Polar ice hole sidewall coring universal robot

Abstract

The polar ice hole side wall coring universal robot belongs to the field of drilling tools, including a drill tool outer tube, a drill tool guide tube, a coring tool and an azimuth locator. The coring tool can extend or retract into the drill tool guide tube. The coring tool includes a hot melt drill bit, an ice core breaker and a hose. A drilling pressure sensor is arranged between the hot melt drill bit and the ice core breaker. The hose can be bent arbitrarily and has multiple mechanical sections connected at equal intervals along its length direction. A displacement sensor is arranged on the outer wall of the mechanical section. The mechanical section includes a fixed ring and a mechanical arm evenly arranged at equal intervals along the circumference of the fixed ring. A hole wall pressure sensor is arranged between the fixed ring and the mechanical arm. The azimuth locator is configured to determine the azimuth displacement of the outer tube relative to the ice hole. An azimuth sensor is arranged on the azimuth locator. The present invention can change the azimuth of drilling. After the hot melt drill bit drills into the side wall of the ice hole, the elevation and azimuth of the coring tool can be changed to achieve sampling of layers in all directions.

Description

Technical Field

[0001] The invention relates to the field of drilling tools, and in particular to a polar ice hole side wall coring universal robot capable of arbitrarily changing the drilling direction in the ice hole. Background Art

[0002] Ice melt drilling is one of the drilling methods for rapid drilling of holes in polar granular snow and ice layers. Volcanic ash layers and ice-rock interlayers are distributed horizontally in polar ice layers, which are extremely important for the study of paleoclimate, paleoenvironment and ice layer change history. Among the current sampling methods for special layers such as volcanic ash layers and ice-rock interlayers in polar ice layers, the sidewall coring method of drilling and coring in the sidewall of the formed ice hole is more applicable. However, the existing wellbore coring tools for oil drilling are difficult to use in polar ice layers due to size and weight restrictions, and the existing repeated coring drills for polar ice holes can only perform coring sampling within a small range of deviation from the borehole axis. When the angle between the target ice layer and the center axis of the borehole is large, the coring effect is greatly reduced. Especially for sampling in the polar subglacial environment with high construction costs, the existing drilling and coring technology has a small number of samples and low sample quality, which is difficult to meet the research needs in related fields. Therefore, a multi-directional coring tool for the side wall of an ice hole is urgently needed to meet the quality and quantity requirements of samples from specific layers in ice core research, and at the same time fill the gaps in related technical fields. Summary of the invention

[0003] The purpose of the present invention is to address the problems existing in drilling and sampling in special strata such as horizontally distributed volcanic ash layers and ice-rock interlayers in polar ice layers, and to propose a polar ice hole sidewall coring universal robot that can drill sidewalls and coring in formed ice holes and arbitrarily change the drilling direction elevation and azimuth.

