CN114856441B - Robot for walking and drilling on seabed - Google Patents
Robot for walking and drilling on seabed Download PDFInfo
- Publication number
- CN114856441B CN114856441B CN202210504030.0A CN202210504030A CN114856441B CN 114856441 B CN114856441 B CN 114856441B CN 202210504030 A CN202210504030 A CN 202210504030A CN 114856441 B CN114856441 B CN 114856441B
- Authority
- CN
- China
- Prior art keywords
- transmission
- walking
- cylinder
- robot
- drill
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000004873 anchoring Methods 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 106
- 238000000034 method Methods 0.000 claims description 14
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 11
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 11
- 241001330002 Bambuseae Species 0.000 claims description 11
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 11
- 239000011425 bamboo Substances 0.000 claims description 11
- 239000010802 sludge Substances 0.000 claims description 5
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 11
- 238000007789 sealing Methods 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 6
- 239000002689 soil Substances 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- PWHULOQIROXLJO-UHFFFAOYSA-N Manganese Chemical compound [Mn] PWHULOQIROXLJO-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 229910052748 manganese Inorganic materials 0.000 description 1
- 239000011572 manganese Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Natural products C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- -1 natural gas hydrates Chemical class 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/12—Underwater drilling
-
- 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
- E21B12/00—Accessories for drilling tools
-
- 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
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/22—Rods or pipes with helical structure
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/12—Underwater drilling
- E21B7/124—Underwater drilling with underwater tool drive prime mover, e.g. portable drilling rigs for use on underwater floors
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides a robot for walking and drilling on the seabed, which relates to the technical field of seabed robots and comprises: the device comprises a driving device, a drill rod, an outer walking cylinder, a support frame, a propelling device and an anchoring mechanism; the driving device is fixedly arranged on the supporting frame, the outer walking cylinder can be sleeved outside the supporting frame in a rotating mode around the axis of the outer walking cylinder, the outer wall of the outer walking cylinder is fixedly provided with a helical blade, the driving device can drive the outer walking cylinder to rotate around the axis of the outer walking cylinder, the driving device is connected with a cable, and the friction force between the cable and the surface of the seabed stratum provides rotating support for the rotation of the outer walking cylinder; under the combined action of the mechanisms, the robot integrates the functions of straight going and steering on the surface of the seabed stratum, straight going and steering inside the seabed stratum and entering the seabed stratum from the surface of the seabed stratum into a whole.
Description
Technical Field
The invention relates to the technical field of submarine robots, in particular to a robot for walking and drilling on the seabed.
Background
With the rapid development of society and the continuous consumption of strategic resources on land, the development and utilization of deep sea resources by human beings become a trend, and exploration equipment of seabed strata becomes more important.
Within the subsea formation, resources such as natural gas hydrates may be present. For the exploration of the resources in the seabed stratum, the following methods can be adopted by human: drilling and sampling operation is carried out on the seabed stratum through a large drilling machine, and a shipborne sample is sampled and analyzed; or the in-situ monitoring and analysis are carried out on the stratum by adopting a stratum drilling robot. And deducing the resource distribution condition of the stratum where the stratum is located according to the operation condition, and developing the stratum area with resources. On the surface of the seabed stratum, a multi-metal core composed of metal elements such as nickel, copper, cobalt, manganese and the like may be enriched. For the exploration and development of resources on the surface of the seabed stratum, people can adopt a mode that a mechanism robot which can crawl and walk on the ground is used for executing the tasks, and the exploration work is carried out on the resources of the whole area.
Different equipment is required for exploration and development of resources inside and on the surface of the seabed stratum. If a seabed robot with the seabed walking function and the drilling function integrated can be developed, the exploration operation task of resources on the surface of the seabed stratum and in the seabed stratum can be completed at one time, and the seabed robot has important and profound significance for improving the resource exploration efficiency.
