CN117948137A - Ocean floor multidirectional drilling device and method for ocean geological survey - Google Patents
Ocean floor multidirectional drilling device and method for ocean geological survey Download PDFInfo
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- CN117948137A CN117948137A CN202410346603.0A CN202410346603A CN117948137A CN 117948137 A CN117948137 A CN 117948137A CN 202410346603 A CN202410346603 A CN 202410346603A CN 117948137 A CN117948137 A CN 117948137A
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- 238000005553 drilling Methods 0.000 title claims abstract description 151
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 238000011835 investigation Methods 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 96
- 210000001503 joint Anatomy 0.000 claims description 22
- 238000003032 molecular docking Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims 1
- 238000011160 research Methods 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract 2
- 238000005086 pumping Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000007599 discharging Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 239000003673 groundwater Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- -1 stratum structures Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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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- 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
- E21B49/02—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells by mechanically taking samples of the soil
- E21B49/025—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells by mechanically taking samples of the soil of underwater soil, e.g. with grab devices
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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
- 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
-
- 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
-
- 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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- 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)
- Soil Sciences (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Ocean & Marine Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to the technical field of geological exploration, and discloses a submarine multidirectional drilling device and a submarine multidirectional drilling method for marine geological exploration, wherein the submarine multidirectional drilling device comprises an exploration ship, a throwing mechanism is arranged on the exploration ship, the exploration ship is connected with an underwater robot through the throwing mechanism, so that the geological drilling of the seabed can be realized, the drilling of a plurality of directions can be realized, the drilling efficiency is higher, the drilling angle can be adjusted during the drilling, the drilling of the seabed or some peak surfaces of the seabed can be realized, and the drilling range is wider; the drilling direction can be adjusted, drilling in multiple directions can be performed, movement can be performed on the seabed, drilling in different positions of movement is facilitated, and geological investigation efficiency is improved; the clamping recovery of the underwater robot can be facilitated, the recovery of samples produced by drilling can be realized, and the geological research is facilitated.
Description
Technical Field
The invention belongs to the technical field of geological exploration, and particularly relates to a submarine multidirectional drilling device and method for marine geological exploration.
Background
Geological exploration is broadly understood as geological work, and is investigation and research work for the geological conditions of rocks, stratum structures, minerals, groundwater, landforms and the like in a certain area by applying geological exploration methods such as mapping, geophysical exploration, geochemical prospecting, drilling, pit test, sampling test, geological remote sensing and the like according to the requirements of economic construction, national defense construction and scientific technology development.
When the geological survey is carried out on the seabed, the geological survey device needs to drill and drill for sampling the geological survey on the seabed, the current drilling equipment is basically based on a drilling platform on the sea during drilling, the drilling efficiency is low, only one position can be drilled each time, drilling on a plurality of positions is inconvenient to realize, and multi-azimuth drilling is inconvenient to realize.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention provides a submarine multidirectional drilling device and a submarine multidirectional drilling method for marine geological exploration, which effectively solve the problems in the background art.
The invention provides the following technical scheme: the marine multi-azimuth drilling device for marine geological survey comprises a survey ship, wherein a throwing mechanism is arranged on the survey ship, the survey ship is connected with an underwater robot through the throwing mechanism, a groove frame is connected on the underwater robot through a direction adjusting mechanism, an angle adjusting mechanism is arranged on the groove frame, the angle adjusting mechanism comprises an angle adjusting gear cavity arranged in the groove frame, a driving shaft is rotationally connected between end walls of the angle adjusting gear cavity, the driving shaft is in power connection with an angle adjusting motor, the angle adjusting motor is fixedly arranged in the groove frame, an angle adjusting main gear is fixedly arranged on the outer surface of the driving shaft, the angle adjusting main gear is meshed with an angle adjusting auxiliary gear, the angle adjusting auxiliary gear is fixedly arranged on the outer surface of an angle adjusting rotating shaft, the angle adjusting rotating shaft is rotationally arranged on the end wall of the angle adjusting gear cavity in a penetrating manner, the angle adjusting rotating shaft extends into a braking cavity, the braking cavity is arranged in the groove frame, a braking gear is fixedly arranged on the outer surface of the angle adjusting rotating shaft, the braking gear is fixedly arranged on the end wall of the braking cavity, the braking gear is fixedly meshed with a braking tooth, the outer surface of the braking rotating shaft is fixedly arranged on the end wall of the braking gear, and the rotating shaft is fixedly arranged on the end wall of the braking rod, and the rotating shaft is fixedly arranged on the braking end wall, and rotated;
The multidirectional drilling mechanism comprises a bevel gear cavity arranged in a rotating block, a driving bevel gear shaft is rotationally connected to the end wall of the bevel gear cavity, the driving bevel gear shaft is in power connection with a drilling motor, the drilling motor is fixedly arranged in the rotating block, a driving bevel gear is fixedly arranged on the outer surface of the driving bevel gear shaft, the driving bevel gear is meshed with a driven bevel gear, the driven bevel gear is fixedly arranged at the tail end of the upper side of a drilling electric telescopic shaft, the drilling electric telescopic shaft is rotationally arranged on the end wall of the bevel gear cavity in a penetrating manner, a main drilling drill bit is fixedly connected to the tail end of the drilling motor, a cylindrical groove is formed in the main drilling drill bit, an electric telescopic rotating shaft is rotationally connected to the end wall of the cylindrical groove, an auxiliary drill bit is fixedly connected to the tail end of the electric telescopic rotating shaft, a second pushing-out electric pushing rod is fixedly connected to a second pushing plate, a drilling groove is formed in the main drilling bit, a first pushing-out electric pushing rod is fixedly connected to the end wall of the drilling groove, and a first pushing-out electric pushing plate is fixedly connected to the tail end of the first pushing-out electric pushing rod.
