CN114458203A

CN114458203A - Deep normal position fidelity is got core and is rateed platform assembly system

Info

Publication number: CN114458203A
Application number: CN202210091783.3A
Authority: CN
Inventors: 谢和平; 张茹; 张泽天; 高明忠; 陈领; 张志龙; 杨阳; 李佳南; 黄伟; 任利; 李怡航; 肖坤; 凌伟强; 楼晨笛
Original assignee: Sichuan University
Current assignee: Sichuan University
Priority date: 2022-01-26
Filing date: 2022-01-26
Publication date: 2022-05-10
Anticipated expiration: 2042-01-26
Also published as: CN114458203B

Abstract

The invention discloses a deep in-situ fidelity coring rate setting platform assembly system, which comprises a core cabin assembly subsystem and a drill rod cabin assembly subsystem; the core cabin assembling subsystem is fixedly arranged on the foundation and is used for adjusting the assembling movement of the core cabin on the Y axis; the drill rod cabin assembly subsystem is positioned above the core cabin assembly subsystem and used for adjusting the assembly movement of the drill rod in the Z-axis direction and the X-axis direction. The invention can realize the accurate assembly and reliable fixation of the large-size non-standard high-temperature high-pressure simulation experiment cabin component, and realize the assembly and fixation of the segmented cabin through the position regulation and control on the orthogonal three axes; and through the self-adaptation guide structure of drilling rod, carry out accurate positioning to the assembly process in multistage drilling rod cabin, ensure the assembly precision in multistage drilling rod cabin, and in drilling rod assembly process, provide the guide effect for the drilling rod, ensure that the drilling rod carries out accurate counterpoint with the core cabin of mounting platform below when the assembly.

Description

Deep normal position fidelity is got core and is rateed platform assembly system

Technical Field

The invention belongs to the technical field of energy drilling, and particularly relates to an assembly system of a deep in-situ fidelity coring calibration platform.

Background

Different from the common burial depth of resources in Europe and America which is less than 2000m, more than 70% of resources in China are buried deeper than 2000m and shallow resources are exhausted, and the resources extend to the deep part at the speed of more than 10m per year. The exploitation depth of oil and gas resources reaches 8418m, the external dependence of petroleum in China reaches up to 67 percent, and the oil and gas resources far exceed the internationally recognized energy safety warning line. Therefore, exploring energy resources to the deep part is the most urgent practical problem in China at present, is also a major strategic and scientific problem in China, and is a major energy safety problem in China.

In marching to the deep part of the earth, researches (deep drilling, deep foundation scientific rules and deep resource development and utilization) need to be developed step by step from 3 levels, wherein the most important is the research on the deep foundation scientific rules. And the deep in-situ environment is very complex, and before the whole set of deep in-situ coring system is applied to field scientific drilling, experimental simulation needs to be carried out indoors in advance to effectively verify the feasibility of equipment and carry out calibration of related parameters, so that a complete experimental simulation platform needs to be built.

At present, the prior art lacks a whole set of deep in-situ coring system test simulation system for simulation, and besides, the existing platform is large in size and high in requirements on high temperature and high pressure, so that the manual assembly process is complex, and the repeatability and the reliability are slightly poor. In summary, a complete set of deep in-situ coring test simulation system with high automation degree, repeatability and reliability is needed.

Disclosure of Invention

The invention aims to provide an assembly system of a deep in-situ fidelity coring rate platform aiming at the defects in the prior art, and solves the problems of complex manual assembly process, poor repeatability and poor reliability of the assembly system in the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that:

a deep in-situ fidelity coring calibration platform assembly system comprises a core cabin assembly subsystem and a drill rod cabin assembly subsystem; the core cabin assembling subsystem is fixedly arranged on the foundation and used for adjusting the assembling movement of the core cabin on the Y axis; the drill rod cabin assembly subsystem is positioned above the core cabin assembly subsystem and used for adjusting the assembly movement of the drill rod in the Z-axis direction and the X-axis direction.

The deep in-situ fidelity coring rate platform assembly system provided by the invention has the following beneficial effects:

the invention is provided with the core cabin assembly subsystem to realize the bearing of the whole simulation cabin, and simultaneously, the core cabin assembly subsystem is used for adjusting the whole simulation cabin in the Y-axis direction to a preset position, and the two mechanical arms arranged on the core cabin assembly subsystem can further accurately regulate and control the position of the core cabin simulation cabin in the Y-axis direction.

The drill rod cabin assembly subsystem comprises an installation support, wherein a movable support capable of moving in the vertical direction is arranged on the installation support, and the position of a drill rod on a Z axis is adjusted and controlled.

The drill rod self-adaptive guide structure is arranged on the movable support and is used for regulating and controlling the drill rod in the X-axis direction and accurately positioning the assembling process of the multi-section drill rod cabin, so that the assembling precision of the multi-section drill rod cabin is ensured, and the drill rod is stably supported and fixed. And, in the drilling rod assembling process, provide the guide effect for the drilling rod, ensure that the drilling rod carries out accurate counterpoint with the core cabin of mounting platform below when the assembly.

The invention can realize the accurate assembly and reliable fixation of the large-size non-standard high-temperature high-pressure simulation experiment cabin component, and the assembly of the segmented cabin is realized through the position regulation and control on the orthogonal three axes; and the automation degree of the assembly system is improved through the self-adaptive guide structure of the drill rod.

Drawings

FIG. 1 is a schematic diagram of the system and foundation structure.

FIG. 2 is a schematic structural view of a deep in-situ core-retaining calibration platform assembly system of the system.

Fig. 3 is a schematic diagram of the core module assembly subsystem.

Fig. 4 is a schematic view of a partial configuration of a core module assembly sub-system.

Figure 5 is a schematic bottom view of the core bay assembly subsystem.

Fig. 6 is a schematic structural view of the mount assembly.

Fig. 7 is a mounting structure view of the robot.

Fig. 8 is a structural view of the back surface of the manipulator yoke.

Fig. 9 is a front view of the robot band.

Fig. 10 is a schematic view of the structure of the mounting bracket.

Fig. 11 is a schematic view of a single-sided mounting bracket.

Fig. 12 is a schematic structural view of the movable support connected inside the fixed support.

Fig. 13 is a schematic structural view of the driving device and the transmission case mounted on the top of the movable support.

Fig. 14 is a schematic structural view of the feed screw nut.

Fig. 15 is a structural schematic diagram of a drill rod self-adaptive guide structure.

Fig. 16 is a schematic structural view of the mounting plate.

Fig. 17 is a three-dimensional structure diagram of the guide member.

Fig. 18 is a schematic view of the installation of the sliding chain type drill rod self-adaptive guiding fixing device.

FIG. 19 is a schematic view of the sliding chain type drill rod self-adaptive guiding fixture in contact with a drill rod.

FIG. 20 is a block diagram of a sliding chain drill stem self-adaptive steering fixture.

Fig. 21 is a structural view of the self-adaptive guide fixing device for the reel type drill rod.

Fig. 22 is a structural view of the second roller fixing group.

