CN114544231A - Underwater vector propulsion type ultrasonic drilling robot and using method thereof - Google Patents
Underwater vector propulsion type ultrasonic drilling robot and using method thereof Download PDFInfo
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- CN114544231A CN114544231A CN202210173152.6A CN202210173152A CN114544231A CN 114544231 A CN114544231 A CN 114544231A CN 202210173152 A CN202210173152 A CN 202210173152A CN 114544231 A CN114544231 A CN 114544231A
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- 238000005553 drilling Methods 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 239000011435 rock Substances 0.000 claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 8
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 8
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 16
- 229910052802 copper Inorganic materials 0.000 claims description 16
- 239000010949 copper Substances 0.000 claims description 16
- 239000002184 metal Substances 0.000 claims description 15
- 229910052751 metal Inorganic materials 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 14
- 239000000919 ceramic Substances 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 10
- 238000005507 spraying Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B1/00—Percussion drilling
- E21B1/12—Percussion drilling with a reciprocating impulse member
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention discloses an underwater vector propulsion type ultrasonic drilling robot which comprises vector thrusters, an ultrasonic drilling rig, a drilling rig fixing device, a base support adjusting mechanism, a sealed cabin body, a hollow cylindrical shell, a lithium battery and a hemispherical shell, wherein the hemispherical shell is arranged at the top of the sealed cabin body, three groups of vector thrusters which are uniformly distributed are arranged at the top of the spherical shell, each group of thrusters has two degrees of freedom, the lithium battery is arranged in the sealed cabin, the hollow cylindrical shell is arranged at the lower part of the sealed cabin body, the drilling rig fixing device and the ultrasonic drilling rig are arranged in the hollow cylindrical shell, the hollow cylindrical shell is arranged at the lower part of the sealed cabin body, the sealed cabin body is hinged with the base support adjusting mechanism, and the base support adjusting mechanism is hinged with the hollow cylindrical shell. The submarine rock sampling work can be realized, and the rock sample can be stably brought to the water surface by means of the device.
Description
The technical field is as follows:
the invention belongs to the technical field of machinery, and particularly relates to an underwater vector propulsion type ultrasonic drilling robot and a using method thereof.
Background art:
because the time of the deep sea carrier in underwater operation is extremely limited, the core sampling drilling machine is required to be capable of realizing rapid drilling operation under the condition of small bit pressure. In addition, the deep sea field topography condition and environment are extremely complicated, and the current mature coring technique can't directly satisfy the deep sea operation requirement, and great improvement has promoted research and development cost and technical difficulty. Therefore, the development of the special drilling coring device for deep sea carrying with high efficiency, strong adaptability and low power consumption is key.
When the underwater exploration task is carried out, most underwater robots are low in working efficiency, large in size, large in energy consumption, high in manufacturing cost, not beneficial to large-area use, low in practicability and the like, so that the exploration efficiency is greatly reduced, and the exploration time is prolonged. Moreover, the underwater environment is complex and changeable, so that rock drilling extraction is more difficult, and the adverse factors finally limit further progress of scientific research.
The invention content is as follows:
in order to solve the problems in the prior art, the invention provides an underwater vector propulsion type ultrasonic drilling robot and a using method thereof. The robot carrying ultrasonic drilling rig has the advantages of simple and compact structure, small volume and high efficiency. The submarine rock sampling work can be realized, and the rock sample can be stably brought to the water surface by means of the device.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
an underwater vector propulsion type ultrasonic drilling robot comprises a vector thruster 1, an ultrasonic drilling rig 2, a drilling rig fixing device 3, a base support adjusting mechanism 4, a sealed cabin body 5, a hollow cylindrical shell 6, a lithium battery 7 and a hemispherical shell 8, wherein the hemispherical shell 8 is arranged at the top of the sealed cabin body 5, three groups of vector thrusters 1 which are uniformly arranged are arranged on the side part of the spherical shell 8, and each group of vector thrusters has two degrees of freedom; the lithium battery 7 is arranged in the sealed cabin 5, the hollow cylindrical shell 6 is arranged on the lower portion of the sealed cabin 5, the drilling device fixing device 3 and the ultrasonic drilling device 2 are arranged inside the hollow cylindrical shell 6, the sealed cabin 5 is hinged to the base supporting and adjusting mechanism 4, and the base supporting and adjusting mechanism 4 is hinged to the hollow cylindrical shell 6.