[0004] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: a polar ice hole side wall coring universal robot, comprising: a drill tool outer tube, a drill tool guide tube, a coring tool and an azimuth locator, the drill tool outer tube is placed in the formed ice hole and directly contacts the ice hole wall, and a through hole for the drill tool guide tube to pass through is opened on the side wall of the drill tool outer tube; the drill tool guide tube is fixed inside the drill tool outer tube, and the tail end of the drill tool guide tube passes through the drill tool outer tube; the coring tool is placed in the drill tool guide tube and can extend from the drill tool guide tube, or The core-drilling tool is retracted into the drill guide tube, and the coring tool includes a hot melt drill bit, an ice core breaker and a hose connected in sequence, wherein a drilling pressure sensor is arranged between the hot melt drill bit and the ice core breaker; the hose can be bent arbitrarily, and a plurality of mechanical sections are connected at equal intervals along its length direction, and a displacement sensor is arranged on the outer wall of the mechanical section, and the mechanical section includes a fixed ring and mechanical arms arranged at equal intervals along the circumference of the fixed ring, and a hole wall pressure sensor is arranged between the fixed ring and the mechanical arm; a gear and a pressure sensor for driving the gear to rotate are arranged at one end of the mechanical arm away from the fixed ring The torque motor; the azimuth locator is installed at the lower part of the outer tube of the drill tool, the azimuth locator is configured to determine the azimuth displacement of the outer tube of the drill tool relative to the ice hole, the azimuth locator is provided with an azimuth sensor, the azimuth locator includes an azimuth motor cabin, a linear reciprocating motor, a rotary motor, a suspension mechanism, a male joint, a first strut, a second strut and a female joint, the suspension mechanism is located below the azimuth motor cabin, and is plugged with the azimuth motor cabin, and the two can rotate relative to each other; the linear reciprocating motor is installed through the motor cylinder mounting plate Inside the azimuth motor cabin, the telescopic rod of the linear reciprocating motor is connected to the rotating motor; the output shaft of the rotating motor is connected to the male joint; the male joint is rotatably connected to multiple first struts through bolts, each first strut is connected to a second strut, the first strut and the second strut are hingedly connected, and the end where the first strut is connected to the second strut is a spike end, and the spike end of the first strut is used to cut into the side wall of the ice hole; the end of the second strut away from the first strut is rotatably connected to the female joint through bolts, and the female joint is connected to the bottom middle position of the suspension mechanism through bolts;

[0005] Among them, the input ends of the hot melt drill bit, ice core breaker, robotic arm, drilling pressure sensor, displacement sensor, hole wall pressure sensor, azimuth sensor, torque motor, linear reciprocating motor and rotary motor are all connected to the host computer located on the surface.

[0006] The polar ice hole side wall coring universal robot comprises: a cable gatherer, a cable receiver and a cable terminal. The cable gatherer is connected to the end of the hose away from the ice core breaker by bolts. The cable gatherer is used to gather the power lines and signal lines of the hot melt drill bit, ice core breaker, robotic arm, drilling pressure sensor, displacement sensor, hole wall pressure sensor, azimuth sensor, torque motor, linear reciprocating motor and rotary motor into one cable; the cable receiver is used to receive the cables; a slip ring is provided in the cable receiver, and the cables connected by the slip ring are connected to the upper computer on the surface through the cable terminal.

[0007] Furthermore, the cable receiver comprises a drum and a spring coil, a support frame is fixed on the inner wall of the outer tube of the drilling tool, the support frame is a cantilever rod structure and its bottom end is fixed on the inner wall of the outer tube of the drilling tool, and is an integral structure with the outer tube of the drilling tool, a through hole is arranged at the top of the support frame, a disc structure is arranged at both ends of the drum, a threaded through hole is arranged at the center axis position of the drum, a bolt is passed through the through hole at the top of the support frame and then inserted into the threaded through hole of the drum, so that the drum can rotate with the bolt as the axis; the central end of the spring coil is fixed on the center of the drum, and the outer end of the spring coil is fixed on the inner wall of the support frame, so that the spring coil can rotate with the reverse rotation of the drum Rotation in the clockwise and clockwise directions respectively realizes tightening and opening, the gear is stuck in the side wall of the ice hole and the fine groove on the inner side of the drill guide tube, and drives the coring tool to extend outward and crawl. The reaction force provided by the side wall of the ice hole and the fine groove on the inner side of the drill guide tube pulls the coring tool downward, the cable is tightened, the drum rotates counterclockwise around the bolt, the cable wound on the drum is released, and the spring is tightened; when the gear reverses and drives the coring tool back into the drill guide tube, the coring tool moves upward, the cable is relaxed, the spring releases the force, the reel is twisted clockwise around the bolt, and the cable is wound around the reel, completing the entire cable retraction and release process.

[0008] Furthermore, the cable terminal is installed on the top of the outer tube of the drilling tool and the two are coaxially arranged. The cable terminal includes an end cover and a cable fixing block. The end cover is a hollow cylindrical structure with an open bottom and a closed top, and a through hole for the cable to pass through is opened at the center of the closed end. The cable fixing block is installed in the end cover, which is used to fix the cable.

