An underwater vector-propelled ultrasonic drilling robot and a method of using the same

Abstract

The present invention discloses an underwater vector-propelled ultrasonic drilling robot, comprising a vector thruster, an ultrasonic driller, a driller fixing device, a base support adjustment mechanism, a sealed cabin, a hollow cylindrical shell, a lithium battery and a hemispherical shell, wherein a hemispherical shell is arranged on the top of the sealed cabin, three groups of vector thrusters are evenly arranged on the top of the spherical shell, each group of thrusters has two degrees of freedom, a lithium battery is arranged in the sealed cabin, a hollow cylindrical shell is installed at the bottom of the sealed cabin, a driller fixing device and an ultrasonic driller are installed inside the hollow cylindrical shell, a hollow cylindrical shell is installed at the bottom of the sealed cabin, the sealed cabin is hinged with the base support adjustment mechanism, and the base support adjustment mechanism is hinged with the hollow cylindrical shell. The robot can realize the sampling of seabed rocks, and can stably bring rock samples to the water surface by relying on its own device.

Description

Technical field:

[0001] The invention belongs to the field of mechanical technology, and in particular relates to an underwater vector-propelled ultrasonic drilling robot and a use method thereof. Background technology:

[0002] Since the underwater operation time of deep-sea carriers is extremely limited, the core sampling drill needs to be able to achieve rapid drilling operations under low drilling pressure conditions. In addition, the terrain conditions and environment in the deep sea are extremely complex, and the existing mature coring technology cannot directly meet the requirements of deep-sea operations, and major improvements have increased the R&D cost and technical difficulty. Therefore, the development of a high-efficiency, highly adaptable, and low-power deep-sea carrier-specific drilling and coring device is the key.

[0003] When conducting underwater exploration missions, most underwater robots have low efficiency, large size, high energy consumption, high cost, are not suitable for large-scale use, and have low practicality, which greatly reduces the exploration efficiency and prolongs the exploration time. Moreover, due to the complex and changeable underwater environment, rock drilling and extraction are more difficult. These unfavorable factors ultimately limit the further development of scientific research. Summary of the invention:

[0004] In order to solve the problems existing in the prior art, the present invention provides an underwater vector-propelled ultrasonic drilling robot and a method for using the same. The robot of the present invention is equipped with an ultrasonic driller, has a simple and compact structure, and has the characteristics of small size and high efficiency. It can realize the sampling of seabed rocks, and can stably bring rock samples to the water surface by relying on its own device.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An underwater vector-propelled ultrasonic drilling robot comprises a vector thruster 1, an ultrasonic driller 2, a driller fixture 3, a base support adjustment mechanism 4, a sealed cabin 5, a hollow cylindrical shell 6, a lithium battery 7 and a hemispherical shell 8, wherein a hemispherical shell 8 is provided on the top of the sealed cabin 5, and three groups of vector thrusters 1 arranged evenly are installed on the side of the spherical shell 8, each group of vector thrusters having two degrees of freedom; a lithium battery 7 is installed and arranged in the sealed cabin 5, a hollow cylindrical shell 6 is installed at the lower part of the sealed cabin 5, a driller fixture 3 and an ultrasonic driller 2 are installed inside the hollow cylindrical shell 6, the sealed cabin 5 is hinged to the base support adjustment mechanism 4, and the base support adjustment mechanism 4 is hinged to the hollow cylindrical shell 6.

[0007] As a preferred solution, the three sets of vector thrusters have the same composition and design structure size. The vector thrusters include a propeller 11, a brushless waterproof motor 12, a long U bracket 13, a first metal main steering disc 14, a first single-axis waterproof steering gear 15, a cup bearing 16, a first steering gear multifunctional bracket 17, a second metal main steering disc 18, a second single-axis waterproof steering gear 19 and a second steering gear multifunctional bracket 110. The top of the sealed cabin 5 is fixedly connected to the second single-axis waterproof steering gear 19 through the second steering gear multifunctional bracket 110, and the rotating shaft of the second single-axis waterproof steering gear 19 is fixedly installed on the second metal main steering disc 18. One end of the long U bracket 13 is fixedly connected to the first metal main steering disc 14 by bolts, and the other end of the second metal main steering disc 18 is fixedly connected to the first steering gear multifunctional bracket 17 to realize the rotation with the second degree of freedom; the first steering gear multifunctional bracket 17 is fixedly connected to the first single-axis waterproof steering gear 15 as a whole, one end of the long U bracket 13 is fixedly connected to the first metal main steering disc 14 by bolts, and the other end is connected to the first steering gear multifunctional bracket 17 and the cup bearing 16 to form a rotating pair; the first single-axis waterproof steering gear 15 rotates to drive the long U bracket 13 and the brushless waterproof motor 12 fixedly connected to the long U bracket to rotate, and the propeller 11 is installed on the rotating shaft of the brushless waterproof motor 12 to realize the rotation with the first degree of freedom.

