A multi-point mobile deep-sea sampling drilling rig

Abstract

The present invention provides a multi-point mobile deep-sea sampling drilling rig, including a visual device, a multi-point sampling device, a traveling vehicle, a hydraulic device and a control device; the visual device is installed on the traveling vehicle, and the multi-point sampling device is installed at the front end or the rear end of the traveling vehicle; the multi-point sampling device includes a hydraulic motor a, a mounting seat, a drill rod, a vertical pole, an adapter, a column, a screwing and unscrewing device, a turntable, a drill bit, a hydraulic motor b, a bottom plate, and a hydraulic cylinder; the vertical pole and the column are fixedly installed on the bottom plate, and the bottom plate is installed on the traveling vehicle; the turntable is sleeved on the column, and a gear is provided at the bottom of the turntable; the hydraulic motor b is fixedly installed on the bottom plate, and a driving gear is provided on the output shaft of the hydraulic motor b, and the driving gear is meshed with the gear; the turntable is provided with a plurality of drill bit holes. The present invention can realize automatic obstacle avoidance and path planning of the sampling drilling rig on the seabed; and can realize the sampling drilling rig to collect samples at multiple locations on the seabed, thereby improving the effective sample rate.

Description

Technical Field

[0001] The invention belongs to the technical field of deep-sea sampling drills, and in particular relates to a multi-point mobile deep-sea sampling drill. Background Art

[0002] The ocean contains extremely rich resources, including polymetallic nodules, oil, natural gas and clay minerals, which have great economic and scientific research value. Deep-sea drilling rigs are essential key technical equipment for conducting marine resource exploration and seabed engineering geological surveys.

[0003] At present, there are many units studying deep-sea drilling rigs. China Nonferrous Metals Changsha Exploration and Design Institute Co., Ltd. has developed a core sampling rig that can realize the automatic delivery of two or more rods of different sizes and the alternating automatic grabbing of two or more rods of different diameters, and the whole machine has a high degree of automation. A deep-sea core drilling sampling device studied by Central South University can carry multiple drill pipes, which increases the number of samples collected in a single trip to the sea and doubles the working efficiency of the deep-sea core drilling sampling device. A deep-sea sampling method based on a mobile deep-sea sampling rig proposed by the Guangzhou Marine Geological Survey Bureau can keep the deep-sea sampling rig suspended and continuously adjust the horizontal position according to the content of the image until the drilling point is found for sampling. However, the above-mentioned rigs cannot realize automatic obstacle avoidance and path planning of the sampling rig on the seabed, multi-location sample collection and high effective sample rate. Therefore, there is a lot of room for improvement in the deep-sea sampling rig as a whole. Designing a deep-sea sampling device with a high degree of automation and a high effective sample rate is of great significance to the exploration of seabed resources. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a multi-point mobile deep-sea sampling drill, which can realize automatic obstacle avoidance and path planning of the sampling drill on the seabed; can realize the sampling drill to collect samples at multiple positions on the seabed, thereby improving the effective sample rate; can better adapt to the harsh deep-sea environment and improve the stability of the system; can realize the adjustment of uneven seabed bottom and improve the drilling efficiency.

[0005] The technical solution adopted by the present invention is: a multi-point mobile deep-sea sampling drilling rig, including a visual device, a multi-point sampling device, a traveling vehicle, and a hydraulic device; the visual device is installed on the traveling vehicle, and the visual device includes a light source, a camera and a lens; the multi-point sampling device is installed at the front end or the rear end of the traveling vehicle; the multi-point sampling device includes a hydraulic motor a, a mounting seat, a drill rod, a vertical pole, a adapter, a column, a screwing and unscrewing device, a turntable, a drill bit, a hydraulic motor b, a base plate, and a hydraulic cylinder; the vertical pole and the column are fixedly installed on the base plate, and the base plate is installed on the traveling vehicle; the turntable is sleeved on the column, and a gear is provided at the bottom of the turntable; the hydraulic motor b is fixedly installed on the base plate, and the hydraulic cylinder is installed on the bottom plate. A driving gear is provided on the output shaft of the hydraulic motor b, and the driving gear is meshed with the gear; a plurality of drill holes are provided on the turntable, a drill bit is inserted in each drill hole, and a screwing and removing device is provided on the upper part of the drill bit; a vertically arranged slide groove is provided on the vertical pole, and a slider is provided on the mounting seat, the slider is embedded in the slide groove, the slider is hinged to one end of the hydraulic cylinder, and the other end of the hydraulic cylinder is hinged to the bottom plate; the hydraulic motor a is installed on the mounting seat, the output shaft of the hydraulic motor a is connected to the drill rod, and a converter is provided at the lower end of the drill rod; the hydraulic device is provided with a pressure compensator, the hydraulic device is connected to the hydraulic motor a, the hydraulic motor b and the hydraulic cylinder, and the visual device and the hydraulic device are respectively connected to the control device.

