阅读说明：本技术 一种多点位移动式深海取样钻机 (Multi-point displacement dynamic deep sea sampling drilling machine ) 是由 金永平 宁宇 彭佑多 颜健 刘平 于 2021-03-09 设计创作，主要内容包括：本发明提供了一种多点位移动式深海取样钻机,包括视觉装置、多点位取样装置、行走车、液压装置及控制装置;视觉装置安装在行走车上,多点位取样装置安装在行走车的前端或后端；多点位取样装置包括液压马达a、安装座、钻杆、立杆、转接头、立柱、拧卸装置、转盘、钻头、液压马达b、底板、液压缸；所述的立杆、立柱固定安装在底板上,底板安装在行走车上；转盘套在立柱上,转盘的底部设有齿轮；所述的液压马达b固定安装在底板上,液压马达b的输出轴上设有主动齿轮,主动齿轮与齿轮啮合；所述的转盘上设有多个钻头孔。本发明能够实现取样钻机在海底自动避障和路径规划；且能够实现取样钻机在海底多个位置采集样品,提高有效样品率。(The invention provides a multi-point displacement dynamic deep sea sampling drilling machine which comprises a visual device, a multi-point position sampling device, a walking vehicle, a hydraulic device and a control device, wherein the visual device is arranged on the walking vehicle; the multi-point sampling device comprises a hydraulic motor a, a mounting seat, a drill rod, an upright rod, an adapter, an upright post, a screwing and unscrewing device, a turntable, a drill bit, a hydraulic motor b, a bottom plate and a hydraulic cylinder; the upright posts and the upright posts are fixedly arranged on a bottom plate, and the bottom plate is arranged on the walking vehicle; the rotating disc is sleeved on the upright post, and the bottom of the rotating disc is provided with a gear; the hydraulic motor b is fixedly arranged on the bottom plate, an output shaft of the hydraulic motor b is provided with a driving gear, and the driving gear is meshed with the gear; the rotary table is provided with a plurality of drill bit holes. The invention can realize the automatic obstacle avoidance and path planning of the sampling drilling machine at the seabed; and the sampling drilling machine can collect samples at a plurality of positions on the seabed, so that the effective sample rate is improved.)

1. The utility model provides a deep sea sample rig of multiple spot displacement dynamic formula which characterized by: the device comprises a vision device, a multi-point sampling device, a walking vehicle, a hydraulic device and a control device, wherein the vision device is arranged on the walking vehicle and comprises a light source, a camera and a lens; the multi-point sampling device is arranged at the front end or the rear end of the walking vehicle; the multi-point sampling device comprises a hydraulic motor a, a mounting seat, a drill rod, an upright rod, an adapter, an upright post, a screwing and unscrewing device, a turntable, a drill bit, a hydraulic motor b, a bottom plate and a hydraulic cylinder; the upright posts and the upright posts are fixedly arranged on a bottom plate, and the bottom plate is arranged on the walking vehicle; the rotary table is sleeved on the upright post, and a gear is arranged at the bottom of the rotary table; the hydraulic motor b is fixedly arranged on the bottom plate, an output shaft of the hydraulic motor b is provided with a driving gear, and the driving gear is meshed with the gear; the rotary table is provided with a plurality of drill bit holes, a drill bit is inserted into each drill bit hole, and the upper part of each drill bit is provided with a screwing-off device; the upright stanchion is provided with a vertically arranged chute, the mounting seat is provided with a slide block, the slide block is embedded in the chute, the slide block is hinged with one end of the hydraulic cylinder, and the other end of the hydraulic cylinder is hinged with the bottom plate; the hydraulic motor a is arranged on the mounting seat, an output shaft of the hydraulic motor a is connected with a drill rod, and the lower end of the drill rod is provided with an adapter; the hydraulic device is provided with a pressure compensator, the hydraulic device is connected with the hydraulic motor a, the hydraulic motor b and the hydraulic cylinder, and the vision device and the hydraulic device are respectively connected with the control device.

2. The multi-point displacement dynamic deep sea sampling rig of claim 1, wherein: the walking vehicle comprises a frame and a chassis, the chassis comprises a crawler frame, two sides of the crawler frame are respectively provided with a group of guide wheels, supporting wheels, thrust wheels, a driving wheel and a walking motor, and the driving wheel is connected with an output shaft of the walking motor; each group of guide wheels, riding wheels, thrust wheels and driving wheels are wrapped with a crawler belt; the frame is fixedly arranged on the crawler frame; the walking motor is connected with the hydraulic device, and the bottom plate is hinged with the crawler frame.

3. The multi-point displacement dynamic deep sea sampling rig of claim 1, wherein: the multi-point sampling device further comprises a tray, the tray is fixedly installed on the vertical rod, a drill rod hole is formed in the center of the tray, and the drill rod penetrates through the drill rod hole.