[0008] As a preferred embodiment, the ultrasonic drill 2 includes an upper housing 21, a pre-tightening bolt 22, a rear cover 23, a rear high acoustic impedance unit 24, a plurality of copper electrode sheets 25, a plurality of piezoelectric ceramic sheets 26, a lower housing 27, an amplitude transformer 28, a free mass block 29, a coring drill rod 210, a compression spring 211, an adjusting nut 212 and a soft steel wire 213. The upper housing 21 is fixedly connected to the lower housing 27. The pre-tightening bolt 22 is sleeved with the rear high acoustic impedance unit 24, a plurality of copper electrode sheets 25 and a plurality of piezoelectric ceramic sheets 26. One end of the amplitude transformer 28 is detachably connected to the rear cover 23 in the upper housing 21 through the pre-tightening bolt 22, and a gap is provided between one end of the amplitude transformer 28 and the rear cover 23. The amplitude transformer 28 and the coring drill rod 210 are connected with a free mass block 29. The coring drill rod 210 is a coring drill with an outer step at the bottom.

[0009] As a preferred embodiment, the drill fixing device 3 includes a guide rail 31, a fixing frame 32, a slider 33, a first electric push rod 34 and a connecting frame 35. A vertical guide rail 31 is fixed on the hollow cylindrical shell 6, and the guide rail 31 and the slider 33 are locked together. The fixing frame 32, the ultrasonic drill 2 and the slider 33 are detachably connected together by bolts. The first electric push rod 34 is fixed on the hollow cylindrical shell 6, and one end of the connecting frame 35 is fixedly connected to the upper part of the first electric push rod 34, and the other end is fixedly connected to the fixing frame 32.

[0010] As a preferred solution, the base support adjustment mechanism 4 includes a second electric push rod 41, a bracket 42 and a connecting rod 43. One end of the bracket 42 is fixedly mounted on the sealed cabin 5, the other end of the bracket 42 is hingedly connected to one end of the second electric push rod, and the other end of the second electric push rod 41 is hingedly connected to the connecting rod 43. The first electric push rod and the second electric push rod have the same structure but different sizes.

[0011] As a preferred solution, the vector thruster 1 has two identical steering gears, the first single-axis waterproof steering gear 15 and the second single-axis waterproof steering gear 19 rotate in different directions respectively, each steering gear has a rotation range of 180°, and the brushless motor 12 drives the propeller 11 to rotate by controlling the steering gear 15 to change the water spraying direction of the propeller 11, thereby providing power for the robot to rise; in addition, when in the drilling working state, the vector thruster provides adhesion for the robot, thereby improving the stability of the robot drilling. The hemispherical shell 8 can effectively reduce the resistance of the robot in the water, thereby improving the working efficiency of the robot.

[0012] As a preferred solution, the ultrasonic drill 2 is connected to the fixing frame 32 by a first electric push rod 34 to adjust the position of the ultrasonic drill 2. During the core breaking process, the vector thruster 1 applies a lateral thrust to break the core, and the contact point between the outer step end face of the coring drill rod 210 and the rock wall can be used as a movable fulcrum of the coring drill rod 210. In the drill fixture 3, the ultrasonic drill 2 and the fixing frame 32 are detachably connected. The ultrasonic drill 2 uses 4 piezoelectric ceramic sheets 26 and 4 copper electrode sheets 25. The inner diameter and outer diameter of the copper electrode sheet 25 are the same as those of the piezoelectric ceramic sheet 26, and the thickness of the copper electrode is about 0.2 mm. The piezoelectric ceramic sheets 26 and the copper electrode sheets 25 are alternately stacked. The outer circular protrusion of the copper electrode sheet 25 is used for welding cables.

[0013] As a preferred solution, the connecting rods 43 in the base support and adjustment mechanism 4 are hingedly connected, and the second electric push rod 41 and the base support and adjustment mechanism 4 have two working states: opening and closing. When in a floating state, the second electric push rod 41 and the connecting rod 43 rotate and retract toward the hollow cylindrical shell 6, and the base support and adjustment mechanism 4 is in a closed state; when the machine is in a drilling working state, the second electric push rod 41 and the connecting rod 43 rotate and expand toward the hollow cylindrical shell 6, and the base support and adjustment mechanism 4 is in an expanded state.