Preferably, the direction adjusting mechanism comprises a direction adjusting gear cavity arranged in the underwater robot, a direction adjusting gear shaft is connected between end walls of the direction adjusting gear cavity in a rotating mode, the direction adjusting gear shaft is in power connection with a direction adjusting motor, the direction adjusting motor is fixedly installed in the underwater robot, a direction adjusting gear is fixedly installed on the outer surface of the direction adjusting gear shaft, the direction adjusting gear is meshed with an annular rack guide rail, the annular rack guide rail is rotatably installed on the upper portion of the underwater robot, a fixing frame is fixedly connected with the annular rack guide rail, the fixing frame is arranged along the circumferential direction of the annular rack guide rail, a sliding groove is formed in the fixing frame, a screw rod is connected to the end walls of the sliding groove in a rotating mode, the screw rod is in power connection with a pushing motor, the pushing motor is fixedly installed in the fixing frame, an extending plate is connected to the outer surface of the screw rod in a threaded mode, the extending plate is slidably installed between the end walls of the sliding groove, and the tail end of the extending plate is fixedly provided with a groove frame.
Preferably, the lifting adjusting mechanism is arranged on the underwater robot, the lifting adjusting mechanism comprises clamping rods which are symmetrically and fixedly arranged on the underwater robot, clamping plates are fixedly connected to the tail ends of the clamping rods, a water storage tank is clamped between the clamping plates, an input fixing frame is fixedly arranged on the underwater robot, a water suction pump is fixedly arranged on the input fixing frame, the output end of the water suction pump is connected with the input end of the water storage tank, the input end of the water suction pump is connected with a water conveying pipe, the water conveying pipe is fixedly arranged on the input fixing frame, the water suction pump is connected with a water suction rotating shaft, the water suction rotating shaft is in power connection with a water suction motor, the water suction motor is fixedly arranged in the input fixing frame, a water discharge fixing frame is fixedly arranged on the underwater robot, a water discharge pump is fixedly arranged on the water discharge fixing frame, the input end of the water discharge pump is connected with the output end of the water storage tank, the water discharge pump is rotatably connected with a water discharge rotating shaft in the water discharge fixing frame, the water discharge rotating shaft is in power connection with the water discharge motor fixing frame, and the water discharge motor is fixedly arranged in the water discharge fixing frame.
Preferably, the underwater robot is provided with a movement mechanism, the movement mechanism comprises a connecting frame fixedly connected with the bottom wall of the underwater robot, a movement frame is fixedly connected with the tail end of the connecting frame, a movement gear cavity is arranged in the movement frame, a movement rotating shaft is rotatably connected between end walls of the movement gear cavity, the movement rotating shaft is in power connection with a movement motor, the movement motor is fixedly arranged in the movement frame, a movement gear is fixedly arranged on the outer surface of the movement rotating shaft, the movement gear is meshed with an annular rack, the annular rack is rotatably arranged on the outer surface of the movement frame, and a movement plate is fixedly arranged on the annular rack.
Preferably, the throwing mechanism comprises a fixed table fixedly mounted on the investigation ship, a supporting plate is symmetrically and fixedly connected to the fixed table, a throwing rotating shaft is rotationally connected between the supporting plates, the throwing rotating shaft is in power connection with a throwing motor, the throwing motor is fixedly mounted in the supporting plate, a winch is fixedly mounted on the outer surface of the throwing rotating shaft, a throwing rope is wound on the outer surface of the winch, a mounting plate is fixedly connected with the tail end of the throwing rope, a connecting rod is fixedly connected to four corners of the lower portion of the mounting plate, and a collecting box is fixedly mounted at the tail end of the connecting rod.
Preferably, a collecting mechanism is arranged in the collecting box, the collecting mechanism comprises a collecting cavity arranged in the collecting box, a collecting channel penetrating through the collecting cavity is arranged on the collecting channel end wall, a closed sliding groove is arranged on the collecting channel end wall, a closed electric screw rod is rotatably connected to the closed sliding groove end wall, the closed electric screw rod is in threaded connection with a closed baffle plate, and the closed baffle plate is slidably arranged between the closed sliding groove end walls.
Preferably, the collecting box is provided with a clamping and butting mechanism, the clamping and butting mechanism comprises a fixed disc which is rotationally connected with the collecting box, a butting supporting rod is fixedly connected with the fixed disc, a butting clamping block is fixedly connected with the tail end of the upper side of the butting supporting rod, a clamping electric push rod is fixedly installed on the end wall of the butting clamping block, a light source scanner installation cavity is formed in the butting clamping block, a light source scanner is fixedly installed on the bottom wall of the light source scanner installation cavity, a connecting block is clamped between the clamping electric push rods, the connecting block is fixedly installed on the lower portion of the underwater robot, a light source installation groove is formed in the connecting block, and a butting vertical light source is fixedly installed on the end wall of the light source installation groove.
Preferably, the mounting plate is fixedly provided with a first positioning sensor, and the underwater robot is fixedly provided with a second positioning sensor.
Preferably, the survey vessel is fixedly provided with a control console, the control console is fixedly provided with an input panel, the control console is fixedly provided with a display panel, a control processor is arranged in the survey vessel, the input panel is in signal connection with the control processor, and the control processor is in signal connection with the display panel.
The invention provides a seabed multidirectional drilling method for marine geological survey, which is based on the seabed multidirectional drilling device for marine geological survey, and comprises the following steps:
step one: thereby the exploration ship moves, and the underwater robot is driven to move to the corresponding position;
Step two: the throwing mechanism moves to drive the underwater robot to move, so that the underwater robot can be conveniently thrown, and the underwater robot can move on the sea bottom better;
step three: a lifting adjustment mechanism moves, thereby moving the survey vessel to a subsea location;
Step four: after the exploration ship moves to the seabed position, the movement mechanism moves, so that the exploration ship is driven to move to the corresponding position on the seabed, and drilling is facilitated;
Step five: the direction adjusting mechanism moves, so that the direction of drilling is adjusted, and drilling in different directions is facilitated;
Step six: the angle adjusting mechanism moves, so that the drilling angle is adjusted, and drilling at different angles is facilitated;
Step seven: the multidirectional drilling mechanism moves, so that multidirectional drilling is realized;
Step eight: the clamping and butting mechanism moves, so that the investigation ship is clamped and butted;
step nine: after clamping and butt joint, the collecting mechanism moves, so that the drilled sample is collected.