Disclosure of Invention
The invention aims to provide a robot for walking and drilling on the seabed, which is used for solving the problems in the prior art and integrates the functions of going straight and turning on the surface of the seabed stratum, going straight and turning inside the seabed stratum and entering the seabed stratum from the surface of the seabed stratum into a whole.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a robot for walking and drilling on the seabed, comprising: the device comprises a driving device, a drill rod, an outer walking cylinder, a support frame, a propelling device and an anchoring mechanism; the driving device is fixedly arranged on the support frame, the outer walking cylinder is sleeved outside the support frame in a manner of being capable of rotating around the axis of the outer walking cylinder, the outer wall of the outer walking cylinder is fixedly provided with a helical blade, the driving device can drive the outer walking cylinder to rotate around the axis of the outer walking cylinder, the driving device is connected with a cable, and the friction force between the cable and the surface of the seabed stratum provides rotary support for the rotation of the outer walking cylinder;
the four drill rods are uniformly distributed around a circumference, one ends of the four drill rods are located in the outer walking cylinder, the other ends of the four drill rods are drill end ends, the drill end ends extend out of one end of the outer walking cylinder, the driving device can drive the drill rods to rotate around the axes of the driving device, the propelling device can independently drive the drill rods to move along the length direction of the drill rods, and the propelling device can carry out secondary propelling on the drill rods, so that the extending lengths of the drill rods are in three states, namely a short state, a medium state and a long state;
part of the support frame is located in the outer walking cylinder, the other part of the support frame extends out of one end, far away from the drill bit end, of the outer walking cylinder, the anchoring mechanism is fixedly arranged at one end, extending out of the outer walking cylinder, of the support frame, an anchor rod of the anchoring mechanism can extend out of a cylindrical surface where the outer wall of the outer walking cylinder is located and is inserted into a stratum, and the anchoring mechanism can also retract the anchor rod from the stratum to the inside of the cylindrical surface where the outer wall of the outer walking cylinder is located.
Preferably, the driving device includes a driving motor and a harmonic reducer for increasing a rotational torque output by the driving motor.
Preferably, the drilling device further comprises a transmission inner cylinder, the transmission inner cylinder and the outer traveling cylinder are coaxially arranged, at least part of the transmission inner cylinder is located in the outer traveling cylinder, a torque output end of the driving device is connected with the top end of the transmission inner cylinder, the four drill rods are uniformly distributed outside the transmission inner cylinder around the circumferential direction of the transmission inner cylinder, three first transmission parts are arranged on the outer wall of the transmission inner cylinder, the first transmission parts are a circle of transmission teeth circumferentially arranged around the transmission inner cylinder, and the three first transmission parts are distributed along the length direction of the transmission inner cylinder; each drill rod is provided with a second transmission part, the second transmission part is a circle of transmission teeth arranged around the circumference of the drill rod, the inner wall of the outer walking cylinder is provided with three third transmission parts opposite to the three first transmission parts, and the second transmission parts can be meshed with the first transmission parts and the third transmission parts;
when the drill rod is in a short state, a middle state and a long state, the second transmission part on the drill rod is respectively meshed with the three first transmission parts and the three third transmission parts.
Preferably, the transmission inner cylinder is of a hollow structure, one end opposite to the top end of the transmission inner cylinder is a bottom end, the bottom end of the transmission inner cylinder extends out of the tail end of the outer walking cylinder, an opening is formed in the bottom end of the transmission inner cylinder, a spiral extending along the length direction is arranged in the transmission inner cylinder, a plurality of sludge discharge ports arranged at intervals are formed in the side wall of the portion, close to the top end, of the transmission inner cylinder, and the sludge discharge ports are located on the outer side of the outer walking cylinder.
Preferably, the anchoring mechanism comprises two electric push rods, the two electric push rods are the anchor rods, the anchor rods can extend out in opposite directions, and the electric push rods are fixedly arranged at the end part of one end of the outer walking cylinder, which is far away from the support frame.
Preferably, the outer walking cylinder is arranged on the supporting frame through a bearing.
Preferably, the drilling rod includes the body of rod and drill bit, the drill bit set up in the one end of the body of rod, the drill bit is the toper, the drill bit has laid the spiral outward, the body of rod is the cavity pole.