[0014] The method for using the underwater vector propulsion ultrasonic drilling robot comprises the following steps:

[0015] Step 1: During the diving process, by controlling the rotation angle of the waterproof steering gear, the propellers 11 of the three sets of vector thrusters 1 all spray water obliquely upward to provide thrust for the robot to dive; adjust the second single-axis waterproof steering gear 19 and the first single-axis waterproof steering gear 15 of the three sets of vector thrusters 1 according to the rotation direction and the same rotation angle, and before starting the brushless waterproof motor 12, adjust the rotation angle of the second single-axis waterproof steering gear 19 to 90° and the rotation angle of the first single-axis waterproof steering gear 15 to 45°. When encountering obstacles, by controlling the rotation direction and rotation angle of the first single-axis waterproof steering gear 15 and the second single-axis waterproof steering gear 19, the water spraying direction of the propeller 11 is changed to adjust the overall movement posture and movement direction of the robot; by controlling the telescopic length of the electric push rod 34, the base support adjustment mechanism 4 of the robot is in a closed state. The ultrasonic drill 2 is located in the hollow cylindrical shell 6.

[0016] Step 2: During the landing process, control the rotation angle of the waterproof steering gear in the vector thruster so that the propellers 11 of the three sets of vector thrusters 1 spray water obliquely downward, so that the robot lands smoothly. First, stop supplying power to the brushless waterproof motor 12. Then, adjust the second single-axis waterproof steering gear 19 and the first single-axis waterproof steering gear 15 of the three sets of vector thrusters 1 according to the same rotation angle, adjust the rotation angle of the second single-axis waterproof steering gear 19 to 90°, and the rotation angle of the first single-axis waterproof steering gear 15 to 115°. Finally, start the brushless waterproof motor 12, the propeller rotates to provide upward thrust, and the robot moves slowly downward as a whole; when the robot is about to fall to the seabed, the second electric push rod 41 starts to work, and as the second electric push rod 41 continues to extend, the base support adjustment mechanism 4 is changed from a retracted state to an unfolded state. The ultrasonic driller 2 of the robot is located in the hollow cylindrical shell 6.

[0017] Step three: After landing, the base support adjustment mechanism 4 is in the deployed state. The ultrasonic driller 2 is located in the lower hollow cylindrical shell 6. The rotation angle of the waterproof servo in the vector thruster is controlled so that the propellers 11 of the three sets of vector thrusters 1 spray water obliquely upward. First, stop powering the brushless waterproof motor. Then, adjust the second single-axis waterproof servo 19 and the first single-axis waterproof servo 15 of the three sets of vector thrusters 11 according to the same rotation angle, and adjust the rotation angle of the second single-axis waterproof servo 19 to 90° and the rotation angle of the first single-axis waterproof servo 15 to 45°. Finally, start the brushless waterproof motor 12, and the propeller rotates to provide downward thrust, so that the robot is stably attached to the surface of the seabed rock.

[0018] Step 4: During the drilling process, the base support adjustment mechanism 4 is still in the deployed state. The rotation angle of the waterproof servo in the vector thruster is controlled so that the propellers 11 of the three sets of vector thrusters 1 all spray water obliquely upward, generating a downward thrust perpendicular to the robot as a whole. The ultrasonic drill 2 is located at the bottom of the robot. The ultrasonic drill 2 is pushed out of the lower hollow cylindrical shell 6 to a suitable distance by using the first electric push rod 34 and the guide rail 31 to drill the rock. After the ultrasonic drill 2 drills the coring drill rod 210 into the rock, the first electric push rod 34 is used to push the ultrasonic drill 2 in the drilling direction. Since the bottom surface of the coring drill rod 210 is an inclined surface, the rock column is subjected to a lateral thrust exerted by the inclined surface of the coring drill rod 210, and the lateral thrust increases continuously. Finally, the rock column is broken in the coring drill rod 210 , and the soft steel wire 213 inside the coring drill rod fixes the rock column in the coring drill rod 210 . Then, the ultrasonic drill 2 is retracted into the lower hollow cylindrical shell 6 by controlling the first electric push rod 34 .