Compared with the prior art, the invention has the beneficial effects that:
1. The multi-azimuth drilling device for the ocean geology investigation can drill the geology of the ocean floor, drill in a plurality of directions, has high drilling efficiency, can adjust the drilling angle during drilling, can drill the ocean floor or some mountain surfaces of the ocean floor, and has a wider drilling range.
2. The seabed multidirectional drilling device for marine geological investigation can adjust the drilling direction, can drill in multiple directions, can move on the seabed, is convenient for drilling in different positions of the movement, and improves geological investigation efficiency.
3. The seabed multidirectional drilling device for marine geological exploration provided by the invention can be used for conveniently clamping and recovering an underwater robot, recovering a sample produced by drilling and conveniently researching geology.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
In the drawings:
FIG. 1 is a schematic view of a first directional structure of a submarine multi-azimuth drilling device for marine geology survey according to the present invention;
FIG. 2 is a schematic diagram of a second directional structure of a subsea multi-azimuth drilling device for marine geology survey according to the present invention;
FIG. 3 is a schematic view of a third directional structure of a subsea multi-azimuth drilling device for marine geology survey according to the present invention;
FIG. 4 is a schematic diagram of a fourth directional structure of a subsea multi-azimuth drilling device for marine geology survey according to the present invention;
FIG. 5 is a schematic cross-sectional view of the structure at A-A in FIG. 4:
FIG. 6 is a schematic cross-sectional view of the structure at B-B in FIG. 5;
FIG. 7 is a schematic view of a first directional structure of the underwater robot of the present invention;
FIG. 8 is a schematic view of a second directional structure of the underwater robot of the present invention;
FIG. 9 is a schematic view of a third directional structure of the underwater robot of the present invention;
FIG. 10 is a schematic view of a fourth directional structure of the underwater robot of the present invention;
FIG. 11 is a schematic cross-sectional view of the structure at C-C in FIG. 10;
FIG. 12 is a schematic cross-sectional view of the structure at D-D in FIG. 11;
FIG. 13 is a schematic cross-sectional view of the structure at E-E in FIG. 11;
FIG. 14 is a schematic cross-sectional view of the structure of FIG. 11 at F-F;
fig. 15 is an enlarged schematic view of the structure at G in fig. 5.
In the figure: 1-survey vessel, 2-console, 3-input panel, 4-display panel, 5-fixed station, 6-winch, 7-launch rope, 8-support plate, 9-mounting plate, 10-first positioning sensor, 11-connecting rod, 12-underwater robot, 13-collection tank, 14-collection channel, 15-fixed disc, 16-docking support bar, 17-docking clamping block, 18-clamping electric push rod, 19-launch shaft, 20-collection cavity, 21-closing baffle, 22-closing electric screw rod, 23-closing chute, 24-fixing frame, 25-annular rack guide rail, 26-extending plate, 27-groove frame, 28-rotating block, 29-drilling electric telescopic shaft, 30-main drilling bit, and 31-cylinder groove, 32-second positioning sensor, 33-connecting block, 34-butt vertical light source, 35-ring rack, 36-connecting frame, 37-moving plate, 38-light source installation groove, 39-drilling groove, 40-first push plate, 42-moving frame, 43-water storage tank, 44-clamping rod, 45-clamping plate, 47-first push electric push rod, 48-electric telescopic rotating shaft, 49-second push electric push rod, 50-bevel gear cavity, 51-driving bevel gear, 52-driving bevel gear shaft, 53-screw rod, 54-chute, 55-direction adjusting motor, 56-direction adjusting gear shaft, 57-direction adjusting gear, 58-direction adjusting gear cavity, 59-drilling motor, 60-driven bevel gear, 61-second push plate, 62-braking cavity, 63-braking gear, 64-braking tooth, 65-angle adjustment main gear, 66-driving shaft, 67-angle adjustment rotating shaft, 68-angle adjustment auxiliary gear, 69-input fixing frame, 70-water pipe, 71-water pump, 72-water pumping rotating shaft, 73-water pumping motor, 74-water discharging pump, 75-water discharging pipe, 76-water discharging fixing frame, 77-water discharging rotating shaft, 78-water discharging motor, 79-moving gear, 80-moving rotating shaft, 81-moving gear cavity, 82-angle adjustment gear cavity, 83-braking electric push rod, 84-auxiliary drill bit, 85-light source scanner and 86-light source scanner mounting cavity.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-15, the invention provides a submarine multi-azimuth drilling device for marine geological survey, the component materials in the device are made of erosion-resistant, pressure-resistant and wear-resistant materials, the device comprises a survey ship 1, a throwing mechanism is arranged on the survey ship 1 and is used for throwing the underwater robot 12, the survey ship 1 and the underwater robot 12 are connected through the throwing mechanism, the underwater robot 12 is connected with a groove frame 27 through a direction adjusting mechanism, the direction adjusting mechanism is used for adjusting the drilling direction, the groove frame 27 is provided with an angle adjusting mechanism, the angle adjusting mechanism is used for adjusting the drilling angle and is convenient for drilling in multiple directions, the angle adjusting mechanism comprises an angle adjusting gear cavity 82 arranged in the groove frame 27, the end walls of the angle adjusting gear cavity 82 are rotationally connected with a driving shaft 66, the driving shaft 66 is in power connection with an angle adjusting motor, the angle adjusting motor is fixedly arranged in the groove frame 27, an angle adjusting main gear 65 is fixedly arranged on the outer surface of the driving shaft 66, the angle adjusting main