As a preferred scheme, three groups of vector thrusters have the same composition and design structure size, each vector thruster comprises a propeller 11, a brushless waterproof motor 12, a long U support 13, a first metal main steering wheel 14, a first single-shaft waterproof steering engine 15, a cup bearing 16, a first steering engine multifunctional support 17, a second metal main steering wheel 18, a second single-shaft waterproof steering engine 19 and a second steering engine multifunctional support 110, the top of a shell of the sealed cabin body 5 is fixedly connected with the second single-shaft waterproof steering engine 19 through the second steering engine multifunctional support 110, a rotating shaft of the second single-shaft waterproof steering engine 19 is fixedly arranged at one end of the second metal main steering wheel 18, and the other end of the second metal main steering wheel 18 is fixedly connected with the first steering engine multifunctional support 17, so that rotation of a second degree of freedom is realized; the first steering engine multifunctional support 17 and the first single-shaft waterproof steering engine 15 are fixedly connected into a whole, one end of the long U-shaped support 13 is fixedly connected with the first metal main steering wheel 14 through a bolt, and the other end of the long U-shaped support is connected with the first steering engine multifunctional support 17 and the cup bearing 16 to form a revolute pair; the first single-shaft waterproof steering engine 15 rotates to drive the long U support 13 and the brushless waterproof motor 12 fixedly connected with the long U support to rotate, and the propeller 11 is installed on the rotating shaft of the brushless waterproof motor 12 to realize rotation of the first degree of freedom.
As a preferable scheme, the ultrasonic drilling rig 2 comprises an upper housing 21, a pre-tightening bolt 22, a rear cover plate 23, a rear high acoustic impedance unit 24, a plurality of copper electrode plates 25, a plurality of piezoelectric ceramic plates 26, a lower housing 27, a luffing rod 28, a free mass block 29, a coring drill rod 210, a compression spring 211, an adjusting nut 212 and a soft steel wire 213, wherein the upper housing 21 is fixedly connected with the lower housing 27, the pre-tightening bolt 22 is sleeved with the rear high acoustic impedance unit 24, the plurality of copper electrode plates 25 and the plurality of piezoelectric ceramic plates 26, one end of the luffing rod 28 is detachably connected with the rear cover plate 23 in the upper housing 21 through the pre-tightening bolt 22, a gap is arranged between one end of the luffing rod 28 and the rear cover plate 23, the luffing rod 28 and the coring drill rod 210 are connected with the free mass block 29, and the coring drill rod 210 is a coring drill with an outer step at the bottom end.
As a preferable scheme, the drilling device fixing device 3 comprises a guide rail 31, a fixing frame 32, a sliding block 33, a first electric push rod 34 and a connecting frame 35, wherein the vertical guide rail 31 is fixed on the hollow cylindrical shell 6, the guide rail 31 and the sliding block 33 are locked together, the fixing frame 32, the ultrasonic drilling device 2 and the sliding block 33 are detachably connected together by bolts, the first electric push rod 34 is fixed on the hollow cylindrical shell 6, one end of the connecting frame 35 is fixedly connected with the upper part of the first electric push rod 34, and the other end of the connecting frame 35 is fixedly connected with the fixing frame 32.
As a preferable scheme, the base support adjusting mechanism 4 includes a second electric push rod 41, a bracket 42 and a connecting rod 43, one end of the bracket 42 is fixedly installed on the sealed cabin 5, the other end of the bracket 42 is hinged to one end of the second electric push rod, and the other end of the second electric push rod 41 is hinged to the connecting rod 43. The first electric push rod and the second electric push rod are identical in structure and different in size.
As a preferred scheme, the vector thruster 1 is provided with two identical steering engines, a first single-shaft waterproof steering engine 15 and a second single-shaft waterproof steering engine 19 respectively rotate in different directions, each steering engine has a rotation range of 180 degrees, the water spraying direction of the propeller 11 is changed by controlling the steering engines 15, and the brushless motor 12 drives the propeller 11 to rotate, so that power for the robot to ascend is provided; in addition, when the robot is in a drilling working state, the vector thruster provides adhesion force for the robot, so that the drilling stability of the robot is improved. The hemispherical shell 8 can effectively reduce the resistance of the robot in water, thereby improving the working efficiency of the robot.
Preferably, the position of the ultrasonic drilling device 2 is adjusted by a first electric push rod 34 connected with the fixing frame 32 through the ultrasonic drilling device 2. In the process of core breaking, the vector thruster 1 applies lateral thrust to break the core, and the contact point of the outer step end face of the coring drill rod 210 and the rock wall can be used as the movable fulcrum of the coring drill rod 210. In the drilling fixture 3, the ultrasonic drilling tool 2 is detachably connected to the fixing frame 32. The ultrasonic drilling device 2 adopts 4 piezoelectric ceramic pieces 26 and 4 copper electrode pieces 25, wherein the inner diameter and the outer diameter of the copper electrode piece 25 are the same as those of the piezoelectric ceramic piece 26, and the thickness of the copper electrode is about 0.2 mm. The piezoelectric ceramic sheets 26 are alternately stacked with the copper electrode sheets 25. The outer circle of the copper electrode plate 25 is protruded for welding cables.