Wherein, 1, a core cabin assembly subsystem;

101. a slide rail; 102. mounting a bottom plate; 103. a roller; 104. an oil cylinder mounting plate; 105. an oil cylinder; 106. mounting lugs; 107. mounting a base assembly; 108. hinging a shaft; 109. a fixing plate; 110. a first connecting plate; 111. a limiting strip; 112. mounting a column; 113. closing the plate; 114. a vertical reinforcing plate; 115. a transverse stiffener; 116. a pull rod; 117. a manipulator; 118. a simulation cabin;

119. a servo motor; 120. a movable guide rod; 121. clamping a hoop; 122. an anti-rotation rod 123 and a screw rod; 124. a second connecting plate; 125. a stationary guide bar; 126. mounting a bracket; 127. a movable supporting block; 128. a spring; 129. mounting a plate; 130. a strip-shaped hole; 131. moving the ears; 132. a stud.

2. A drill rod cabin assembly subsystem;

201. fixing a bracket; 202. a movable support; 203. a drive device; 204. a transmission case; 205. a transmission screw rod; 206. a feed screw nut; 207. a first guide bar; 208. a linear bearing; 209. a drive shaft; 210. a driven shaft; 111. a notch; 112. a nut mounting plate; 113. a bearing mounting plate; 114. a nut socket; 115. a connecting portion; 216. mounting holes; 217. a third connecting plate; 218. a triangular reinforcing plate; 219. a rectangular reinforcing plate; 220. a limiting block;

221. a guide rail mounting plate; 222. a through hole; 223. a guide member; 224. an upper member; 225. a lower member; 226. a fourth connecting plate; 227. a reinforcing plate; 228. a guide cylinder; 229. a rotating electric machine; 230. a guide screw rod; 231. a connecting seat; 232. a guide rod female seat; 233. a second guide bar; 234. a guide arm motor base; 235. a linear guide rail; 236. a slider;

301. a roller; 302. a drill stem; 303. a sliding chain type mounting plate; 304. a sliding chain type mounting bracket; 305. a first hinge mount; 306. a second slide rail; 307. a lower guide rod fixing plate; 308. a motor base; 309. a nut mounting plate; 310. a motor; 311. a rotating shaft; 312. an upper guide rod fixing plate; 313. a stabilizing guide bar; 314. mounting a platform; 315. a slide chain type guide screw rod; 316. a second hinge mount; 317. a first connection block; 318. a first slider; 319. a first slide rail;

401. the device comprises a motor mounting seat, 402, a reel servo motor, 403, a coupler, 404, a reel type guide rod, 405, a reel type guide screw rod, 406, a reel type nut, 407, a guide seat, 408, a fixing plate, 409, a rubber shock pad, 410, a reel type mounting plate, 411, a first roller, 412, a mounting frame, 413, a vertical plate, 414, a third slide rail, 415, a mounting base, 416, a reel type slide block, 417, a graphite copper sleeve, 418 and a reel type connecting plate;

5. and (5) foundation.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.

According to an embodiment of the application, referring to fig. 1-2, the deep in-situ fidelity coring rate platform assembly system of the scheme comprises a core compartment assembly subsystem 1 and a drill rod compartment assembly subsystem 2, wherein the core compartment assembly subsystem is fixed on a foundation base 5 and used for bearing the whole core compartment simulation cabin and controlling accurate movement of the core compartment simulation cabin.

The drill rod cabin assembly subsystem 1 is located above the core cabin assembly subsystem and used for accurately positioning in the drill rod assembly process, improving the assembly precision of the drill rod and providing stable support and fixation for the drill rod.

In particular, the core compartment assembly subsystem and the drill rod compartment assembly subsystem will be described in detail below,

referring to fig. 5-9, the core compartment assembly subsystem comprises two slide rails 101 mounted flush on the foundation base 5; the two slide rails 101 are provided with installation bottom plates 102 used for bearing the simulation cabin 118, two sides of the installation bottom plates 102 are respectively provided with a plurality of rollers 103 used for rolling on the two slide rails 101, and the rollers 103 are fixedly connected with the lower end faces of the installation bottom plates 102 through roller seats; an oil cylinder mounting plate 104 is arranged on the foundation 5, the oil cylinder mounting plate 104 is arranged on one side of the mounting bottom plate 102, and an oil cylinder 105 with the length direction in the same direction as that of the slide rail 101 is arranged on the oil cylinder mounting plate 104; the lower end surface of the mounting base plate 102 is provided with a mounting lug 106 for connection with the piston end of the cylinder 105.

As a specific arrangement mode of the sliding rails 101 and the rollers 103, the two sliding rails 101 are made of I-shaped steel, annular grooves used for being matched with an upper wing plate of the I-shaped steel are annularly arranged on the outer wall of the circumference of each roller 103, the I-shaped steel is wide in material application, stable and good in bearing performance and low in cost.

The piston end and the bottom end of the oil cylinder 105 are fixed in a hinged mode, so that the oil cylinder is convenient to mount and dismount, and the middle part of the oil cylinder mounting plate 104 is provided with a mounting seat assembly 108 for being hinged with the base of the oil cylinder 105; the mounting seat assembly 107 comprises a hinge shaft 108, a fixing plate 109 and two first connecting plates 110, wherein the two first connecting plates 110 are both vertically connected with the fixing plate 109, a gap is formed between the two first connecting plates 110, each first connecting plate 110 is provided with a round hole for the hinge shaft 108 to pass through, and the round holes on the two first connecting plates 110 are aligned with each other; the base of the oil cylinder 105 is arranged between the two first connecting plates 110, and the hinge shaft 108 penetrates through the base of the oil cylinder 105 and the two first connecting plates 110 to realize the hinge joint of the base of the oil cylinder 105 and the two first connecting plates 110; the end of the piston rod of the cylinder 105 is hinged to the mounting lug 106.

The basic principle of the mounting bracket of the scheme is as follows: firstly, rollers 103 are arranged at the bottom of an installation bottom plate 102, two sliding rails 101 are arranged on a foundation 5 bearing a simulation cabin 118, the installation bottom plate 102 realizes directional movement along the length direction of the sliding rails 101 through the matching of the rollers 103 and the sliding rails 101, the purpose of accurately controlling the translation of the simulation cabin 118 is achieved, the upper end surface of the installation bottom plate 102 is used for bearing the simulation cabin 118, the weight of the simulation cabin 118 is transferred to the two sliding rails 101 through the installation bottom plate 102 to be borne, and the bearing capacity is large; the mounting base plate 102 carrying the simulation cabin 118 is driven by the oil cylinder 105, and the piston end of the oil cylinder 105 extends or retracts, so that the mounting base plate 102 can reciprocate on the two slide rails 101, the operation is stable, the control is convenient, the thrust is high, and the translation operation of the simulation cabin 119 is met.

The upper end face of the installation bottom plate 102 is provided with a plurality of limiting strips 111 used for contacting with the outer wall of the circumference of the bottom of the simulation cabin 118, the arrangement of the limiting strips 111 can realize that the simulation cabin 118 is fixed on the upper end face of the installation bottom plate 102, and the stability of the simulation cabin 118 on the installation bottom plate 102 is improved.

The two sides of the length direction of the upper end surface of the mounting bottom plate 102 are both provided with mounting columns 112 for fixing a manipulator 117 of a disassembly and assembly simulation cabin 118, the two mounting columns 112 are symmetrically arranged, and the length direction of each mounting column 112 is the vertical direction. The mounting column 112 provides a carrier for mounting the robot 117, so that the robot 117 can be integrated on the whole translation device, and the cabin section of the simulation cabin 118 can be detached and mounted.

As a specific arrangement manner of the manipulator 117, two identical manipulators 117 are arranged on the simulation chamber 118, and the two manipulators 117 are arranged in parallel in the same direction at different heights, and are specifically used for installing two clamps 121 arranged on two sides of the simulation chamber 118.