4. A multi-point displacement dynamic deep sea sampling rig according to claim 2 or 3, wherein: the multi-point sampling device further comprises a swing hydraulic cylinder, one end of the swing hydraulic cylinder is hinged with the frame, and the other end of the swing hydraulic cylinder is hinged with the upper end of the upright column.

5. The multi-point displacement dynamic deep sea sampling rig of claim 2, wherein: the hydraulic device is arranged in a groove at the rear end of the frame; the rear end of the frame is provided with a balancing weight.

6. A multi-point displacement dynamic deep sea sampling rig according to claims 1 and 3, wherein: the rotary table comprises an upper ring plate and a lower ring plate; the upper ring plate and the lower ring plate are arranged in parallel, and are connected through a plurality of rib plates and uniformly distributed along the circumferential direction; the upper ring plate and the lower ring plate are respectively provided with five drill bit holes, and the five drill bit holes on the upper ring plate are respectively coaxial with the five drill bit holes on the lower ring plate.

Technical Field

The invention belongs to the technical field of deep sea sampling drilling machines, and particularly relates to a multi-point displacement dynamic deep sea sampling drilling machine.

Background

The ocean contains abundant resources including polymetallic nodules, petroleum, natural gas, clay minerals and the like, and the resources have great economic and scientific research and exploration values. The deep sea drilling machine is a key technical device necessary for carrying out marine resource exploration and submarine engineering geological exploration.

At present, a plurality of units are researching deep sea drilling machines, and a core sampling drilling machine researched by the national nonferrous metals long sand investigation and design research institute company Limited can realize the automatic alternate automatic grabbing of rod pieces with two or more sizes and rod pieces with two or more different diameters, and the automation degree of the whole machine is high. The deep sea core drilling and sampling device researched by the university of China and south can carry a plurality of drilling barrels, the quantity of collected samples which are taken by one time when the samples go to the sea is increased, and the working efficiency of the deep sea core drilling and sampling device is doubled. The deep sea sampling method based on the mobile deep sea sampling drilling machine, which is proposed by Guangzhou oceanic geological survey bureau, can keep the deep sea sampling drilling machine suspended and continuously adjust the horizontal position according to the content of an image until a drilling point is found for sampling. However, the drilling machine developed above cannot realize automatic obstacle avoidance and path planning of the sampling drilling machine on the seabed, multi-position sample collection and high effective sample rate. Therefore, the deep sea sampling drilling machine has a large improvement space on the whole, and the design of the deep sea sampling equipment with high automation degree and high effective sample rate has important significance for submarine resource exploration.

Disclosure of Invention

In order to solve the technical problems, the invention provides a multi-point displacement dynamic deep sea sampling drilling machine, which can realize automatic obstacle avoidance and path planning of the sampling drilling machine on the seabed; the sampling drilling machine can collect samples at a plurality of positions on the seabed, so that the effective sample rate is improved; the system is more suitable for the severe deep sea environment, and the stability of the system is improved; the regulation of the bottom of the sea with uneven bottom can be realized, and the drilling efficiency is improved.

The technical scheme adopted by the invention is as follows: a multi-point displacement dynamic deep sea sampling drilling machine comprises a visual device, a multi-point sampling device, a walking vehicle and a hydraulic device, wherein the visual device is arranged on the walking vehicle and comprises a light source, a camera and a lens; the multi-point sampling device is arranged at the front end or the rear end of the walking vehicle; the multi-point sampling device comprises a hydraulic motor a, a mounting seat, a drill rod, an upright rod, an adapter, an upright post, a screwing and unscrewing device, a turntable, a drill bit, a hydraulic motor b, a bottom plate and a hydraulic cylinder; the upright posts and the upright posts are fixedly arranged on a bottom plate, and the bottom plate is arranged on the walking vehicle; the rotary table is sleeved on the upright post, and a gear is arranged at the bottom of the rotary table; the hydraulic motor b is fixedly arranged on the bottom plate, an output shaft of the hydraulic motor b is provided with a driving gear, and the driving gear is meshed with the gear; the rotary table is provided with a plurality of drill bit holes, a drill bit is inserted into each drill bit hole, and the upper part of each drill bit is provided with a screwing-off device; the upright stanchion is provided with a vertically arranged chute, the mounting seat is provided with a slide block, the slide block is embedded in the chute, the slide block is hinged with one end of the hydraulic cylinder, and the other end of the hydraulic cylinder is hinged with the bottom plate; the hydraulic motor a is arranged on the mounting seat, an output shaft of the hydraulic motor a is connected with a drill rod, and the lower end of the drill rod is provided with an adapter; the hydraulic device is provided with a pressure compensator, the hydraulic device is connected with the hydraulic motor a, the hydraulic motor b and the hydraulic cylinder, and the vision device and the hydraulic device are respectively connected with the control device.