As a preferable scheme, the connecting rods 43 in the base support adjusting mechanism 4 are connected by hinges, the second electric push rod 41 and the base support adjusting mechanism 4 have two working states of open and close, when in a floating state, the second electric push rod 41 and the connecting rods 43 rotate and both contract towards the hollow cylindrical shell 6, and the base support adjusting mechanism 4 is in a closed state; when the machine is in a drilling working state, the second electric push rod 41 and the connecting rod 43 rotate and are unfolded towards the hollow cylindrical shell 6, and the base support adjusting mechanism 4 is in a unfolded state.
The use method of the underwater vector propulsion type ultrasonic drilling robot comprises the following steps:
the method comprises the following steps: in the submerging process, the propellers 11 of the three groups of vector thrusters 1 spray water obliquely upwards by controlling the rotation angle of the waterproof steering engine, so as to provide submerging thrust for the robot; according to the waterproof steering engine 19 of second unipolar and the waterproof steering engine 15 of first unipolar of three group's vector thrusters 1 of direction of turning and the same rotation angle adjustment, before starting brushless waterproof motor 12, the rotation angle of the waterproof steering engine 19 of adjustment second unipolar is 90, and the rotation angle of the waterproof steering engine 15 of first unipolar is 45. When an obstacle is encountered, the water spraying direction of the propeller 11 is changed by controlling the rotating direction and the rotating angle of the first single-shaft waterproof steering engine 15 and the second single-shaft waterproof steering engine 19, and the overall motion attitude and the motion direction of the robot are adjusted; the base support adjusting mechanism 4 of the robot is in a closed state by controlling the telescopic length of the electric push rod 34. The ultrasonic drilling machine 2 is located inside a hollow cylindrical housing 6.
Step two: in the landing process, the rotation angle of the waterproof steering engine in the vector thruster is controlled, so that the propellers 11 of the three groups of vector thrusters 1 spray water to the obliquely lower part, and the robot lands stably. First, the power supply to the brushless waterproof motor 12 is stopped. Then, the second single-shaft waterproof steering engine 19 and the first single-shaft waterproof steering engine 15 of the three groups of vector thrusters 1 are adjusted according to the same rotation angle, the rotation angle of the second single-shaft waterproof steering engine 19 is adjusted to be 90 degrees, and the rotation angle of the first single-shaft waterproof steering engine 15 is adjusted to be 115 degrees. Finally, starting the brushless waterproof motor 12, rotating the propeller to provide upward thrust, and slowly moving the robot downwards integrally; when the robot is about to fall to the seabed, the second electric push rod 41 starts to work, and the base support adjusting mechanism 4 is changed from the folded state to the unfolded state along with the continuous extension of the second electric push rod 41. The ultrasonic drilling machine 2 of the robot is located inside a hollow cylindrical housing 6.
Step three: after landing, the base support adjustment mechanism 4 is in the deployed state. The ultrasonic drill 2 is located within a lower hollow cylindrical housing 6. And the rotation angle of a waterproof steering engine in the vector thrusters is controlled, so that the propellers 11 of the three groups of vector thrusters 1 spray water obliquely upwards. First, the power supply to the brushless waterproof motor is stopped. Then, the second single-shaft waterproof steering engine 19 and the first single-shaft waterproof steering engine 15 of the three groups of vector thrusters 11 are adjusted according to the same rotation angle, the rotation angle of the second single-shaft waterproof steering engine 19 is adjusted to be 90 degrees, and the rotation angle of the first single-shaft waterproof steering engine 15 is adjusted to be 45 degrees. Finally, the brushless waterproof motor 12 is started, and the propeller rotates to provide downward thrust, so that the robot is stably attached to the surface of the seabed rock.
Step four: during drilling, the substructure support adjustment mechanism 4 remains in the deployed state. The rotation angle of a waterproof steering engine in the vector thrusters is controlled, so that the propellers 11 of the three groups of vector thrusters 1 spray water obliquely upwards to generate downward thrust perpendicular to the whole robot. The ultrasonic drilling device 2 is positioned at the bottom of the robot, and the first electric push rod 34 and the guide rail 31 are used for pushing the ultrasonic drilling device 2 out of the lower hollow cylindrical shell 6 to a proper distance so as to drill rocks. After the ultrasonic drilling device 2 drills the core drill rod 210 into the rock, the first electric push rod 34 is used for pushing the ultrasonic drilling device 2 out towards the drilling direction, and the bottom surface of the core drill rod 210 is an inclined surface, so that the rock cylinder is subjected to a lateral thrust exerted by the inclined surface of the core drill rod 210, and the lateral thrust is increased continuously. Finally, the rock cylinder is broken off in the core drill rod 210, the soft wire 213 inside the core drill rod secures the rock cylinder inside the core drill rod 210, and then the ultrasonic drill 2 is retracted inside the lower hollow cylindrical housing 6 by controlling the first electric push rod 34.