The clamp 121 is a part of the simulation cabin 118 and is used for reinforcing the connection between the cabin body and the end cover, and the manipulator is not integrated with the clamp 121 and is used for installing the clamp 121 on the cabin body of the simulation cabin 118.

The two hoops 121 are semicircular blocks, the two hoops 121 are encircled on the outer wall of the simulation cabin 118, and a clamping groove which is attached to the outline of the outer wall of the simulation cabin 118 is formed in the inner surface of each hoop 121; the back of clamp 121 is provided with arched connecting block, is provided with the actuating mechanism that drives clamp 121 and carry out the cohesion removal on the connecting block, avoids actuating mechanism direct and clamp 121 contact, makes its deformation. The driving mechanism is arranged on a mounting plate 129, the mounting plate 129 is arranged on the mounting columns 112 at two sides of the simulation cabin 118 through a mounting bracket 126, and the two clamping hoops 121 are connected through a moving stabilizing mechanism.

The centering fixing device is used for centering and fixing the simulation cabin 118 of the core cabin, when the deep in-situ coring simulation process is carried out, the two hoops 121 support and fix the upper end of the core cabin, the stability of a part where a drill rod enters is ensured, the drill rod can be accurately centered in the process of assembling the drill rod and the core cabin, the rigidity of the simulation cabin 118 is improved, and the safe and stable assembling of the simulation cabin 118 of the core cabin is ensured. The lead screw 123 is driven to rotate through the servo motor 119, the two hoops 121 are driven to move oppositely, the core cabin is fixed, the static guide rod 125 and the dynamic guide rod 120 ensure the stability and the strength of the hoops 121 during moving, and the accuracy of transverse displacement and longitudinal displacement is ensured.

The driving mechanism comprises a screw rod 123 perpendicular to the hoop 121, and one end of the screw rod 123 is connected with a connecting block through a bearing; the screw rod 123 penetrates through the mounting plate 129, and a nut in threaded connection with the screw rod 123 is arranged on the mounting plate 129; the other end of the screw rod 123 is in transmission connection with a rotating shaft of a stepping motor, and the stepping motor is installed on the motor installation plate 129. The nut is fixed, and the screw rod 123 is further driven to move along the nut by the rotation of the servo motor 119, so that the hoop 121 is in an embracing action, the movement is stable, and sufficient embracing strength can be ensured.

A plurality of anti-rotation rods 122 are arranged between the second connecting plate 124 and the motor mounting plate 129, the number of the anti-rotation rods 122 is three in the embodiment, the three anti-rotation rods 122 are uniformly distributed around the screw rod 123, the anti-rotation rods 122 are parallel to the screw rod 123, the anti-rotation rods 122 penetrate through the mounting plate 129, a first graphite copper sleeve is arranged on the mounting plate 129, and the anti-rotation rods 122 are arranged in the first graphite copper sleeve in a sliding mode. In the process of moving the screw 123, the rotation preventing rod 122 further ensures the stability of the movement of the servo motor 119, and the sliding effect is good.

One side of the hoop 121 is provided with a movable guide rod 120, one end of the movable guide rod 120 is fixedly connected with the hoop 121, the other end of the movable guide rod 120 penetrates through a second graphite copper sleeve arranged on the mounting plate 129, and the movable guide rod 120 is connected with the second graphite copper sleeve in a sliding manner. During the movement of the clamp 121, the movable guide rod 120 also moves, so that the stability of the movement of the clamp 121 is ensured.

The moving stabilizing mechanism comprises a static guide rod 125, two ends of the static guide rod 125 are fixed on mounting plates 129 at two sides of the rock core cabin, two hoops 121 are movably arranged on the static guide rod 125, two corners at one side of each hoop 121 are provided with guide sleeves, and the guide sleeves are connected with the static guide rod 125 in a sliding mode. When two clamps 121 move, lead through same quiet guide bar 125, move along same quiet guide bar 125, ensure the synchronism of two clamps 121, reduce the error.

Mounting panel 129 and installing support 126 activity setting, vertical bar hole 130 has been seted up on the mounting panel 129, all be provided with the pressure pin in every bar hole 130, the pressure pin is fixed on installing support 126, be provided with movable ear 131 on the mounting panel 129, be provided with movable supporting shoe 127 on the installing support 126, the vertical double-screw bolt 132 in upper end of movable supporting shoe 127, double-screw bolt 132 passes the through-hole that sets up on the movable ear 131, the upper end and the lower extreme of double-screw bolt 132 all are provided with adjusting nut, be provided with spring 128 between both ends adjusting nut and the movable ear 131, spring 128 cover is on double-screw bolt 132. The vertical error of the mounting plate 129 can be adjusted by pressing the pin, the spring 128 at the two ends of the stud 132 provides the resilience force of vibration, the vibration caused by high-strength work can be effectively resisted, and the elastic force of the spring 128 can be adjusted by adjusting the nut.

As a specific arrangement mode of the mounting columns 112, each mounting column 112 is a hollow rectangular columnar structure with sealing plates 113 at two ends, and a plurality of vertical reinforcing plates 114 and transverse reinforcing plates 115 are arranged in each mounting column 112; a plurality of transverse reinforcing plates 114 are uniformly arranged at intervals along the length direction of the mounting column 112; the plurality of vertical reinforcing plates 114 are distributed among the plurality of transverse reinforcing plates 115 and between the transverse reinforcing plates 115 and the sealing plates 113; the hollow structure of the mounting post 112 can reduce the manufacturing cost while reducing the self-gravity, and meanwhile, because the weight of the mounting post 112 is small, the mounting base plate 102 can bear the simulation cabin 118 with larger weight, and the bearing capacity of the mounting base plate 102 can be improved.

A pull rod 116 is horizontally arranged between the two mounting columns 112, and two ends of the pull rod 116 are respectively detachably connected with the side walls of the two mounting columns 112; the pull rod 116 is provided with a plurality of mounting holes at regular intervals along the length direction thereof, so that the stability between the two mounting posts 112 can be improved.

The installation bottom plate in the core cabin assembly subsystem 1 realizes directional movement along the length direction of the slide rail through the matching of the roller and the slide rail, and the movement direction is defined as Y-direction movement; meanwhile, the position of the core cabin in the Y direction is further regulated and controlled by matching two mechanical arms moving in the Y direction, so that the integral translation hoisting and the accurate regulation and control of the displacement of the core cabin in the Y direction are realized.

The drill rod cabin assembly subsystem 2 comprises an installation support and a drill rod self-adaptive guide structure, wherein the drill rod self-adaptive guide structure is arranged on the installation support and can move up and down along the installation support so as to clamp drill rods at different heights.

Referring to fig. 10-14, the mounting bracket includes two symmetrically disposed fixing brackets 201, the bottom of the two fixing brackets 201 is fixedly connected with the ground foundation, and the two fixing brackets 201 are disposed along the vertical direction.

The bottom of each fixed support 201 is provided with a third connecting plate 217 for fixedly connecting with a ground foundation; be provided with polylith triangle-shaped reinforcing plate 218 between fixed bolster 201's the lateral wall and the third connecting plate 217, the stability that fixed bolster 201 and ground basis are connected can be improved in the setting of polylith triangle-shaped reinforcing plate 218.