gear 65 is meshed with an angle adjusting auxiliary gear 68, the angle adjusting auxiliary gear 68 is fixedly arranged on the outer surface of an angle adjusting rotating shaft 67, the angle adjusting rotating shaft 67 is penetratingly and rotationally arranged on the end wall of the angle adjusting gear cavity 82, the angle adjusting rotating shaft 67 extends into a braking cavity 62, the braking cavity 62 is arranged in the groove frame 27, a braking gear 63 is fixedly arranged on the outer surface of the angle adjusting rotating shaft 67 in the braking cavity 62, the braking gear 63 is meshed with a braking tooth 64, the braking tooth 64 is fixedly arranged at the tail end of a braking electric push rod 83, the braking electric push rod 83 is fixedly arranged on the end wall of the braking cavity 62, a rotating block 28 is fixedly arranged on the outer surface of the angle adjusting rotating shaft 67, and a multidirectional drilling mechanism is arranged on the rotating block 28 and used for conducting multidirectional drilling;
The multidirectional drilling mechanism comprises a bevel gear cavity 50 arranged in the rotating block 28, a driving bevel gear shaft 52 is rotationally connected to the end wall of the bevel gear cavity 50, the driving bevel gear shaft 52 is in power connection with a drilling motor 59, the drilling motor 59 is fixedly arranged in the rotating block 28, a driving bevel gear 51 is fixedly arranged on the outer surface of the driving bevel gear shaft 52, the driving bevel gear 51 is meshed with a driven bevel gear 60, the driven bevel gear 60 is fixedly arranged at the upper end of a drilling electric telescopic shaft 29, the drilling electric telescopic shaft 29 is rotationally arranged on the end wall of the bevel gear cavity 50 in a penetrating manner, the lower end of the drilling motor 59 is fixedly connected with a main drilling bit 30, a cylindrical groove 31 is formed in the main drilling bit 30, an electric telescopic rotating shaft 48 is rotationally connected to the end wall of the cylindrical groove 31, an auxiliary bit 84 is fixedly connected to the end of the electric telescopic rotating shaft 48, a second pushing-out electric pushing-out push rod 49 is fixedly connected to the end of the auxiliary bit 84, a groove 39 is formed in the main bit 30, the end wall 39 is fixedly connected with a first pushing-out electric pushing-out push rod 47, and the end 47 is fixedly connected to the first pushing-out push rod 47;
The angle adjusting motor is started to drive the driving shaft 66 to rotate, the angle adjusting main gear 65 is driven to rotate, the angle adjusting main gear 65 is meshed with the angle adjusting auxiliary gear 68, the angle adjusting rotating shaft 67 is driven to rotate, the rotating block 28 is driven to rotate to a corresponding angle, after the rotating block rotates to a corresponding angle, the braking electric push rod 83 is driven to move, the braking tooth 64 is driven to move and mesh with the braking gear 63, the angle adjusting rotating shaft 67 is braked, the rotating block 28 is braked, the angle of the rotating block 28 is fixed, the drilling motor 59 is started, the driving bevel gear shaft 52 is driven to rotate, the driving bevel gear 51 is driven to rotate, the driving bevel gear shaft 51 is meshed with the driven bevel gear 60, the drilling electric telescopic shaft 29 is driven to rotate, the driving electric telescopic shaft 29 is stretched, the driving electric main drilling bit 30 is driven to rotate away from the rotating block 28, the driving main drilling bit 30 is driven to enter geology, the driving main drilling bit 30 is driven to move and completely stretch out, the electric drill bit 30 is driven to completely, the second drilling bit is driven to move, the second drilling bit 84 is driven to move, and the drilling bit is driven to move the second drilling bit 84 is driven to move the drilling bit is driven to move, is convenient for collection.
The direction adjusting mechanism comprises a direction adjusting gear cavity 58 arranged in the underwater robot 12, a direction adjusting gear shaft 56 is rotatably connected between the end walls of the direction adjusting gear cavity 58, the direction adjusting gear shaft 56 is in power connection with a direction adjusting motor 55, the direction adjusting motor 55 is fixedly arranged in the underwater robot 12, a direction adjusting gear 57 is fixedly arranged on the outer surface of the direction adjusting gear shaft 56, the direction adjusting gear 57 is meshed with an annular rack guide rail 25, the annular rack guide rail 25 is rotatably arranged at the upper part of the underwater robot 12, a fixing frame 24 is fixedly connected to the annular rack guide rail 25, the fixing frame 24 is arranged along the circumferential direction of the annular rack guide rail 25, a sliding groove 54 is arranged in the fixing frame 24, a lead screw 53 is rotatably connected to the end wall of the sliding groove 54, the lead screw 53 is in power connection with a pushing motor, the pushing motor is fixedly arranged in the fixing frame 24, an extension plate 26 is in threaded connection with the outer surface of the lead screw 53, the extension plate 26 is slidably arranged between the end walls of the sliding groove 54, and the tail end of the extension plate 26 is fixedly provided with a groove frame 27;
Thereby start direction adjustment motor 55 to drive direction adjustment gear shaft 56 rotates, thereby drives direction adjustment gear 57 rotates, direction adjustment gear 57 with annular rack rail 25 meshing drives annular rack rail 25 rotates, thereby drives mount 24 rotates, after the mount 24 rotates to corresponding direction, starts the pushing motor, thereby drives lead screw 53 rotates, lead screw 53 with extension board 26 threaded connection, thereby promotes extension board 26 motion, thereby promotes recess frame 27 motion, thereby realizes adjusting the scope and the direction of boring.
