CN211230328U

CN211230328U - Miniature drilling machine for taking rock core from seabed clamped by manipulator

Info

Publication number: CN211230328U
Application number: CN201922377143.5U
Authority: CN
Inventors: 颜健; 金永平; 彭佑多; 何术东; 唐文波
Original assignee: Hunan University of Science and Technology
Current assignee: Hunan University of Science and Technology
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-08-11
Anticipated expiration: 2029-12-26

Abstract

The utility model discloses a seabed rock core taking micro-drilling machine clamped by a manipulator, which comprises a hydraulic motor I, a reduction gearbox, an impact rotating device, a drilling tool connecting and disconnecting device, a drilling tool storage device and a drilling tool; the hydraulic motor I, the reduction gearbox, the impact rotating device and the drilling tool connecting and disconnecting device sequentially transmit power, the power is transmitted to the drilling tool through the drilling tool connecting and disconnecting device, the drilling tool connecting and disconnecting device can select the drilling tool from the drilling tool storage device to be connected, and the drilling tool with coring completed can be disconnected into the drilling tool storage device. The utility model is carried on the deep diving device, which can realize that the drilling machine can take the core and save the core at multiple points for a plurality of times when going into the sea once, thus obviously improving the economy of the seabed operation; and the flexibility of seabed sampling operation is improved, and the device can be simultaneously suitable for sampling seabed mountains and seabed surfaces. The utility model discloses strike and creep into effectual promotion hard rock of sample and get the operating efficiency and the effect of core, simultaneously effective avoiding the sticking of tool accident.

Description

Miniature drilling machine for taking rock core from seabed clamped by manipulator

Technical Field

The utility model belongs to the technical field of seabed resource hard rock sample, concretely relates to miniature rig of core is got to seabed of manipulator centre gripping.

Background

The development of human society has not kept developing and utilizing various resources. Today, the land resources are gradually exhausted, people are looking at the deep ocean. The seabed crust contains abundant mineral resources including petroleum, natural gas, polymetallic nodules, cobalt-rich crusts, hydrothermal sulfides, marine organisms, natural gas hydrates, clay minerals and the like, and the resources have great economic value and strategic significance. The submarine core sampling drilling machine is a key technical device necessary for developing scientific research on marine geology and environment, and carrying out marine mineral resource exploration and submarine engineering geological exploration. For a seabed hard rock sampling drilling machine system, the prior art is mainly developed towards a large sampling depth and a large sea depth, and the conventional drilling machine is very large in quality and volume, and needs to be arranged on a large-scale marine science investigation ship during drilling operation, and is lowered to the seabed through a cable to perform visible remote control operation, so that the cost and the period are very long. Most importantly, the drilling machine can only carry out sampling at one position in the process of one-time lowering, and if the drilling machine is stuck or the sampling is failed after the accident of connecting and disconnecting, the problems of high cost and high risk are caused.

In fact, for the exploration of submarine resources, in addition to a large sampling depth, the sampling of surface cores at a small depth is also needed, for example, the sampling of the surface of a submarine rock mountain structure, and the existing large-scale drilling machine system is difficult to realize. In addition, in order to improve the economy and the richness of sampling, it is important to be able to take cores at multiple positions in one sea.

Disclosure of Invention

In order to solve the technical problem, the utility model provides a simple structure, convenient operation can once realize many times multiple spot position sample and preserve by the sea, and the miniature rig of core is got to the seabed of the manipulator centre gripping that the ware that promotes seabed operation economic nature carried on.

The utility model adopts the technical proposal that: a miniature drilling machine for taking rock core from seabed clamped by a manipulator comprises a hydraulic motor I, a reduction gearbox, an impact rotating device, a drilling tool connecting and disassembling device, a drilling tool storage device and a drilling tool; the output shaft of the hydraulic motor I is connected with the input shaft of a reduction gearbox, the reduction gearbox is arranged on a support plate, and the impact rotating device is fixedly arranged at the bottom of the support plate; the reduction gearbox is provided with a clamping part for clamping the manipulator; the impact rotating device comprises a connecting block, a rotating shaft, an impact spring, a locking nut, a blocking block, a return spring, an output rotating shaft, an impact block and a fixing barrel, wherein the upper end of the rotating shaft is provided with a spline and is connected with the output shaft of the reduction gearbox through the spline; the rotating shaft is provided with a non-circular section shaft section, the connecting block is matched with the non-circular section shaft section, and the connecting block is axially positioned through a locking nut; the lower end of the rotating shaft is sleeved with an impact block which can slide along the rotating shaft; the upper end of the impact block is provided with a circular disc which is fixedly connected with one end of an impact spring, the impact spring is sleeved on the rotating shaft, and the other end of the impact spring is fixedly connected with the connecting block; the lower end of the impact block is provided with two fan-shaped check blocks I, and the circumferential included angle between the two fan-shaped check blocks I is smaller than 180 degrees; the output rotating shaft penetrates through the fixed cylinder, a return spring is sleeved on the output rotating shaft, the lower end of the return spring is in contact with the fixed cylinder, and the upper end of the return spring is in contact with the blocking block; one end of the output rotating shaft is provided with a non-circular section shaft section, a blocking block is arranged on the non-circular section shaft section, two fan-shaped check blocks II are arranged on the blocking block, the fan-shaped check blocks II and the fan-shaped check blocks I on the impact block have the same circumferential angle, and the fan-shaped check blocks II and the fan-shaped check blocks I are matched to transmit torque; the fixed cylinder is fixed on the supporting plate through a flange plate at the upper end;