A movable bracket 202 moving along the vertical direction is arranged in each fixed bracket 201, a driving device 203 and a transmission case 204 are arranged at the top of the movable bracket 202, a transmission screw rod 205 is vertically arranged in the movable bracket 202, and the transmission screw rod 205 is connected with the driving device 203 through the transmission case 204; a screw nut 206 in threaded connection with a transmission screw 205 is fixedly arranged on each fixing bracket 201; each movable support 202 is vertically provided with a first guide rod 207, and each fixed support 201 is fixedly provided with a linear bearing 208 which is slidably connected with the first guide rod 207.

The basic working principle of the mounting bracket of the deep in-situ fidelity coring rating platform assembly system is as follows: firstly, the fidelity cabin with a multi-section structure is placed between two fixed supports 201, a mounting plate is arranged between the tops of two movable supports 202, a clamping device used for clamping the outer wall of the fidelity cabin is arranged on the mounting plate, a control driving device 203 is started, the driving device 203 drives a transmission screw 205 to rotate through a transmission box 204, the transmission screw 205 rotates and is in threaded fit with a screw nut 106 on the fixed supports 201, the movable supports 202 are changed relative to the fixed supports 201, namely, the position of the clamping device on the tops of the two movable supports 202 is changed in the vertical direction, so that the vertical displacement control of the system on a Z axis is realized, the assembly and disassembly of the fidelity cabin sections are realized, the core test efficiency is improved, and the working strength of testers is reduced.

As a specific embodiment of the driving device 203 and the transmission case 204, the driving device 203 is a stepping motor; a driving shaft 209 with gears and a plurality of driven shafts 210 with gears are arranged in the transmission case 204; the driving shaft 109 is connected with the output end of the stepping motor, the driving shaft 209 and a plurality of driven shafts 210 are arranged in a transmission box 204 in a straight line shape, and two adjacent shafts are in meshing transmission through gears; the drive screw 205 is connected to the driven shaft 210. The driving device 203 can transmit power to the transmission case 204 through the speed reducer, and the transmission case 204 distributes the power to the driven shaft 210 to realize the rotation of the driven shaft 210 driving the transmission screw rod 205.

As the concrete mode of setting up of fixed bolster 201 and movable support, the cross section of every fixed bolster 201 all is the rectangle structure that length direction side has breach 211, and fixed bolster 201 can be by the section steel board through fold forming be above-mentioned structure, and the fixed bolster 201 atress performance of this structure is excellent, and can make movable support set up in breach 211, and movable support can have many rectangle steel pipes to splice into confined rectangle structure each other.

Each movable support 202 is matched with two transmission screw rods 205 and two first guide rods 207; the two transmission screw rods 205 are respectively connected with driven shafts 210 positioned at two ends of the transmission case 204; the top surface of the fixing bracket 201 is provided with two nut mounting plates 212 for mounting and fixing the lead screw nuts 206, and the two lead screw nuts 206 are respectively positioned at two ends of the nut mounting plates 212.

The feed screw nut 206 comprises a nut sleeve 214 connected with the transmission feed screw 205 in a threaded manner and a connecting part 215 arranged on the nut sleeve 214, and the front projection of the connecting part 215 is in a shape of a trimmed circle or a polygon; the connecting portion 215 is provided with a plurality of mounting holes 216 for connection with the nut mounting plate 212. The provision of the connecting portion 215 facilitates the removal and assembly of the entire lead screw nut 206 with the nut mounting plate 212.

The two first guide rods 207 are respectively positioned on two side walls of the movable support 202, and a bearing mounting plate 213 for fixing the linear bearing 208 is fixed on each of two sides of the notch 211; the two first guide rods 207 are slidably connected to two linear bearings 208, respectively.

The two transmission screw rods 205 and the two first guide rods 207 are arranged, so that the movable support 202 is more stable and reliable when vertically and linearly moves in the fixed support 201, the automatic and high-precision assembly and butt joint of the fidelity cabin are realized, and the safety and the stability are ensured.

The breach 211 both sides of every fixed bolster 201 are all fixed and are provided with polylith rectangle reinforcing plate 219, and polylith rectangle reinforcing plate 219 evenly sets up along fixed bolster 201 length direction interval, can strengthen the stability of two fixed bolsters 201 structures itself, avoids producing too big deformation when hoist and mount fidelity cabin section.

Two limiting blocks 220 used for contacting with the bottoms of the two transmission screw rods 205 are arranged in the fixed support 201, the two limiting blocks 220 are horizontally arranged and distributed on two outer sides of the notch 211, the descending stroke amount of the movable support 202 is limited, the bottom of the movable support 202 can be prevented from contacting with a ground foundation, the movable support 202 can be prevented from rapidly descending to the ground foundation due to the fact that the transmission screw rods 205 lose efficacy, and accordingly a safety measure for preventing the movable support 202 from being damaged is provided.

A first embodiment of the self-adaptive guiding structure for a drill rod of the present invention is, referring to fig. 15-17, that includes a guide mounting plate 221, wherein the guide mounting plate 221 is fixedly mounted between two movable brackets 202 and can move up and down along with the movement of the movable brackets 202.

The middle part of the guide rail mounting plate 221 is provided with a through hole 222 for a drill rod to pass through, two sides of the through hole 222 are symmetrically provided with a pair of guide pieces 223 moving in opposite directions or in a separated direction, the two guide pieces 223 move in opposite directions to form a guide cylinder 228 with a large-upper-part and small-lower-part funnel-shaped structure after being surrounded after end surface contact, and the inner wall of the small-diameter end of the guide cylinder 228 is used for the outer wall contact of the drill rod.

The guide cylinder 228 is oriented in the X-axis direction and perpendicular to the Y-axis direction in the core module assembly sub-system 1.

Before assembly, the two guide members 223 move oppositely until the guide cylinders 228 are contacted to form a funnel-shaped structure, the drill rod is inserted into the middle of the guide cylinders 228, and meanwhile, the inner wall of the small-diameter end of the guide cylinders 228 can be attached to the circumferential outer wall of the drill rod to support and fix the drill rod, so that the stress of the drill rod is uniform, and the assembly precision and the safety in the assembly process are improved.

As a preferable design mode of the through hole 222, the diameter of the through hole 222 is larger than the inner diameter of the small-diameter end of the guide cylinder 228, and the through hole 222 is provided with the arc notches at two sides in the horizontal direction, so that the situation that the drill rod contacts with the inner wall of the through hole 222 to scratch the outer wall of the drill rod when the drill rod passes through the guide cylinder 228 and the through hole 222 can be avoided, and the through hole 222 is provided with the arc notches, which is equivalent to enlarging the area of the through hole 222, so that the drill rod can pass through the through hole more easily, and the assembly difficulty of the drill rod is reduced.

As a specific arrangement of the two guide members 223, each guide member 223 includes an upper member 224 having a hollow semicircular table structure and a lower member 225 having a hollow semicircular column structure; the diameter of the lower member 225 is the same as that of the small diameter end of the upper member 224, and the upper end surface of the lower member 225 is in contact with the lower end surface of the upper member 224.

A fourth connecting plate 226 is arranged on the outer wall of the bottom of the lower part 225 along the horizontal direction; two reinforcing plates 227 are arranged among the upper component 224, the lower component 225 and the fourth connecting plate 226 at intervals, and one end face of each reinforcing plate 227 is fixedly connected with the outer wall of the upper component 224, the outer wall of the lower component 225 and the upper end face of the fourth connecting plate 226 respectively; the reinforcing plate 227 can improve the structural strength of the whole guide piece 223, avoid collision deformation, ensure the stability of the working process and prolong the service life of the guide piece. The fourth connecting plate 226 is provided to facilitate the sliding means provided thereunder, to reduce the movement resistance of the guide 223, so that the relative or apart movement of the guide 223 is more smooth.