Preferably, annular sealing end covers are arranged at two ends of an annular gap between the transmission inner cylinder and the outer walking cylinder, and the second transmission part, the first transmission part and the third transmission part are located in two cavities between the sealing end covers.
Compared with the prior art, the invention has the following technical effects:
the invention provides a robot for walking and drilling on the seabed, which comprises a driving device, a drill rod, an outer walking barrel, a supporting frame, a propelling device and an anchoring mechanism, wherein the driving device is arranged on the outer walking barrel; under the combined action of the mechanisms, the robot integrates the functions of straight going and steering on the surface of the seabed stratum, straight going and steering inside the seabed stratum and entering the seabed stratum from the surface of the seabed stratum into a whole.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of a robot for walking and drilling on the seabed according to the present invention;
fig. 2 is a schematic view of the internal structure of the robot for walking and drilling on the seabed according to the present invention;
FIG. 3 is a bottom view of FIG. 1;
FIG. 4 is a schematic structural view of the anchor rod in an "original state" when the robot for walking and drilling on the seabed walks;
FIG. 5 is a schematic structural view of the anchor rod in a "fixed state" when the robot for walking and drilling on the seabed walks;
fig. 6 to 8 are schematic diagrams illustrating mode switching of the robot for walking and drilling on the seabed, which is provided by the present invention, from the surface of the seabed into the seabed stratum;
fig. 9 to 13 are schematic diagrams illustrating mode switching of the robot for walking and drilling on the seabed during straight drilling in the stratum;
fig. 14 to 17 are schematic diagrams illustrating mode switching of steering of the robot for walking and drilling on the seabed in the stratum according to the present invention;
in the figure:
1. an anchoring mechanism; 3. a bottom end cap; 4. a support frame; 5. a drive device; 6. a rear end sealing cover; 7. a transmission inner cylinder; 8. a bearing; 9. a front end sealing cover; 10. an outer traveling cylinder; 11. a first transmission unit; 12. a propulsion device; 13. a second transmission part; 14. a rod body; 15. a drill bit; D1-D4, and a drill rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention aims to provide a robot for walking and drilling on the seabed, which is used for solving the problems in the prior art and integrates the functions of straight running and steering on the surface of the seabed stratum, straight running and steering inside the seabed stratum and entering the seabed stratum from the surface of the seabed stratum into a whole.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
The present invention provides a robot for walking and drilling on the seabed, as shown in fig. 1 to 3, comprising: the device comprises a driving device 5, a drill rod, an outer walking cylinder 10, a support frame 4, a propelling device 12 and an anchoring mechanism 1; the driving device 5 is fixedly arranged on the support frame 4, the outer walking cylinder 10 can be rotatably sleeved outside the support frame 4 around the axis of the outer walking cylinder, the outer wall of the outer walking cylinder 10 is fixedly provided with a helical blade, the driving device 5 can drive the outer walking cylinder 10 to rotate around the axis of the outer walking cylinder, the driving device 5 is connected with a cable, and the friction force between the cable and the surface of the seabed stratum provides rotary support for the rotation of the outer walking cylinder 10;
the four drill rods are respectively a drill rod D1, a drill rod D2, a drill rod D3 and a drill rod D4, the four drill rods are uniformly distributed around a circumference, one end of each drill rod is positioned in the outer walking cylinder 10, the other end of each drill rod is a drill bit 15, the drill bit 15 extends out of one end of the outer walking cylinder 10, the driving device 5 can drive the drill rods to rotate around the axes of the driving devices, the propelling device 12 can independently drive the drill rods to move along the length direction of the drill rods, and the propelling device 12 can carry out secondary propelling on the drill rods, so that the extending lengths of the drill rods are in three states of a short state, a middle state and a long state;
part of support frame 4 is located outer walking section of thick bamboo 10, and another part of support frame 4 stretches out from the one end that outer walking section of thick bamboo 10 kept away from drill bit 15 end, and support frame 4 stretches out the fixed anchoring mechanism 1 that is provided with in one end of outer walking section of thick bamboo 10, and anchoring mechanism 1's stock can stretch out and insert the stratum beyond the cylinder face that the outer wall place of outer walking section of thick bamboo 10 was located, and anchoring mechanism 1 also can withdraw the stock from the stratum to within the cylinder face that outer walking section of thick bamboo 10 outer wall place was located.