[0019] Step 5: During the buoyancy process, the ultrasonic drill 2 is inside the lower hollow cylindrical shell 6. The rotation angle of the waterproof servo in the vector thruster is controlled so that the propellers 11 of the three sets of vector thrusters 1 spray water obliquely downward to provide an upward thrust to the robot. First, stop supplying power to the brushless waterproof motor 12. Then, adjust the second single-axis waterproof servo 19 and the first single-axis waterproof servo 15 of the three sets of vector thrusters 1 according to the same rotation angle, adjust the rotation angle of the second single-axis waterproof servo 19 to 90°, and the rotation angle of the first single-axis waterproof servo 15 to 135°. Finally, start the brushless waterproof motor 12, the propeller rotates to provide an upward thrust, and the robot as a whole slowly moves upward until the sampled rock is brought to the sea surface. When the robot leaves the ground, the second electric push rod 41 is controlled to change the base support adjustment mechanism 4 from the unfolded state to the retracted state.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present invention is based on a vector thruster to achieve the robot's diving, complete the landing and stable attachment of the seabed rock bed, use an ultrasonic drill to collect core samples, and finally return the rock samples to the sea surface under the action of the vector thruster. Three sets of waterproof steering gears are combined with vector thruster robots. Each set of vector thrusters has two degrees of freedom, so that the propeller has a flexible water spraying direction, and finally the robot can freely adjust the navigation depth and posture within the range allowed for diving. The movement state of the robot during underwater drilling is controlled by adjusting the rotation angle of the steering gear and the speed of the brushless waterproof motor. The robot has flexible movement and high propulsion efficiency. The sampling task uses an ultrasonic drilling device based on ultrasonic energy. The drill has low power consumption, light weight, and a wide operating temperature range. It only needs a small axial drilling pressure to penetrate hard seabed rocks and can achieve reliable coring. Compared with traditional drilling machines, ultrasonic drills can achieve two working steps of drilling and collection without relying on manpower.

[0022] The base support adjustment device is a combination of an electric push rod and a guide rail. It has two working states: retracted and expanded, depending on the working conditions of the robot. When the robot is about to land, the base support adjustment device is in the expanded state. After the robot lands smoothly, the ultrasonic driller, driven by the electric push rod, realizes reciprocating motion in the drilling direction, so that the drill rod contacts the seabed rock. After the ultrasonic driller penetrates the rock, the soft steel wire inside the drill rod retains the rock inside the drill rod. Finally, the robot returns to the surface of the water to complete the sampling task. Description of the drawings:

[0023] Figure 1 It is a structural schematic diagram of the underwater vector propulsion ultrasonic drilling robot of the present invention.

[0024] Figure 2 It is a top view of the underwater vector-propelled ultrasonic drilling robot of the present invention.

[0025] Figure 3 It is a schematic diagram of a vector thruster of an underwater vector propulsion type ultrasonic drilling robot of the present invention.

[0026] Figure 4 It is a cross-sectional view of a vector propeller of the underwater vector propulsion ultrasonic drilling robot of the present invention.

[0027] Figure 5 It is a schematic diagram of a drilling device fixing device of an underwater vector-propelled ultrasonic drilling robot of the present invention.

[0028] Figure 6 It is a cross-sectional view of a drilling device fixing device of an underwater vector-propelled ultrasonic drilling robot of the present invention.

[0029] Figure 7It is a schematic diagram of the ultrasonic driller of the underwater vector propulsion ultrasonic drilling robot of the present invention.

[0030] Figure 8 It is a cross-sectional view of the ultrasonic drill of the underwater vector-propelled ultrasonic drilling robot of the present invention.

[0031] Fig. 9 It is a schematic diagram of the base support adjustment mechanism of the underwater vector propulsion ultrasonic drilling robot of the present invention.

[0032] Fig.10 It is a schematic diagram of the diving of the underwater vector-propelled ultrasonic drilling robot of the present invention.

[0033] Fig.11 It is a landing schematic diagram of the underwater vector propulsion ultrasonic drilling robot of the present invention.

[0034] Fig.12 It is a robot attachment schematic diagram of the underwater vector propulsion ultrasonic drilling robot of the present invention.

[0035] Fig.13 It is a schematic diagram of ultrasonic drilling of the underwater vector propulsion ultrasonic drilling robot of the present invention.

[0036] Fig.14 It is a schematic diagram of the buoyancy of the underwater vector-propelled ultrasonic drilling robot of the present invention. Specific implementation method:

[0037] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0038] The working principle of the ultrasonic drilling device of the present invention is to utilize the inverse piezoelectric effect of piezoelectric material.