As a specific implementation manner of the guide member 223 moving horizontally along the length direction of the guide rail mounting plate 221, two ends of the guide rail mounting plate 221 are respectively provided with a driving device for driving the guide member 223 to move horizontally, each driving device comprises a rotating motor 229, the output end of the rotating motor 229 is provided with a guide screw 230, and the guide screw 230 is located between two reinforcing plates 227; the lower member 225 is provided with a coupling seat 231 on a circumferential outer wall thereof; a guide rod female seat 232 is arranged between the rotating motor 229 and the connecting seat 231, the bottom of the guide rod female seat 232 is fixed with the upper end surface of the guide rail mounting plate 221, a plurality of second guide rods 233 penetrate through the guide rod female seat 232, and the plurality of second guide rods 233 are connected with the guide rod female seat 232 in a sliding manner; the rotating motor 229 is provided with a guide arm motor base 234, one end of each second guide rod 233 is fixedly connected with the guide arm motor base 234, and the other end penetrates through the connecting base 231 and is connected with the connecting base in a sliding manner; the free end of the guide screw 230 passes through the guide rod female socket 232 and is in threaded connection with the connection socket 231. The second guide bar 233 is provided to prevent deflection. Before the drilling rod assembly, two guides 223 are the separation attitude, when needs assemble guides 223, rotating electrical machines 229 corotation drives guide screw 230 and rotates, guide screw 230 and connecting seat 231 threaded connection, turn into linear motion with rotating electrical machines 229's rotary motion through guide screw 230 and connecting seat 231, and transmit to on the guides 223, realize the relative motion of two guides 223, until two guides 223 contact the back, rotating electrical machines 229 stops, enclose after two guides 223 contact and form guide cylinder 228 of big-end-up funnel shaped structure down, guide cylinder 228 provides the guide effect for the drilling rod, ensure that the drilling rod carries out accurate counterpoint with the rock core cabin of mounting platform below when the assembly. After the drill rod assembly is complete, the rotary motor 229 is reversed and the two guides 223 are separated.

As a specific arrangement manner of the plurality of second guide bars 233, the number of the plurality of second guide bars 233 is 4, the 4 second guide bars 233 are uniformly distributed in two rows and two columns at intervals, and the guide screw 230 is arranged at the center position of the 4 second guide bars 233.

Each guide 223 is matched with a set of sliding device, each set of sliding device comprises two linear guide rails 235, the length directions of the two linear guide rails 235 are in the same direction as the length direction of the guide rail mounting plate 221, and the two linear guide rails are fixedly connected with the upper end face of the guide rail mounting plate 221; the two linear guide rails 235 are located below the fourth connecting plate 226 and distributed on two sides of the fourth connecting plate 226 in the width direction;

the lower surface of the fourth connecting plate 226 is provided with a slider 236 for slidably engaging with the two linear guides 235. The sliding means reduces the movement resistance of the guide 223 so that the relative or apart movement of the guide 223 is more smooth.

A second embodiment of the self-adaptive guide structure for a drill rod of the present invention is, referring to fig. 18 to 20, that includes a mounting platform 314, and the mounting platform 314 is fixed between two movable supports 202 to move up and down with the movement of the movable supports 202.

A through hole for the drill rod 302 to pass through is formed in the mounting platform 314, and a plurality of roller slide chain supporting mechanisms are arranged around the through hole; the roller slide chain supporting mechanism comprises a supporting seat, a contact piece capable of stretching and swinging on the supporting seat is arranged on the supporting seat, a stretching driving mechanism is arranged between the contact piece and the supporting seat, and funnel-shaped structures with large top and small bottom are formed by surrounding the through holes of the contact pieces on the roller slide chain supporting mechanism.

When this scheme is implemented, the contact includes two smooth chain formula mounting panels 303 that are parallel, the vertical setting of smooth chain formula mounting panel 303, evenly be provided with a plurality of roller bearings 301 between two smooth chain formula mounting panels 303, a plurality of roller bearings 301 become vertical arranging, the both ends of roller bearing 301 are rotated and are set up between two smooth chain formula mounting panels 303, two smooth chain formula mounting panels 303 all set up on flexible actuating mechanism, flexible actuating mechanism activity sets up on the installing support 304 of supporting seat upper end setting.

The upper ends of the two slide chain type mounting plates 303 are provided with bending parts which are bent towards the direction away from the drill rod 302, and a plurality of rolling shafts 301 are also arranged in the bending parts. When a plurality of contact pieces enclose the funnel-shaped structure around the through-hole, the edge that turns over outwards is formed at the upper end of funnel-shaped structure to the kink, prevents losing drilling rod 302 and the insertion of part, avoids losing drilling rod 302.

The scheme is used for accurately positioning the assembling process of the multi-section drill rod cabin on a deep in-situ test simulation platform, so that the assembling precision of the multi-section drill rod cabin is ensured, and stable support and fixation are provided for the drill rod 302. And, during assembly of drill rod 302, a guiding function is provided for drill rod 302, ensuring that drill rod 302 is accurately aligned with the cavity of drill rod 302 below mounting platform 314 during assembly. Before assembly, the angles and the intervals of the contact elements are adjusted to form a funnel-shaped structure, the drill rod 302 is inserted from the middle of the contact elements, the rolling shafts 301 on the contact elements roll along the insertion of the drill rod 302, damage to the drill rod 302 is avoided, meanwhile, the contact elements can be perfectly attached to the surface of the drill rod 302, and supporting, fixing and stress are uniform.

When the scheme is implemented, the middle part of the roller 301 is provided with an annular groove matched with the outer circumference of the drill rod 302, the annular groove is an inwards concave arc-shaped surface, and the annular groove and the surface of the roller 301 are in smooth transition. The roller 301 is convenient to be prevented from contacting with the drill rod 302, and meanwhile, the annular groove is prevented from damaging the surface of the drill rod 302.

When the scheme is implemented, the telescopic driving mechanism comprises an upper driving mechanism and a lower driving mechanism, the upper driving mechanism comprises an upper guide rod fixing plate 312, the upper guide rod fixing plate 312 is hinged with the upper ends of the two slide chain type mounting plates 303, and a movement driving mechanism for driving the upper guide rod fixing plate 312 to move towards the drill rod 302 is arranged on the upper guide rod fixing plate 312; the lower driving mechanism comprises a lower guide rod fixing plate 307, the lower guide rod fixing plate 307 is hinged with the lower ends of the two slide chain type mounting plates 303, a moving driving mechanism for driving the lower guide rod fixing plate 307 to move towards the drill rod 302 is also arranged on the lower guide rod fixing plate 307, and the moving driving mechanism is mounted on the mounting bracket 304.

The upper ends of the two slide chain type mounting plates 303 are connected through locking bolts, the lower ends of the two slide chain type mounting plates 303 are connected through a rotating shaft 311, and two ends of the rotating shaft 311 are mounted on the slide chain type mounting plates 303 through bearings; a first hinge block is arranged on the rotating shaft 311 and is hinged with a first hinge seat 305 arranged on the lower guide rod fixing plate 307; the upper ends of the two sliding chain type mounting plates 303 are provided with vertical first sliding rails 319, the two first sliding rails 319 are provided with first sliding blocks 318, the two first sliding blocks 318 are connected through a connecting block 317, a second hinging block is arranged on the connecting block 317, and the second hinging block is hinged to a second hinging seat 316 arranged on the upper guide rod fixing plate 312.