The underwater robot 12 is provided with a lifting adjusting mechanism, the lifting adjusting mechanism is used for adjusting the height of the underwater robot 12 so as to facilitate the underwater robot 12 to perform motion drilling, the lifting adjusting mechanism comprises clamping rods 44 which are symmetrically and fixedly arranged on the underwater robot 12, the tail ends of the clamping rods 44 are fixedly connected with clamping plates 45, a water storage tank 43 is clamped between the clamping plates 45, an input fixing frame 69 is fixedly arranged on the underwater robot 12, a water suction pump 71 is fixedly arranged on the input fixing frame 69, the output end of the water suction pump 71 is connected with the input end of the water storage tank 43, the input end of the water suction pump 71 is connected with a water conveying pipe 70, the water conveying pipe 70 is fixedly arranged on the input fixing frame 69, the water suction pump 71 is connected with a water suction rotating shaft 72, the rotating shaft 72 is in power connection with a water suction motor 73, the water suction motor 73 is fixedly arranged in the input fixing frame 69, a water discharge fixing frame 76 is fixedly arranged on the underwater robot 12, a water discharge pump 74 is fixedly arranged on the water discharge fixing frame 76, the output end of the water suction pump 74 is fixedly connected with the water discharge rotating shaft 78, the water suction pump 74 is in the water discharge rotating shaft 78 is fixedly connected with the water discharge rotating shaft 77, and the water discharge motor 76 is in the water discharge rotating shaft 78;
Thereby start pumping motor 73, thereby drive pumping pivot 72 rotates, thereby drives pumping pump 71 moves, thereby makes water through raceway 70 get into in the water storage tank 43, thereby makes holistic weight increase, and the time of being convenient for in seabed motion, suitable come-up, start drainage motor 78, thereby drive drainage pivot 77 rotates, thereby drives drainage pump 74 moves, thereby makes water in the water storage tank 43 pass through drainage pump 74 passes through drain pipe 75 is discharged, thereby lighten holistic weight, thereby come-up.
The underwater robot 12 is provided with a motion mechanism, the motion mechanism is used for driving the underwater robot 12 to move on the sea floor, the motion mechanism comprises a connecting frame 36 fixedly connected with the bottom wall of the underwater robot 12, the tail end of the connecting frame 36 is fixedly connected with a motion frame 42, a motion gear cavity 81 arranged in the motion frame 42 is rotatably connected with a motion rotating shaft 80 between the end walls of the motion gear cavity 81, the motion rotating shaft 80 is in power connection with a motion motor, the motion motor is fixedly arranged in the motion frame 42, a motion gear 79 is fixedly arranged on the outer surface of the motion rotating shaft 80, the motion gear 79 is meshed with an annular rack 35, the annular rack 35 is rotatably arranged on the outer surface of the motion frame 42, and a motion plate 37 is fixedly arranged on the annular rack 35;
thereby starting the motion motor to drive the motion rotating shaft 80 to rotate, thereby driving the motion gear 79 to rotate, the motion gear 79 is meshed with the annular rack 35 to drive the annular rack 35 to rotate, thereby driving the motion plate 37 to rotate, and driving the underwater robot 12 to move.
The launching mechanism comprises a fixed table 5 fixedly installed on the investigation ship 1, supporting plates 8 are symmetrically and fixedly connected to the fixed table 5, launching rotating shafts 19 are rotatably connected between the supporting plates 8, the launching rotating shafts 19 are in power connection with launching motors, the launching motors are fixedly installed in the supporting plates 8, winch 6 is fixedly installed on the outer surface of each launching rotating shaft 19, a launching rope 7 is wound on the outer surface of each winch 6, a mounting plate 9 is fixedly connected to the tail end of each launching rope 7, connecting rods 11 are fixedly connected to four corners of the lower portion of each mounting plate 9, and a collecting box 13 is fixedly installed at the tail end of each connecting rod 11;
Thereby start put in the motor to drive put in pivot 19 rotates, thereby drives winch 6 rotates, thereby drives put in rope 7 motion, thereby drive mounting panel 9 moves down, thereby drives collection box 13 moves down to the seabed position.
The collecting box 13 is internally provided with a collecting mechanism which is used for collecting samples produced by drilling, the collecting mechanism comprises a collecting cavity 20 arranged in the collecting box 13, a collecting channel 14 which penetrates through the collecting cavity 20 is formed in the collecting channel 14, a closed chute 23 is formed in the end wall of the collecting channel 14, a closed electric screw 22 is rotatably connected to the end wall of the closed chute 23, the closed electric screw 22 is in threaded connection with a closed baffle 21, and the closed baffle 21 is slidably arranged between the end walls of the closed chute 23;
Thus, when collecting, the main drilling bit 30 is inserted into the collecting channel 14, so that the closed electric screw 22 rotates, the closed baffle 21 is driven to move, so that the collecting channel 14 is opened, the main drilling bit 30 moves downwards, so that the auxiliary bit 84 stops moving after moving into the collecting cavity 20, the main drilling bit 30 contacts with the collecting channel 14 to form a seal, water is prevented from entering into the collecting cavity 20, the main drilling bit 30 enters into the collecting cavity 20, and a sample generated by drilling is pushed out, so that the sample generated by drilling enters into the collecting cavity 20 to be collected.
The collecting box 13 is provided with a clamping and abutting mechanism, the clamping and abutting mechanism is used for clamping and abutting the underwater robot 12 so as to facilitate throwing and collecting samples produced by drilling, the clamping and abutting mechanism comprises a fixed disc 15 rotationally connected with the collecting box 13, a butt joint supporting rod 16 is fixedly connected with the fixed disc 15, the tail end of the upper side of the butt joint supporting rod 16 is fixedly connected with a butt joint clamping block 17, the end wall of the butt joint clamping block 17 is fixedly provided with a clamping electric push rod 18, the butt joint clamping block 17 is provided with a light source scanner mounting cavity 86, the bottom wall of the light source scanner mounting cavity 86 is fixedly provided with a light source scanner 85, a connecting block 33 is clamped between the clamping electric push rods 18, the connecting block 33 is fixedly arranged at the lower part of the underwater robot 12, a light source mounting groove 38 is processed on the connecting block 33, and a butt joint vertical light source 34 is fixedly arranged on the end wall of the light source mounting groove 38;
Thereby the underwater robot 12 moves to the upper side of the butt joint clamping block 17, the light source scanner 85 scans the position of the butt joint vertical light source 34, and sends a signal to the underwater robot 12, so that the underwater robot 12 moves, the butt joint vertical light source 34 is positioned right above the light source scanner 85, the underwater robot 12 descends, so that the connecting block 33 enters between the butt joint clamping blocks 17, and the clamping electric push rod 18 moves to clamp the connecting block 33, so that the clamping butt joint is realized.