[0039] like Figure 1-9 As shown, an underwater vector-propelled ultrasonic drilling robot comprises a vector thruster 1, an ultrasonic driller 2, a driller fixture 3, a base support adjustment mechanism 4, a sealed cabin 5, a hollow cylindrical shell 6, a lithium battery 7 and a hemispherical shell 8, wherein a hemispherical shell 8 is provided on the top of the sealed cabin 5, and three groups of vector thrusters 1 arranged evenly are installed on the side of the spherical shell 8, and each group of vector thrusters has two degrees of freedom; a lithium battery 7 is installed and arranged in the sealed cabin 5, a hollow cylindrical shell 6 is installed at the lower part of the sealed cabin 5, a driller fixture 3 and an ultrasonic driller 2 are installed inside the hollow cylindrical shell 6, the sealed cabin 5 is hinged to the base support adjustment mechanism 4, and the base support adjustment mechanism 4 is hinged to the hollow cylindrical shell 6.

[0040] As a preferred solution, the vector thruster has the same composition and design structure size, and the vector thruster includes a propeller 11, a brushless waterproof motor 12, a long U bracket 13, a first metal main steering disc 14, a first single-axis waterproof steering gear 15, a cup bearing 16, a first steering gear multifunctional bracket 17, a second metal main steering disc 18, a second single-axis waterproof steering gear 19 and a second steering gear multifunctional bracket 110. The top of the sealed cabin 5 is fixedly connected to the second single-axis waterproof steering gear 19 through the second steering gear multifunctional bracket 110, and the rotating shaft of the second single-axis waterproof steering gear 19 is fixedly installed on the second metal main steering disc 18. end, and the other end of the second metal main steering disc 18 is fixedly connected to the first steering gear multifunctional bracket 17 to achieve rotation with a second degree of freedom; the first steering gear multifunctional bracket 17 is fixedly connected to the first single-axis waterproof steering gear 15 as a whole, one end of the long U bracket 13 is fixedly connected to the first metal main steering disc 14 by bolts, and the other end is connected to the first steering gear multifunctional bracket 17 and the cup bearing 16 to form a rotating pair; the rotation of the first single-axis waterproof steering gear 15 drives the long U bracket 13 and the brushless waterproof motor 12 fixedly connected to the long U bracket to rotate, and the propeller 11 is installed on the rotating shaft of the brushless waterproof motor 12 to achieve rotation with a first degree of freedom.

[0041] As a preferred embodiment, the ultrasonic drill 2 includes an upper housing 21, a pre-tightening bolt 22, a rear cover 23, a rear high acoustic impedance unit 24, a plurality of copper electrode sheets 25, a plurality of piezoelectric ceramic sheets 26, a lower housing 27, an amplitude transformer 28, a free mass block 29, a coring drill rod 210, a compression spring 211, an adjusting nut 212 and a soft steel wire 213. The upper housing 21 is fixedly connected to the lower housing 27. The pre-tightening bolt 22 is sleeved with the rear high acoustic impedance unit 24, a plurality of copper electrode sheets 25 and a plurality of piezoelectric ceramic sheets 26. One end of the amplitude transformer 28 is detachably connected to the rear cover 23 in the upper housing 21 through the pre-tightening bolt 22, and a gap is provided between one end of the amplitude transformer 28 and the rear cover 23. The amplitude transformer 28 and the coring drill rod 210 are connected with a free mass block 29. The coring drill rod 210 is a coring drill with an outer step at the bottom.

[0042] As a preferred embodiment, the drill fixing device 3 includes a guide rail 31, a fixing frame 32, a slider 33, a first electric push rod 34 and a connecting frame 35. A vertical guide rail 31 is fixed on the hollow cylindrical shell 6, and the guide rail 31 and the slider 33 are locked together. The fixing frame 32, the ultrasonic drill 2 and the slider 33 are detachably connected together by bolts. The first electric push rod 34 is fixed on the hollow cylindrical shell 6, and one end of the connecting frame 35 is fixedly connected to the upper part of the first electric push rod 34, and the other end is fixedly connected to the fixing frame 32.

[0043] As a preferred solution, the base support adjustment mechanism 4 includes a second electric push rod 41, a bracket 42 and a connecting rod 43. One end of the bracket 42 is fixedly mounted on the sealed cabin 5, the other end of the bracket 42 is hingedly connected to one end of the second electric push rod, and the other end of the second electric push rod 41 is hingedly connected to the connecting rod 43. The first electric push rod and the second electric push rod have the same structure but different sizes.

[0044] As a preferred solution, the vector thruster 1 has two identical steering gears, the first single-axis waterproof steering gear 15 and the second single-axis waterproof steering gear 19 rotate in different directions respectively, each steering gear has a rotation range of 180°, and the brushless motor 12 drives the propeller 11 to rotate by controlling the steering gear 15 to change the water spraying direction of the propeller 11, thereby providing power for the robot to rise; in addition, when in the drilling working state, the vector thruster provides adhesion for the robot, thereby improving the stability of the robot drilling. The hemispherical shell 8 can effectively reduce the resistance of the robot in the water, thereby improving the working efficiency of the robot.

