineering, deep sea ecology, submarine geological scientific research and the like.
Drawings
FIG. 1 is an axial cross-sectional view of the present invention;
FIG. 2 is a diagram of the overall effect of the robot in an extended state;
FIG. 3 is a schematic view of the inside of the rear digging propulsion body segment and the telescoping claw of the robot.
In the figure: 1-a lateral mud discharge drill bit; 2-a drill bit connector; 3-drilling body section flange; 4-a hydraulic motor; 5-drilling body section outer cylinder; 6-front body section outer cylinder; 7-notch sealing block; 8-front body segment telescopic claws; 8 a-an elastic leaf spring; 8 b-an elastic plate; 9-front body section left push rod electromagnet; 10-front body section right push rod electromagnet; 11-front body section hydraulic cylinder push rod; 12-a front body section right connecting flange; 13-front body section left connecting flange; 14-front body section left fixed electromagnet; 15-front body section right fixed electromagnet; 16-front body section hydraulic cylinder; 17-a connecting flange; 18-rear body section outer cylinder; 19-a rear body section hydraulic cylinder; 20-rear body section left fixed electromagnet; 21-rear body section right fixed electromagnet; 22-rear body section left connecting flange; 23-rear body section right connecting flange; 24-a rear body section hydraulic cylinder push rod; 25-rear body section left push rod electromagnet; 26-rear body section right push rod electromagnet; 27-rear body segment telescopic claw; 28-notch sealing block; 29-tail cable interface body; 30-cable steering ball joint; 31-tail cable interface end cover; 32-oil cable.
Note: in the names of the components, the front body section is short for a front excavating expansion body section, and the rear body section is short for a rear excavating expansion body section.
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-segment structure, which comprises a lateral mud-discharging drill bit mechanism, a front excavating support segment, a rear excavating support segment and a tail cable interface which are sequentially connected along an axis.
In the lateral mud discharging drill bit mechanism, a lateral mud discharging drill bit 1 is provided with a conical core column and a cylindrical helical blade, a transmission system comprises a hydraulic motor 4, the hydraulic motor 4 is arranged in a drilling body section outer cylinder 5, and a transmission shaft of the hydraulic motor 4 penetrates through a drilling body section flange 3 and is connected with the drill bit core column through a drill bit connector 2.
The front excavating propulsion body section comprises a front body section outer cylinder 6, a front body section hydraulic cylinder 16 is axially arranged in the front excavating propulsion body section, and a push rod 11 of the front body section hydraulic cylinder faces to the direction of the lateral mud discharging drill bit 1; the bottom of the front body section hydraulic cylinder 16 is fixed at the bottom end of the front body section outer cylinder 6 through a connecting flange 17. A front body section left push rod electromagnet 9 and a front body section right push rod electromagnet 10 are arranged in parallel at the upper end part of a push rod 11 of the front body section hydraulic cylinder, and a front body section left fixed electromagnet 14 and a front body section right fixed electromagnet 15 are arranged in parallel at the upper end part of a cylinder body of a front body section hydraulic cylinder 16. A front body section left connecting flange 13 and a front body section right connecting flange 12 are movably sleeved on a front body section hydraulic cylinder push rod 11, and the two connecting flanges can respectively displace along with the front body section hydraulic cylinder push rod 11 under the attraction of a corresponding push rod electromagnet or a fixed electromagnet; the front excavating propulsion body section also comprises six front body section telescopic claws 8, one part of the telescopic claws extends into the inner cavity from a notch on the outer cylinder wall, and the inner end part of the telescopic claws is movably connected to a front body section left connecting flange 13 or a front body section right connecting flange 12; each connecting flange is respectively connected with three front body section telescopic claws 8 on the same side, and when the connecting flange is displaced along with a front body section hydraulic cylinder push rod 11, the connecting flange can drive the telescopic claws to extend out of or retract into the outer cylinder from the notch, and the movement track of the connecting flange is limited by the notch; a notch sealing block 7 is arranged in the notch; the telescopic jaws can be displaced between the notch sealing blocks 7 and maintain the seal.