[0009] Furthermore, a fine groove for meshing with the gear is provided in the drill guide tube.

[0010] Furthermore, a heat insulation layer is provided on the inner side of the hot melt drill bit.

[0011] Furthermore, the ice core breaker includes a latch tooth, a latch tooth motor and a breaker body. A through groove for accommodating the latch tooth is provided on the breaker body. A latch tooth motor for driving the latch tooth to rotate is fixed on the breaker body. The output shaft of the latch tooth motor fixed on the breaker body passes through a through hole provided on the upper side of the through groove, and is connected to the latch tooth by a key, so that the latch tooth motor can drive the latch tooth to rotate around the center of the through hole on the side of the through groove, and the latch tooth motor is connected to a host computer located on the surface.

[0012] Furthermore, the azimuth angle sensor is arranged between the motor cylinder mounting plate and the linear reciprocating motor, and is coaxial with the outer tube of the drilling tool.

[0013] Through the above design scheme, the present invention can bring the following beneficial effects: the polar ice hole side wall coring universal robot provided by the present invention can be lowered into the already formed ice hole, and the drilling azimuth can be changed. After the hot melt drill drills into the ice hole side wall, the elevation and azimuth of the coring tool can be changed to achieve sampling of layers in all directions. At the same time, the coring tool can realize the hot melt drill pressure adjustment in the drilling trajectory with a small bending radius, and the ice core breaker set in the coring tool can cut off the ice core in time to prevent the ice core from being stuck in the side hole and unable to be removed when the bending radius of the side hole is too small. The polar ice hole side wall coring universal robot is equipped with a drilling pressure sensor, a hole wall pressure sensor, a displacement sensor and an azimuth sensor. The azimuth sensor is arranged in the azimuth locator. The above data can be monitored in real time by the host computer, and the drilling pressure applied to the hot melt drill bit, the supporting force of the robotic arm on the side hole wall, the bending direction and displacement of each part of the coring tool relative to the side hole axis, and the azimuth displacement of the drill tool outer tube relative to the ice hole can be controlled to achieve precise ice layer side wall drilling and coring work. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the cross-sectional structure of a universal robot for coring the sidewall of a polar ice hole;

[0015] Figure 2 It is a schematic diagram of the structure of the coring tool;

[0016] Figure 3 for Figure 2 A partial enlarged view of the middle part;

[0017] Figure 4 This is a schematic diagram of the ice core breaker structure;

[0018] Figure 5 It is a schematic diagram of the structure of the azimuth locator;

[0019] Figure 6 It is a schematic diagram of the cable terminal structure;

[0020] Figure 7This is a schematic diagram of the structure of the cable storage device when storing cables;

[0021] Figure 8 This is a schematic diagram of the polar ice hole side wall coring universal robot after it is lowered into the ice hole;

[0022] Fig. 9 This is a schematic diagram of the state where the robot is fixed to the hole wall after the support rod in the azimuth locator is opened;

[0023] Fig.10 This is a schematic diagram of the state of the polar ice hole side wall coring universal robot drilling into the hole wall to take the core;

[0024] Fig.11 It is a schematic diagram of the position of the coring tool relative to the side hole axis when the polar ice hole side wall coring universal robot of the present invention is linearly drilling;

[0025] Fig.12 It is a schematic diagram of the position of the coring tool relative to the side hole axis after the mechanical arm is extended and adjusted during directional drilling of the polar ice hole side wall coring universal robot of the present invention;

[0026] Fig.13 This is a schematic diagram of the coring tool in a stationary state in an ice hole;

[0027] Fig.14 It is a schematic diagram of the state of the coring tool in the ice hole when the mechanical arm extends the gear to cut into the hole wall;

[0028] Fig.15 It is a schematic diagram of the crawling state of the coring tool in the ice hole when the gear in the present invention cuts into the hole wall and rotates.