the drilling tool connecting and disconnecting device comprises a connecting shaft, a spring, a sliding sleeve, an inner connecting shaft and a steel ball, wherein the upper end of the connecting shaft is in threaded connection with an output rotating shaft of the impact rotating device, and the lower end of the connecting shaft is in threaded connection with the inner connecting shaft; the cross section of a central hole of the inner connecting shaft is a structure that a circular hole is provided with two plane characteristics, the side wall of the inner connecting shaft is provided with 2 spherical holes, and the 2 spherical holes are arranged on two arc surfaces of the central hole; the radius of the spherical surface hole is the same as that of the steel ball, the center of the spherical surface hole is arranged outside the inner connecting shaft, two guide convex ribs are uniformly distributed in a round hole at the upper end of the sliding sleeve, the inner hole of the sliding sleeve is matched with the inner connecting shaft, the sliding sleeve is provided with guide grooves corresponding to the guide convex ribs, and the guide convex ribs are matched with the guide grooves; the lower end of the sliding sleeve is symmetrically provided with two steel ball guide grooves, the width of each steel ball guide groove is the same as the diameter of each steel ball, and a pressing elastic sheet is welded in each steel ball guide groove; the steel ball is arranged in the sliding steel ball guide groove and is positioned between the pressing elastic sheet and the inner connecting shaft; the elastic sheet is pressed tightly, so that a wedge-shaped gap with a large lower part and a small upper part is formed between the steel ball guide groove and the inner connecting shaft; the pressing elastic sheet can press the steel balls into the inner connecting shaft, so that the axial positioning of the drilling tool is realized; the spring is sleeved on the inner connecting shaft, one end of the spring is in contact with the step surface of the connecting shaft, and the other end of the spring is in contact with the inner hole step surface of the sliding sleeve; the maximum pressure drop force of the pressing elastic sheet is the maximum lifting force of the drill tool separated during drill clamping; the upper end of the drilling tool is inserted into the inner connecting shaft, the upper end of the drilling tool is matched with the central hole of the inner connecting shaft, and the upper end of the drilling tool is provided with an arc-shaped groove corresponding to the steel ball; the drilling tool storage device is installed on a moving platform through a hydraulic motor, and the moving platform is located below the manipulator.

The submarine core-taking micro-drilling machine clamped by the manipulator further comprises a feeding device, wherein the feeding device comprises a connecting plate I, an oil cylinder I, a piston rod I, a connecting plate II, an oil cylinder II, a piston rod II, a sliding sleeve, a guide pillar and a connecting plate III; the connecting plate I is connected with a manipulator or clamped by the manipulator; the bottom of the connecting plate I is fixedly provided with two oil cylinders I, and the lower ends of piston rods I of the two oil cylinders I are fixedly connected with a connecting plate II; guide pillars are respectively fixed at four corners of the lower surface of the connecting plate II, the lower ends of the guide pillars are fixedly connected with the connecting plate III, a sliding sleeve is respectively arranged on each guide pillar, and the supporting plate is connected with the sliding sleeves on the four guide pillars; and two oil cylinders II are fixed at the bottoms of the connecting plates II, the lower ends of piston rods II of the two oil cylinders II are respectively connected with a connecting block, and the connecting block is fixedly connected with the two sliding sleeves at the same side.

In the seabed core-taking micro-drilling machine clamped by the manipulator, four angular positions at the bottom of the connecting plate III are respectively provided with an inserting device, the inserting device comprises a connecting cylinder, a prepressing spring, a jacket and a contact pin, and the connecting cylinder is fixed at the bottom of the connecting plate III; the contact pin is a shaft with a sharp corner at the lower end, and the pre-pressing spring is arranged in the connecting cylinder and sleeved on the contact pin; the upper end of the pre-pressing spring is connected with the top of the connecting cylinder, and the lower end of the pre-pressing spring is connected with a shaft shoulder on the contact pin; the envelope is arranged at the bottom end of the connecting cylinder, and the lower end of the contact pin penetrates through a round hole in the center of the envelope.

In the seabed rock core taking micro drilling machine clamped by the manipulator, the drilling tool comprises a connecting shaft and a cylindrical structure, and the upper end of the cylindrical structure is connected with the lower end of the connecting shaft; the connecting shaft is matched with the central hole of the inner connecting shaft, and an arc-shaped groove matched with the steel ball is arranged on the arc surface of the connecting shaft; a sludge discharge hole is arranged on the top wall of the cylindrical structure; the surface of the cylindrical structure is provided with chip removal threads, and a plurality of cutting edges are welded at the bottom of the cylindrical structure in the circumferential direction.