Advantageously, the mounting plate 9 is fixedly provided with a first positioning sensor 10, and the underwater robot 12 is fixedly provided with a second positioning sensor 32;
Thereby confirm through the position of first location sensor 10 to mounting panel 9, confirm through the position of second location sensor 32 to the underwater robot 12 for the underwater robot 12 moves, towards mounting panel 9 is convenient for carry out the centre gripping butt joint, is convenient for carry out the collection of product.
The control panel 2 is fixedly arranged on the investigation ship 1, the input panel 3 is fixedly arranged on the control panel 2, the display panel 4 is fixedly arranged on the control panel 2, a control processor is arranged in the investigation ship 1, the input panel 3 is in signal connection with the control processor, the control processor is in signal connection with the display panel 4, and the control processor is in signal connection with electrical components in the device;
thus, a corresponding instruction is input on the input panel 3, after the instruction is input to the control processor, the control processor processes the instruction and sends a signal to a corresponding electric component, so that the corresponding electric component moves, and after information fed back by the electric component is conveyed to the control processor, the control processor processes the instruction and sends the signal to the display panel 4, and the signal is displayed on the display panel 4.
The invention provides a seabed multidirectional drilling method for marine geological survey, which is based on the seabed multidirectional drilling device for marine geological survey, and comprises the following steps:
step one: so that the survey vessel 1 moves, thereby driving the underwater robot 12 to move to the corresponding position;
Step two: the throwing mechanism moves, so that the underwater robot 12 is driven to move, the underwater robot 12 is conveniently thrown, and the underwater robot 12 can move better on the sea floor;
Step three: the lifting adjustment mechanism is moved so that the survey vessel 1 is moved to a subsea location;
Step four: after the exploration ship 1 moves to the seabed position, the movement mechanism moves, so that the exploration ship 1 is driven to move to the corresponding position on the seabed, and drilling is facilitated;
Step five: the direction adjusting mechanism moves, so that the direction of drilling is adjusted, and drilling in different directions is facilitated;
Step six: the angle adjusting mechanism moves, so that the drilling angle is adjusted, and drilling at different angles is facilitated;
Step seven: the multidirectional drilling mechanism moves, so that multidirectional drilling is realized;
step eight: the clamping and butting mechanism moves, so that the investigation ship 1 is clamped and butted;
step nine: after clamping and butt joint, the collecting mechanism moves, so that the drilled sample is collected.
In the working process of the invention, corresponding instructions are input on the input panel 3, after the instructions are input to the control processor, the control processor processes the instructions and sends signals to corresponding electric components, so that the corresponding electric components move, after information fed back by the electric components is sent to the control processor, the control processor processes the signals and sends the signals to the display panel 4, the signals are displayed on the display panel 4, the position of the mounting plate 9 is determined through the first positioning sensor 10, the position of the underwater robot 12 is determined through the second positioning sensor 32, the underwater robot 12 moves towards the mounting plate 9, clamping and butt joint are facilitated, product collection is facilitated, the throwing motor is started, the throwing rotating shaft 19 is driven to rotate, the winch 6 is driven to rotate, thereby driving the throwing rope 7 to move, thereby driving the mounting plate 9 to move downwards, thereby driving the collecting tank 13 to move downwards to a seabed position, starting the water pumping motor 73, thereby driving the water pumping rotating shaft 72 to rotate, thereby driving the water pumping pump 71 to move, thereby enabling water to enter the water storage tank 43 through the water conveying pipe 70, thereby increasing the overall weight, facilitating the seabed movement, starting the water draining motor 78 when floating properly, thereby driving the water draining rotating shaft 77 to rotate, thereby driving the water draining pump 74 to move, thereby enabling the water in the water storage tank 43 to drain through the water draining pipe 75 through the water draining pump 74, thereby reducing the overall weight, thereby floating upwards, starting the movement motor, thereby driving the movement rotating shaft 80 to rotate, thereby driving the movement gear 79 to rotate, the motion gear 79 is meshed with the annular rack 35, so as to drive the annular rack 35 to rotate, so as to drive the motion plate 37 to rotate, so as to drive the underwater robot 12 to move, the direction adjusting motor 55 is started, so as to drive the direction adjusting gear shaft 56 to rotate, so as to drive the direction adjusting gear 57 to rotate, the direction adjusting gear 57 is meshed with the annular rack guide rail 25, so as to drive the annular rack guide rail 25 to rotate, so as to drive the fixing frame 24 to rotate, after the fixing frame 24 rotates to the corresponding direction, the pushing motor is started, so as to drive the screw rod 53 to rotate, the screw rod 53 is in threaded connection with the extending plate 26, so as to push the extending plate 26 to move, so as to push the groove frame 27 to adjust the drilling range and direction, the angle adjusting motor is started, thereby driving the driving shaft 66 to rotate, thereby driving the angle adjusting main gear 65 to rotate, the angle adjusting main gear 65 is meshed with the angle adjusting auxiliary gear 68, thereby driving the angle adjusting rotating shaft 67 to rotate, thereby driving the rotating block 28 to rotate to a corresponding angle, after rotating to a corresponding angle, the braking electric push rod 83 is driven to move, thereby driving the braking tooth 64 to move to mesh with the braking gear 63, thereby realizing braking of the angle adjusting rotating shaft 67, thereby realizing braking of the rotating block 28, fixing the angle of the rotating block 28, starting the drilling motor 59, thereby driving the driving bevel gear shaft 52 to rotate, thereby driving the driving bevel gear 51 to rotate, the driving bevel gear 51 is meshed with the driven bevel gear 60, thereby driving the drilling electric telescopic shaft 29 to rotate, the electric telescopic drilling shaft 29 is extended, so as to drive the main drilling bit 30 to rotate away from the rotating block 