Step five: during the floating up, the ultrasonic drilling machine 2 is located inside the lower hollow cylindrical housing 6. The rotation angle of a waterproof steering engine in the vector thrusters is controlled, so that the propellers 11 of the three groups of vector thrusters 1 spray water obliquely downwards to provide the robot with upward thrust. First, the power supply to the brushless waterproof motor 12 is stopped. Then, the second single-shaft waterproof steering engine 19 and the first single-shaft waterproof steering engine 15 of the three groups of vector thrusters 1 are adjusted according to the same rotation angle, the rotation angle of the second single-shaft waterproof steering engine 19 is adjusted to be 90 degrees, and the rotation angle of the first single-shaft waterproof steering engine 15 is adjusted to be 135 degrees. Finally, the brushless waterproof motor 12 is started, the propeller rotates to provide upward thrust, and the robot as a whole moves slowly upward until the sampled rock is brought to the surface. After the robot is separated from the ground, the base support adjusting mechanism 4 is changed from the unfolding state to the folding state by controlling the second electric push rod 41.
Compared with the prior art, the invention has the beneficial effects that:
the invention is based on the vector thruster, realizes the submergence of the robot, completes the landing and stable attachment of the seabed rock bed, realizes the collection of the rock core sample by using the ultrasonic drilling rig, and finally returns the rock sample to the sea surface under the action of the vector thruster. Three groups of waterproof steering engines are combined with the vector thruster robot, and each group of vector thrusters has two degrees of freedom, so that the propellers have flexible water spraying directions, and the depth and the posture of the navigation can be freely adjusted in a range allowing the robot to submerge. The motion state of the robot in the underwater drilling process is controlled by adjusting the rotation angle of the steering engine and the rotation speed of the brushless waterproof motor. The robot moves flexibly and has high propelling efficiency. The ultrasonic drilling device based on ultrasonic energy is adopted in the sampling task, the drilling device is low in power consumption, light in weight and wide in working temperature range, hard submarine rock can be penetrated by small axial drilling pressure, and reliable coring can be achieved. Compared with the traditional drilling machine, the ultrasonic drilling machine can realize two working steps of drilling and collecting under the condition of completely not depending on manpower.
The base supporting and adjusting device is combined with the guide rail through an electric push rod, has two working states of contraction and expansion according to different working conditions of the robot, and is in the expansion state when the robot is about to land. After the robot lands stably, the ultrasonic drilling rig is driven by the electric push rod to reciprocate in the drilling direction, so that the drill rod is in contact with the submarine rock. After the ultrasonic drilling rig pierces the drill rod into the rock, the soft steel wire inside the drill rod retains the rock inside the drill rod. And finally, returning the robot to the water surface to complete the sampling task.
Description of the drawings:
fig. 1 is a schematic structural view of an underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 2 is a plan view of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 3 is a schematic view of a vector thruster of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 4 is a cross-sectional view of a vector thruster of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 5 is a schematic view of a drilling fixture of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 6 is a cross-sectional view of a drilling fixture of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 7 is a schematic view of an ultrasonic drilling machine of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 8 is a sectional view of an ultrasonic drilling machine of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 9 is a schematic view of a base support adjustment mechanism of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 10 is a submergence schematic view of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 11 is a schematic landing view of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 12 is a robot attachment diagram of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 13 is a schematic view of ultrasonic drilling by the underwater vector propulsion type ultrasonic drilling robot of the present invention.
Fig. 14 is a schematic view of the floating of the underwater vector propulsion type ultrasonic drilling robot of the present invention.
The specific implementation mode is as follows:
the preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The working principle of the ultrasonic drilling rig provided by the invention is to utilize the inverse piezoelectric effect of a piezoelectric material.
As shown in fig. 1-9, an underwater vector propulsion type ultrasonic drilling robot comprises a vector thruster 1, an ultrasonic drilling rig 2, a drilling rig fixing device 3, a base support adjusting mechanism 4, a sealed cabin 5, a hollow cylindrical shell 6, a lithium battery 7 and a hemispherical shell 8, wherein the hemispherical shell 8 is arranged at the top of the sealed cabin 5, three groups of vector thrusters 1 which are uniformly arranged are arranged on the side of the spherical shell 8, and each group of vector thrusters has two degrees of freedom; the lithium battery 7 is arranged in the sealed cabin 5, the hollow cylindrical shell 6 is arranged on the lower portion of the sealed cabin 5, the drilling device fixing device 3 and the ultrasonic drilling device 2 are arranged inside the hollow cylindrical shell 6, the sealed cabin 5 is hinged to the base supporting and adjusting mechanism 4, and the base supporting and adjusting mechanism 4 is hinged to the hollow cylindrical shell 6.