In the seabed rock core taking micro drilling machine clamped by the manipulator, the drilling tool storage device comprises a sampling storage disc and an empty drilling storage disc; the moving platform comprises an oil cylinder III, a guide post and a sliding plate, the oil cylinder III and the guide post are fixedly arranged on the connecting plate, and a piston rod III of the oil cylinder III is arranged in parallel with the guide post; the bottom of the sliding plate is provided with two sliding blocks which are respectively sleeved on the two guide posts; the end part of a piston rod III of the oil cylinder III is connected with the sliding plate; the connecting plate is fixedly connected with the deep submersible vehicle, the sampling storage disc and the air drill storage disc are arranged on the sliding plate in parallel, and the sampling storage disc and the air drill storage disc are respectively connected with a hydraulic motor III and a hydraulic motor II and are arranged on the sliding plate.

Among the core miniature drilling machine is got to the seabed of foretell manipulator centre gripping, empty brill memory disc include drum, fixed plate and storage cylinder I, the fixed plate be the circular slab that is equipped with a plurality of round holes, the welding is in the inside of drum, storage cylinder I of welding respectively in the round hole of fixed plate, be provided with the location plane assorted hole with the drilling tool on the hole upper end department ladder face of storage cylinder I.

In the seabed rock core taking micro-drilling machine clamped by the manipulator, the sampling storage disc comprises a cylinder, a fixing plate and a storage cylinder II, the fixing plate is a circular plate provided with a plurality of circular holes and is welded inside the cylinder, the storage cylinders II are respectively welded in the circular holes of the fixing plate, the inner holes of the storage cylinders II are circular stepped holes, and a plurality of anti-falling snap springs are uniformly distributed in the inner holes of the storage cylinders II along the circumference; the diameter of the bottom of the sliding sleeve is larger than that of the upper end of the inner hole of the storage cylinder II.

Compared with the prior art, the beneficial effects of the utility model reside in that:

1) the utility model can realize that the drilling machine can sample and store a plurality of times of multiple points at one time when going into the sea, thereby obviously improving the economy of the seabed operation;

2) the utility model effectively improves the operation efficiency and effect of hard rock coring by impact drilling sampling, and simultaneously effectively avoids drill jamming accidents;

3) the drilling tool connecting and disconnecting device of the utility model adopts the axial positioning of the steel ball, thus realizing the discarding and escaping of the drilling tool when the drilling tool is stuck and reducing the fault maintenance cost; the quick connecting and disconnecting function of the drilling tool is realized, the production efficiency is improved, and the labor intensity of workers is reduced;

4) the utility model discloses can be directly by deep submergence ware manipulator centre gripping operation, the suitability is good.

5) The utility model discloses can carry on underwater robot such as deep diving ware, can show the promotion to the flexibility of seabed sample operation, can be applicable to the seabed massif, also be applicable to the sample of seabed face.

Drawings

Fig. 1 is an isometric view of embodiment 1 of the present invention.

Fig. 2 is a front view of embodiment 1 of the present invention.

Fig. 3 is a front view of the percussion drilling unit of the present invention.

Fig. 4 is a sectional view taken along line B-B in fig. 3.

Fig. 5 is an isometric view of an impact device (hidden stationary barrel part) according to the present invention.

Fig. 6 is an isometric view of an impact block in an impact device according to the present invention.

Fig. 7 is an isometric view of a stop block in an impact device according to the present invention.

Fig. 8 is an isometric view of the drill attaching and detaching device and the drill according to the present invention.

Fig. 9 is an isometric view of a sliding sleeve in a drill attachment and detachment apparatus according to the present invention.

Fig. 10 is an isometric view of the inner connecting shaft of the drill attaching and detaching device according to the present invention.

Fig. 11 is an isometric view of a drilling tool of the present invention.

Fig. 12 is a top view of the drill storage device of the present invention.

Fig. 13 is a sectional view taken along line a-a in fig. 12.

Fig. 14 is a cross-sectional view of a pin device of the present invention.

Fig. 15 is a front view of embodiment 2 of the present invention.

1-a manipulator; 2-a feeding device; 3-hydraulic motor I; 4-reduction box; 5-impact rotating device; 6, a drilling tool connecting and disconnecting device; 7-sampling storage disk; 8-empty drill storage disk; 9-moving the platform; 10-a drill storage device; 11-deep submergence vehicle; 12-a drilling tool; 201-connecting plate I; 202-oil cylinder I; 203-piston rod I; 204-connecting plate II; 205-oil cylinder II; 206-piston rod ii; 207-support plate; 208-a sliding sleeve; 209-guide column; 210-connecting plate iii; 211 — an insertion device; 212-a connector barrel; 213-pre-pressing spring; 214-envelope; 215-Pin; 501, a flange plate; 502-connection block; 503-a limit nut; 504-rotating shaft; 505-a locking nut; 506 — an impact spring; 507, locking a nut; 508-a stop block; 509-a return spring; 510-output shaft; 511-impact block; 512-fixed cylinder; 513-a shaped hole; 514-sector block II; 515-a fan-shaped stop block I; 601-a connecting shaft; 602-a spring; 603 — a sliding sleeve; 604 — inner connecting shaft; 605-steel balls; 606-pressing the spring plate; 607-a guide groove; 608-guiding convex rib; 609-steel ball guide groove; 610-a shaped hole; 611 — spherical hole; 701-hydraulic motor III; 702-a cylinder; 703-a fixing plate; 704-storage cylinder II; 705-anti-drop snap spring; 801-hydraulic motor II; 802-cylinder; 803-fixing the plate; 804-storage cylinder I; 901-oil cylinder III; 902-piston rod iii; 903-a guide column; 904 — sliding panel; 121-spherical ring groove; 122-a shaped shaft; 123-mud hole; 124-positioning plane; 125-chip removal screw thread; 126 — cutting edge.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples.