When the contact piece is subjected to angle adjustment, the upper end and the lower end can be adjusted simultaneously, the degree of freedom of adjustment is high, the stress of the support is stable, and the structure is stable. The first slide rail 319 is disposed in a U-shaped groove formed in the slide chain mounting plate 303, and positioning and stable mounting of the first slide rail 319 at a vertical position are achieved.

The mobile driving mechanism comprises a sliding chain type guide screw 315, one end of the sliding chain type guide screw 315 is mounted on an upper guide bar fixing plate 312 and a lower guide bar fixing plate 307 through bearings, the other end of the sliding chain type guide screw 315 is provided with a motor base 308 through a bearing, the end part of the sliding chain type guide screw 315 is in transmission connection with a motor 310 on the motor base 308, a screw nut is arranged on the sliding chain type guide screw 315, the screw nut is mounted on a nut mounting plate 309 arranged on a mounting bracket 304, and the sliding chain type guide screw 315 penetrates through the nut mounting plate 309. The sliding chain type guide screw 315 is driven by the rotation of the motor 310, so that the upper end and the lower end of the driving contact part swing at different angles, and the sliding chain type guide screw 315 is stably matched with the screw rod nut.

A plurality of stable guide rods 313 are arranged between the upper guide rod fixing plate 312 and the motor base 308 and between the lower guide rod fixing plate 307 and the motor base 308, the stable guide rods 313 are uniformly distributed around the slide chain type guide screw 315, the stable guide rods 313 penetrate through the nut mounting plate 309 and are in sliding connection with the nut mounting plate 309, the stability of the movement of the slide chain type guide screw 315 is further improved by the stable guide rods 313, and errors caused by vibration are reduced. The lower end of the nut mounting plate 309 is provided with a second slider, the second slider is slidably disposed on a second slide rail 306, and the second slide rail 306 is mounted on the mounting platform 314, so as to further ensure the stability of the movement of the upper guide bar fixing plate 312 and the lower guide bar fixing plate 307.

A third embodiment of the self-adaptive guide structure for a drill rod of the present invention is, referring to fig. 21 to 22, that includes a mounting base 415 fixed between two movable brackets 202 to move up and down with the movement of the movable brackets 202.

A through hole for a drill rod to pass through is formed in the mounting base 415, and a first roller fixing group and a second roller fixing group are respectively arranged on two sides of the through hole; the first roller fixing group and the second roller fixing group both comprise a first roller group and a second roller group, and the second roller group is arranged above the first roller group; the first roller group and the second roller group respectively comprise a roller mounting frame, two rollers are arranged on the roller mounting frame, the two rollers are arranged in a splayed shape, the circumferences of the rollers are in contact with the surface of the drill rod, and the rollers are perpendicular to the surface of the drill rod; the tail part of the roller mounting rack is provided with a driving mechanism for driving the roller mounting rack to move along the vertical direction of the drill rod.

The scheme is used for accurately positioning the assembling process of the multi-section drill rod cabin on a deep in-situ test simulation platform, ensures the assembling precision of the multi-section drill rod cabin, and provides stable support and fixation for the drill rod. And, in the drilling rod assembling process, provide the guide effect for the drilling rod, ensure that the drilling rod carries out accurate counterpoint with the drilling rod cabin of mounting platform below when the assembly. Before the assembly, angle and interval have been adjusted to a plurality of contact pieces, and a plurality of gyro wheels surround the outside of drilling rod, carry out the cohesion to the drilling rod, and the drilling rod inserts from the centre of a plurality of gyro wheels, and the gyro wheel rolls along inserting of drilling rod, avoids causing the damage to avoiding of drilling rod, can laminate with drilling rod surface perfect simultaneously, and the support is fixed the atress even.

The gyro wheel mounting bracket of this scheme is including the line wheel mounting panel 410 that becomes C shape, and the lower extreme of mounting panel is provided with the backup pad, offers the C shape breach of putting and enclosing the drilling rod in the backup pad, and two gyro wheels pass through the mounting bracket to be installed in the backup pad, and two gyro wheels distribute in the both sides of C shape breach, and actuating mechanism sets up the back at the mounting panel. The mounting plate and the supporting plate provide supporting force for the roller, the roller limits the freedom degree of the drill rod in each direction, the stress is ensured to be uniform, and the positioning precision is high.

The driving mechanism comprises a wire wheel type guide screw rod 405, a fixing plate 408 is arranged at the back of the mounting plate, one end of the wire wheel type guide screw rod 405 is mounted on the fixing plate 408 through a bearing, the other end of the wire wheel type guide screw rod 405 is connected with a rotating shaft of a wire wheel servo motor 402 through a coupler 403, the middle section of the wire wheel type guide screw rod 405 is arranged on a guide seat 407, the guide seat 407 is fixed on a mounting base 415 through a supporting seat, a wire wheel type nut 406 in threaded connection with the wire wheel type guide screw rod 405 is arranged on the guide seat 407, the wire wheel servo motor 402 is mounted on a motor mounting seat 401, a mobile stabilizing mechanism is arranged between the motor mounting seat 401 and the fixing plate 408, and the mobile stabilizing mechanism is in sliding connection with the guide seat 407.

The mobile stabilizing mechanism comprises a plurality of wire wheel type guide rods 404, four wire wheel type guide rods 404 are adopted in the embodiment, two ends of each wire wheel type guide rod 404 are respectively fixed on a fixing plate 408 and a motor mounting seat 401, the four wire wheel type guide rods 404 are uniformly distributed around a wire wheel type guide screw rod 405, and the wire wheel type guide rods 404 are parallel to the wire wheel type guide screw rod 405; the wire wheel type guide rod 404 is arranged on the guide seat 417 in a sliding mode through a graphite copper sleeve 417.

The line wheel servo motor 402 drives the line wheel type guide screw rod 405 to rotate, and then drives the mounting plate to move left and right, so that the first roller set and the second roller set are opened and tightened, and positioning and supporting of the drill rod are achieved. The pulley type guide rod 404 ensures the stability of the movement of the pulley type guide screw rod 405 and the support stability of the whole roller. Each first roller group and each second roller group can be freely adjusted in a trial mode.

The supporting seat of this scheme includes two parallel vertical boards 413, and the middle part of two vertical boards 413 is connected through line wheel formula connecting plate 418, and the upper end and the lower extreme of line wheel formula connecting plate 418 all are provided with the bayonet socket that is used for installing guide holder 407. Providing a stable mounting and securing of the guide 407. A rubber shock pad 409 is arranged between the mounting plate and the fixing plate 408, so that the vibration from the drill rod can be effectively relieved.

Two parallel slide rails 414 are arranged below the support plate, the slide rails 414 are parallel to the wire wheel type guide screw rod 405, two wire wheel type slide blocks 416 are arranged at the lower end of the support plate, and the wire wheel type slide blocks 416 are arranged on the slide rails 14 in a sliding mode. The arrangement of the pulley-type sliding block 416 and the sliding rail 14 further increases the moving stability and the supporting stability of the roller.

While the embodiments of the invention have been described in detail in connection with the accompanying drawings, it is not intended to limit the scope of the invention. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the appended claims.