[0006] In the above-mentioned multi-point mobile deep-sea sampling drilling rig, the traveling vehicle includes a frame and a chassis, the chassis includes a track frame, and a group of guide wheels, supporting wheels, supporting rollers, transmission wheels and a travel motor are respectively provided on both sides of the track frame, and the transmission wheel is connected to the output shaft of the travel motor; each group of guide wheels, supporting wheels, supporting rollers and transmission wheels is wrapped with a crawler; the frame is fixedly mounted on the track frame; the travel motor is connected to the hydraulic device, and the bottom plate is hinged to the track frame.

[0007] In the above-mentioned multi-point mobile deep-sea sampling drilling rig, the multi-point sampling device also includes a tray, which is fixedly mounted on the vertical pole. A drill rod hole is provided at the center of the tray, and the drill rod passes through the drill rod hole.

[0008] In the above-mentioned multi-point mobile deep-sea sampling drilling rig, the multi-point sampling device also includes a swing hydraulic cylinder, one end of which is hinged to the frame, and the other end is hinged to the upper end of the column.

[0009] In the above-mentioned multi-position mobile deep-sea sampling drilling rig, the hydraulic device is installed in a groove at the rear end of the frame; a counterweight block is provided at the rear end of the frame.

[0010] In the above-mentioned multi-point mobile deep-sea sampling drilling rig, the turntable includes an upper ring plate and a lower ring plate; the upper ring plate and the lower ring plate are arranged in parallel, and the upper ring plate and the lower ring plate are connected by a plurality of rib plates, which are evenly distributed along the circumferential direction; five drill holes are respectively provided on the upper ring plate and the lower ring plate, and the five drill holes on the upper ring plate are coaxial with the five drill holes on the lower ring plate.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. The present invention is provided with a visual device, which can realize automatic obstacle avoidance and path planning of the sampling drill on the seabed.

[0013] 2. The turntable of the present invention is provided with multiple drill bits, which can enable the sampling drill to collect samples at multiple locations on the seabed, thereby improving the effective sample rate;

[0014] 3. The present invention adopts hydraulic device as power, which is more adaptable to the harsh environment of deep sea and improves the stability of the system;

[0015] 4. The present invention adopts a multi-point sampling device and a swing hydraulic cylinder, which can adjust the uneven seabed and improve the drilling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the present invention.

[0017] Figure 2 This is a structural diagram of the visual device and the frame of the present invention.

[0018] Figure 3 It is a structural diagram of the multi-point sampling device of the present invention.

[0019] Figure 4 It is a top view of the present invention.

[0020] Figure 5 It is the layout diagram of the hydraulic device of the present invention.

[0021] Figure 6 It is the front view of the present invention.

[0022] Figure 7 It is a left view of the present invention.