[0045] As a preferred solution, the ultrasonic drill 2 is connected to the fixing frame 32 by a first electric push rod 34 to adjust the position of the ultrasonic drill 2. During the core breaking process, the vector thruster 1 applies a lateral thrust to break the core, and the contact point between the outer step end face of the coring drill rod 210 and the rock wall can be used as a movable fulcrum of the coring drill rod 210. In the drill fixture 3, the ultrasonic drill 2 and the fixing frame 32 are detachably connected. The ultrasonic drill 2 uses 4 piezoelectric ceramic sheets 26 and 4 copper electrode sheets 25. The inner diameter and outer diameter of the copper electrode sheet 25 are the same as those of the piezoelectric ceramic sheet 26, and the thickness of the copper electrode is about 0.2 mm. The piezoelectric ceramic sheets 26 and the copper electrode sheets 25 are alternately stacked. The outer circular protrusion of the copper electrode sheet 25 is used for welding cables.

[0046] As a preferred solution, the connecting rods 43 in the base support and adjustment mechanism 4 are hingedly connected, and the second electric push rod 41 and the base support and adjustment mechanism 4 have two working states: opening and closing. When in a floating state, the second electric push rod 41 and the connecting rod 43 rotate and retract toward the hollow cylindrical shell 6, and the base support and adjustment mechanism 4 is in a closed state; when the machine is in a drilling working state, the second electric push rod 41 and the connecting rod 43 rotate and expand toward the hollow cylindrical shell 6, and the base support and adjustment mechanism 4 is in an expanded state.

[0047] like Figure 10-14 As shown, after being deployed to the exploration area, the method for using the underwater vector-propelled ultrasonic drilling robot includes the following steps:

[0048] Step 1: During the diving process, by controlling the rotation angle of the waterproof steering gear, the propellers 11 of the three sets of vector thrusters 1 all spray water obliquely upward to provide thrust for the robot to dive; adjust the second single-axis waterproof steering gear 19 and the first single-axis waterproof steering gear 15 of the three sets of vector thrusters 1 according to the rotation direction and the same rotation angle, and before starting the brushless waterproof motor 12, adjust the rotation angle of the second single-axis waterproof steering gear 19 to 90° and the rotation angle of the first single-axis waterproof steering gear 15 to 45°. When encountering obstacles, by controlling the rotation direction and rotation angle of the first single-axis waterproof steering gear 15 and the second single-axis waterproof steering gear 19, the water spraying direction of the propeller 11 is changed to adjust the overall movement posture and movement direction of the robot; by controlling the telescopic length of the electric push rod 34, the base support adjustment mechanism 4 of the robot is in a closed state. The ultrasonic drill 2 is located in the hollow cylindrical shell 6.

[0049] Step 2: During the landing process, control the rotation angle of the waterproof steering gear in the vector thruster so that the propellers 11 of the three sets of vector thrusters 1 all spray water obliquely downward, so that the robot lands smoothly. First, stop supplying power to the brushless waterproof motor 12. Then, adjust the second single-axis waterproof steering gear 19 and the first single-axis waterproof steering gear 15 of the three sets of vector thrusters 1 according to the same rotation angle, adjust the rotation angle of the second single-axis waterproof steering gear 19 to 90°, and the rotation angle of the first single-axis waterproof steering gear 15 to 115°. Finally, start the brushless waterproof motor 12, the propeller rotates to provide upward thrust, and the robot moves slowly downward as a whole; when the robot is about to fall to the seabed, the second electric push rod 41 starts to work, and as the second electric push rod 41 continues to extend, the base support adjustment mechanism 4 is changed from a retracted state to an unfolded state. The ultrasonic driller 2 of the robot is located in the hollow cylindrical shell 6.

[0050] Step three: After landing, the base support adjustment mechanism 4 is in the deployed state. The ultrasonic driller 2 is located in the lower hollow cylindrical shell 6. The rotation angle of the waterproof servo in the vector thruster is controlled so that the propellers 11 of the three sets of vector thrusters 1 all spray water obliquely upward. First, stop powering the brushless waterproof motor. Then, adjust the second single-axis waterproof servo 19 and the first single-axis waterproof servo 15 of the three sets of vector thrusters 11 according to the same rotation angle, adjust the rotation angle of the second single-axis waterproof servo 19 to 90°, and the rotation angle of the first single-axis waterproof servo 15 to 45°. Finally, start the brushless waterproof motor 12, and the propeller rotates to provide downward thrust, so that the robot can be stably attached to the surface of the seabed rock.