In the multi-point displacement type deep sea sampling drilling machine, the walking vehicle comprises a frame and a chassis, the chassis comprises a crawler frame, two sides of the crawler frame are respectively provided with a group of guide wheels, riding wheels, thrust wheels, a driving wheel and a walking motor, and the driving wheel is connected with an output shaft of the walking motor; each group of guide wheels, riding wheels, thrust wheels and driving wheels are wrapped with a crawler belt; the frame is fixedly arranged on the crawler frame; the walking motor is connected with the hydraulic device, and the bottom plate is hinged with the crawler frame.

In the multi-point displacement dynamic deep sea sampling drilling machine, the multi-point position sampling device further comprises a tray, the tray is fixedly installed on the vertical rod, a drill rod hole is formed in the center of the tray, and the drill rod penetrates through the drill rod hole.

In the multi-point displacement dynamic deep sea sampling drilling machine, the multi-point position sampling device further comprises a swing hydraulic cylinder, one end of the swing hydraulic cylinder is hinged with the frame, and the other end of the swing hydraulic cylinder is hinged with the upper end of the upright column.

In the multi-point displacement dynamic deep sea sampling drilling machine, the hydraulic device is arranged in a groove at the rear end of the frame; the rear end of the frame is provided with a balancing weight.

In the multi-point displacement dynamic deep sea sampling drilling machine, the turntable comprises an upper ring plate and a lower ring plate; the upper ring plate and the lower ring plate are arranged in parallel, and are connected through a plurality of rib plates and uniformly distributed along the circumferential direction; the upper ring plate and the lower ring plate are respectively provided with five drill bit holes, and the five drill bit holes on the upper ring plate are respectively coaxial with the five drill bit holes on the lower ring plate.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention is provided with the vision device, and can realize automatic obstacle avoidance and path planning of the sampling drilling machine on the seabed.

2. The rotary table is provided with the plurality of drill bits, so that the sampling drilling machine can collect samples at a plurality of positions on the seabed, and the effective sample rate is improved;

3. the invention adopts the hydraulic device as power, is more suitable for deep sea severe environment and improves the stability of the system;

4. the invention adopts the multi-point sampling device and the swing hydraulic cylinder, can realize the adjustment of uneven seabed bottom, and improves the drilling efficiency.

Drawings

FIG. 1 is a block diagram of the present invention.

FIG. 2 is a view of the structure of the vision device and the frame of the present invention.

FIG. 3 is a block diagram of the multi-point sampling device of the present invention.

Fig. 4 is a top view of the present invention.

Fig. 5 is a layout diagram of the hydraulic apparatus of the present invention.

Fig. 6 is a front view of the present invention.

Fig. 7 is a left side view of the present invention.

1-vision device, 1-light source, 1-2-lens, camera, 2-multi-point sampling device, 2-1-hydraulic motor a, 2-mounting seat, 2-3-drill rod, 2-4-vertical rod, 2-5-adapter, 2-6-tray, 2-7-upright column, 2-8-screwing-off device, 2-9-rotary table, 2-10-drill bit, 2-11-hydraulic motor b, 2-12-gear, 2-13-bottom plate, 2-14-hydraulic cylinder, 2-15-swing hydraulic cylinder, 2-16-electromagnetic valve, 3-vehicle frame, 4-hydraulic device, 4-1-electric appliance control system, 4-2-main valve, 4-3-main pump, 4-oil tank, 5-chassis, 5-1-guide wheel, 5-2 parts of a crawler belt, 5-3 parts of a riding wheel, 5-4 parts of a thrust wheel, 5-5 parts of a crawler frame, 5-6 parts of a transmission wheel and 5-7 parts of a walking motor.

Detailed Description

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

As shown in fig. 1-7, the present invention comprises a vision device 1, a multi-point sampling device 2, a hydraulic device 4, and a walking vehicle, which comprises a frame 3 and a chassis 5. The chassis comprises a crawler frame 5-5, two sides of the crawler frame 5-5 are respectively provided with a group of guide wheels 5-1, a supporting wheel 5-3, a supporting wheel 5-4, a transmission wheel 5-6 and a walking motor 5-7, and the transmission wheel 5-6 is connected with an output shaft of the walking motor 5-7. Each group of guide wheels 5-1, riding wheels 5-3, thrust wheels 5-4 and driving wheels 5-6 are wrapped with a crawler belt 5-2; the frame 3 is fixedly arranged on the crawler frames 5-5; the walking motors 5-7 are connected with the hydraulic device 4.