As a preferred scheme, the vector thruster has the same composition and design structure size, and comprises a propeller 11, a brushless waterproof motor 12, a long U support 13, a first metal main steering wheel 14, a first single-shaft waterproof steering engine 15, a cup bearing 16, a first steering engine multifunctional support 17, a second metal main steering wheel 18, a second single-shaft waterproof steering engine 19 and a second steering engine multifunctional support 110, wherein the top of a shell of the sealed cabin body 5 is fixedly connected with the second single-shaft waterproof steering engine 19 through the second steering engine multifunctional support 110, a rotating shaft of the second single-shaft waterproof steering engine 19 is fixedly arranged at one end of the second metal main steering wheel 18, and the other end of the second metal main steering wheel 18 is fixedly connected with the first steering engine multifunctional support 17, so that rotation of a second degree of freedom is realized; the first steering engine multifunctional support 17 and the first single-shaft waterproof steering engine 15 are fixedly connected into a whole, one end of the long U-shaped support 13 is fixedly connected with the first metal main steering wheel 14 through a bolt, and the other end of the long U-shaped support is connected with the first steering engine multifunctional support 17 and the cup bearing 16 to form a revolute pair; the first single-shaft waterproof steering engine 15 rotates to drive the long U support 13 and the brushless waterproof motor 12 fixedly connected with the long U support to rotate, and the propeller 11 is installed on the rotating shaft of the brushless waterproof motor 12 to realize rotation of the first degree of freedom.
As a preferable scheme, the ultrasonic drilling rig 2 comprises an upper housing 21, a pre-tightening bolt 22, a rear cover plate 23, a rear high acoustic impedance unit 24, a plurality of copper electrode plates 25, a plurality of piezoelectric ceramic plates 26, a lower housing 27, a luffing rod 28, a free mass block 29, a coring drill rod 210, a compression spring 211, an adjusting nut 212 and a soft steel wire 213, wherein the upper housing 21 is fixedly connected with the lower housing 27, the pre-tightening bolt 22 is sleeved with the rear high acoustic impedance unit 24, the plurality of copper electrode plates 25 and the plurality of piezoelectric ceramic plates 26, one end of the luffing rod 28 is detachably connected with the rear cover plate 23 in the upper housing 21 through the pre-tightening bolt 22, a gap is arranged between one end of the luffing rod 28 and the rear cover plate 23, the luffing rod 28 and the coring drill rod 210 are connected with the free mass block 29, and the coring drill rod 210 is a coring drill with an outer step at the bottom end.
As a preferable scheme, the drilling device fixing device 3 comprises a guide rail 31, a fixing frame 32, a sliding block 33, a first electric push rod 34 and a connecting frame 35, wherein the vertical guide rail 31 is fixed on the hollow cylindrical shell 6, the guide rail 31 and the sliding block 33 are locked together, the fixing frame 32, the ultrasonic drilling device 2 and the sliding block 33 are detachably connected together by bolts, the first electric push rod 34 is fixed on the hollow cylindrical shell 6, one end of the connecting frame 35 is fixedly connected with the upper part of the first electric push rod 34, and the other end of the connecting frame 35 is fixedly connected with the fixing frame 32.
As a preferable scheme, the base support adjusting mechanism 4 includes a second electric push rod 41, a bracket 42 and a connecting rod 43, one end of the bracket 42 is fixedly installed on the sealed cabin 5, the other end of the bracket 42 is connected with one end of the second electric push rod by a hinge, and the other end of the second electric push rod 41 is connected with the connecting rod 43 by a hinge. The first electric push rod and the second electric push rod are identical in structure and different in size.
As a preferred scheme, the vector thruster 1 is provided with two identical steering engines, a first single-shaft waterproof steering engine 15 and a second single-shaft waterproof steering engine 19 respectively rotate in different directions, each steering engine has a rotation range of 180 degrees, the water spraying direction of the propeller 11 is changed by controlling the steering engines 15, and the brushless motor 12 drives the propeller 11 to rotate, so that power for the robot to ascend is provided; in addition, when the robot is in a drilling working state, the vector thruster provides adhesion force for the robot, so that the drilling stability of the robot is improved. The hemispherical shell 8 can effectively reduce the resistance of the robot in water, thereby improving the working efficiency of the robot.
Preferably, the position of the ultrasonic drilling device 2 is adjusted by a first electric push rod 34 connected with the fixing frame 32 through the ultrasonic drilling device 2. In the process of core breaking, the vector thruster 1 applies lateral thrust to break the core, and the contact point of the outer step end face of the coring drill rod 210 and the rock wall can be used as the movable fulcrum of the coring drill rod 210. In the drilling fixture 3, the ultrasonic drilling tool 2 is detachably connected to the fixing frame 32. The ultrasonic drilling device 2 adopts 4 piezoelectric ceramic pieces 26 and 4 copper electrode pieces 25, wherein the inner diameter and the outer diameter of the copper electrode piece 25 are the same as those of the piezoelectric ceramic piece 26, and the thickness of the copper electrode is about 0.2 mm. The piezoelectric ceramic sheets 26 are alternately stacked with the copper electrode sheets 25. The outer circle of the copper electrode plate 25 is protruded for welding cables.