The robot for walking and drilling on the seabed comprises a driving device 5, a drill rod, an outer walking cylinder 10, a support frame 4, a propelling device 12 and an anchoring mechanism 1; under the combined action of the mechanisms, the robot integrates the functions of straight running and steering on the surface of the seabed stratum, straight running and steering inside the seabed stratum and entering the seabed stratum from the surface of the seabed stratum into a whole, and a robot control system controls the work of each mechanism.
The robot for walking and drilling on the seabed can carry different sensor arrays according to different actual operation tasks so as to meet the actual requirements of operators.
Further, the driving device 5 includes a driving motor and a harmonic reducer for increasing the rotational torque output by the driving motor.
Furthermore, the robot for seabed walking and drilling provided by the invention further comprises a transmission inner cylinder 7, wherein the transmission inner cylinder 7 and the outer walking cylinder 10 are coaxially arranged, at least part of the transmission inner cylinder 7 is positioned in the outer walking cylinder 10, the torque output end of the driving device 5 is connected with the top end of the transmission inner cylinder 7, four drill rods are uniformly distributed outside the transmission inner cylinder 7 around the circumferential direction of the transmission inner cylinder 7, three first transmission parts 11 are arranged on the outer wall of the transmission inner cylinder 7, the first transmission parts 11 are a circle of transmission teeth arranged around the circumferential direction of the transmission inner cylinder 7, and the three first transmission parts 11 are distributed along the length direction of the transmission inner cylinder 7; each drill rod is provided with a second transmission part 13, the second transmission parts 13 are a circle of transmission teeth arranged around the circumferential direction of the drill rod, the inner wall of the outer walking cylinder 10 is provided with three third transmission parts opposite to the three first transmission parts 11, and the second transmission parts 13 can be meshed with the first transmission parts 11 and the third transmission parts;
when the drill rod is in the short state, the middle state and the long state, the second transmission part 13 on the drill rod is respectively meshed with the three first transmission parts 11 and the three third transmission parts.
The robot for walking and drilling on the seabed provided by the invention can realize the movement of driving the four drill rods, the outer walking cylinder 10 and the transmission inner cylinder 7 by a single motor through the transmission parts which are mutually meshed, the driving device 5 is simple, and the realized functions are various and complicated.
Further, 7 hollow structure on the transmission inner tube, the one end relative with 7 tops on the transmission inner tube is the bottom, the bottom of transmission inner tube 7 stretches out from the end of outer walking section of thick bamboo 10, and the bottom of transmission inner tube 7 is equipped with the opening, be provided with the spiral that extends along length direction in the transmission inner tube 7, the mud discharging port that a plurality of intervals set up is seted up to the part lateral wall that transmission inner tube 7 is close to the top, the mud discharging port is located the outside of outer walking section of thick bamboo 10, the inside row's of mud function of main part can be realized to transmission inner tube 7, the spiral on the outer wall of outer walking section of thick bamboo 10 has realized submarine walking and the outside function of arranging mud of main part.
Further, anchoring mechanism 1 includes two electric putter, two electric putter's push rod is the stock promptly, two stocks can stretch out along opposite direction, electric putter fixes to set up the tip of keeping away from outer walking section of thick bamboo 10 one end in support frame 4, the top of stock sets up to the toper structure, it inserts the anchor in the stratum to be convenient for, two electric putter's push rod all possesses the function of two grades of extensions, when the push rod is in the withdrawal state, belong to "primitive state", belong to "stationary state" when being in the one-level extension state, belong to "support state" when being in the second grade extension state.
Further, the outer traveling drum 10 is disposed on the supporting frame 4 through a bearing 8.