[0051] Step 4: During the drilling process, the base support adjustment mechanism 4 is still in the deployed state. The rotation angle of the waterproof servo in the vector thruster is controlled so that the propellers 11 of the three sets of vector thrusters 1 all spray water obliquely upward, generating a downward thrust perpendicular to the robot as a whole. The ultrasonic drill 2 is located at the bottom of the robot. The ultrasonic drill 2 is pushed out of the lower hollow cylindrical shell 6 to a suitable distance by using the first electric push rod 34 and the guide rail 31 to drill the rock. After the ultrasonic drill 2 drills the coring drill rod 210 into the rock, the first electric push rod 34 is used to push the ultrasonic drill 2 in the drilling direction. Since the bottom surface of the coring drill rod 210 is an inclined surface, the rock column is subjected to a lateral thrust exerted by the inclined surface of the coring drill rod 210, and the lateral thrust increases continuously. Finally, the rock column is broken in the coring drill rod 210 , and the soft steel wire 213 inside the coring drill rod fixes the rock column in the coring drill rod 210 . Then, the ultrasonic drill 2 is retracted into the lower hollow cylindrical shell 6 by controlling the first electric push rod 34 .

[0052] Step 5: During the buoyancy process, the ultrasonic drill 2 is inside the lower hollow cylindrical shell 6. The rotation angle of the waterproof servo in the vector thruster is controlled so that the propellers 11 of the three sets of vector thrusters 1 all spray water obliquely downward to provide an upward thrust to the robot. First, stop supplying power to the brushless waterproof motor 12. Then, adjust the second single-axis waterproof servo 19 and the first single-axis waterproof servo 15 of the three sets of vector thrusters 1 according to the same rotation angle, adjust the rotation angle of the second single-axis waterproof servo 19 to 90°, and the rotation angle of the first single-axis waterproof servo 15 to 135°. Finally, start the brushless waterproof motor 12, the propeller rotates to provide an upward thrust, and the robot as a whole slowly moves upward until the sampled rock is brought to the sea surface. When the robot leaves the ground, the base support adjustment mechanism 4 is changed from the unfolded state to the retracted state by controlling the second electric push rod 41.

[0053] The invention has a simple and compact structure, a small overall volume and high efficiency, can realize the sampling of seabed rocks, and can stably bring rock samples to the water surface by relying on its own device.