As shown in fig. 1 and 2, the vision device 1 is mounted on a frame 3 of the walking vehicle, and the vision device 1 comprises a light source, a camera and a lens. The introduction of the visual device 1 can realize the automatic obstacle avoidance and path planning of the sampling drilling machine on the seabed; the vision device 1 is arranged on the frame 3, and the light source 1-1, the camera and the lens 1-2 are adjustable in the pitching direction.

The multi-point sampling device 2 is arranged at the front end or the rear end of the walking vehicle. The multi-point sampling device comprises a hydraulic motor a2-1, a mounting seat 2-2, a drill rod 2-3, an upright rod 2-4, a connector 2-5, a tray 2-6, an upright column 2-7, a screwing and unscrewing device 2-8, a rotary table 2-9, a drill bit 2-10, a hydraulic motor b2-11, a gear 2-12, a bottom plate 2-13, a hydraulic cylinder 2-14, a swing hydraulic cylinder 2-15 and an electromagnetic valve 2-16; the upright posts 2-4 and the upright posts 2-7 are fixedly arranged on the bottom plate, and the bottom plate 2-13 is hinged with the front end of the crawler frame 5-5. One end of the swing hydraulic cylinder 2-15 is hinged with the frame 3, and the other end is hinged with the upper end of the upright post 2-7, so that the swing of the sampling drilling machine in the working process is relieved. The rotary tables 2-9 comprise an upper ring plate and a lower ring plate; the upper ring plate and the lower ring plate are arranged in parallel, and are connected through a plurality of rib plates and are reversely and uniformly distributed along the circumference. The upper ring plate and the lower ring plate are respectively provided with five drill bit holes, and the five drill bit holes on the upper ring plate are respectively coaxial with the five drill bit holes on the lower ring plate. The rotary table 2-9 is sleeved on the upright post 2-7, and the bottom of the rotary table 2-9 is provided with a gear 2-12; the hydraulic motor b2-11 is fixedly arranged on the bottom plate 2-13, an output shaft of the hydraulic motor b2-11 is provided with a driving gear, and the driving gear is meshed with the gear 2-12. A drill bit is inserted into each drill bit hole on the rotary table 2-9, and a screwing-off device 2-8 is arranged at the upper part of the drill bit; the screwing and unscrewing device 2-8 is used for screwing and unscrewing the drill bit 2-10 and the adapter 2-5, and the screwing and unscrewing are carried out through the electromagnetic valve 2-16. The upright stanchion 2-4 is provided with a vertically arranged chute, the mounting base 2-2 is provided with a slide block, the slide block is embedded in the chute, the slide block is hinged with one end of the hydraulic cylinder 2-14, and the other end of the hydraulic cylinder 2-14 is hinged with the bottom plate. The tray 2-6 is fixedly arranged on the upright rod 2-4, and the tray 2-6 is positioned above the turntable 2-9. The hydraulic motor a2-1 is installed on the installation base 2-2, an output shaft of the hydraulic motor a2-1 is connected with a drill rod 2-3, and the lower end of the drill rod penetrates through a round hole in the center of the tray 2-6 to be connected with the adapter 2-5. The hydraulic device 4 is provided with a pressure compensator, and the hydraulic device 4 is connected with a hydraulic motor a2-1, a hydraulic motor b and hydraulic cylinders 2-14. The vision device 1 and the hydraulic device 4 are respectively connected with a control device.

The rotation of the rotary table 2-9 is realized by driving the gear 2-12 to rotate through the driving gear on the hydraulic motor b2-11, so that the rotary table 2-9 makes a circular motion around the upright post 2-7, and rotates for a certain angle each time, and the drill bit clamped by the screwing and unscrewing device 2-8 is just right below the round hole in the tray 2-6. During the operation of the drilling machine, the adjustment and the buffering are carried out through the swing hydraulic cylinders 2-15. As shown in fig. 2 and 6, the frame 3 is fixedly mounted on a track frame 5-5 of the chassis 5, and the frame 3 is built by using a profile. As shown in fig. 5, the hydraulic device 4 is mounted in a groove at the rear end of the frame 3. The rear end of the frame is provided with a balancing weight.

The working principle of the invention is as follows: the invention can be put down to the seabed through the umbilical cable, automatically avoid the obstacle through the vision device 1 and realize the path planning. When a sampling place is found, the screwing and unscrewing device 2-8 loosens the drill bit, the multi-point sampling device 2 starts drilling and sampling, the hydraulic motor a2-1 rotates at the moment, the hydraulic cylinder 2-14 works, after sampling is finished, the screwing and unscrewing device 2-8 clamps the drill bit, the drill rod 2-3 is separated from the drill bit 2-10 under the action of the hydraulic motor a2-1 and the hydraulic cylinder 2-14, and drilling and sampling at a first position are completed. Then, the second sampling position is continuously searched under the action of the vision device 1 to complete the above steps until the sampling of the fifth position is completed.