As a preferable scheme, the connecting rods 43 in the base support adjusting mechanism 4 are connected by hinges, the second electric push rod 41 and the base support adjusting mechanism 4 have two working states of open and close, when in a floating state, the second electric push rod 41 and the connecting rods 43 rotate and both contract towards the hollow cylindrical shell 6, and the base support adjusting mechanism 4 is in a closed state; when the machine is in a drilling working state, the second electric push rod 41 and the connecting rod 43 rotate and are unfolded towards the hollow cylindrical shell 6, and the base support adjusting mechanism 4 is in a unfolded state.
As shown in fig. 10-14, the method for using the underwater vector propulsion type ultrasonic drilling robot after being thrown into the exploration area comprises the following steps:
the method comprises the following steps: in the submerging process, by controlling the rotating angle of the waterproof steering engine, the propellers 11 of the three groups of vector thrusters 1 spray water obliquely upwards to provide submerging thrust for the robot; according to the waterproof steering engine 19 of second unipolar and the waterproof steering engine 15 of first unipolar of three group's vector thrusters 1 of direction of turning and the same rotation angle adjustment, before starting brushless waterproof motor 12, the rotation angle of the waterproof steering engine 19 of adjustment second unipolar is 90, and the rotation angle of the waterproof steering engine 15 of first unipolar is 45. When an obstacle is encountered, the water spraying direction of the propeller 11 is changed by controlling the rotating direction and the rotating angle of the first single-shaft waterproof steering engine 15 and the second single-shaft waterproof steering engine 19, and the overall motion attitude and the motion direction of the robot are adjusted; the base support adjusting mechanism 4 of the robot is in a closed state by controlling the telescopic length of the electric push rod 34. The ultrasonic drill 2 is located within a hollow cylindrical housing 6.
Step two: in the landing process, the rotation angle of the waterproof steering engine in the vector thruster is controlled, so that the propellers 11 of the three groups of vector thrusters 1 spray water to the oblique lower part, and the robot lands stably. First, the power supply to the brushless waterproof motor 12 is stopped. Then, the second single-shaft waterproof steering engine 19 and the first single-shaft waterproof steering engine 15 of the three groups of vector thrusters 1 are adjusted according to the same rotation angle, the rotation angle of the second single-shaft waterproof steering engine 19 is adjusted to be 90 degrees, and the rotation angle of the first single-shaft waterproof steering engine 15 is adjusted to be 115 degrees. Finally, starting the brushless waterproof motor 12, rotating the propeller to provide upward thrust, and slowly moving the robot downwards integrally; when the robot is about to fall to the seabed, the second electric push rod 41 starts to work, and the base support adjusting mechanism 4 is changed from the folded state to the unfolded state along with the continuous extension of the second electric push rod 41. The ultrasonic drilling machine 2 of the robot is located inside a hollow cylindrical housing 6.
Step three: after landing, the base support adjustment mechanism 4 is in the deployed state. The ultrasonic drill 2 is located within a lower hollow cylindrical housing 6. And the rotation angle of the waterproof steering engine in the vector thrusters is controlled, so that the propellers 11 of the three groups of vector thrusters 1 spray water obliquely upwards. First, the power supply to the brushless waterproof motor is stopped. Then, the second single-shaft waterproof steering engine 19 and the first single-shaft waterproof steering engine 15 of the three groups of vector thrusters 11 are adjusted according to the same rotation angle, the rotation angle of the second single-shaft waterproof steering engine 19 is adjusted to be 90 degrees, and the rotation angle of the first single-shaft waterproof steering engine 15 is adjusted to be 45 degrees. Finally, the brushless waterproof motor 12 is started, and the propeller rotates to provide downward thrust, so that the robot is stably attached to the surface of the seabed rock.
Step four: during drilling, the substructure support adjustment mechanism 4 remains in the deployed state. The rotation angle of a waterproof steering engine in the vector thrusters is controlled, so that the propellers 11 of the three groups of vector thrusters 1 spray water obliquely upwards to generate downward thrust perpendicular to the whole robot. The ultrasonic drilling device 2 is positioned at the bottom of the robot, and the first electric push rod 34 and the guide rail 31 are used for pushing the ultrasonic drilling device 2 out of the lower hollow cylindrical shell 6 to a proper distance so as to drill rocks. After the ultrasonic drilling device 2 drills the core drill rod 210 into the rock, the first electric push rod 34 is used for pushing the ultrasonic drilling device 2 out towards the drilling direction, and the bottom surface of the core drill rod 210 is an inclined surface, so that the rock cylinder is subjected to a lateral thrust exerted by the inclined surface of the core drill rod 210, and the lateral thrust is increased continuously. Finally, the rock cylinder is broken off in the core drill rod 210, the soft wire 213 inside the core drill rod secures the rock cylinder inside the core drill rod 210, and then the ultrasonic drill 2 is retracted inside the lower hollow cylindrical housing 6 by controlling the first electric push rod 34.