28, so as to drive the main drilling bit 30 to drill into the geological space on the sea floor, after the main drilling bit 30 is completely drilled into the geological space, the electric telescopic rotating shaft 48 is rotated and extended, so as to drive the auxiliary bit 84 to rotate into the geological space around the drilling hole, the drilling in multiple directions is realized, after the drilling is finished, the first pushing-out electric push rod 47 is moved, so as to drive the first push plate 40 to move, so as to push out the sample drilled by the drilling groove 39, the second pushing-out electric push rod 49 is moved, so as to push the second push plate 61 to push out the sample drilled by the auxiliary bit 84, the underwater robot 12 is moved to the upper side of the docking and clamping block 17 during collection, the light source scanner 85 scans the position of the docking vertical light source 34, sends a signal to the underwater robot 12 to enable the underwater robot 12 to move, enables the docking vertical light source 34 to be located at a position right above the light source scanner 85, the underwater robot 12 descends to enable the connecting block 33 to enter between the docking clamping blocks 17, the clamping electric push rod 18 moves to clamp the connecting block 33, so that clamping docking is achieved, the main drilling bit 30 is inserted into the collecting channel 14 to enable the sealing electric screw 22 to rotate to drive the sealing baffle 21 to move to enable the collecting channel 14 to be opened, the main drilling bit 30 moves downwards to enable the auxiliary drilling bit 84 to stop moving after entering the collecting cavity 20, the contact between the main drilling bit 30 and the collecting channel 14 forms a seal to prevent water from entering the collecting cavity 20, the main drilling bit 30 enters the collecting cavity 20 to push out the sample generated by drilling, so that the sample generated by drilling enters the collecting cavity 20 to be collected.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Ocean geological survey is with diversified device of boring in seabed, its characterized in that: the device comprises a survey ship (1), a throwing mechanism is arranged on the survey ship (1), the survey ship (1) is connected with an underwater robot (12) through the throwing mechanism, a groove frame (27) is connected on the underwater robot (12) through a direction adjusting mechanism, an angle adjusting mechanism is arranged on the groove frame (27), the angle adjusting mechanism comprises an angle adjusting gear cavity (82) arranged in the groove frame (27), a driving shaft (66) is rotationally connected between the end walls of the angle adjusting gear cavity (82), the driving shaft (66) is in power connection with an angle adjusting motor, the angle adjusting motor is fixedly arranged in the groove frame (27), an angle adjusting main gear (65) is fixedly arranged on the outer surface of the driving shaft (66), the angle adjusting main gear (65) is meshed with an angle adjusting auxiliary gear (68), the angle adjusting auxiliary gear (68) is fixedly arranged on the outer surface of an angle adjusting rotating shaft (67), the angle adjusting rotating shaft (67) penetrates through and is rotationally arranged on the end walls of the angle adjusting gear cavity (82), the angle adjusting motor is fixedly arranged in the outer surface of the braking cavity (62) and extends to the braking cavity (62), the brake gear (63) is meshed with the brake teeth (64), the brake teeth (64) are fixedly arranged at the tail end of the brake electric push rod (83), the brake electric push rod (83) is fixedly arranged on the end wall of the brake cavity (62), a rotating block (28) is fixedly arranged on the outer surface of the angle adjusting rotating shaft (67), and a multidirectional drilling mechanism is arranged on the rotating block (28).
2. A marine multi-azimuth drilling device for marine geology survey as claimed in claim 1, wherein: the multidirectional drilling mechanism comprises a bevel gear cavity (50) arranged in a rotating block (28), a driving bevel gear shaft (52) is rotatably connected to the end wall of the bevel gear cavity (50), the driving bevel gear shaft (52) is in power connection with a drilling motor (59), the drilling motor (59) is fixedly arranged in the rotating block (28), a driving bevel gear (51) is fixedly arranged on the outer surface of the driving bevel gear shaft (52), the driving bevel gear (51) is meshed with a driven bevel gear (60), the driven bevel gear (60) is fixedly arranged at the tail end of the upper side of a drilling electric telescopic shaft (29), the drilling electric telescopic shaft (29) is rotatably arranged on the end wall of the bevel gear cavity (50) in a penetrating mode, the tail end of the lower side of the drilling motor (59) is fixedly connected with a main drilling bit (30), a cylindrical groove (31) is formed in the main drilling bit (30), an electric telescopic shaft (48) is rotatably connected to the end wall of the cylindrical groove (31), an auxiliary bit (84) is fixedly connected to the tail end of the electric telescopic shaft (48), a second push rod (49) is fixedly connected to the second push rod (49), the second push rod (39) is fixedly connected to the second push rod (39), the end wall of the drilling groove (39) is fixedly connected with a first pushing-out electric push rod (47), and the tail end of the first pushing-out electric push rod (47) is fixedly connected with a first push plate (40).
3. A marine multi-azimuth drilling device for marine geology survey as claimed in claim 1, wherein: the direction adjusting mechanism comprises a direction adjusting gear cavity (58) arranged in the underwater robot (12), a direction adjusting gear shaft (56) is rotationally connected between end walls of the direction adjusting gear cavity (58), the direction adjusting gear shaft (56) is in power connection with a direction adjusting motor (55), the direction adjusting motor (55) is fixedly arranged in the underwater robot (12), a direction adjusting gear (57) is fixedly arranged on the outer surface of the direction adjusting gear shaft (56), the direction adjusting gear (57) is meshed with an annular rack guide rail (25), the annular rack guide rail (25) is rotationally arranged on the upper portion of the underwater robot (12), a fixing frame (24) is fixedly connected to the annular rack guide rail (25), a sliding groove (54) is arranged in the fixing frame (24), a screw rod (53) is rotationally connected to the end wall of the sliding groove (54), the screw rod (53) is in power connection with a pushing motor, the pushing motor is fixedly arranged in the fixing frame (24), the screw rod (53) is connected with an extending plate (26) and is connected with the outer surface of the sliding plate (54), the tail end of the extension plate (26) is fixedly provided with the groove frame (27).