The six front body section telescopic claws 8 are arranged on the same cross section of the outer barrel at intervals and divided into a left group and a right group, and the inner end part of each group of telescopic claws is movably connected with the same connecting flange through a hinge mechanism. The main structure of the telescopic claw is an arc-shaped panel, and a supporting soil retaining mechanism is arranged between the outer end part of the telescopic claw and the outer cylinder; the supporting soil retaining mechanism comprises an elastic plate spring 8a and an elastic plate 8b, one end of the elastic plate 8b is always in contact with the outer wall of the outer cylinder for supporting under the action of the elastic force of the spring 8a, and the other end of the elastic plate 8b is connected to the outer end part of the arc-shaped panel through the elastic plate spring 8 a; the spring plate 8b can slide under the action of the spring plate spring 8a to match the telescopic movement of the telescopic claw in the notch.
The rear excavating support body section has the same structural components as the front excavating propulsion body section but arranged in the opposite direction of the shaft, and the outer cylinders of the two are fixedly connected with the end parts thereof oppositely through a connecting flange 17; the front body section hydraulic cylinder 16 and the rear body section hydraulic cylinder 19 have opposite mounting directions, so that the push rod and the telescopic claw in the rear excavating support body section and the front excavating propelling body have opposite action directions;
the tail end oil cable interface is fixed at the tail end of the outer cylinder of the rear excavation supporting body section through a screw and comprises a tail oil cable interface main body 29, a tail oil cable interface end cover 31 and an oil cable steering ball joint 30; the oil cable steering ball joint 30 is positioned in the tail oil cable interface main body 29 and is fixedly installed by a tail oil cable interface end cover 31; the oil cable 32 passes through the center hole of the oil cable steering ball joint 30, and then sequentially enters the rear excavating support body section, the front excavating support body section and the lateral mud-removing drill bit mechanism, and is respectively connected with the lateral mud-removing drill bit mechanism, and the hydraulic cylinder and the electromagnet which are arranged in the front excavating propulsion body section and the rear excavating propulsion body section. And oil supply or power supply is realized. The cable steering ball joint 30 can rotate freely, and the cable 32 can rotate along with the cable steering ball joint 30, so that the tail cable is prevented from being cut or damaged when the robot steers.
A more detailed description is as follows:
as shown in fig. 1, when the front body section left push rod electromagnet 9 is powered on, the front body section left connecting flange 13 is attracted and moves upwards along with the front body section hydraulic cylinder push rod 11; the front body section telescopic claw 8 on the side extends (works) along with the front body section left connecting flange 13, and the outer side of the front body section telescopic claw 8 realizes excavation and propulsion. When the front body section left fixing electromagnet 14 is electrified, the front body section left connecting flange 13 is attracted and fixed at the upper end of the cylinder body of the front body section hydraulic cylinder 16 and does not move along with the push rod 11 of the front body section hydraulic cylinder, and the front body section telescopic claw 8 on the side is in a contracted (non-working) state along with the front body section left connecting flange 13. Similarly, when the front body section right push rod electromagnet 10 is electrified, the front body section right connecting flange 12 is attracted, the front body section telescopic claw 8 on the side moves along with the front body section hydraulic cylinder push rod 11, the front body section telescopic claw moves along with the front body section left connecting flange 13, and the outer side of the front body section telescopic claw 8 realizes excavation propulsion. When the front body section right fixing electromagnet 15 is energized, the front body section right connecting flange 12 is attracted and fixed to the upper end of the cylinder body of the front body section hydraulic cylinder 16, and does not move with the front body section hydraulic cylinder push rod 11, and the front body section telescopic claw 8 on the side is in a contracted (non-operating) state together with the front body section right connecting flange 12. The front body section left push rod electromagnet 9 and the front body section left fixed electromagnet 14 do not work when electrified at the same time, the front body section right push rod electromagnet 10 and the front body section right fixed electromagnet 15 do not work when electrified at the same time, the front body section left push rod electromagnet 9 and the front body section right push rod electromagnet 10 can work at the same time, and it is guaranteed that the left and right two groups of telescopic claws 8 can move along with the front body section hydraulic cylinder push rod 11 at the same time to realize a forward function or the single group of telescopic claws 8 can move along with the front body section hydraulic cylinder push rod 11 to realize a steering function.
The front end of the rear body section outer cylinder 18 is connected with the rear end of the front body section outer cylinder 6 through a flange, and the two body sections are reversely connected. The rear body section outer cylinder 18 and the internal structure and the motion rule thereof are completely the same as those of the front body section; the front body section hydraulic cylinder 16 and the rear body section hydraulic cylinder 19 do not work at the same time, so that the forward movement and the backward movement of the robot are not interfered with each other.