Claims

1. The utility model provides a deep normal position fidelity is got core and is rateed platform assembly system which characterized in that: the drill rod assembling system comprises a core cabin assembling subsystem and a drill rod cabin assembling subsystem; the core cabin assembling subsystem is fixedly arranged on a foundation and used for adjusting the assembling movement of the core cabin on the Y axis; the drill rod cabin assembly subsystem is positioned above the core cabin assembly subsystem and used for adjusting the assembly movement of the drill rod in the Z axial direction and the X axial direction.

2. The deep in-situ fidelity coring rate platform assembly system of claim 1, wherein: the core cabin assembly subsystem comprises two slide rails which are arranged in parallel and arranged on a foundation; the two slide rails are provided with an installation bottom plate for bearing the simulation cabin, a plurality of rollers for rolling on the two slide rails are arranged on both sides of the installation bottom plate, and the rollers are fixedly connected with the lower end surface of the installation bottom plate through roller seats; an oil cylinder mounting plate is arranged on the foundation and is arranged on one side of the mounting bottom plate, and an oil cylinder with the length direction in the same direction as that of the slide rail is arranged on the oil cylinder mounting plate; the lower end face of the mounting bottom plate is provided with a mounting lug which is used for being connected with the piston end of the oil cylinder.

3. The deep in-situ fidelity coring rate platform assembly system of claim 2, wherein: the middle part of the oil cylinder mounting plate is provided with a mounting seat component; the mounting seat assembly comprises a hinge shaft, a fixed plate and two first connecting plates, and the two first connecting plates are vertically connected with the fixed plate; each first connecting plate is provided with a round hole for the hinge shaft to pass through, and the round holes of the two first connecting plates are aligned with each other; the oil cylinder base is arranged between the two first connecting plates, the hinge shaft penetrates through the oil cylinder base and the two first connecting plates, and the end part of a piston rod of the oil cylinder is hinged with the mounting lug;

the both sides of the up end length direction of mounting plate all are provided with the erection column that is used for fixed dismouting and assembly analog compartment manipulator, and two erection column symmetries set up, and the length direction of every erection column is vertical direction.

4. The deep in-situ fidelity coring rate platform assembly system of claim 3, wherein: the manipulator is used for installing two clamps arranged on two sides of the simulation cabin, the two clamps are semicircular blocks and are encircled on the outer wall of the simulation cabin, and a clamping groove which is attached to the outline of the outer wall of the simulation cabin is formed in the inner surface of each clamp; the back surface of the hoop is provided with an arched connecting block, and a driving mechanism for driving the hoop to carry out cohesion movement is arranged on the connecting block; the driving mechanism is installed on the installation plate, the installation plate is installed on the installation columns on two sides of the simulation cabin through the installation support, and the two hoops are connected through the moving stabilizing mechanism.

5. The deep in-situ fidelity coring rate platform assembly system of claim 4, wherein: the driving mechanism comprises a screw rod perpendicular to the hoop, and one end of the screw rod is connected with the connecting block through a bearing; the screw rod penetrates through the mounting plate, and a nut in threaded connection with the screw rod is arranged on the mounting plate; the other end of the screw rod is in transmission connection with a rotating shaft of a stepping motor, and the stepping motor is arranged on a motor mounting plate; three anti-rotation rods are arranged between the second connecting plate and the motor mounting plate; the three anti-rotation rods are uniformly distributed around the screw rod, penetrate through the mounting plate, are provided with a first graphite copper sleeve and are arranged in the first graphite copper sleeve in a sliding manner; one side of the clamp is provided with a movable guide rod, one end of the movable guide rod is fixedly connected with the clamp, the other end of the movable guide rod penetrates through a second graphite copper sleeve arranged on the mounting plate, and the movable guide rod is connected with the second graphite copper sleeve in a sliding manner;

the moving and stabilizing mechanism comprises a static guide rod, two ends of the static guide rod are fixed on mounting plates at two sides of the rock core cabin, two hoops are movably arranged on the static guide rod, two corners at one side of each hoop are provided with guide sleeves, and the guide sleeves are connected with the static guide rod in a sliding manner;

the mounting plate and the mounting bracket are movably arranged, vertical strip-shaped holes are formed in the mounting plate, a pressing pin is arranged in each strip-shaped hole and fixed on the mounting bracket, a movable lug is arranged on the mounting plate, a movable supporting block is arranged on the mounting bracket, a stud is vertically arranged at the upper end of the movable supporting block and penetrates through a through hole formed in the movable lug, adjusting nuts are arranged at the upper end and the lower end of the stud, a spring is arranged between the adjusting nuts at the two ends and the movable lug, and the spring is sleeved on the stud; the vertical error of mounting panel accessible compresses tightly the round pin and adjusts, and the spring at double-screw bolt both ends is used for providing the resilience force of vibration.

6. The deep in-situ fidelity coring rate platform assembly system of claim 1, wherein: the drill rod cabin assembling subsystem comprises a mounting bracket and a drill rod self-adaptive guide structure, wherein the drill rod self-adaptive guide structure is arranged on the mounting bracket and can move up and down along the mounting bracket;

the mounting bracket comprises two symmetrically arranged fixed brackets, the bottoms of the two fixed brackets are fixedly connected with the ground foundation, and the two fixed brackets are arranged along the vertical direction; the bottom of each fixed support is provided with a third connecting plate which is fixedly connected with a ground foundation; a plurality of triangular reinforcing plates are arranged between the side wall of the fixed support and the third connecting plate;

a movable bracket moving along the vertical direction is arranged in each fixed bracket, a driving device and a transmission case are arranged at the top of each movable bracket, a transmission lead screw is vertically arranged in each movable bracket, and the transmission lead screw is connected with the driving device through the transmission case; a screw rod nut in threaded connection with the transmission screw rod is fixedly arranged on each fixing support; a first guide rod is vertically arranged on each movable support, and a linear bearing which is connected with the first guide rod in a sliding manner is fixedly arranged on each fixed support;

the driving device is a stepping motor; a driving shaft with a gear and a plurality of driven shafts with gears are arranged in the transmission case; the driving shaft is connected with the output end of the stepping motor, the driving shaft and a plurality of driven shafts are arranged in a transmission box in a straight line shape, and two adjacent shafts are in meshing transmission through gears; the transmission screw rod is connected with the driven shaft.