4. A subsea multidirectional drilling device for marine geology according to claim 3, wherein: the water storage device is characterized in that a lifting adjusting mechanism is arranged on the underwater robot (12), the lifting adjusting mechanism comprises clamping rods (44) symmetrically and fixedly arranged on the underwater robot (12), clamping plates (45) are fixedly connected to the tail ends of the clamping rods (44), a water storage tank (43) is clamped between the clamping plates (45), an input fixing frame (69) is fixedly arranged on the underwater robot (12), a water suction pump (71) is fixedly arranged on the input fixing frame (69), the output end of the water suction pump (71) is connected with the input end of the water storage tank (43), the input end of the water suction pump (71) is connected with a water conveying pipe (70), the water conveying pipe (70) is fixedly arranged on the input fixing frame (69), the water suction pump (71) is connected with a water suction rotating shaft (72), the water suction rotating shaft (72) is in power connection with a water suction motor (73), the water suction motor (73) is fixedly arranged in the input fixing frame (69), a water discharge pump (76) is fixedly arranged on the input fixing frame (12), the water discharge pump (74) is fixedly arranged on the water suction motor (73), the water discharge pump (74) is connected with the water discharge rotating shaft (77), the water discharge pump (74) and the water discharge end (74) is connected with the water storage tank (43), the drainage rotating shaft (77) is rotatably connected in the drainage fixing frame (76), the drainage rotating shaft (77) is in power connection with the drainage motor (78), and the drainage motor (78) is fixedly installed in the drainage fixing frame (76).
5. A marine multi-azimuth drilling device for marine geology as claimed in claim 4, wherein: be equipped with motion on the underwater robot (12), motion includes link (36) of underwater robot (12) diapire fixed connection, link (36) end fixedly connected with motion frame (42), motion gear chamber (81) that are equipped with in motion frame (42), motion gear chamber (81) are rotated between the end wall and are connected with motion pivot (80), motion pivot (80) are connected with motion motor power, motion motor fixed mounting is in motion frame (42), motion pivot (80) surface fixed mounting has motion gear (79), motion gear (79) and annular rack (35) meshing, annular rack (35) rotation is installed the surface of motion frame (42), fixed mounting has motion board (37) on annular rack (35).
6. A marine multi-azimuth drilling device for marine geology survey as claimed in claim 1, wherein: the utility model discloses a survey ship, including survey ship (1), survey ship, including (1) fixed station, (5) fixed station, symmetry fixedly connected with backup pad (8) on fixed station, (8) are connected with between backup pad (8) and put in pivot (19), put in pivot (19) and put in motor power connection, put in motor fixed mounting in backup pad (8), the surface fixed mounting of putting in pivot (19) has winch (6), winch (6) surface winding is connected with puts in rope (7), put in rope (7) end fixedly connected with mounting panel (9), mounting panel (9) lower part four corners position fixedly connected with connecting rod (11), connecting rod (11) end fixed mounting has collecting box (13).
7. A marine multi-azimuth drilling device for marine geology investigation of claim 6, wherein: be equipped with collection mechanism in collection box (13), collection mechanism includes collection chamber (20) that are equipped with in collection box (13), run through collection passageway (14) of processing on collection chamber (20), be equipped with on collection passageway (14) end wall and seal spout (23), it is connected with seal electronic lead screw (22) to rotate on seal spout (23) end wall, seal electronic lead screw (22) and seal baffle (21) threaded connection, seal baffle (21) slidable mounting is in between seal spout (23) end wall.
8. A marine multi-azimuth drilling device for marine geology investigation of claim 7, wherein: be equipped with centre gripping docking mechanism on collection box (13), centre gripping docking mechanism includes fixed disk (15) of rotating connection on collection box (13), fixedly connected with butt joint bracing piece (16) on fixed disk (15), butt joint bracing piece (16) upside end fixedly connected with butt joint grip block (17), fixedly mounted has centre gripping electric putter (18) on butt joint grip block (17) end wall, be equipped with light source scanner installation cavity (86) on butt joint grip block (17), fixedly mounted has light source scanner (85) on light source scanner installation cavity (86) diapire, centre gripping has connecting block (33) between centre gripping electric putter (18), connecting block (33) fixed mounting be in under water robot (12) lower part, processing has light source mounting groove (38) on connecting block (33), fixedly mounted has butt joint vertical light source (34) on light source mounting groove (38) end wall.
9. A marine multi-azimuth drilling device for marine geology investigation of claim 6, wherein: the control system is characterized in that a control console (2) is fixedly installed on the investigation ship (1), an input panel (3) is fixedly installed on the control console (2), a display panel (4) is fixedly installed on the control console (2), a control processor is arranged in the investigation ship (1), the input panel (3) is in signal connection with the control processor, the control processor is in signal connection with the display panel (4), a first positioning sensor (10) is fixedly installed on the mounting plate (9), and a second positioning sensor (32) is fixedly installed on the underwater robot (12).
10. A method of multi-azimuth drilling on the seabed for marine geology investigation, based on any one of the preceding claims 1-9, characterized in that the method comprises the steps of:
step one: thereby the survey vessel (1) moves, thereby driving the underwater robot (12) to move to the corresponding position;
Step two: the throwing mechanism moves, so that the underwater robot (12) is driven to move, the underwater robot (12) is conveniently thrown, and the underwater robot (12) can move better on the sea floor;
step three: -a lifting adjustment mechanism is moved, thereby moving the survey vessel (1) to a subsea location;
step four: after the exploration ship (1) moves to the seabed position, the movement mechanism moves, so that the exploration ship (1) is driven to move to the corresponding position on the seabed, and drilling is facilitated;
Step five: the direction adjusting mechanism moves, so that the direction of drilling is adjusted, and drilling in different directions is facilitated;
Step six: the angle adjusting mechanism moves, so that the drilling angle is adjusted, and drilling at different angles is facilitated;
Step seven: the multidirectional drilling mechanism moves, so that multidirectional drilling is realized;
step eight: the clamping and butting mechanism moves, so that the investigation ship (1) is clamped and butted;
step nine: after clamping and butt joint, the collecting mechanism moves, so that the drilled sample is collected.
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