Example 1

As shown in fig. 1-2, embodiment 1 of the present invention includes a feeding device 2, a hydraulic motor i 3, a reduction gearbox 4, an impact rotation device 5, a drilling tool receiving and unloading device 6, a drilling tool storage device 10, and a drilling tool 12. The feeding device 2 comprises a connecting plate I201, an oil cylinder I202, a piston rod I203, a connecting plate II 204, an oil cylinder II 205, a piston rod II 206, a supporting plate 207, a sliding sleeve 208, a guide column 209, a connecting plate III 210 and an inserting device 211. The upper surface of the connecting plate I201 is connected with the manipulator 1 or clamped by the manipulator 1. The left side and the right side of the bottom of the connecting plate I201 are respectively and fixedly provided with an oil cylinder I202, and the end part of a piston rod I203 of the oil cylinder I202 is fixedly connected with a connecting plate II 204. And guide posts 209 are respectively fixed at four corners of the bottom of the connecting plate II 204, and the lower ends of the guide posts 209 are fixedly connected with a connecting plate III 210. The number of the sliding sleeves 208 is four, and the sliding sleeves are respectively sleeved on the four guide posts 209 and can slide along the guide posts 209. The four sliding sleeves 208 are fixed on the supporting plate 207 through bolts; an oil cylinder II 205 is further fixed in the middle of each of two sides of the bottom of the connecting plate II 204, a piston rod II 206 of the oil cylinder II 205 is fixed on a connecting block, and the connecting block is fixedly connected with two sliding sleeves 208 on the same side; the piston rod II 206 can push the support plate 207 to move up and down, so that the feeding control of the sampling drilling process is realized.

And the four angular positions at the bottom of the connecting plate III 210 are respectively and fixedly provided with 211 inserting devices, each 211 inserting device comprises a connecting cylinder 212, a pre-pressing spring 213, an envelope 214 and a pin 215, and the connecting cylinder 212 is of a cylindrical structure with a flange and is fixedly connected with the connecting plate III 210 through bolts through the flange. The pin 215 has a cylindrical stepped shaft structure at one end and a shaft with a sharp corner at the other end. The pre-pressing spring 213 is installed inside the connecting cylinder 212 and sleeved on the cylindrical stepped shaft structure at the upper end of the pin 215, and is limited by a stepped surface. The sleeve 214 is fixedly connected with the end of the connecting cylinder 212 through a bolt, and the sharp-angled end of the pin 215 passes through a circular hole in the center of the sleeve 214. By the four inserting devices 211 arranged at the bottom of the feeding device 2, the self-adaption to the unevenness of the seabed terrain can be realized, and the influence of the axial torque fluctuation load of a drilling tool in the core sampling process on the mechanical arm 1 and the deep submersible vehicle 11 can be resisted by inserting the drilling tool into soil.