Step five: during the floating up, the ultrasonic drilling machine 2 is inside the lower hollow cylindrical housing 6. The rotation angle of a waterproof steering engine in the vector thrusters is controlled, so that the propellers 11 of the three groups of vector thrusters 1 spray water obliquely downwards to provide the robot with upward thrust. First, the power supply to the brushless waterproof motor 12 is stopped. Then, the second single-shaft waterproof steering engine 19 and the first single-shaft waterproof steering engine 15 of the three groups of vector thrusters 1 are adjusted according to the same rotation angle, the rotation angle of the second single-shaft waterproof steering engine 19 is adjusted to be 90 degrees, and the rotation angle of the first single-shaft waterproof steering engine 15 is adjusted to be 135 degrees. Finally, the brushless waterproof motor 12 is started, the propeller rotates to provide upward thrust, and the robot as a whole moves slowly upward until the sampled rock is brought to the surface. After the robot is separated from the ground, the base support adjusting mechanism 4 is changed from the unfolding state to the folding state by controlling the second electric push rod 41.
The invention has the characteristics of simple and compact structural design, small overall volume and high efficiency. The submarine rock sampling work can be realized, and the rock sample can be stably brought to the water surface by means of the device.
It will be appreciated by those skilled in the art that the foregoing is merely exemplary of the present invention and is not intended to limit the invention, which is defined by the appended claims and any changes, substitutions or alterations that fall within the true spirit and scope of the invention.
Claims (6)
1. An underwater vector propulsion type ultrasonic drilling robot comprises a vector thruster (1), an ultrasonic drilling device (2), a drilling device fixing device (3), a base supporting and adjusting mechanism (4), a sealed cabin body (5), a hollow cylindrical shell (6), a lithium battery (7) and a hemispherical shell (8), and is characterized in that the hemispherical shell (8) is arranged at the top of the sealed cabin body (5), three groups of vector thrusters (1) which are uniformly arranged are mounted on the side wall of the hemispherical shell (8), and each group of vector thrusters has two degrees of freedom; install in sealed cabin (5) and have arranged lithium cell (7) sealed cabin body (5) lower part is installed hollow cylinder casing (6) internally mounted has driller fixing device (3) and ultrasonic drilling ware (2), sealed cabin body (5) support adjustment mechanism (4) with the base and articulate, the base supports adjustment mechanism (4) and is articulated with hollow cylinder casing (6).
2. The underwater vector propulsion type ultrasonic drilling robot of claim 1, the vector thruster comprises a propeller (11), a brushless waterproof motor (12), a long U-shaped bracket (13), a first metal main steering wheel (14), a first single-shaft waterproof steering engine (15), a cup bearing (16), a first steering engine multifunctional bracket (17), a second metal main steering wheel (18), a second single-shaft waterproof steering engine (19) and a second steering engine multifunctional bracket (110), the top of the shell of the sealed cabin body (5) is fixedly connected with a second single-shaft waterproof steering engine (19) through a second steering engine multifunctional bracket (110), a rotating shaft of a second single-shaft waterproof steering engine (19) is fixedly arranged at one end of a second metal main steering wheel (18), the other end of the second metal main rudder disk (18) is fixedly connected with the first steering engine multifunctional support (17) to realize rotation of a second degree of freedom; the first steering engine multifunctional support (17) is fixedly connected with a first single-shaft waterproof steering engine (15) into a whole, one end of the long U-shaped support (13) is fixedly connected with a first metal main steering wheel (14) through a bolt, and the other end of the long U-shaped support is connected with the first steering engine multifunctional support (17) and a cupola bearing (16) to form a revolute pair; the first single-shaft waterproof steering engine (15) rotates to drive the long U support (13) and the brushless waterproof motor (12) to rotate, and the propeller (11) is installed on a rotating shaft of the brushless waterproof motor (12) to achieve rotation of a first degree of freedom.
3. The underwater vector propulsion type ultrasonic drilling robot according to claim 1, wherein the ultrasonic drilling rig (2) comprises an upper housing (21), a pre-tightening bolt (22), a rear cover plate (23), a rear high acoustic impedance unit (24), a plurality of copper electrode plates (25), a plurality of piezoelectric ceramic plates (26), a lower housing (27), a horn (28), a free mass block (29), a coring drill rod (210), a compression spring (211), an adjusting nut (212) and a flexible steel wire (213), the upper housing (21) is fixedly connected with the lower housing (27), the pre-tightening bolt (22) is sleeved with the rear high acoustic impedance unit (24), the plurality of copper electrode plates (25) and the plurality of piezoelectric ceramic plates (26), one end of the horn (28) is detachably connected with the rear cover plate (23) in the upper housing (21) through the pre-tightening bolt (22), and a gap is formed between one end of the horn (28) and the rear cover plate (23), the amplitude transformer (28) and the core drill rod (210) are connected with a free mass block (29), and the core drill rod (210) is a core drill with an outer step at the bottom end.