[0029] The marks in the figure are as follows: 1-cable terminal, 2-cable receiver, 3-drill tool outer tube, 4-drill tool guide tube, 5-coring tool, 6-azimuth locator, 7-hot melt drill bit, 8-insulation layer, 9-grip, 10-clip breaker body, 11-mechanical arm, 12-fixing ring, 13-gear, 14-hose, 15-cable collector, 16-motor cylinder mounting plate, 17-azimuth motor cabin, 18-linear reciprocating motor, 19-rotating motor, 20-suspension mechanism, 21-male connector, 22-first support rod, 23-second support rod, 24-female connector, 25-end cover, 26-cable fixing block, 27-reel, 28-spring coil spring, 29-slip ring, 30-torque motor, 31-grip motor. DETAILED DESCRIPTION

[0030] In order to explain the present invention more clearly, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. It should be understood by those skilled in the art that the content described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meanings understood by people with ordinary skills in the field to which the present invention belongs.

[0031] To avoid obscuring the essence of the present invention, well-known methods, procedures, processes, components and circuits have not been described in detail.

[0032] See also Figures 1 to 15As shown, the polar ice hole side wall coring universal robot provided by the present invention comprises a drill tool outer tube 3, a drill tool guide tube 4, a coring tool 5, an azimuth locator 6, a cable collector 15, a cable receiver 2 and a cable terminal 1. The drill tool outer tube 3 is placed in the formed ice hole and in direct contact with the ice hole wall, and a through hole for the drill tool guide tube 4 to pass through is opened on the side wall of the drill tool outer tube 3; the drill tool guide tube 4 is fixed in the drill tool outer tube 3, and the tail end of the drill tool guide tube 4 is placed outside the drill tool outer tube 3; the coring tool 5 is placed in the drill tool guide tube 4 and can be extended from the drill tool guide tube 4, or retracted into the drill tool guide tube 4, and the coring tool 5 comprises a hot melt drill bit 7, an ice core breaker connected in sequence and hose 14, wherein a heat insulating layer 8 is arranged on the inner side of the hot melt drill bit 7 for protecting the ice core taken during the drilling process so that it does not melt again, the hot melt drill bit 7 is connected to the ice core breaker by bolts, a drilling pressure sensor is arranged between the hot melt drill bit 7 and the ice core breaker, and the ice core breaker is connected to the hose 14 by bolts; the hose 14 can be bent arbitrarily, and a plurality of mechanical sections are connected at equal intervals along its length direction. It should be noted that in the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined, a displacement sensor is arranged on the outer wall of the mechanical section, and the mechanical section includes a fixed ring 12 and mechanical arms 11 evenly arranged at equal intervals along the circumference of the fixed ring 12, and a fixed A hole wall pressure sensor is provided between the fixed ring 12 and the mechanical arm 11; a gear 13 and a torque motor 30 for driving the gear 13 to rotate are provided at one end of the mechanical arm 11 away from the fixed ring 12; the azimuth locator 6 is arranged at the lower part of the drill tool outer tube 3, which is connected to the drill tool outer tube 3 by bolts, and the azimuth locator 6 is configured to determine the azimuth displacement of the drill tool outer tube 3 relative to the ice hole, and an azimuth sensor is provided on the azimuth locator 6, and the azimuth locator 6 includes an azimuth motor cabin 17, a suspension mechanism 20, a linear reciprocating motor 18, a rotating motor 19, a male connector 21, a female connector 24, a first strut 22 and a second strut 23, and the suspension mechanism 20 is located below the azimuth motor cabin 17 and is connected to the drill tool outer tube 3. The azimuth motor cabin 17 is plugged in and can rotate relative to each other. The linear reciprocating motor 18 is installed inside the azimuth motor cabin 17 through the motor cylinder mounting plate 16. The telescopic rod of the linear reciprocating motor 18 is connected to the rotating motor 19. The output shaft of the rotating motor 19 is connected to the male joint 21. The male joint 21 is connected to multiple first struts 22 through bolts. Each first strut 22 is connected to a second strut 23. The first strut 22 and the second strut 23 are hingedly connected, and the end where the first strut 22 and the second strut 23 are connected is a spiked end; the end of the second strut 23 away from the first strut 22 is rotatably connected to the female joint 24 through bolts, and the female joint 24 is connected to the bottom middle position of the suspension mechanism 20 through bolts.The azimuth motor cabin 17 and the suspension mechanism 20 can rotate relative to each other, the first strut 22 and the second strut 23 can rotate around the connection point between the two, the male connector 21 and the first strut 22 can rotate around the connection point between the two, and the female connector 24 and the second strut 23 can rotate around the connection point between the two. The azimuth sensor is arranged between the motor cylinder mounting plate 16 and the linear reciprocating motor 18, coaxial with the drill tool outer tube 3, and is used to measure and feedback the change of the azimuth when the drill tool rotates in the borehole. The input ends of the linear reciprocating motor 18 and the rotary motor 19 are connected to the upper computer located on the surface. The cable gatherer 15 is connected to the end of the hose 14 away from the ice core breaker by bolts. The cable gatherer 15 is used to gather the power lines and signal lines of the hot melt drill bit 7, ice core breaker, mechanical arm 11, drilling pressure sensor, displacement sensor, hole wall pressure sensor, azimuth sensor, torque motor 30, linear reciprocating motor 18 and rotary motor 19 into a cable; this technology is a prior art, and the main method adopted is that the power lines and signal lines led out from the hot melt drill bit 7, ice core breaker, mechanical arm 11, drilling pressure sensor, displacement sensor, hole wall pressure sensor, azimuth sensor, torque motor 30, linear reciprocating motor 18 and rotary motor 19 enter the small holes in the cable gatherer 15 at the end of the hose 14, and are led out from the small hole at the top of the cable gatherer 15, thereby merging into a cable; the cable receiver 2 is used to receive the cable, and a slip ring 29 is provided in the cable receiver 2, and the cable connected to the slip ring 29 is connected to the upper computer located on the surface through the cable terminal 1;.