[0023] 1—visual device, 1-1—light source, 1-2—lens, camera, 2—multi-point sampling device, 2-1—hydraulic motor a, 2-2—mounting seat, 2-3—drill rod, 2-4—vertical pole, 2-5—adapter, 2-6—tray, 2-7—column, 2-8—unscrewing device, 2-9—turntable, 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—solenoid valve, 3—frame, 4—hydraulic device, 4-1—electrical control system, 4-2—main valve, 4-3—main pump, 4-4—oil tank, 5—chassis, 5-1—guide wheel, 5-2—track, 5-3—supporting wheel, 5-4—supporting wheel, 5-5—track frame, 5-6—drive wheel, 5-7—travel motor. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] like Figure 1-7 As shown, the present invention includes a visual device 1, a multi-point sampling device 2, a hydraulic device 4 and a traveling vehicle, and the traveling vehicle includes a frame 3 and a chassis 5. The chassis includes a track frame 5-5, and a group of guide wheels 5-1, a supporting wheel 5-3, a supporting roller 5-4, a transmission wheel 5-6 and a travel motor 5-7 are respectively provided on both sides of the track frame 5-5, and the transmission wheel 5-6 is connected to the output shaft of the travel motor 5-7. A track 5-2 is wrapped around each group of guide wheels 5-1, supporting wheels 5-3, supporting rollers 5-4, and transmission wheels 5-6; the frame 3 is fixedly mounted on the track frame 5-5; and the travel motor 5-7 is connected to the hydraulic device 4.

[0026] like Figure 1 , 2 As shown, the visual device 1 is installed on the frame 3 of the traveling vehicle, and the visual device 1 includes a light source, a camera and a lens. The introduction of the visual device 1 can realize automatic obstacle avoidance and path planning of the sampling drill on the seabed; the visual device 1 is installed on the frame 3, and the light source 1-1, the camera and the lens 1-2 are all adjustable in the pitch direction.

[0027] The multi-point sampling device 2 is installed at the front end or rear end of the traveling vehicle. The multi-point sampling device includes a hydraulic motor a 2-1, a mounting seat 2-2, a drill rod 2-3, a vertical pole 2-4, an adapter 2-5, a tray 2-6, a column 2-7, a screwing device 2-8, a turntable 2-9, a drill bit 2-10, a hydraulic motor b 2-11, a gear 2-12, a bottom plate 2-13, a hydraulic cylinder 2-14, a swing hydraulic cylinder 2-15 and a solenoid valve 2-16; the vertical pole 2-4 and the column 2-7 are fixedly installed on the bottom plate, and the bottom plate 2-13 is hinged to the front end of the crawler frame 5-5. One end of the swing hydraulic cylinder 2-15 is hinged to the frame 3, and the other end is hinged to the upper end of the column 2-7, which is used to alleviate the swing of the sampling drill during operation. The turntable 2-9 includes an upper ring plate and a lower ring plate; the upper ring plate is arranged in parallel with the lower ring plate, and the upper ring plate and the lower ring plate are connected by a plurality of ribs, which are evenly distributed in the opposite direction along the circumference. Five drill holes are respectively arranged on the upper ring plate and the lower ring plate, and the five drill holes on the upper ring plate are respectively coaxial with the five drill holes on the lower ring plate. The turntable 2-9 is sleeved on the column 2-7, and a gear 2-12 is arranged at the bottom of the turntable 2-9; the hydraulic motor B 2-11 is fixedly mounted on the bottom plate 2-13, and a driving gear is arranged on the output shaft of the hydraulic motor B 2-11, and the driving gear is meshed with the gear 2-12. A drill bit is inserted into each drill hole on the turntable 2-9, and a screwing and unscrewing device 2-8 is arranged on the upper part of the drill bit; the screwing and unscrewing device 2-8 is used to tighten and loosen the connection between the drill bit 2-10 and the adapter 2-5, and the tightening and loosening are performed through the solenoid valve 2-16. The vertical pole 2-4 is provided with a vertically arranged slide groove, the mounting seat 2-2 is provided with a slider, the slider is embedded in the slide groove, the slider is hinged to one end of the hydraulic cylinder 2-14, and the other end of the hydraulic cylinder 2-14 is hinged to the bottom plate. The tray 2-6 is fixedly mounted on the vertical pole 2-4, and the tray 2-6 is located above the turntable 2-9. The hydraulic motor a2-1 is mounted on the mounting seat 2-2, and the output shaft of the hydraulic motor a2-1 is connected to the drill rod 2-3, and the lower end of the drill rod passes through the circular hole at the center of the tray 2-6 to connect to the adapter 2-5. The hydraulic device 4 is provided with a pressure compensator, and the hydraulic device 4 is connected to the hydraulic motor a2-1, the hydraulic motor b and the hydraulic cylinder 2-14. The visual device 1 and the hydraulic device 4 are respectively connected to the control device.