Further, the drilling rod includes body of rod 14 and drill bit 15, and drill bit 15 sets up in the one end of body of rod 14, and drill bit 15 is the toper, and drill bit 15 distributes outward has the spiral, and body of rod 14 is the cavity pole, alleviates holistic weight, reduces drive device 5's drive burden.
Furthermore, annular sealing end covers are arranged at two ends of an annular gap between the transmission inner cylinder 7 and the outer walking cylinder 10, the second transmission part 13, the first transmission part 11 and the third transmission part are located in a cavity between the two sealing end covers, and the two sealing end covers are respectively a rear end sealing cover 6 and a front end sealing cover 9 to prevent sludge or other impurities from entering the transmission structure.
The specific using process is as follows:
when the robot executes a command of walking straight on the surface of the seabed stratum, as shown in fig. 4, the anchor rod of the anchoring mechanism 1 at the tail part of the robot is in a retraction state, which is an original state, the length states of four drill rods are all in short states, the control system controls the driving device 5 to drive the outer walking cylinder 10 to rotate around the axis of the control system, and when the motor shaft of the motor in the driving device 5 rotates clockwise, the robot moves straight ahead on the surface of the seabed stratum; when a motor shaft of a motor in the driving device 5 rotates anticlockwise, the robot moves backwards and straightly on the surface of the seabed ground layer, when the robot works actually, the tail part of the robot can drag a cable, and the friction force between the carried cable and the ground provides rotary support for the rotation of the robot.
When the robot executes an instruction of steering and walking on the surface of the seabed stratum, as shown in fig. 5, one anchor rod in the anchoring mechanism 1 at the tail of the robot is subjected to primary extension, the anchor rod is in a fixed state at the moment, the position of one end of the robot in the fixed state is kept unchanged, and when a motor shaft of a motor in the driving device 5 rotates clockwise, the robot performs anticlockwise circular motion around a fixed supporting point, namely the robot performs left steering motion on the surface of the seabed stratum; when a motor shaft of a motor in the driving device 5 rotates anticlockwise, the robot can do clockwise circular motion around the fixed supporting point, namely the robot performs right-turning motion on the surface of the seabed stratum. When the robot turns to and reaches the set angle, the control system controls the driving device 5 to stop working, the anchor rod of the anchoring mechanism 1 at the tail of the robot retracts, the anchor rod is changed from the fixed state to the original state, and the turning of the surface of the stratum is completed at the moment.
The following will specifically describe the process of the submarine walking and drilling robot entering the submarine stratum from the surface of the submarine stratum with reference to fig. 6 to 8, and the specific steps are as follows:
s301: before the robot is ready to enter a seabed stratum, the control system controls the driving device 5 to drive the body (the outer traveling barrel 10) to rotate, so that the planes of the axes of the drill rods D2 and D3 are parallel to the stratum plane, the planes of the axes of the drill rods D1 and D4 are perpendicular to the stratum plane (for convenience of distinguishing, the four drill rods are divided into the drill rod D1, the drill rod D2, the drill rod D3 and the drill rod D4), and the axes of the two anchor rods are on the plane of the axes of the drill rods D1 and D4;
s302: the anchor rod of the anchoring mechanism 1 at the tail part of the robot carries out secondary extension, changes from an original state to a supporting state and lifts one end of the robot. The control system controls the propulsion device 12 to adjust the shapes of the four drill rods, the drill rod D1 is kept in a short state, the drill rods D2 and D3 are adjusted to be in a middle state, and the drill rod D4 is adjusted to be in a long state, as shown in figure 6;
s303: the control system controls the driving device 5 to drive each drill rod to drill towards the stratum, and after part of the robot main body enters the stratum, the anchor rod of the anchoring mechanism 1 at the tail part of the robot retracts to change from a supporting state to an original state, as shown in fig. 7;
s304: the robot continues to drill in the form of S303, and when the axis of the robot is perpendicular to the surface of the formation, the drill rods D2, D3 and D4 are all adjusted back to the "short state" to complete the operation of entering the formation, as shown in fig. 8.