[0033] The drill guide tube 4 is provided with a fine groove for meshing with the gear 13 .

[0034] The cable terminal 1 is arranged above the outer tube 3 of the drilling tool. The cable terminal 1 is coaxially connected to the outer tube 3 of the drilling tool through a thread. The cable terminal 1 includes an end cover 25 and a cable fixing block 26. The end cover 25 is a hollow cylindrical structure with an open bottom and a closed top, and a through hole for the cable to pass through is opened at the center of the closed end. The cable fixing block 26 is installed in the end cover 25, which is used to fix the cable.

[0035] The cable receiver 2 includes a drum 27 and a spring coil 28. A support frame is fixed on the inner wall of the drill tool outer tube 3. The support frame is a cantilever rod structure and its bottom end is fixed on the inner wall of the drill tool outer tube 3. It is an integral structure with the drill tool outer tube 3. A through hole is provided at the top of the support frame. Disc structures are provided at both ends of the drum 27 to prevent the stored cable from falling off. A threaded through hole is provided at the center axis position of the drum 27. A bolt is inserted into the threaded through hole of the drum 27 after passing through the through hole at the top of the support frame, so that the drum 27 can rotate with the bolt as the axis; the center end of the spring coil 28 is fixed on the center of the drum 27, and the outer end of the spring coil 28 is fixed on the inner wall of the support frame, so that the spring coil 28 can rotate with the winding. The counterclockwise and clockwise rotations of the drum 27 respectively realize tightening and opening, and the gear 13 is stuck in the side wall of the ice hole and the fine groove inside the drill guide tube 4, and drives the coring tool 5 to extend outward and crawl. The reaction force provided by the side wall of the ice hole and the fine groove inside the drill guide tube 4 pulls the coring tool 5 downward, the cable is tightened, the drum 27 rotates counterclockwise around the bolt, the cable wound on the drum 27 is released, and the spring spring 28 is tightened; when the gear 13 reverses and drives the coring tool 5 to be retracted into the drill guide tube 4, the coring tool 5 goes up, the cable is relaxed, the spring spring 28 releases the force, and the drum 27 is twisted to rotate clockwise around the bolt to wind the cable around the drum 27, completing the entire cable retraction and release process.