As shown in fig. 1-2, an output shaft of the hydraulic motor I3 is connected with an input shaft of the reduction gearbox 4, and transmits the rotation power to the reduction gearbox 4; the reduction gearbox 4 is fixedly connected to a supporting plate 207 of the feeding device 2 through a bolt; the bottom of the supporting plate 207 is fixed with an impact rotating device 5 through a bolt. As shown in fig. 3-5, the impact rotation device 5 includes a flange 501, a connection block 502, a limit nut 503, a rotation shaft 504, a lock nut 505, an impact spring 506, a lock nut 507, a stop block 508, a return spring 509, an output rotation shaft 510, an impact block 511, and a fixed cylinder 512, and the fixed cylinder 512 is fixedly connected with the flange 501 through a bolt. A circular hole is formed in the center of the flange plate 501, and the rotating shaft 504 penetrates through the circular hole and can rotate in the circular hole; the flange plate 501 is fixed at the lower end of the supporting plate 207 through bolts; one end of the rotating shaft 504 is provided with a spline, and the spline is matched with a spline of an inner hole of an output shaft of the reduction gearbox 4 to realize power transmission. The rotating shaft 504 is connected to the flange plate 501 through a cylindrical step and a limiting nut 503, and the rotating shaft 504 can rotate relative to the flange plate 501. The back of the cylindrical step of the rotating shaft 504 is provided with a special-shaped shaft section (the section is a non-circular section), which is used for realizing torque transmission and can be a polygonal shaft or a cylindrical shaft with plane characteristics. The center of the connecting block 502 is provided with a special-shaped hole matched with the special-shaped shaft section of the rotating shaft 504, the special-shaped hole is matched with the special-shaped shaft section of the rotating shaft 504, the connecting block 502 is axially positioned through a locking nut 505, and the connecting block 502 is fixedly connected with the rotating shaft 504. The lower extreme of axis of rotation 504 install an impact piece 511, the center of impact piece 511 be provided with the circular port, impact piece 511 passes through the circular port cover at the lower extreme of axis of rotation 504, impact piece 511 can slide on axis of rotation 504, impact piece 511 can rotate and axial displacement along axis of rotation 504. The upper end of the impact block 511 is provided with a circular disc, the circular disc is connected with the connecting block 502 through an impact spring 506, and the impact spring 506 is sleeved on the rotating shaft 504. The lower end of the impact block 511 is provided with two fan-shaped stoppers I515, the circumferential included angle between the two fan-shaped stoppers I515 is less than 180 degrees, and the change of the impact frequency can be realized by adjusting the included angle or the number, as shown in FIG. 6. The output rotating shaft 510 penetrates through a circular hole in the center of the fixed cylinder 512, the output rotating shaft 510 can slide and rotate relative to the fixed cylinder 512, a return spring 509 is sleeved on the output rotating shaft 510, the lower end of the return spring 509 is in contact with the fixed cylinder 512, and the upper end of the return spring 509 is in contact with the blocking block 508. One end of the output rotating shaft 510, which is located in the fixed cylinder 512, is provided with a special-shaped shaft section, and a blocking block 508 is installed on the special-shaped shaft section, as shown in fig. 7, a central hole of the blocking block 508 is a special-shaped hole, and the central hole of the blocking block 508 is matched with an upper end shaft of the output rotating shaft 510 and is fixed on the output rotating shaft 510 through a shaft shoulder and a locking nut 507. The stop block 508 be equipped with two fan-shaped dog II 514, fan-shaped dog II 514 is the same with fan-shaped dog I515's circumference angle, fan-shaped dog II 514 and the fan-shaped dog I cooperation of impact block 511 realize the transmission of moment of torsion, as shown in fig. 5. In the torque transmission process, the fan-shaped stop block I515 is driven to rotate by the fan-shaped stop block II 514, the impact spring 506 is twisted and shortened in the rotating process of the fan-shaped stop block I515, the impact block 511 is pulled to move upwards, the impact spring 506 moves to the position where the fan-shaped stop block II 514 is separated from the contact surface of the fan-shaped stop block I515, and at the moment, the impact spring 506 resets, so that the impact block 511 moves downwards to generate impact force with the fan-shaped stop block I515; and sector block ii 514 re-engages sector block i 515 during rotation for the next cycle. Through the structure, the rotary motion of the rotating shaft 504 is converted into the intermittent rotary motion and the axial impact motion of the output rotating shaft 510, and the crushing and drilling performance of hard rock is improved.

As shown in fig. 3-4 and 8, the drill attachment/detachment device 6 is connected with one end of the output rotating shaft 510 of the impact rotating device 5 through a screw pair, so as to realize power transmission. The drilling tool connecting and disconnecting device 6 comprises a connecting shaft 601, a spring 602, a sliding sleeve 603, an inner connecting shaft 604 and a steel ball 605, wherein the upper end of the connecting shaft 601 is provided with an internal thread, and the internal thread is connected with the external thread of the output rotating shaft 510 of the impact rotating device 5. The lower end of the connecting shaft 601 is provided with an external thread, the inner connecting shaft 604 is provided with an internal thread, and the inner connecting shaft 604 is screwed with the external thread of the connecting shaft 601, as shown in fig. 4. As shown in fig. 10, the inner connecting shaft 604 is a cylindrical structure, and the central hole 610 is a shaped hole, which is a circular hole and has two planar features, so that torque can be transmitted. The side wall of the inner connecting shaft 604 is provided with 2 spherical holes 611, the radius of the spherical surface of each spherical hole is the same as that of the steel ball 605, the centers of the two spherical holes are positioned at the outer side of the cylindrical shaft, the steel ball 605 can not pass through the spherical holes 611, only part of the steel ball can penetrate into the inner connecting shaft 604, and the positions of the spherical holes 611 are arranged on two arc surfaces of the central hole 611 of the inner connecting shaft 604. The central hole of the sliding sleeve 603 is a circular stepped hole, as shown in fig. 9, two guiding ribs 608 are uniformly distributed inside the circular hole at the upper end of the sliding sleeve 603, two steel ball guide slots 609 are arranged at the lower end of the sliding sleeve 603, a steel ball 605 is respectively arranged in each steel ball guide slot 609, the width of each steel ball guide slot 609 is the same as the diameter of the steel ball 605, a pressing elastic sheet 606 is welded in each steel ball guide slot 609,

the pressing spring piece 606 enables a gap between the steel ball guide groove 609 and the inner connecting shaft 604 to be a wedge-shaped gap with a large lower part and a small upper part, the steel ball 605 is located between the pressing spring piece 606 and the inner connecting shaft 604, and the pressing spring piece 606 can press the steel ball 605 into the inner part of the inner connecting shaft 604, so that the axial positioning of the drilling tool 12 is realized. As shown in fig. 4 and 8, the sliding sleeve 603 is engaged with the inner connecting shaft 604 through an inner hole, and the guiding rib 608 of the sliding sleeve 603 is engaged with the guiding groove 607 arranged on the outer side wall of the connecting shaft 601 to form a sliding pair, so as to realize axial movement and limit the rotation thereof. The spring 602 is sleeved on the inner connecting shaft 604, one end of the spring 602 is in surface contact with a step of the connecting shaft 601, and the other end of the spring 602 is in surface contact with an inner hole step of the sliding sleeve 603. When accidents such as drill jamming and the like occur in the drilling and sampling process, the manipulator can upwards extract the drilling machine system with the maximum force, so that the steel ball 605 is forced to exit from the limiting state, and the separation of a jammed drilling tool is realized. The maximum pressure drop force against the springs 606 is the maximum lift force away from the drill while stuck.