The following will specifically describe the periodic process of the subsea walking and drilling robot going straight inside the subsea strata with reference to fig. 9 to 13, which is specifically as follows:
s401: after the robot enters the formation, its configuration is shown in fig. 9;
s402: two anchor rods of the tail anchoring mechanism 1 are subjected to primary extension, are inserted into a stratum and are changed from an original state to a fixed state, and play a role in fixing and supporting the tail of the robot, as shown in fig. 10;
s403: the control system controls the driving device 5 to drive the drill rods D1, D2, D3 and D4 to work. When the soil layer on the front side of the robot is drilled to a certain degree, the driving device 5 stops working, the control system controls the propelling mechanism to push the drill rods D1, D2, D3 and D4, so that the four drill rods are changed from the short state to the middle state, and the front side of the robot is pushed to advance, as shown in fig. 11;
s404: the control system controls the driving device 5 to drive the drill rods D1, D2, D3 and D4 to work. When the soil layer on the front side of the robot is drilled to a certain degree, the driving device 5 stops working, the control system controls the propelling mechanism to push the drill rods D1, D2, D3 and D4, so that the four drill rods are changed from the 'middle state' to the 'long state', and the front side of the robot is further pushed to advance, as shown in fig. 12;
s405: both bolts of the tail anchor mechanism 1 are pulled out of the ground and retracted from the "set state" to the "original state", as shown in fig. 13;
s406: the control system controls the propelling mechanism to withdraw the drill rods D1, D2, D3 and D4, the long state is changed into the short state, the tail of the robot is pulled to advance, and then a periodic movement process is completed;
and repeating the processes from S401 to S406 to finish the process that the seabed walking and the drilling robot moves straight in the seabed stratum.
Next, referring to fig. 14 to fig. 17, the process of turning the seabed walking and drilling robot inside the seabed stratum will be described in detail as follows (taking the direction of the drill rod D1 as an example):
s501: before the robot is ready to turn, its configuration is shown in fig. 14;
s502: adjusting the shapes of the four drill rods, wherein the drill rod D1 is kept in a short state, the drill rods D2 and D3 are adjusted to be in a middle state, and the drill rod D4 is adjusted to be in a long state, as shown in figure 15;
s503: the control system controls the driving device 5 to work, drives the robot to start steering drilling, and stops the driving device 5 after the robot turns to reach a set angle, as shown in fig. 16;
s504: and adjusting the drill rods D2, D3 and D4 of the robot back to the short state to complete the stratum steering operation, as shown in figure 17.
The principle of the processes S304 and S503 in the above-described use process is analyzed as follows (the example is described in the direction of the drill rod D1):
the four drill rods are in three states, short state, medium state and long state. When the driving device starts to drive the robot to move, the four drill rods will start to move to loosen the soil layer in front, the drill rod D1 moves to a short state to stop, the drill rods D2 and D3 move to a middle state to stop, and the drill rod D4 moves to a long state to stop. Meanwhile, the outer walking cylinder also starts to rotate to play a role in loosening lateral soil layers. Along with the whole drilling of the robot, the soil layer state at the front part of the long drill rod is loosest, the medium state is inferior and the short state is minimum. In the steering process when the robot enters the stratum, the robot moves to the loosened position under the action of gravity, and then steering is completed. In the process of moving and steering in the stratum, the robot moves to the loosening position under the pushing of soil discharged to the tail of the robot, and then steering is completed.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (8)
1. A robot for walking and drilling on the seabed, which is characterized in that: the method comprises the following steps: the device comprises a driving device, a drill rod, an outer walking cylinder, a support frame, a propelling device and an anchoring mechanism; the driving device is fixedly arranged on the supporting frame, the outer walking cylinder is sleeved outside the supporting frame in a rotatable manner around the axis of the outer walking cylinder, the outer wall of the outer walking cylinder is fixedly provided with a helical blade, the driving device can drive the outer walking cylinder to rotate around the axis of the outer walking cylinder, the driving device is connected with a cable, and the friction force between the cable and the surface of the seabed stratum provides rotary support for the rotation of the outer walking cylinder;
the four drill rods are uniformly distributed around a circumference, one ends of the four drill rods are located in the outer walking cylinder, the other ends of the four drill rods are drill end ends, the drill end ends extend out of one end of the outer walking cylinder, the driving device can drive the drill rods to rotate around the axes of the driving device, the propelling device can independently drive the drill rods to move along the length direction of the drill rods, and the propelling device can carry out secondary propelling on the drill rods, so that the extending lengths of the drill rods are in three states, namely a short state, a medium state and a long state;
part of the support frame is located in the outer walking cylinder, the other part of the support frame extends out of one end, far away from the drill bit end, of the outer walking cylinder, the anchoring mechanism is fixedly arranged at one end, extending out of the outer walking cylinder, of the support frame, an anchor rod of the anchoring mechanism can extend out of a cylindrical surface where the outer wall of the outer walking cylinder is located and is inserted into a stratum, and the anchoring mechanism can also retract the anchor rod from the stratum to the inside of the cylindrical surface where the outer wall of the outer walking cylinder is located.