4. The underwater vector propulsion type ultrasonic drilling robot according to claim 1, wherein the drilling device fixing device (3) comprises a guide rail (31), a fixing frame (32), a sliding block (33), a first electric push rod (34) and a connecting frame (35), the vertical guide rail (31) is fixed on the hollow cylindrical shell (6), the guide rail (31) and the sliding block (33) are locked together, the fixing frame (32), the ultrasonic drilling device (2) and the sliding block (33) are detachably connected together, the first electric push rod (34) is fixed on the hollow cylindrical shell (6), one end of the connecting frame (35) is fixedly connected with the upper portion of the first electric push rod (34), and the other end of the connecting frame (35) is fixedly connected with the fixing frame (32).
5. The underwater vector propulsion type ultrasonic drilling robot according to claim 1, wherein the base support adjusting mechanism (4) comprises a second electric push rod (41), a bracket (42) and a connecting rod (43), one end of the bracket (42) is fixedly installed on the sealed cabin body (5), the other end of the bracket (42) is hinged with one end of the second electric push rod (41), and the other end of the second electric push rod (41) is hinged with the connecting rod (43).
6. The use method of the underwater vector propulsion type ultrasonic drilling robot is characterized by comprising the following steps:
the method comprises the following steps: in the submerging process, the rotation angle of the waterproof steering engine is controlled, and the propellers (11) of the three groups of vector thrusters (1) spray water obliquely upwards; adjusting a second single-shaft waterproof steering engine (19) and a first single-shaft waterproof steering engine (15) of the three groups of vector thrusters (1) according to the rotating direction and the rotating angle, changing the water spraying direction of the propeller (11), and adjusting the overall motion attitude and the motion direction of the robot; before the brushless waterproof motor (12) is started, the rotation angle of a second single-shaft waterproof steering engine (19) is adjusted to be 90 degrees, the rotation angle of a first single-shaft waterproof steering engine (15) is adjusted to be 45 degrees, and therefore the base support adjusting mechanism (4) of the robot is in a closed state;
step two: in the landing process, the rotation angle of the waterproof steering engine is controlled, so that the propellers (11) of the three groups of vector thrusters (1) spray water obliquely downwards, and the robot lands stably;
step three: after landing, the base support adjusting mechanism (4) is in an unfolded state; the rotation angle of a waterproof steering engine in the vector thruster is controlled, so that the propellers (11) of the three groups of vector thrusters (1) spray water obliquely upwards;
step four: during drilling, the base support adjustment mechanism 4 is still in the deployed state; pushing the ultrasonic drilling device (2) out of the lower hollow cylindrical shell (6) to a proper distance by using a first electric push rod (34) and a guide rail (31) to drill rocks;
step five: in the floating process, the ultrasonic drilling device (2) is positioned inside the lower hollow cylindrical shell (6); controlling the rotation angle of a waterproof steering engine in the vector thrusters to enable propellers (11) of the three groups of vector thrusters (1) to spray water obliquely downwards, starting a brushless waterproof motor (12), enabling the propellers to rotate to provide upward thrust, and enabling the robot to integrally and slowly move upwards until the sampled rocks are brought to the sea surface;
when the robot is separated from the ground, the base support adjusting mechanism (4) is changed from the unfolding state to the folding state by controlling the second electric push rod (41).
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| CN202210173152.6A CN114544231A (en) | 2022-02-24 | 2022-02-24 | Underwater vector propulsion type ultrasonic drilling robot and using method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852300A (en) * | 2022-07-07 | 2022-08-05 | 中国空气动力研究与发展中心空天技术研究所 | Vector-propelled underwater vehicle and navigation method thereof |
| CN115045618A (en) * | 2022-08-11 | 2022-09-13 | 徐州中矿岩土技术股份有限公司 | Underwater rock-soil drilling equipment and underwater rock-soil exploration method |
| CN116679022A (en) * | 2023-06-06 | 2023-09-01 | 生态环境部土壤与农业农村生态环境监管技术中心 | Multi-layer detection system for complex soil and groundwater environment |
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2022
- 2022-02-24 CN CN202210173152.6A patent/CN114544231A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852300A (en) * | 2022-07-07 | 2022-08-05 | 中国空气动力研究与发展中心空天技术研究所 | Vector-propelled underwater vehicle and navigation method thereof |
| CN114852300B (en) * | 2022-07-07 | 2022-10-21 | 中国空气动力研究与发展中心空天技术研究所 | Vector-propelled underwater vehicle and navigation method thereof |
| CN115045618A (en) * | 2022-08-11 | 2022-09-13 | 徐州中矿岩土技术股份有限公司 | Underwater rock-soil drilling equipment and underwater rock-soil exploration method |
| CN116679022A (en) * | 2023-06-06 | 2023-09-01 | 生态环境部土壤与农业农村生态环境监管技术中心 | Multi-layer detection system for complex soil and groundwater environment |
| CN116679022B (en) * | 2023-06-06 | 2024-03-19 | 生态环境部土壤与农业农村生态环境监管技术中心 | Multi-layer detection system for complex soil and groundwater environment |
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