As shown in fig. 4 and 11, the drilling tool 12 is a cylindrical structure with a connecting shaft 122, the upper end of the drilling tool 12 is provided with the connecting shaft 122 matched with a central hole 611 inside the inner connecting shaft 604, the connecting shaft 122 is provided with an arc-shaped groove 121 matched with a steel ball 609, and the arc-shaped groove 121 is arranged on the arc-shaped surface of the connecting shaft 122. The lower end of the connecting shaft 122 connects to a cylindrical structure for drilling and storing the core. The top wall of the cylindrical structure is provided with a sludge discharge hole 123, so that sludge and seawater can be discharged in the process of drilling hard rock. The surface of the cylindrical structure is also provided with a chip removal thread 125 which is spirally arranged, so that the discharge of rock powder in the drilling process of hard rock is realized, and the high temperature and drill blockage of the drilling tool are avoided. Further, several cutting edges 126 are welded circumferentially at the bottom of the cylindrical structure. Two parallel positioning planes 124 are further arranged on the outer surface of the boss shaft of the drilling tool 12 and are used for positioning the drilling tool in the empty drilling storage disc 8, so that the drilling tool 12 can be conveniently taken out.

As shown in fig. 1-2 and 12-13, the drill storage device 10 is shown to include a mobile platform 9, a sample storage tray 7, and an empty drill storage tray 8. The moving platform 9 is composed of an oil cylinder III 901, two guide columns 903 and a sliding plate 904, wherein the bottom of the oil cylinder III 901 is fixed on a connecting plate, and the two guide columns 903 are fixedly arranged on the connecting plate. The connecting plate is fixedly connected with the deep submersible vehicle 11. A piston rod III 902 of the oil cylinder III 901 is fixedly connected with a sliding plate 904, two sliding blocks are arranged at the bottom of the sliding plate 904 and are respectively sleeved on two guide columns 903, and the oil cylinder III 901 can realize that the sliding plate 904 slides along the guide columns 903. The drilling tool storage device 10 is positioned below the manipulator 11, so that the drilling tools can be conveniently connected and disconnected. The sampling storage disk 7 and the idle drilling storage disk 8 are arranged on the 904 sliding plate in parallel, and the lower ends of the sampling storage disk 7 and the idle drilling storage disk 8 are respectively connected with the hydraulic motor III 701 and the hydraulic motor II 801, so that the rotation of the storage disks is realized, and the connection and the disconnection of drilling tools are facilitated. As shown in fig. 13, the blank drill storage tray 8 is a cylindrical structure with an open upper end, and is composed of a cylinder 802, a fixing plate 803 and a storage cylinder i 804, wherein the fixing plate 803 is a circular plate with a plurality of circular holes, the fixing plate 803 is welded inside the cylinder 802, a storage cylinder i 804 is welded in each circular hole of the fixing plate 803, and the central hole of the storage cylinder i 804 is a circular stepped hole. And a hole matched with the positioning plane 124 in the drilling tool 12 is formed in the step surface of the inner hole of the storage cylinder I804, so that the drilling tool is positioned after being placed.

The structure of the sampling storage disk 7 is similar to that of the blank drill storage disk 8, and comprises a cylinder 802, a fixing plate 803 and a storage cylinder II 704, wherein the fixing plate 803 is welded inside the cylinder 802, and the storage cylinder II 704 is welded in each round hole of the fixing plate 803. The structure of the sample disk 7 differs from the blank disk 8 only in that: a central hole of the storage cylinder II 704 is a circular stepped hole, and a plurality of anti-falling snap springs 705 are uniformly distributed in the central hole of the storage cylinder II 704 along the circumference. After the drilling tool 12 with the core removed is inserted into the drill, the drilling tool 12 is blocked by the anti-falling clamp spring 705 to be separated upwards in the lifting process of the drilling machine, so that the drilling tool is dismounted. As shown in fig. 13, the diameter of the bottom of the sliding sleeve 603 of the drill tool unloading device 6 is larger than the diameter of the stepped shaft of the drill tool, and is also larger than 704 the diameter of the upper end of the inner hole of the storage cylinder ii, so that the drill tool unloading process is realized, the end part of the sliding sleeve 603 is contacted with the storage cylinder ii 704, and the drilling machine continues to descend under the action force of the manipulator 1, so that the sliding sleeve 603 is pushed to move upwards, the pressure of the pressing spring 606 on the steel ball 605 is released, the limiting force of the drill tool in the axial direction is relieved after a certain distance is reached, at the moment, the manipulator can lift the drilling machine, at the moment, the drill tool 12 is blocked by the anti-dropping clamp spring 705, so that the drill tool is left in the storage cylinder ii 704.