[0054] It will be easily understood by those skilled in the art that the above description is only an implementation case of the present invention and is not intended to limit the present invention. Any modification, replacement or change made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater vector-propelled ultrasonic drilling robot, comprising a vector propeller (1), an ultrasonic driller (2), a driller fixing device (3), a base support adjustment mechanism (4), a sealed cabin (5), a hollow cylindrical shell (6), a lithium battery (7) and a hemispherical shell (8), characterized in that: A hemispherical shell (8) is provided on the top of the sealed cabin (5), and three groups of evenly arranged vector thrusters (1) are installed on the side wall of the hemispherical shell (8), and each group of vector thrusters has two degrees of freedom; a lithium battery (7) is installed and arranged in the sealed cabin (5), a hollow cylindrical shell (6) is installed at the bottom of the sealed cabin (5), and a drill fixture (3) and an ultrasonic drill (2) are installed inside the hollow cylindrical shell (6); the sealed cabin (5) is hinged to a base support adjustment mechanism (4), and the base support adjustment mechanism (4) is hinged to the hollow cylindrical shell (6); The vector thruster comprises a propeller (11), a brushless waterproof motor (12), a long U bracket (13), a first metal main steering disc (14), a first single-axis waterproof steering gear (15), a cup bearing (16), a first steering gear multifunctional bracket (17), a second metal main steering disc (18), a second single-axis waterproof steering gear (19) and a second steering gear multifunctional bracket (110). The second single-axis waterproof steering gear (19) is fixedly connected to the top of the sealed cabin (5) through the second steering gear multifunctional bracket (110). The rotating shaft of the second single-axis waterproof steering gear (19) is fixedly installed at one end of the second metal main steering disc (18). The second metal main steering disc (18) is fixedly connected to the second single-axis waterproof steering gear (19). The other end of the steering wheel (18) is fixedly connected to the first steering gear multifunctional bracket (17) to realize the rotation of the second degree of freedom; the first steering gear multifunctional bracket (17) is fixedly connected to the first single-axis waterproof steering gear (15) as a whole; one end of the long U bracket (13) is fixedly connected to the first metal main steering wheel (14) by bolts, and the other end is connected to the first steering gear multifunctional bracket (17) and the cup bearing (16) to form a rotating pair; the first single-axis waterproof steering gear (15) rotates to drive the long U bracket (13) and the brushless waterproof motor (12) to rotate, and the propeller (11) is installed on the rotating shaft of the brushless waterproof motor (12) to realize the rotation of the first degree of freedom; The ultrasonic drill (2) comprises an upper shell (21), a pre-tightening bolt (22), a rear cover plate (23), a rear high acoustic impedance unit (24), a plurality of copper electrode sheets (25), a plurality of piezoelectric ceramic sheets (26), a lower shell (27), an amplitude transformer (28), a free mass block (29), a core drilling rod (210), a compression spring (211), an adjustment nut (212) and a soft steel wire (213). The upper shell (21) is fixedly connected to the lower shell (27), and the pre-tightening bolt ( 22) is sleeved with a rear high acoustic impedance unit (24), a plurality of copper electrode sheets (25) and a plurality of piezoelectric ceramic sheets (26); one end of the horn (28) is detachably connected to the rear cover plate (23) in the upper shell (21) through a pre-tightening bolt (22); a gap is provided between one end of the horn (28) and the rear cover plate (23); the horn (28) and the coring drill rod (210) are connected with a free mass block (29); the coring drill rod (210) is a coring drill with an outer step at the bottom end; The drill fixing device (3) comprises a guide rail (31), a fixing frame (32), a slide block (33), a first electric push rod (34) and a connecting frame (35); a vertical guide rail (31) is fixed on the hollow cylindrical shell (6), and the guide rail (31) and the slide block (33) are locked together; the fixing frame (32), the ultrasonic drill (2) and the slide block (33) are detachably connected together; a first electric push rod (34) is fixed on the hollow cylindrical shell (6); one end of the connecting frame (35) is fixedly connected to the upper part of the first electric push rod (34), and the other end is fixedly connected to the fixing frame (32); The base support adjustment mechanism (4) comprises a second electric push rod (41), a bracket (42) and a connecting rod (43); one end of the bracket (42) is fixedly mounted on the sealed cabin (5); the other end of the bracket (42) is hinged to one end of the second electric push rod (41); and the other end of the second electric push rod (41) is hinged to the connecting rod (43).

2. A method for using the underwater vector-propelled ultrasonic drilling robot according to claim 1, characterized in that: include: Step 1: During the dive, the rotation angle of the waterproof steering gear is controlled, and the propellers (11) of the three sets of vector thrusters (1) all spray water obliquely upward; The second single-axis waterproof steering gear (19) and the first single-axis waterproof steering gear (15) of the three sets of vector thrusters (1) are adjusted according to the rotation direction and rotation angle, the water spraying direction of the propeller (11) is changed, and the overall motion posture and motion direction of the robot are adjusted; before starting the brushless waterproof motor (12), the rotation angle of the second single-axis waterproof steering gear (19) is adjusted to 90°, and the rotation angle of the first single-axis waterproof steering gear (15) is adjusted to 45°, so that the base support adjustment mechanism (4) of the robot is in a closed state; Step 2: During the landing process, the rotation angle of the waterproof steering gear is controlled so that the propellers (11) of the three sets of vector thrusters (1) all spray water obliquely downward, so that the robot lands smoothly; Step 3: After landing, the base support adjustment mechanism (4) is in an unfolded state; the rotation angle of the waterproof steering gear in the vector thruster is controlled so that the propellers (11) of the three sets of vector thrusters (1) all spray water obliquely upward; Step 4: During the drilling process, the base support adjustment mechanism (4) is still in the unfolded state; the ultrasonic drill (2) is pushed out from the lower hollow cylindrical shell (6) to a suitable distance by using the first electric push rod (34) and the guide rail (31) to perform rock drilling; Step 5: During the buoyancy process, the ultrasonic drill (2) is located inside the lower hollow cylindrical shell (6); the rotation angle of the waterproof steering gear in the vector thruster is controlled so that the propellers (11) of the three sets of vector thrusters (1) all spray water obliquely downward, the brushless waterproof motor (12) is started, the propellers rotate to provide upward thrust, and the robot as a whole slowly moves upward until the sampled rock is brought to the sea surface; When the robot leaves the ground, the second electric push rod (41) is controlled so that the base support adjustment mechanism (4) is changed from an extended state to a retracted state.

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