[0036] The ice core breaker includes a latch tooth 9, a latch tooth motor 31 and a breaker body 10. The breaker body 10 is provided with a through groove for accommodating the latch tooth 9. The breaker body 10 is fixed with a latch tooth motor 31 for driving the latch tooth 9 to rotate. The axis of the latch tooth motor 31 fixed on the breaker body 10 passes through the through hole on the upper side of the through groove and is connected to the latch tooth 9 by a key, so that the latch tooth motor 31 can drive the latch tooth 9 to rotate around the center of the through hole on the side of the through groove. The latch tooth motor 31 is connected to the host computer for communication.

[0037] The above-mentioned cable receiver 2, robotic arm 11, cable collector 15, linear reciprocating motor 18, rotary motor 19, suspension mechanism 20, torque motor 30, gear motor 31, drilling pressure sensor, hole wall pressure sensor, displacement sensor and azimuth sensor are all assemblies of existing equipment, so the specific models and specifications are not repeated.

[0038] Working principle of the present invention: The polar ice hole side wall coring universal robot provided by the present invention is lowered into the formed ice hole by a winch. After reaching the target layer, the telescopic rod of the linear reciprocating motor 18 in the azimuth locator 6 is extended by the host computer to drive the first support rod 22 and the second support rod 23 to rotate relative to the connection point between the two. The distance between the connection point of the first support rod 22 and the second support rod 23 relative to the axis of the polar ice hole side wall coring universal robot increases, and finally the spiked end of the first support rod 22 cuts into the side wall of the ice hole, and then the host computer is used to control the rotation motor 19 to rotate and drive other upper mechanisms of the drilling tool except the suspension mechanism 20 to rotate relative to the ice hole, and the azimuth of the drilling direction of the coring tool 5 is adjusted before drilling the side wall. After positioning, the host computer controls the torque motor 30 in the coring tool 5 to drive the gear 13 to rotate. Through the meshing of the gear 13 and the fine groove in the drill guide tube 4, the coring tool 5 extends out of the drill guide tube 4. At this time, the cable at the end of the coring tool 5 pulls the reel 27 in the cable receiver 2 to rotate, the spring 28 is tightened, and the cable is released. The host computer controls to turn on the heating function of the hot melt drill bit 7, and the coring tool 5 enters the side wall of the ice hole with the help of heat. After the first mechanical node enters the side hole, the host computer controls the extension of the mechanical arm 11 on each mechanical node in the coring tool 5, and the teeth of the gear 13 are inserted into the borehole wall to fix the polar ice hole side wall coring universal robot. At the same time, the displacement of the fixing ring 12 and the hose 14 in the side wall borehole relative to the borehole axis can be controlled. The pressure between the gear 13 and the side hole wall is measured and controlled by the borehole wall pressure sensor arranged between the mechanical arm 11 and the fixing ring 12. The displacement sensor 12 is arranged on the fixed ring 12 to measure and control, thereby controlling the elevation angle and azimuth angle of the drilling direction of the coring tool 5. The gear 13 eats into the ice wall of the side hole and rotates, driving the entire coring tool 5 to crawl in the ice hole on the side wall, and at the same time providing drilling pressure for the coring tool 5. The drilling pressure is measured by the drilling pressure sensor between the hot melt drill bit 7 and the ice core breaker. When the bending radius of the coring tool 5 drilling into the side hole is small, the upper computer starts the card tooth motor 31 fixed on the card breaker body 10, driving the card tooth 9 to cut off the ice core and then retract. After the coring is completed, the upper computer controls the card tooth 9 of the ice core breaker to extend to block the ice core. The torque motor 30 is completely reversed, the coring tool 5 withdraws from the side hole and is retracted into the drilling tool guide tube 4. The power supply of the hot melt drill bit 7 is cut off, and the clockwork coil spring 28 of the cable receiver 2 is stretched to store the cable of the coring tool 5 into the drum 27. The winch lifts the polar ice hole side wall coring universal robot to the surface to complete the coring.

Claims

1. Polar ice hole side wall coring universal robot, characterized by: include: A drill tool outer tube (3), a drill tool guide tube (4), a coring tool (5) and an azimuth locator (6), wherein the drill tool outer tube (3) is placed in an already formed ice hole and in direct contact with the wall of the ice hole, and a through hole is provided on the side wall of the drill tool outer tube (3) for the drill tool guide tube (4) to pass through; the drill tool guide tube (4) is fixed inside the drill tool outer tube (3), and the rear end of the drill tool guide tube (4) passes through the drill tool outer tube (3); the coring tool (5) is placed in the drill tool guide tube (4) and can extend from the drill tool guide tube (4) or retract into the drill tool guide tube (4), and the coring tool (5) comprises a hot melt drill bit (7), an ice core breaker and a hose (14) connected in sequence. ), wherein a drilling pressure sensor is arranged between the hot melt drill bit (7) and the ice core breaker; the hose (14) can be bent arbitrarily, and a plurality of mechanical sections are connected at equal intervals along its length direction, and a displacement sensor is arranged on the outer wall of the mechanical section, and the mechanical section comprises a fixed ring (12) and mechanical arms (11) arranged at equal intervals along the circumference of the fixed ring (12), and a hole wall pressure sensor is arranged between the fixed ring (12) and the mechanical arm (11); a gear (13) and a torque motor (30) for driving the gear (13) to rotate are arranged at one end of the mechanical arm (11) away from the fixed ring (12); the azimuth locator (6) is installed at the lower part of the drill tool outer tube (3), and the azimuth locator (6) is equipped with The azimuth positioner (6) is used to determine the azimuth displacement of the outer tube of the drilling tool (3) relative to the ice hole. The azimuth positioner (6) is provided with an azimuth sensor. The azimuth positioner (6) comprises an azimuth motor cabin (17), a linear reciprocating motor (18), a rotary motor (19), a suspension mechanism (20), a male connector (21), a first support rod (22), a second support rod (23) and a female connector (24). The suspension mechanism (20) is located below the azimuth motor cabin (17) and is plugged into the azimuth motor cabin (17), and the two can rotate relative to each other. The linear reciprocating motor (18) is installed inside the azimuth motor cabin (17) through a motor cylinder mounting plate (16). The linear reciprocating motor (18) ) is connected to a rotating motor (19); the output shaft of the rotating motor (19) is connected to a male joint (21); the male joint (21) is rotatably connected to a plurality of first support rods (22) via bolts, each first support rod (22) is connected to a second support rod (23), the first support rod (22) and the second support rod (23) are hingedly connected, and one end of the first support rod (22) connected to the second support rod (23) is a spike end, and the spike end of the first support rod (22) is used to cut into the side wall of the ice hole; one end of the second support rod (23) away from the first support rod (22) is rotatably connected to a female joint (24) via bolts, and the female joint (24) is connected to the middle position of the bottom of the suspension mechanism (20) via bolts; The input ends of the hot melt drill bit (7), the ice core breaker, the mechanical arm (11), the drilling pressure sensor, the displacement sensor, the hole wall pressure sensor, the azimuth sensor, the torque motor (30), the linear reciprocating motor (18) and the rotary motor (19) are all connected to a host computer located on the surface.

2. The polar ice hole side wall coring universal robot according to claim 1, characterized in that: Also includes: A cable collector (15), a cable receiver (2) and a cable terminal (1), wherein the cable collector (15) is connected to an end of the hose (14) away from the ice core breaker by means of bolts, and the cable collector (15) is used to collect power lines and signal lines of the hot melt drill bit (7), the ice core breaker, the mechanical arm (11), the drilling pressure sensor, the displacement sensor, the hole wall pressure sensor, the azimuth sensor, the torque motor (30), the linear reciprocating motor (18) and the rotary motor (19) into one cable; the cable receiver (2) is used to receive the cables; A slip ring (29) is provided in the cable receiver (2), and the cable connected to the slip ring (29) is connected to a host computer located on the ground surface via a cable terminal (1).

3. The polar ice hole side wall coring universal robot according to claim 2, characterized in that: The cable receiver (2) comprises a drum (27) and a spring coil (28). A support frame is fixed on the inner wall of the drill tool outer tube (3). The support frame is a cantilever rod structure and its bottom end is fixed on the inner wall of the drill tool outer tube (3). The support frame is an integral structure with the drill tool outer tube (3). A through hole is arranged at the top of the support frame. A disc structure is arranged at both ends of the drum (27). A threaded through hole is arranged at the center axis position of the drum (27). A bolt is inserted into the threaded through hole of the drum (27) after passing through the through hole at the top of the support frame, so that the drum (27) can rotate with the bolt as the axis. The center end of the spring coil (28) is fixed on the center of the drum (27). The outer end of the spring coil (28) is fixed on the inner wall of the support frame, so that the spring coil (28) can rotate with the reverse rotation of the drum (27). The rotation in the clockwise and clockwise directions respectively realizes tightening and opening, the gear (13) is inserted into the side wall of the ice hole and the inner groove of the drill guide tube (4), and drives the coring tool (5) to extend outward and crawl. The reaction force provided by the side wall of the ice hole and the inner groove of the drill guide tube (4) pulls the coring tool (5) downward, the cable is tightened, the drum (27) rotates counterclockwise around the bolt, the cable wound on the drum (27) is released, and the spring coiling spring (28) is tightened; when the gear (13) rotates in the reverse direction and drives the coring tool (5) to be retracted into the drill guide tube (4), the coring tool (5) moves upward, the cable is relaxed, the spring coiling spring (28) releases its force, the drum (27) is twisted to rotate clockwise around the bolt, and the cable is wound on the drum (27), completing the entire cable retraction and release process.

4. The polar ice hole side wall coring universal robot according to claim 2, characterized in that: The cable terminal (1) is mounted on the top of the drilling tool outer tube (3) and the two are coaxially arranged. The cable terminal (1) comprises an end cover (25) and a cable fixing block (26). The end cover (25) is a hollow cylindrical structure with an open bottom and a closed top, and a through hole for the cable to pass through is opened at the center of the closed end. The cable fixing block (26) is mounted in the end cover and is used to fix the cable.

5. The polar ice hole side wall coring universal robot according to claim 1, characterized in that: The drilling tool guide tube (4) is provided with a fine groove for meshing with the gear (13).

6. The polar ice hole side wall coring universal robot according to claim 1, characterized in that: A heat insulation layer (8) is provided on the inner side of the hot melt drill bit (7).

7. The polar ice hole side wall coring universal robot according to claim 1, characterized in that: The ice core breaker comprises a latching tooth (9), a latching tooth motor (31) and a breaker body (10); a through slot for accommodating the latching tooth (9) is provided on the breaker body (10); a latching tooth motor (31) for driving the latching tooth (9) to rotate is fixed on the breaker body (10); an output shaft of the latching tooth motor (31) fixed on the breaker body (10) passes through a through hole provided on the upper side of the through slot and is connected to the latching tooth (9) via a key, so that the latching tooth motor (31) can drive the latching tooth (9) to rotate around the center of the through hole on the side of the through slot; and the latching tooth motor (31) is connected to a host computer located on the surface.

8. The polar ice hole side wall coring universal robot according to claim 1, characterized in that: The azimuth angle sensor is arranged between the motor cylinder mounting plate (16) and the linear reciprocating motor (18), and is coaxial with the drilling tool outer tube (3).

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