The utility model discloses a theory of operation of miniature rig of core is got on seabed of manipulator centre gripping does:

1) the manipulator 1 grips the drill for posture adjustment, and adjusts it to a state of being vertical to the slide plate 904 provided in the drill storage device 10.

2) The driving oil cylinder III 901 enables the air drill storage disc 8 to move under the drilling tool connecting and disconnecting device 6 of the utility model, and the driving hydraulic motor II 801 adjusts the circumferential position of the air drill storage disc 8, so as to realize the alignment of the center hole of the inner connecting shaft 604 of the drilling tool connecting and disconnecting device 6 and the special-shaped shaft of the drilling tool 12;

3) the driving oil cylinder II 205 enables the drilling tool 12 to be pressed into the inner connecting shaft 604 of the drilling tool connecting and disconnecting device 6, and the axial positioning is carried out through the steel ball 605, so that the connection of the drilling tool 12 and the upper power is realized.

4) The driving oil cylinder III 901 enables the drilling tool storage device 10 to return to a position close to the deep submersible vehicle, so that the sampling process of a drilling machine system is prevented from being blocked; manipulator 1 centre gripping the utility model discloses the downward insertion treats the sampling region, and contact pin 215 self-adaptation topography unevenness problem this moment to insert and stabilize the axial torque vibration of whole process of creeping into in the earth. In the sampling process, the driving oil cylinder II 205 realizes the depth feeding of sampling; the hydraulic motor I3 transmits power to the reduction gearbox 4, the impact rotating device 5, the drilling tool connecting and disconnecting device 6 and the drilling tool 12 in sequence. When the drilling tool 12 touches hard rock, if the blocking torque of the drilling tool itself is increased, the torque of the impact block 511 is not enough to drive the blocking block 508 to rotate, the impact spring 506 is forced to generate torsional deformation and is highly compressed, so that the impact block 511 moves axially along the rotating shaft 504, the impact block 511 is separated from the blocking block 508 and continues to rotate, and when the drilling tool rotates to a non-fan-shaped stop position, the impact block 511 performs axial impact action on the blocking block 508 due to the action of the impact spring 506, so that the following drilling tool 12 generates impact edge breaking effect. Through the structure, the rotation and impact matching in the sampling process is realized to take the edge core.

5) After the sampling is finished, the manipulator 1 takes the sample upwards, the utility model drives the oil cylinder III 901 to move the sample storage disk 7 to the position under the drilling tool receiving and unloading device 6 of the drilling machine system, and drives the hydraulic motor III 701 to adjust the circumferential position of the sample storage disk 7; the oil cylinder II 205 is driven to enable the drilling tool 12 to move downwards, the end portion of the sliding sleeve 603 is in contact with the storage cylinder II 704 at the moment, the drilling machine system continues to descend under the acting force of the manipulator, the sliding sleeve 603 is pushed to move upwards, the pressure of the pressing elastic sheet 606 on the steel ball 605 is released, the limiting force of the drilling tool in the axial direction is relieved after a certain distance is reached, the manipulator can lift the drilling machine system at the moment, the drilling tool 12 can be blocked by the anti-falling clamping spring 705 at the moment, the drilling tool is left in the storage cylinder II 704, and storage and removal of the drilling tool after coring are achieved.

Example 2

As shown in fig. 15, the structure of embodiment 2 of the present invention is similar to that of embodiment 1, except that: the feeding device 2 is eliminated, and the reduction gearbox 4 is provided with a clamping rod 401. When in use, the clamping rod 401 arranged on the reduction gearbox 4 is directly clamped by the manipulator 1 to carry out sampling and drilling tool loading and unloading actions. The hydraulic control system is suitable for the condition that the movement space range of the manipulator is large, and the number of the hydraulic pipelines reserved outside the deep submersible vehicle can be reduced in embodiment 2.

Claims

1. The utility model provides a miniature rig of core is got to seabed of manipulator centre gripping which characterized by: the device comprises a hydraulic motor I, a reduction gearbox, an impact rotating device, a drilling tool connecting and disassembling device, a drilling tool storage device and a drilling tool; the output shaft of the hydraulic motor I is connected with the input shaft of a reduction gearbox, the reduction gearbox is arranged on a support plate, and the impact rotating device is fixedly arranged at the bottom of the support plate; the reduction gearbox is provided with a clamping part for clamping the manipulator; the impact rotating device comprises a connecting block, a rotating shaft, an impact spring, a locking nut, a blocking block, a return spring, an output rotating shaft, an impact block and a fixing barrel, wherein the upper end of the rotating shaft is provided with a spline and is connected with the output shaft of the reduction gearbox through the spline; the rotating shaft is provided with a non-circular section shaft section, the connecting block is matched with the non-circular section shaft section, and the connecting block is axially positioned through a locking nut; the lower end of the rotating shaft is sleeved with an impact block which can slide along the rotating shaft; the upper end of the impact block is provided with a circular disc which is fixedly connected with one end of an impact spring, the impact spring is sleeved on the rotating shaft, and the other end of the impact spring is fixedly connected with the connecting block; the lower end of the impact block is provided with two fan-shaped check blocks I, and the circumferential included angle between the two fan-shaped check blocks I is smaller than 180 degrees; the output rotating shaft penetrates through the fixed cylinder, a return spring is sleeved on the output rotating shaft, the lower end of the return spring is in contact with the fixed cylinder, and the upper end of the return spring is in contact with the blocking block; one end of the output rotating shaft is provided with a non-circular section shaft section, a blocking block is arranged on the non-circular section shaft section, two fan-shaped check blocks II are arranged on the blocking block, the fan-shaped check blocks II and the fan-shaped check blocks I on the impact block have the same circumferential angle, and the fan-shaped check blocks II and the fan-shaped check blocks I are matched to transmit torque; the fixed cylinder is fixed on the supporting plate through a flange plate at the upper end;