As shown in fig. 3, when the front body segment telescopic claw 8 extends out, the elastic plate spring 8a in the head block of the telescopic claw 8 pushes the elastic plate 8b to move outwards along the inner sliding groove, so as to ensure that the lower end of the elastic plate 8b is always in contact with the outer wall of the front body segment outer cylinder 6; the elastic plate 8b not only increases the contact area with soil when the telescopic claw 8 excavates and advances, but also reduces the situation that the soil is squeezed into the lower part of the head block of the telescopic claw 8 to obstruct the movement of the telescopic claw.
The working steps of this embodiment are described below by taking the product in fig. 1 as an example:
(1) pressing the drilling robot into the seabed sediment formation integrally by using a release device which is additionally arranged;
(2) the hydraulic motor 4 drives the lateral mud discharging drill bit 1 to rotate, so that the front end resistance is reduced;
(3) the rear body section hydraulic cylinder 19 is in a retracted state, and the rear body section telescopic claw 27 is in a closed state; the front body section left push rod electromagnet 9 and the front body section right push rod electromagnet 10 are electrified and attracted, and the front body section left connecting flange 13 and the front body section right connecting flange 12 are fixed on the front body section hydraulic cylinder push rod 11 through magnetic attraction; the front body section hydraulic cylinder 16 pushes the front body section left connecting flange 13 and the front body section right connecting flange 12, and then drives the front body section telescopic claw 8 to extend; the head of the front body section telescopic claw 8 excavates and extrudes soil to realize the forward movement of the robot;
(4) under the condition that the front body section left push rod electromagnet 9 and the front body section right push rod electromagnet 10 are ensured to be electrified and attracted, the front body section hydraulic cylinder 16 retracts the front body section hydraulic cylinder push rod 11 to drive the front body section telescopic claw 8 to retract and move, and an advancing movement is completed;
(5) the front body section left fixed electromagnet 14 is electrified and attracted, and the front body section left connecting flange 13 is fixed on the front body section hydraulic cylinder 16 cylinder body by magnetic attraction and does not move; the front body section right push rod electromagnet 10 is electrified and attracted, and the front body section right connecting flange 12 is fixed on the front body section hydraulic cylinder push rod 11 through magnetic attraction; the front body section hydraulic cylinder 16 pushes the front body section right connecting flange 12, and then drives the front body section telescopic claw 8 on the right side to extend; the head of the front body section telescopic claw 8 on the right side excavates and extrudes soil to realize that the robot is pushed to move in a left steering way;
(6) under the condition that the right push rod electromagnet 10 of the front body section is ensured to be electrified and attracted, the front body section hydraulic cylinder 16 retracts the push rod 11 of the front body section hydraulic cylinder to drive the front body section telescopic claw 8 on the right side to retract, and a steering motion is completed;
(7) the front body section hydraulic cylinder 16 is in a retraction state, and the front body section telescopic claws 8 are all in a closed state; the rear body section left push rod electromagnet 25 and the rear body section right push rod electromagnet 26 are electrified and attracted, and the rear body section left connecting flange 22 and the rear body section right connecting flange 23 are fixed on the rear body section hydraulic cylinder push rod 24 through magnetic attraction; the rear body section hydraulic cylinder 19 pushes the rear body section left connecting flange 22 and the rear body section right connecting flange 23 to further drive the rear body section telescopic claw 27 to extend and move, and the head of the rear body section telescopic claw 27 excavates and extrudes soil to realize the backward movement of the pushing robot;
(8) under the condition that the rear body section left push rod electromagnet 25 and the rear body section right push rod electromagnet 26 are ensured to be electrified and attracted, the rear body section hydraulic cylinder 19 retracts the rear body section hydraulic cylinder push rod 24 to drive the rear body section telescopic claw 27 to retract and move, and a backward movement is completed;
(9) the above processes are repeated in sequence to complete one drilling forward, steering or backward movement. Other motion patterns may be referred to as execution.