[0028] The rotation of the turntable 2-9 is driven by the driving gear on the hydraulic motor b2-11 to drive the gear 2-12 to rotate, so that the turntable 2-9 moves in a circle around the column 2-7. Each time it rotates a certain angle, the drill bit clamped by the unscrewing device 2-8 is just below the circular hole in the tray 2-6. During the operation of the drilling rig, the swing hydraulic cylinder 2-15 will be used for adjustment and buffering. Figure 2 and Figure 6 As shown, the frame 3 is fixedly mounted on the crawler frame 5-5 of the chassis 5, and the frame 3 is constructed using profiles. Figure 5As shown, the hydraulic device 4 is installed in the groove at the rear end of the frame 3. A counterweight block is provided at the rear end of the frame.

[0029] The working principle of the present invention is as follows: the present invention is lowered to the seabed through an umbilical cable, and automatically avoids obstacles through the visual device 1, while realizing path planning. When the sampling location is found, the unscrewing device 2-8 loosens the drill bit, and the multi-point sampling device 2 starts drilling and sampling. At this time, the hydraulic motor a2-1 rotates, and the hydraulic cylinder 2-14 works at the same time. After the sampling is completed, the unscrewing device 2-8 clamps the drill bit, and 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, completing the drilling sampling at the first position. Then, continue to find the second sampling location under the action of the visual device 1 to complete the above steps until the sampling of the fifth location is completed.

Claims

1. A multi-point mobile deep-sea sampling drilling rig, characterized by: The invention comprises a visual device, a multi-point sampling device, a traveling vehicle, a hydraulic device and a control device; the visual device is installed on the traveling vehicle, and the visual device comprises a light source, a camera and a lens; the multi-point sampling device is installed at the front end or the rear end of the traveling vehicle; the multi-point sampling device comprises a hydraulic motor a, a mounting seat, a drill rod, a vertical pole, a coupling, a column, a screwing and unscrewing device, a turntable, a drill bit, a hydraulic motor b, a bottom plate and a hydraulic cylinder; the vertical pole and the column are fixedly installed on the bottom plate, and the bottom plate is installed on the traveling vehicle; the turntable is sleeved on the column, and a gear is provided at the bottom of the turntable; the hydraulic motor b is fixedly installed on the bottom plate, and the output shaft of the hydraulic motor b is provided with a The driving gear meshes with the gear; the turntable is provided with a plurality of drill holes, each drill hole is inserted with a drill, and the upper part of the drill is provided with a screwing and removing device; the vertical pole is provided with a vertically arranged slide groove, the mounting seat is provided with a slider, the slider is embedded in the slide groove, the slider 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 installed on the mounting seat, the output shaft of the hydraulic motor a is connected to the 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 visual device and the hydraulic device are respectively connected with the control device; The traveling vehicle comprises a frame and a chassis, wherein the chassis comprises a crawler frame, and a group of guide wheels, supporting wheels, supporting rollers, driving wheels and a traveling motor are respectively arranged on both sides of the crawler frame, and the driving wheels are connected to the output shaft of the traveling motor; a crawler track is wrapped around each group of guide wheels, supporting wheels, supporting rollers and driving wheels; the frame is fixedly mounted on the crawler frame; the traveling motor is connected to the hydraulic device, and the bottom plate is hinged to the crawler frame; The multi-point sampling device further comprises a swing hydraulic cylinder, one end of which is hinged to the frame, and the other end of which is hinged to the upper end of the column; The multi-point sampling device also includes a tray, which is fixedly mounted on the vertical pole, and a drill rod hole is provided at the center of the tray, through which the drill rod passes; The turntable includes an upper ring plate and a lower ring plate; the upper ring plate is arranged in parallel with the lower ring plate, and the upper ring plate and the lower ring plate are connected by a plurality of rib plates, which are evenly distributed along the circumferential direction; five drill holes are respectively provided on the upper ring plate and the lower ring plate, and the five drill holes on the upper ring plate are respectively coaxial with the five drill holes on the lower ring plate.

2. The multi-position mobile deep-sea sampling drilling rig according to claim 1 is characterized in that: The hydraulic device is installed in the groove at the rear end of the frame; a counterweight block is arranged at the rear end of the frame.

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