2. A robot for seafloor walking and drilling as in claim 1, wherein: the driving device comprises a driving motor and a harmonic reducer, wherein the harmonic reducer is used for increasing the rotating torque output by the driving motor.
3. A robot for seafloor walking and drilling as in claim 1, wherein: the four drill rods are uniformly distributed outside the transmission inner cylinder in the circumferential direction of the transmission inner cylinder, three first transmission parts are arranged on the outer wall of the transmission inner cylinder, the first transmission parts are a circle of transmission teeth arranged in the circumferential direction of the transmission inner cylinder, and the three first transmission parts are distributed along the length direction of the transmission inner cylinder; each drill rod is provided with a second transmission part, the second transmission part is a circle of transmission teeth arranged around the circumferential direction of the drill rod, the inner wall of the outer walking cylinder is provided with three third transmission parts opposite to the three first transmission parts, and the second transmission parts can be meshed with the first transmission parts and the third transmission parts;
when the drill rod is in a short state, a middle state and a long state, the second transmission parts on the drill rod are respectively meshed with the three first transmission parts and the three third transmission parts.
4. A robot for seafloor walking and drilling as in claim 3, wherein: the transmission inner cylinder is of a hollow structure, one end, opposite to the top end of the transmission inner cylinder, of the transmission inner cylinder is the bottom end, the bottom end of the transmission inner cylinder extends out of the tail end of the outer walking cylinder, an opening is formed in the bottom end of the transmission inner cylinder, a spiral extending along the length direction is arranged in the transmission inner cylinder, a plurality of sludge discharge ports arranged at intervals are formed in the side wall of the portion, close to the top end, of the transmission inner cylinder, and the sludge discharge ports are located on the outer side of the outer walking cylinder.
5. A robot for seafloor walking and drilling as in claim 1, wherein: anchoring mechanism includes two electric putter, two electric putter's push rod is promptly the stock, two the stock can stretch out along opposite direction, electric putter fixed set up in the support frame is kept away from the tip of outer walking section of thick bamboo one end, two electric putter's push rod all possesses the function of two shelves elongations.
6. A robot for seafloor walking and drilling as in claim 1, wherein: the outer walking cylinder is arranged on the supporting frame through a bearing.
7. A robot for seafloor walking and drilling as in claim 1, wherein: the drill rod comprises a rod body and a drill bit, wherein the drill bit is arranged at one end of the rod body and is conical, a spiral is arranged outside the drill bit, and the rod body is a hollow rod.