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 (10)
1. A drilling robot for a submarine sediment stratum space comprises a lateral mud discharge drill bit mechanism consisting of a drill bit and a transmission system; the drilling robot is characterized by further comprising a front excavating support body section and a rear excavating support body section which are arranged along the axis, wherein the lateral mud-discharging drill bit mechanism is positioned at the front end of the front excavating support body section;
the front digging propelling body section comprises an outer cylinder, a hydraulic cylinder is axially arranged in the front digging propelling body section, and a push rod of the front digging propelling body section faces to the direction of a drill bit; the end part of the push rod is provided with a left push rod electromagnet and a right push rod electromagnet in parallel, the end part of the cylinder body of the hydraulic cylinder is provided with a left fixed electromagnet and a right fixed electromagnet in parallel, and the push rod is movably sleeved with a left connecting flange and a right connecting flange; the two connecting flanges can respectively displace along with the push rod under the attraction of the push rod electromagnet or the fixed electromagnet which respectively corresponds to the two connecting flanges; the front excavating propulsion body section also comprises at least 2 telescopic claws, one part of each telescopic claw extends into the inner cavity from a notch on the outer cylinder wall, and the inner end part of each telescopic claw is movably connected to the connecting flange; each connecting flange is connected with at least 1 telescopic claw, when the connecting flange is displaced along with the push rod, the connecting flange can drive the telescopic claws to extend out of or retract into the outer cylinder from the notches on the outer cylinder, and the movement track of the connecting flange is limited by the notches;
the rear excavating support body section is provided with a structural component which is the same as the front excavating propulsion body section but is arranged along the reverse direction of the shaft, and the end parts of the outer cylinders of the rear excavating support body section and the front excavating propulsion body section are relatively and fixedly connected; the two hydraulic cylinders have opposite installation directions, so that the push rods and the telescopic claws of the two hydraulic cylinders have opposite action directions;
the tail end of the rear excavating support body section is provided with a tail oil cable interface; after the oil cable passes through the tail oil cable connector, the oil cable is respectively connected with a lateral mud discharging drill bit mechanism, a hydraulic cylinder and an electromagnet which are arranged in the front excavating propulsion body section and the rear excavating propulsion body section.
2. A drilling robot according to claim 1, characterized in that in the lateral mud-discharging bit mechanism, the bit has a conical core and cylindrical helical blades; the transmission system comprises a hydraulic motor, the hydraulic motor is arranged in the outer barrel of the drilling body section, and a transmission shaft of the hydraulic motor penetrates through the flange of the drilling body section and is connected with the drill bit core column through a drill bit connector.
3. A drilling robot as claimed in claim 1, characterized in that the lateral mud-discharge bit mechanism is fixed by screws to the front end of the outer drum of the front excavation support section.
4. A drilling robot as claimed in claim 1, characterized in that the cylinder bottom is fixed in the outer cylinder by means of a flange.
5. A drilling robot as recited in claim 1, wherein a slot sealing block is fitted in the slot in the outer cartridge wall; the telescoping jaws can displace and maintain a seal between the slot seal blocks.
6. The drilling robot according to claim 1, wherein the number of the telescopic claws is even and the telescopic claws are arranged at intervals on the same section of the outer cylinder; a plurality of flexible claws divide into about two sets of, and the interior tip of every group flexible claw all passes through hinge mechanism and same flange swing joint.
7. A drilling robot as claimed in claim 1, wherein the main structure of the telescopic claw is an arc-shaped panel provided with a supporting soil retaining structure between the outer end portion thereof and the outer cylinder; the supporting soil retaining structure comprises a spring and an elastic plate, wherein one end of the elastic plate is always in contact with the outer wall of the outer cylinder for supporting under the action of the spring, and the other end of the elastic plate is connected to the outer end part of the arc-shaped panel through the spring; the elastic plate can slide under the action of the spring to match the telescopic motion of the telescopic claw in the notch.
8. The drilling robot as claimed in claim 1, wherein the rear excavation support body section is fixedly connected to the outer cylinder of the front excavation propulsion body section by a flange.
9. The drilling robot of claim 1, wherein the tail end cable interface comprises an interface body, an end cap, and a steering ball joint; the steering ball joint is positioned in the interface main body and is fixedly installed by the end cover; and the oil cable sequentially enters the rear excavating support body section, the front excavating support body section and the lateral mud discharging drill bit mechanism after passing through a center hole of the steering ball joint to realize oil supply or power supply.
10. The drilling robot of claim 1, wherein the tail end cable port is secured to the outer barrel end of the rear excavation support section by screws.
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