7. The deep in-situ fidelity coring rate platform assembly system of claim 6, wherein: the self-adaptive guide structure of the drill rod comprises a guide rail mounting plate, and the guide rail mounting plate is fixedly mounted between the two movable brackets; the middle part of the guide rail mounting plate is provided with a through hole for a drill rod to pass through, a pair of guide pieces which move in opposite directions or in a separated manner are symmetrically arranged on two sides of the through hole, the two guide pieces move in opposite directions until the end surfaces of the two guide pieces are contacted and then are enclosed to form a guide cylinder with a funnel-shaped structure with a large upper part and a small lower part, and the inner wall of the small-diameter end of the guide cylinder is used for contacting the outer wall of the drill rod; the direction of the guide cylinder is positioned in the X-axis direction and is vertical to the Y-axis direction in the rock core cabin assembly subsystem;

each guide piece comprises an upper part in a hollow semicircular platform structure and a lower part in a hollow semicircular column structure; the diameter of the lower part is the same as that of the small-diameter end of the upper part, and the upper end surface of the lower part is connected with the lower end surface of the upper part; a fourth connecting plate is arranged on the outer wall of the bottom of the lower part along the horizontal direction; two reinforcing plates are arranged among the upper part, the lower part and the fourth connecting plate at intervals, and one side end face of each reinforcing plate is fixedly connected with the outer wall of the upper part, the outer wall of the lower part and the upper end face of the fourth connecting plate respectively;

two ends of the guide rail mounting plate are respectively provided with a driving device for driving the guide piece to horizontally move, each driving device comprises a rotating motor, the output end of each rotating motor is provided with a guide screw rod, and the guide screw rods are positioned between the two reinforcing plates; the circumferential outer wall of the lower part is provided with a connecting seat; a guide rod female seat is arranged between the rotating motor and the connecting seat, the bottom of the guide rod female seat is fixed with the upper end face of the guide rail mounting plate, a plurality of second guide rods penetrate through the guide rod female seat, and the second guide rods are connected with the guide rod female seat in a sliding manner; a guide arm motor base is arranged on the rotating motor, one end of each second guide rod is fixedly connected with the guide arm motor base, and the other end of each second guide rod penetrates through the connecting base and is in sliding connection with the connecting base; the free end of the guide screw rod penetrates through the guide rod female seat and is in threaded connection with the connecting seat;

each guide piece is matched with a set of sliding device, each set of sliding device comprises two linear guide rails, and the length directions of the two linear guide rails are in the same direction as the length direction of the guide rail mounting plate and are fixedly connected with the upper end face of the guide rail mounting plate; two linear guide are located the below of fourth connecting plate and distribute in the both sides of fourth connecting plate width direction.

8. The deep in-situ fidelity coring rate platform assembly system of claim 6, wherein: the drill rod self-adaptive guide structure comprises a mounting platform, wherein the mounting platform is fixed between two movable supports; a through hole for a drill rod to pass through is formed in the mounting platform, and a plurality of roller slide chain supporting mechanisms are arranged around the through hole; the roller slide chain supporting mechanism comprises a supporting seat, contact pieces capable of telescopically swinging on the supporting seat are arranged on the supporting seat, a telescopic driving mechanism is arranged between the contact pieces and the supporting seat, and a funnel-shaped structure with a large upper part and a small lower part is formed by the contact pieces on the roller slide chain supporting mechanism around the through hole;

the contact element comprises two parallel slide chain type mounting plates, the slide chain type mounting plates are vertically arranged, a plurality of rolling shafts are uniformly arranged between the two slide chain type mounting plates and are vertically arranged, two ends of each rolling shaft are rotatably arranged between the two slide chain type mounting plates, the two slide chain type mounting plates are both arranged on a telescopic driving mechanism, and the telescopic driving mechanism is movably arranged on a mounting bracket arranged at the upper end of the supporting seat;

the upper ends of the two sliding chain type mounting plates are provided with bending parts which are bent towards the direction away from the drill rod, and a plurality of rolling shafts are also arranged in the bending parts; when the plurality of contact pieces surround the funnel-shaped structure around the through hole, the bent parts form edges which are turned outwards at the upper end of the funnel-shaped structure;

the telescopic driving mechanism comprises an upper driving mechanism and a lower driving mechanism, the upper driving mechanism comprises an upper guide rod fixing plate, the upper guide rod fixing plate is hinged with the upper ends of the two slide chain type mounting plates, and a movement driving mechanism for driving the upper guide rod fixing plate to move towards the drill rod is arranged on the upper guide rod fixing plate; the lower driving mechanism comprises a lower guide rod fixing plate, the lower guide rod fixing plate is hinged with the lower ends of the two slide chain type mounting plates, a movement driving mechanism for driving the lower guide rod fixing plate to move towards the drill rod is also arranged on the lower guide rod fixing plate, and the movement driving mechanism is arranged on the mounting bracket;

the upper ends of the two slide chain type mounting plates are connected through a locking bolt, the lower ends of the two slide chain type mounting plates are connected through a rotating shaft, and two ends of the rotating shaft are mounted on the slide chain type mounting plates through bearings; a first hinge block is arranged on the rotating shaft and is hinged with a first hinge seat arranged on the lower guide rod fixing plate; the upper ends of the two sliding chain type mounting plates are provided with vertical first sliding rails, the two first sliding rails are provided with first sliding blocks, the two first sliding blocks are connected through a connecting block, a second hinging block is arranged on the connecting block, and the second hinging block is hinged to a second hinging seat arranged on the upper guide rod fixing plate.

9. The deep in-situ fidelity coring rate platform assembly system of claim 8, wherein: the mobile driving mechanism comprises a slide chain type guide screw rod, one end of the slide chain type guide screw rod is installed on an upper guide rod fixing plate and a lower guide rod fixing plate through bearings, the other end of the slide chain type guide screw rod is provided with a motor base through a bearing, the end part of the slide chain type guide screw rod is in transmission connection with a motor on the motor base, a screw rod nut is arranged on the slide chain type guide screw rod, the screw rod nut is installed on a nut installation plate arranged on an installation support, and the slide chain type guide screw rod penetrates through the nut installation plate;

a plurality of stable guide rods are arranged between the upper guide rod fixing plate and the motor base and between the lower guide rod fixing plate and the motor base, the stable guide rods are uniformly distributed around the slide chain type guide screw rod, the stable guide rods penetrate through the nut mounting plate, and the stable guide rods are connected with the nut mounting plate in a sliding manner; the lower extreme of nut mounting panel is provided with the second slider, and the second slider slides and sets up on the second slide rail, and the second slide rail is installed on mounting platform.

10. The deep in-situ fidelity coring rate platform assembly system of claim 6, wherein: the drill rod self-adaptive guide structure comprises a mounting base, wherein the mounting base is fixed between two movable supports; a through hole for a drill rod to pass through is formed in the mounting base, and a first roller fixing group and a second roller fixing group are respectively arranged on two sides of the through hole; the first roller fixing group and the second roller fixing group both comprise a first roller group and a second roller group, and the second roller group is arranged above the first roller group; the first roller group and the second roller group respectively comprise a roller mounting frame, two rollers are arranged on the roller mounting frame, the two rollers are arranged in a splayed shape, the circumferences of the rollers are in contact with the surface of the drill rod, and the rollers are perpendicular to the surface of the drill rod; the tail part of the roller mounting frame is provided with a driving mechanism for driving the roller mounting frame to move along the vertical direction of the drill rod;

the roller mounting frame comprises a C-shaped wire wheel type mounting plate, a supporting plate is arranged at the lower end of the wire wheel type mounting plate, a C-shaped notch surrounding the drill rod is formed in the supporting plate, the two rollers are mounted on the supporting plate through the mounting frame and distributed on two sides of the C-shaped notch, and the driving mechanism is arranged on the back face of the mounting plate;

the back of mounting panel is provided with the fixed plate, the one end of line wheel formula guide screw passes through the bearing and installs on the fixed plate, the other end of line wheel formula guide screw passes through the shaft coupling and is connected with line wheel servo motor's pivot, the middle section setting of line wheel formula guide screw is on the guide holder, the guide holder passes through the supporting seat to be fixed on the installation base, be provided with the line wheel formula nut with line wheel formula guide screw threaded connection on the guide holder, line wheel servo motor installs on the motor mount pad, be provided with between motor mount pad and the fixed plate and remove stabilizing mean, sliding connection between the stabilizing mean guide holder removes.