2. The micro mechanical hand-held seafloor core drilling machine as claimed in claim 1, wherein: the feeding device comprises a connecting plate I, an oil cylinder I, a piston rod I, a connecting plate II, an oil cylinder II, a piston rod II, a sliding sleeve, a guide pillar and a connecting plate III; the connecting plate I is connected with a manipulator or clamped by the manipulator; the bottom of the connecting plate I is fixedly provided with two oil cylinders I, and the lower ends of piston rods I of the two oil cylinders I are fixedly connected with a connecting plate II; guide pillars are respectively fixed at four corners of the lower surface of the connecting plate II, the lower ends of the guide pillars are fixedly connected with the connecting plate III, a sliding sleeve is respectively arranged on each guide pillar, and the supporting plate is connected with the sliding sleeves on the four guide pillars; and two oil cylinders II are fixed at the bottoms of the connecting plates II, the lower ends of piston rods II of the two oil cylinders II are respectively connected with a connecting block, and the connecting block is fixedly connected with the two sliding sleeves at the same side.

3. The micro mechanical hand-held seafloor core drilling machine as claimed in claim 2, wherein: four angular positions at the bottom of the connecting plate III are respectively provided with an inserting device, the inserting device comprises a connecting cylinder, a pre-pressing spring, a sleeve and a contact pin, and the connecting cylinder is fixed at the bottom of the connecting plate III; the contact pin is a shaft with a sharp corner at the lower end, and the pre-pressing spring is arranged in the connecting cylinder and sleeved on the contact pin; the upper end of the pre-pressing spring is connected with the top of the connecting cylinder, and the lower end of the pre-pressing spring is connected with a shaft shoulder on the contact pin; the envelope is arranged at the bottom end of the connecting cylinder, and the lower end of the contact pin penetrates through a round hole in the center of the envelope.

4. The micro mechanical hand-held seafloor core drilling machine as claimed in claim 1, wherein: the drilling tool comprises a connecting shaft and a cylindrical structure, wherein the upper end of the cylindrical structure is connected with the lower end of the connecting shaft; the connecting shaft is matched with the central hole of the inner connecting shaft, and an arc-shaped groove matched with the steel ball is arranged on the arc surface of the connecting shaft; a sludge discharge hole is arranged on the top wall of the cylindrical structure; the surface of the cylindrical structure is provided with chip removal threads, and a plurality of cutting edges are welded at the bottom of the cylindrical structure in the circumferential direction.

5. The micro mechanical hand-held seafloor core drilling machine as claimed in claim 1, wherein: the drilling tool storage device comprises a sampling storage disc and an empty drilling storage disc; the moving platform comprises an oil cylinder III, a guide post and a sliding plate, the oil cylinder III and the guide post are fixedly arranged on the connecting plate, and a piston rod III of the oil cylinder III is arranged in parallel with the guide post; the bottom of the sliding plate is provided with two sliding blocks which are respectively sleeved on the two guide posts; the end part of a piston rod III of the oil cylinder III is connected with the sliding plate; the connecting plate is fixedly connected with the deep submersible vehicle, the sampling storage disc and the air drill storage disc are arranged on the sliding plate in parallel, and the sampling storage disc and the air drill storage disc are respectively connected with a hydraulic motor III and a hydraulic motor II and are arranged on the sliding plate.

6. The micro mechanical hand-held seafloor core drilling machine as claimed in claim 5, wherein: empty storage disk of boring include drum, fixed plate and storage cylinder I, the fixed plate be the circular slab that is equipped with a plurality of round holes, the welding is in the inside of drum, welds storage cylinder I in the round hole of fixed plate respectively, be provided with the location plane assorted hole with the drilling tool on the hole upper end department ladder face of storage cylinder I.

7. The micro mechanical hand-held seafloor core drilling machine as claimed in claim 5, wherein: the sampling storage disc comprises a cylinder, a fixing plate and a storage cylinder II, wherein the fixing plate is a circular plate provided with a plurality of circular holes and is welded inside the cylinder, the storage cylinder II is welded in the circular holes of the fixing plate respectively, an inner hole of the storage cylinder II is a circular stepped hole, and a plurality of anti-falling snap springs are uniformly distributed in the inner hole of the storage cylinder II along the circumference; the diameter of the bottom of the sliding sleeve is larger than that of the upper end of the inner hole of the storage cylinder II.