8. A robot for seafloor walking and drilling as in claim 3, wherein: the transmission inner tube with the both ends of the annular gap between the outer walking section of thick bamboo all are provided with annular end cover, second transmission portion first transmission portion and third transmission portion all are located two in the cavity between the end cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210504030.0A CN114856441B (en) | 2022-05-10 | 2022-05-10 | Robot for walking and drilling on seabed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210504030.0A CN114856441B (en) | 2022-05-10 | 2022-05-10 | Robot for walking and drilling on seabed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114856441A CN114856441A (en) | 2022-08-05 |
| CN114856441B true CN114856441B (en) | 2023-01-17 |
Family
ID=82638053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210504030.0A Active CN114856441B (en) | 2022-05-10 | 2022-05-10 | Robot for walking and drilling on seabed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114856441B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09164968A (en) * | 1994-12-14 | 1997-06-24 | Fuji Electric Co Ltd | Omnidirectional moving vehicle and its control method |
| CN104653111A (en) * | 2015-01-29 | 2015-05-27 | 同济大学 | Self-balancing multi-spiral ground drilling robot |
| CN109899061A (en) * | 2019-03-29 | 2019-06-18 | 浙江大学 | A kind of brill pushing-type robot for subsea strata real-time measurement in situ |
| CN113772064A (en) * | 2021-10-13 | 2021-12-10 | 江苏科技大学 | Mechanical steering structure of miniature underwater robot |
| CN114135227A (en) * | 2020-09-04 | 2022-03-04 | 万晓跃 | High-stability short-radius deflecting drilling tool |
| CN216009043U (en) * | 2021-09-13 | 2022-03-11 | 河北京潜泵业有限公司 | Agricultural submersible pump capable of automatically drilling pit |
-
2022
- 2022-05-10 CN CN202210504030.0A patent/CN114856441B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09164968A (en) * | 1994-12-14 | 1997-06-24 | Fuji Electric Co Ltd | Omnidirectional moving vehicle and its control method |
| CN104653111A (en) * | 2015-01-29 | 2015-05-27 | 同济大学 | Self-balancing multi-spiral ground drilling robot |
| CN109899061A (en) * | 2019-03-29 | 2019-06-18 | 浙江大学 | A kind of brill pushing-type robot for subsea strata real-time measurement in situ |
| CN114135227A (en) * | 2020-09-04 | 2022-03-04 | 万晓跃 | High-stability short-radius deflecting drilling tool |
| CN216009043U (en) * | 2021-09-13 | 2022-03-11 | 河北京潜泵业有限公司 | Agricultural submersible pump capable of automatically drilling pit |
| CN113772064A (en) * | 2021-10-13 | 2021-12-10 | 江苏科技大学 | Mechanical steering structure of miniature underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114856441A (en) | 2022-08-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111535745B (en) | Double-helix type autonomous drilling robot for deep sea stratum | |
| CN110847823B (en) | Autonomous drilling robot for deep stratum of seabed | |
| CN110159195A (en) | A kind of rock drill of safe and reliable stabilization | |
| CN104653111A (en) | Self-balancing multi-spiral ground drilling robot | |
| CN113513255B (en) | Deep-ice bedrock core drill | |
| CN114856441B (en) | Robot for walking and drilling on seabed | |
| CN212642580U (en) | Boring machine for geological survey | |
| CN109519126A (en) | Bionic micropore diameter underground mole drilling reamer structure | |
| CN113833485B (en) | Multi-mode tunnel tunneling robot suitable for complex geology | |
| JPH09250287A (en) | Natural ground drilling device | |
| CN113250610B (en) | Spiral propelling type underground exploration trolley | |
| CN114922569B (en) | Seabed surface movement and underground drilling dual-mode robot | |
| CN210948479U (en) | Drilling device for mine survey construction | |
| CN108131098A (en) | Crawling device is explored in a kind of job that requires special skills | |
| CN115370290A (en) | Miniature sampling robot in deep sea | |
| CN103726787B (en) | Drilling well propeller | |
| CN220729684U (en) | Drilling sampling equipment for geological survey | |
| CN207393122U (en) | A kind of combined type reaming bit | |
| CN211524699U (en) | Drilling rig for geological survey | |
| CN209589533U (en) | A kind of geological prospecting sampler | |
| CN206267792U (en) | Telescopic drill rod | |
| CN217501608U (en) | Fishing barrel drill | |
| CN111002492A (en) | Horizontal chiseling machine device for concrete precast tubular pile | |
| JPH04174189A (en) | Core sampler for seabed | |
| CN210719759U (en) | Highway subgrade soil layer sampling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |