A multi-point drilling and sampling device based on a subsea tracked vehicle

Abstract

The present invention discloses a multi-point drilling and sampling device based on a subsea crawler vehicle, which includes a sliding seat, a positioning electromagnet, a rod-changing oil cylinder, a dial pawl, a rod-clamping assembly, a sampling drill pipe, a drill pipe rack, a frame, a rod-loosening assembly, a guide rod, a driving drill pipe, a power head, and a rod-changing disc. A guide rod and a propulsion oil cylinder are fixedly installed on the frame, and the sliding seat is in clearance fit with the guide rod; the piston rod end of the propulsion oil cylinder is hinged to the sliding seat; a power head is fixed on the sliding seat, and a driving drill pipe is provided at the output end of the power head. The driving drill pipe can be coaxially screwed with the sampling drill pipe fixed by the clamping assembly on the drill pipe rack; the dial pawl is slidably installed in the arc guide groove on the frame, and the lower part of the dial pawl can be meshed with the rectangular teeth on the edge of the rod-changing disc; a positioning electromagnet is provided on the frame. The structure of the present invention is simple and the function is reliable. Each sampling drill pipe can be independently clamped, with the characteristics of high positioning accuracy and reliable clamping. At the same time, no slot is opened on the drill pipe, which does not affect the strength and service life of the drill pipe.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine machinery, and particularly relates to a multi-point drilling and sampling device based on a subsea crawler vehicle. Technical Background

[0002] In order to explore the composition of subsea substances, a subsea drill is lowered to the seabed to obtain subsea samples by drilling. Since the diving process of a general drill takes a long time, in order to improve the sampling efficiency and accurately obtain multiple subsea samples, the drill needs to carry multiple sampling drill pipes, and at the same time, the sampling drill pipes can be successively connected to the drilling device under precise movement to achieve multi-point drilling and sampling. However, there is less research in this area in China at present, and most of them can only drill samples at a single hole position on the seabed. For example, the deep-sea electric drive integrated clamping operation subsea crust sampling device described in Patent CN201922468843.5 can carry one sampling drill pipe and sample the subsea crust at a single hole position.

[0003] A deep-sea micro-sampling robot described in Patent CN202211030422.4 drives a ratchet through a hydraulic cylinder to drive the drill pipe rack to rotate. A plurality of sampling drill pipes are arranged on the drill pipe rack, and the sampling drill pipes can be successively connected to the drilling device, and then the robot is driven to move by four traveling wheels, so as to achieve multi-point sampling. However, in order to clamp the sampling drill pipe, grooves are opened on the sampling drill pipe, which reduces the strength of the sampling drill pipe. If the grooves are blocked by sediment, it will be very difficult to firmly clamp the sampling drill pipe on the drill pipe rack. In addition, in the harsh deep-sea environment, the guide rail on the drilling device is easily abraded, which will seriously affect the drilling efficiency.

[0004] Therefore, it is an urgent technical problem to develop a multi-point drilling and sampling device based on a subsea crawler vehicle, which can reliably clamp the sampling drill pipe without damaging its structural strength, can reduce the abrasion of the guide rail of the drilling device, and at the same time, can accurately and reliably connect the sampling drill pipes to the drilling device in sequence. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a multi-point drilling and sampling device based on a subsea crawler vehicle, which has a simple structure, is convenient to operate, can reliably clamp the sampling drill pipe and realize rod replacement, and at the same time, the guide rail is reliable and durable.

[0006] The technical solution adopted by the present invention is: a multi-point drilling and sampling device based on a subsea crawler vehicle, which is characterized in that it includes a sliding seat, a positioning electromagnet, a rod-changing oil cylinder, a dial pawl, a rod-clamping assembly, a sampling drill pipe, a drill pipe rack, a frame, a propulsion oil cylinder, a rod-loosening assembly, a guide rod, a driving drill pipe, a power head and a rod-changing disc;

[0007] The rack successively includes a lower rack, a central shaft, and an upper rack from bottom to top. The upper rack is installed on the lower rack through the central shaft, and the central shaft is arranged perpendicular to the lower rack and the upper rack; the drill pipe rack is installed outside the central shaft and coaxial with the central shaft, and can rotate around the central shaft; the drill pipe rack is provided with a plurality of drill pipe holes, and a sampling drill pipe is arranged in each drill pipe hole. The axis of the sampling drill pipe is parallel to the axis of the central shaft, and the plurality of sampling drill pipes are evenly arranged in the circumferential direction; a clamping rod assembly is provided at the drill pipe hole of the drill pipe rack, and the clamping rod assembly can clamp the sampling drill pipe; a rod-changing disc is coaxially fixed at the top of the drill pipe rack;

[0008] A guide rod and two propulsion oil cylinders are fixedly installed on the rack. The axes of the guide rod and the propulsion oil cylinders are parallel to the axis of the sampling drill pipe; the sliding seat is provided with a guide hole, and the sliding seat is in clearance fit with the guide rod; the piston rod ends of the two propulsion oil cylinders are respectively hinged to both ends of the sliding seat; a power head is fixed on the sliding seat, and a driving drill pipe is provided at the output end of the power head. The driving drill pipe passes through the drill hole on the upper rack and can be coaxially screwed with the sampling drill pipe;

[0009] At the bottom surface of the drill hole on the upper rack of the rack, a rod-loosening assembly is provided; the upper rack is provided with an arc-shaped guide groove coaxial with the drill pipe library. A dial pawl is slidably installed in the guide groove. The lower part of the dial pawl meshes with the rectangular teeth on the edge of the rod-changing disc, and the upper part of the dial pawl is hinged to one end of the rod-changing oil cylinder, and the other end of the rod-changing oil cylinder is hinged to the upper rack; a positioning electromagnet is provided on the upper rack. The moving end of the positioning electromagnet passes through the upper rack and is coaxially inserted into the positioning hole on the rod-changing disc, and the diameter of the moving end is equal to the diameter of the positioning hole on the rod-changing disc.

[0010] Further, the clamping rod assembly includes a fixed clamping block, a gasket, a moving clamping block, a loosening piece, a bolt, a pre-tightening spring, and a clamping rod oil cylinder; the fixed clamping block is fixed on the drill pipe rack. The fixed clamping block is provided with two parallel bolts, and a semi-circular groove is provided on the end face facing the center of the drill pipe hole. A gasket is fixed in the semi-circular groove, and the semi-circular groove of the fixed clamping block is coaxial with the corresponding drill pipe hole; the moving clamping block is provided with two parallel bolt holes, and the moving clamping block is sleeved on the two bolts through the two bolt holes; a semi-circular groove is provided on the end face of the moving clamping block facing the fixed clamping block; one bolt hole is provided on each side of the clamping rod oil cylinder, and the clamping rod oil cylinder is sleeved on the two bolts; a pre-tightening spring is sleeved on each bolt, and the pre-tightening spring is located between the clamping rod oil cylinder and the moving clamping block; the piston rod of the clamping rod oil cylinder abuts against the moving clamping block, and the chamber of the clamping rod oil cylinder close to the moving clamping block is communicated with the outside, and seawater can fill the chamber.

[0011] Further, it also includes a rod-loosening assembly and a loosening piece; the loosening piece is composed of a side plate and a bottom plate perpendicular to each other, and the bottom plate is fixed on the top surface of the moving clamping block; a loosening piece screw is provided on the side plate; the axis of the loosening piece screw is perpendicular to the axis of the sampling drill pipe; one rod-loosening assembly is provided corresponding to each clamping rod assembly. The rod-loosening assembly includes two rod-loosening electromagnets and a rod-loosening plate. The two rod-loosening electromagnets are respectively fixed on both sides of the drill pipe hole on the bottom surface of the upper rack, and both ends of the rod-loosening plate are respectively fixed on the moving ends of the two rod-loosening electromagnets. The rod-loosening plate contacts the end of the loosening piece screw facing away from the clamping rod oil cylinder.

[0012] Further, the drill pipe rack includes a lower disc, a lower shaft sleeve, an upper disc, an upper shaft sleeve, and a bushing; the lower disc and the upper disc are coaxially arranged; a plurality of through holes are evenly provided on the lower disc and the upper disc along the circumference, and the plurality of through holes on the lower disc and the upper disc correspond one by one, and two corresponding through holes form a drill pipe hole coaxially.

[0013] A bushing is fixed in the through hole of the lower disc, and the inner diameter of the bushing is larger than the outer diameter of the sampling drill pipe; the upper shaft sleeve is welded in the central hole of the lower disc, and the upper shaft sleeve is welded in the central hole of the upper disc; the upper shaft sleeve is sleeved in the inner hole of the lower shaft sleeve and is fixedly connected with the lower shaft sleeve; an upper rib plate is welded to the lower end surface of the upper disc; a lower rib plate is welded between the lower shaft sleeve and the upper end surface of the lower disc.

[0014] Further, the lower frame includes side plates, reinforcing plates, a main board, and a lower shaft; one end of the lower shaft is vertically fixed on the main board, and the lower frame is provided with a through inner hole at the axis of the lower shaft. Two side plates are vertically welded on both sides below the main board. A frame mounting hole is provided at a position near the axis of the lower shaft at the lower part of the side plate. The reinforcing plate is vertically welded between the two side plates and is also welded to the bottom of the main board; a sliding bearing I is provided between the drill pipe rack and the lower frame. The lower part of the sliding bearing I is located between the lower end surface of the drill pipe rack and the main board, and the upper part is located between the lower shaft and the inner hole of the drill pipe rack.

[0015] Further, the lower end surface of the middle shaft of the frame is coaxially welded to the upper end surface of the lower shaft of the lower frame. A sliding bearing II is provided between the middle shaft and the drill pipe rack. The lower part of the sliding bearing II is located between the middle shaft and the drill pipe rack, and the upper part is located between the positioning ring on the middle shaft and the lower shaft sleeve of the drill pipe magazine. At the same time, the upper end surface of the sliding bearing II is located below the lower cross section of the upper shaft sleeve of the drill pipe magazine.

[0016] Further, the dial pawl includes a sliding frame, a seesaw, a claw head, a spring piece, and an electromagnetic head; the upper part of the sliding frame is hinged to one end of the rod-changing oil cylinder, the middle part is installed in the arc guide groove on the upper frame of the frame, the lower part of the sliding frame is hinged to the middle part of the seesaw, and the hinge axis is parallel to the axis of the guide rod. An electromagnetic head is fixed at each end near the outside of the seesaw; a spring piece is fixedly installed at each end of the seesaw, and a claw head is installed on each spring piece. The surface of the claw head close to the end of the seesaw abuts against the end of the seesaw, and the side surface of the claw head facing the rod-changing disc is an inclined surface. The electromagnetic head can control the corresponding claw head to be stuck into the rectangular groove on the rod-changing disc.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. The structure of the present invention is simple and the function is reliable. It can clamp each sampling drill pipe independently, has the characteristics of high positioning accuracy and reliable clamping. At the same time, it avoids grooving on the drill pipe and does not affect the strength and service life of the drill pipe.

[0019] 2. The clamping rod assembly of the present invention is provided with a pre-tightening spring, which can ensure that the sampling drill pipe is not lost even in the state of hydraulic system failure, with relatively high reliability. At the same time, the fixed clamping block is precisely fixed to the drill pipe rack through screws, which can accurately fix the position of the sampling drill pipe and realize the efficient connection and disconnection of the sampling drill pipe.

[0020] 3. The present invention is provided with a cylindrical guide rod, which can achieve reliable oil seal and greatly improve the friction environment of the guide rail. At the same time, it is provided with two propulsion cylinders, which can achieve the guiding function under the condition of very small torque on the guide rail, improving the stress state of the guide rail, which will greatly improve the service life and guiding performance of the guide rail.

[0021] 4. The designed rod-changing disc and dial pawl hand of the present invention have simple structures and reliable functions. They can realize the bidirectional rotation of the drill pipe library, improve the rod replacement efficiency, and at the same time have the characteristics of small wear, and can well adapt to the harsh environment of containing sediment under the sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the structural diagram of the present invention.

[0023] Figure 2 is the structural diagram of the lower part of the frame of the present invention.

[0024] Figure 3 is the structural diagram of the clamping rod assembly of the present invention.

[0025] Figure 4 is the cross-sectional view of the lower half of the present invention.

[0026] Figure 5 is the structural diagram at the rod-changing disc of the present invention.

[0027] In the figure: sliding seat 1, propulsion cylinder 2, positioning electromagnet 3, rod-changing cylinder 4, dial pawl hand 5, clamping rod assembly 6, sampling drill pipe 7, drill pipe rack 8, frame 9, positioning ring screw 10, rod-loosening assembly 11, guide rod 12, driving drill pipe 13, power head 14, sliding bearing I 15, sliding bearing II 16, rod-changing disc 17, positioning ring 18;

[0028] sliding frame 5.1, electromagnetic head 5.2, seesaw 5.3, spring piece 5.4, claw head 5.5.

[0029] fixed clamping block 6.1, movable clamping block 6.2, clamping rod cylinder 6.3, pre-tightening spring 6.4, loose piece 6.5, loose piece screw 6.6, bolt 6.7, gasket 6.8;

[0030] lower disc 8.1, bushing 8.2, rib plate 8.3, lower shaft sleeve 8.4, upper disc 8.5, upper shaft sleeve 8.6;

[0031] upper frame 9.1, middle shaft 9.2, lower frame 9.3;

[0032] Side plate 9.3.1, reinforcement plate 9.3.2, main board 9.3.3, lower shaft 9.3.4;

[0033] Rod-releasing electromagnet 11.1, rod-releasing plate 11.2; Detailed implementation manner

[0034] The present invention will be further described below with reference to the accompanying drawings.

[0035] As Figures 1-4 shown, the present invention includes a sliding seat 1, a propulsion oil cylinder 2, a positioning electromagnet 3, a rod-changing oil cylinder 4, a dial pawl 5, a rod-clamping assembly 6, a sampling drill rod 7, a drill rod rack 8, a frame 9, a positioning ring screw 10, a rod-releasing assembly 11, a guide rod 12, a driving drill rod 13, a power head 14, a rod-changing disc 17 and a positioning ring 18.

[0036] The frame includes an upper frame 9.1, a middle shaft 9.2 and a lower frame 9.3. The upper frame 9.1 is installed on the lower frame 9.3 through the middle shaft 9.2. The middle shaft 9.2 is perpendicular to the lower frame 9.3 and the upper frame 9.1. The upper end of the middle shaft 9.2 penetrates through the upper frame 9.1, and the lower end is coaxially connected to the lower shaft 9.3.4 on the lower frame 9.3. Two mounting holes are provided on the lower frame 9.3 for fixing the present invention on the crawler vehicle frame. Two propulsion oil cylinders 2 are fixedly installed on the lower frame 9.3, and a guide rod 12 is installed on the upper frame 9.1. The upper ends of the two propulsion oil cylinders 2 pass through the upper frame 9.1 and are respectively fixed at both ends of the sliding seat 1. The sliding seat 1 is sleeved on the guide rod 12 and is in clearance fit with the guide rod 12. The two propulsion oil cylinders 2 can synchronously extend and retract to realize the smooth rise and fall of the sliding seat 1, and the guide rod 12 ensures the movement accuracy of the sliding seat 1. A power head 14 is installed in the middle of the sliding seat 1, and a driving drill rod 13 is installed at the output end of the power head 14.

[0037] The drill rod rack 8 is installed outside the middle shaft 9.2 and is coaxial with the middle shaft 9.2 and can rotate around the middle shaft 9.2. The drill rod rack 8 includes a lower disc 8.1, a bushing 8.2, a lower shaft sleeve 8.4, an upper disc 8.5 and an upper shaft sleeve 8.6. The lower disc 8.1 and the upper disc 8.5 are coaxially arranged; a plurality of through holes are uniformly provided on the lower disc 8.1 and the upper disc 8.5 along the circumferential direction. The plurality of through holes on the lower disc 8.1 and the upper disc 8.5 correspond one by one, and two corresponding through holes form a drill rod hole coaxially. A bushing 8.2 is fixed in the through hole of the lower disc 8.1, and the inner diameter of the bushing 8.2 is larger than the outer diameter of the sampling drill rod. The lower shaft sleeve 8.4 is welded in the central hole of the lower disc 8.1, and the central hole of the upper disc 8.5 is welded to the upper shaft sleeve 8.6; the upper shaft sleeve 8.6 is sleeved in the inner hole of the lower shaft sleeve 8.4 and is fixedly connected to the lower shaft sleeve. A reinforcing plate is welded to the lower end face of the upper disc 8.5; a lower reinforcing plate 8.3 is welded between the lower shaft sleeve and the upper end face of the lower disc.

[0038] At both ends inside the lower shaft sleeve 8.4, a sliding bearing I 15 and a sliding bearing II 16 are respectively installed. The sliding bearing I 15 and the sliding bearing II 16 are respectively sleeved on the lower shaft 9.3.4 and the middle shaft 9.2. On the side surface of the middle shaft 9.2, a positioning ring 18 is fixed by a positioning ring screw 10. The positioning ring 18 presses the sliding bearing II 16 downward. Relatively, the lower frame 9.3 presses the sliding bearing I 15 upward. Thus, the sliding bearing I 15 and the sliding bearing II 16 enable the entire drill pipe rack 8 to only rotate on the frame 9. During the rotation process, the clamping rod assembly 6 will always clamp the sampling drill pipe 7. Each drill pipe hole of the drill pipe rack 8 is provided with a sampling drill pipe 7, and the driving drill pipe 13 can be screwed to the sampling drill pipe 7 provided directly below it.

[0039] The lower frame 9.3 includes a side plate 9.3.1, a reinforcing plate 9.3.2, a main board 9.3.3 and a lower shaft 9.3.4. One end of the lower shaft 9.3.4 is vertically fixed on the main board 9.3.3. The lower frame 9.3 is provided with a through inner hole at the axis of the lower shaft. On both sides below the main board 9.3.3, two side plates 9.3.1 are vertically welded. A frame mounting hole is provided at a position near the axis of the lower shaft at the lower part of the side plate 9.3.1. The reinforcing plate 9.3.2 is vertically welded between the two side plates 9.3.1 and is also welded to the bottom of the welded main board 9.3.3. A sliding bearing I 15 is provided between the drill pipe rack 8 and the lower frame 9.3. The lower part of the sliding bearing I 15 is located between the lower end face of the drill pipe rack 8 and the main board 9.3.3, and the upper part is located between the lower shaft 9.3.4 and the inner hole of the drill pipe rack 8.

[0040] The described clamping rod assembly 6 includes a fixed clamping block 6.1, a movable clamping block 6.2, a clamping rod oil cylinder 6.3, a pre-tightening spring 6.4, a release piece 6.5, a release piece screw 6.6, a bolt 6.7, and a gasket 6.8. The fixed clamping block 6.1 is fixed on the upper surface of the drill pipe rack upper plate 8.5 at the drill pipe hole. On the side of the fixed clamping block 6.1 facing the center of its corresponding drill pipe hole, a semi-circular groove is provided, and the semi-circular groove is coaxial with the corresponding drill pipe hole. A gasket 6.11 is fixed on the semi-circular groove. At the same time, the inner diameter of the gasket 6.8 is equal to the outer diameter of the sampling drill pipe 13. On the end face of the movable clamping block 6.1 facing the fixed clamping block, a semi-circular groove is provided, and the inner diameter of the semi-circular groove on the movable clamping block 6.1 is also equal to the outer diameter of the sampling drill pipe 13. The movable clamping block 6.1 is provided with two parallel bolt holes, and the movable clamping block 6.1 is sleeved on the two bolts 6.7 through the two bolt holes. On both sides of the clamping rod oil cylinder 6.3, a bolt hole is respectively provided, and the clamping rod oil cylinder 6.3 is sleeved on the two bolts 6.7; a pre-tightening spring 6.4 is sleeved on each bolt 6.7, and the pre-tightening spring 6.4 is located between the clamping rod oil cylinder 6.3 and the movable clamping block 6.2; the piston rod of the clamping rod oil cylinder 6.3 abuts against the movable clamping block 6.1; the chamber of the clamping rod oil cylinder 6.3 close to the movable clamping block 6.2 communicates with the outside and can be filled with seawater. The piston rod of the clamping rod oil cylinder 6.3 can push the movable clamping block 6.2 outwards, so that the gasket 6.8 is coaxial with the semi-circular groove on the movable clamping block 6.2, thereby firmly clamping the sampling drill pipe 7. The release piece 6.5 is composed of a side plate and a bottom plate that are perpendicular to each other. The bottom plate is fixed on the top surface of the movable clamping block; a release piece screw 6.6 is provided on the side plate; the axis of the release piece screw 6.6 is perpendicular to the axis of the sampling drill pipe 7; a rod releasing assembly 11 is provided corresponding to each clamping rod assembly 6.

[0041] The rod releasing assembly 11 includes two rod releasing electromagnets 11.1 and a rod releasing plate 11.2. The two rod releasing electromagnets 11.1 are respectively fixed on both sides of the drill pipe hole on the bottom surface of the upper frame. The two ends of the rod releasing plate 11.2 are respectively fixed on the movable ends of the two rod releasing electromagnets 11.1. The rod releasing plate 11.2 contacts the end of the release piece screw 6.6 facing away from the clamping rod oil cylinder 6.3. The release piece screw 6.6 can be tightened and the distance between its end and the rod releasing plate 11.2 can be adjusted. Thus, when the drill pipe rack 8 rotates smoothly, the rod releasing plate 11.2 can also move the movable clamping block 6.2 below it away from the sampling drill pipe 7 under the push of the two rod releasing electromagnets 11.1, so that the sampling drill pipe 7 can drill into the sample along with the driving drill pipe 13.

[0042] As Figure 1 and 5As shown, the dial claw hand 5 includes a sliding frame 5.1, an electromagnetic head 5.2, a seesaw 5.3, a spring sheet 5.4 and a claw head 5.5. The upper part of the sliding frame 5.1 is hinged to one end of the rod-changing oil cylinder 4, and the other end of the rod-changing oil cylinder 4 is hinged to the upper frame 9.1; the middle part of the sliding frame 5.1 is installed in the arc guide groove of the upper frame of the frame, and the lower part of the sliding frame is hinged to the middle of the seesaw, and the hinge axis is parallel to the axis of the guide rod; the rod-changing oil cylinder 4 can drive the sliding frame 5.1 hinged at its end to slide in the slide groove of the upper frame 9.1. Two spring sheets 5.4 are fixed at both ends of the seesaw 5.3, and claw heads 5.5 are fixed at the ends of the two spring sheets. A rectangular groove is provided on the side of the rod-changing disk 17, which can be engaged with the claw head 5.5. The surface of the claw head 5.5 facing the side of the rod-changing disk 17 is an inclined surface. When the claw head 5.5 is stuck in the rectangular groove on the rod-changing disk 17, the function of the ratchet mechanism can be realized. An electromagnetic head 5.2 is provided near both ends of the outer side of the seesaw 5.3, which can control any one of the two claws 5.5 on the seesaw 5.3 to be clamped into the rectangular groove on the rod-changing disk 17. When the dial claw hand 5 moves the rod-changing disk 17 to drive any one of the sampling drill rods 7 to coincide with the axis of the active drill rod 13, the output end of the positioning electromagnet 3 on the upper frame 9.1 will be able to extend into the positioning hole on the rod-changing disk 17, thereby accurately limiting the position of the sampling drill rod 7. The moving end of the positioning electromagnet 3 passes through the upper frame 9.1 and is coaxially inserted into the positioning hole on the rod-changing disk, and the diameter of the moving end is equal to the diameter of the positioning hole of the rod-changing disk.

[0043] When the present invention performs drilling and sampling operations on the seabed, firstly, the active drill rod 13 is aligned with the target area for drilling and sampling, then the relative positions of the sampling drill rod 7 to be used and the active drill rod 13 are determined, then the working state of the dial claw hand 5 is determined, and it is determined which electromagnetic head 5.2 needs to be powered. Then, the rod changing cylinder 4 is started, and when the target sampling drill rod 7 is basically coaxial with the active drill rod 13, the positioning electromagnet 3 is started to accurately position the target sampling drill rod 7. Then, the clamping rod assembly 6 corresponding to the target sampling drill rod 7 is clamped, and then the two propulsion cylinders 2 and the power head are synchronously started to firmly screw the active drill rod 13 and the target sampling drill rod 7. Finally, the two electromagnets 11.1 are started to loosen the clamping rod assembly 6 at the target sampling drill rod 7, so that the target sampling drill rod 7 can be released to perform drilling and sampling actions. After completing the sampling, retract the sampling drill rod 7 to its original position, clamp the clamping rod assembly 6 again, and then start the power head 14, thrust cylinder I2, and thrust cylinder II 10 to complete the unbuckling of the sampling drill rod 7 and the active drill rod 13. Next, you can find the next sampling target point, and repeat the previous operation to achieve multi-point drilling sampling.

Claims

1. A multi-point drilling and sampling device based on a subsea crawler vehicle, characterized in that: It includes a sliding seat, a positioning electromagnet, a rod-changing oil cylinder, a dial pawl, a rod-clamping assembly, a sampling drill rod, a drill rod rack, a frame, a propulsion oil cylinder, a rod-loosening assembly, a guide rod, a driving drill rod, a power head and a rod-changing disc; The frame successively includes a lower frame, a middle shaft and an upper frame from bottom to top. The upper frame is installed on the lower frame through the middle shaft, and the middle shaft is perpendicular to the lower frame and the upper frame. The drill rod rack is installed outside the middle shaft and is coaxial with the middle shaft, and can rotate around the middle shaft. The drill rod rack is provided with a plurality of drill rod holes, and a sampling drill rod is arranged in each drill rod hole. The axis of the sampling drill rod is parallel to the axis of the middle shaft, and the plurality of sampling drill rods are evenly arranged in the circumferential direction. A rod-clamping assembly is arranged at the drill rod hole on the drill rod rack, and the rod-clamping assembly can clamp the sampling drill rod. A rod-changing disc is coaxially fixed at the top of the drill rod rack; A guide rod and two propulsion oil cylinders are fixedly installed on the frame, and the axes of the guide rod and the propulsion oil cylinders are parallel to the axis of the sampling drill rod. The sliding seat is provided with a guide hole, and the sliding seat is in clearance fit with the guide rod. The piston rod ends of the two propulsion oil cylinders are respectively hinged to both ends of the sliding seat. A power head is fixed on the sliding seat, and a driving drill rod is arranged at the output end of the power head. The driving drill rod passes through the drill hole on the upper frame and can be coaxially screwed with the sampling drill rod; A rod-loosening assembly is arranged at the bottom surface of the drill hole on the upper frame of the frame. The upper frame is provided with an arc guide groove coaxial with the drill rod rack. A dial pawl is slidably installed in the guide groove. The lower part of the dial pawl meshes with the rectangular teeth on the edge of the rod-changing disc. The upper part of the dial pawl is hinged to one end of the rod-changing oil cylinder, and the other end of the rod-changing oil cylinder is hinged to the upper frame. A positioning electromagnet is arranged on the upper frame, and the moving end of the positioning electromagnet passes through the upper frame and is coaxially inserted into the positioning hole on the rod-changing disc. The diameter of the moving end is equal to the diameter of the positioning hole on the rod-changing disc; The rod-clamping assembly includes a fixed clamping block, a gasket, a moving clamping block, bolts, pre-tightening springs and a rod-clamping oil cylinder. The fixed clamping block is fixed on the drill rod rack. Two parallel bolts are arranged on the fixed clamping block. A semi-circular groove is arranged on the end face facing the center of the drill rod hole, and a gasket is fixed in the semi-circular groove. The semi-circular groove of the fixed clamping block is coaxial with the corresponding drill rod hole. Two parallel bolt holes are arranged on the moving clamping block, and the moving clamping block is sleeved on the two bolts through the two bolt holes. A semi-circular groove is arranged on the end face of the moving clamping block facing the fixed clamping block. One bolt hole is arranged on each side of the rod-clamping oil cylinder, and the rod-clamping oil cylinder is sleeved on the two bolts. A pre-tightening spring is sleeved on each bolt, and the pre-tightening spring is located between the rod-clamping oil cylinder and the moving clamping block. The piston rod of the rod-clamping oil cylinder abuts against the moving clamping block, and the chamber of the rod-clamping oil cylinder close to the moving clamping block is communicated with the outside, and seawater can fill the chamber; The dial pawl includes a sliding frame, a seesaw, a claw head, a spring piece and an electromagnetic head. The upper part of the sliding frame is hinged to one end of the rod-changing oil cylinder. The middle part is installed in the arc guide groove on the upper frame of the frame. The lower part of the sliding frame is hinged to the middle part of the seesaw. The hinge axis is parallel to the axis of the arc guide rail. An electromagnetic head is fixed at each end close to the outside of the seesaw. A spring piece is fixedly installed at each end of the seesaw, and a claw head is installed on each spring piece. The surface of the claw head close to the end of the seesaw abuts against the end of the seesaw. The side surface of the claw head facing the rod-changing disc is an inclined surface, and the electromagnetic head can control the corresponding claw head to be stuck into the rectangular groove on the rod-changing disc.

2. The multi-point drilling and sampling device based on a subsea crawler vehicle according to claim 1, wherein: The clamping rod assembly further includes a loose piece; the loose piece consists of a side plate and a bottom plate that are perpendicular to each other, and the bottom plate is fixed on the top surface of the movable clamping block; a loose piece screw is provided on the side plate; the axis of the loose piece screw is perpendicular to the axis of the sampling drill rod; a loose rod assembly is provided corresponding to each clamping rod assembly, and the loose rod assembly includes two loose rod electromagnets and a loose rod plate. The two loose rod electromagnets are respectively fixed on both sides of the drill rod hole on the bottom surface of the upper frame, and both ends of the loose rod plate are respectively fixed on the movable ends of the two loose rod electromagnets. The loose rod plate contacts the end of the loose piece screw that faces away from the clamping rod oil cylinder.

3. The multi-point drilling and sampling device based on a subsea tracked vehicle according to claim 1, characterized in that: The drill rod frame includes a lower disk, a lower shaft sleeve, an upper disk, an upper shaft sleeve, and a bushing; the lower disk and the upper disk are coaxially arranged; a plurality of through holes are uniformly provided on the lower disk and the upper disk along the circumference, and the plurality of through holes on the lower disk and the upper disk correspond one by one. Two corresponding through holes form a drill rod hole coaxially. A bushing is fixed in the through hole of the lower disk, and the inner diameter of the bushing is larger than the outer diameter of the sampling drill rod; the upper shaft sleeve is welded in the central hole of the lower disk, and the upper shaft sleeve is welded in the central hole of the upper disk; the upper shaft sleeve is sleeved in the inner hole of the lower shaft sleeve and is fixedly connected to the lower shaft sleeve; an upper rib plate is welded to the lower end surface of the upper disk; a lower rib plate is welded between the lower shaft sleeve and the upper end surface of the lower disk.

4. The multi-point drilling and sampling device based on a subsea crawler vehicle according to claim 1, wherein: The lower frame includes side plates, reinforcing plates, a main board, and a lower shaft; one end of the lower shaft is vertically fixed on the main board. The lower frame is provided with a through inner hole at the axis of the lower shaft. Two side plates are vertically welded on both sides below the main board. A frame mounting hole is provided at a position close to the axis of the lower shaft at the lower part of the side plates. The reinforcing plates are vertically welded between the two side plates and are also welded to the bottom of the welded main board; a sliding bearing I is provided between the drill rod frame and the lower frame. The lower part of the sliding bearing I is located between the lower end surface of the drill rod frame and the main board, and the upper part is located between the lower shaft and the inner hole of the drill rod frame.

5. The multi-point drilling and sampling device based on a subsea crawler vehicle according to claim 1, characterized in that: The lower end surface of the middle shaft of the frame is coaxially welded to the upper end surface of the lower shaft of the lower frame. A sliding bearing II is provided between the middle shaft and the drill rod frame. The lower part of the sliding bearing II is located between the middle shaft and the drill rod frame, and the upper part is located between the positioning ring on the middle shaft and the lower shaft sleeve of the drill rod frame. At the same time, the upper end surface of the sliding bearing II is located below the lower cross section of the upper shaft sleeve of the drill rod frame.

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