A deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible

Abstract

The present invention proposes a deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible, comprising a clamping part, a main control box and a coring drill, wherein drilling rig propulsion components are symmetrically arranged at both ends of the outer side of the main control box, a rotating lifting mechanism is arranged between the main control box and the coring drill, and a plurality of drilling rig balancing components are arranged circumferentially at the lower part of the rotating lifting mechanism; the drilling rig balancing components comprise a housing, an electric push rod, a tilting support leg, a screw adjustment assembly and a first anchor drill assembly, wherein the electric push rod is installed in the housing, the upper end of the housing and one end of the screw adjustment assembly are both hinged to the rotating lifting mechanism, the working end of the electric push rod is connected to the tilting support leg so that the tilting support leg can be extended and retracted along the axial direction, the lower end of the tilting support leg is connected to the rotatable first anchor drill assembly, the other end of the screw adjustment assembly is slidably connected to the tilting support leg, and the extension and retraction of the screw adjustment assembly drives the angle of the tilting support leg to change, thus breaking through the previous deep-sea drilling mode and achieving a refined and high-value deep-sea core sampling effect.

Description

Technical Field

[0001] The invention belongs to the field of deep-sea core sampling, and in particular relates to a deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible. Background Art

[0002] Since rocks contain a wealth of important information about geological evolution, obtaining rock samples is one of the important goals of deep-sea exploration missions. Among the existing deep-sea sampling technologies, drilling sampling is still an effective way to obtain rock samples. In the field of deep-sea earth science research, the world has successively carried out programs such as the Deep Sea Drilling Program (DSDP), the Ocean Drilling Program (ODP) and the Integrated Ocean Drilling Program (IODP), which have verified the theory of plate tectonics. However, research on the deep evolution of the deep sea and atmosphere, the distribution patterns of the seafloor biosphere, etc. is still relatively weak, and there is an urgent need to obtain samples from typical areas to carry out detailed confirmatory drilling research.

[0003] In order to achieve fine core sampling, carrier-based core sampling technology has developed rapidly. At present, a large number of carrier core sampling drills have been researched and applied abroad. The Alvin of the United States completed the development of the HSTR core sampling drill and successfully drilled sulfide core samples; the MBARI Institute successfully developed a 4000m-class MCS sampler that can achieve four-tube sampling and successfully obtained exposed bedrock samples on the seabed of Juan de Fuca. Phoenix International has developed a corer that can be carried on the Nereus II ROV, with a core length of up to 1.5m and a core depth of 2400m; the Harbor Branch Oceanographic Institute of the United States has completed the research on the 7000m-class Harbor Branch corer and carried it on the Magellan ROV to complete multiple sea trials; my country's Jiaolong manned submersible has also carried out the development and application research of core sampling drills.

[0004] Deep-sea geological drilling requires the drilling device to sink to the seabed to work, and the device must be in a relatively flat state after touching the bottom and stabilizing. Due to the extreme environment of darkness, unknown, bottom current, high pressure, etc. in the deep sea, it is difficult to keep the drilling device in a balanced state in actual deep-sea drilling. This has resulted in extremely low efficiency, high failure rate, and high cost of deep-sea drilling, which is an urgent problem to be solved. In addition, most of the existing drilling balance mechanisms are separated from the drilling rig and the balance mechanism, without a drilling propulsion and pressure device, resulting in low balance efficiency and insufficient mining power. Summary of the invention

[0005] To solve the above problems, the inventor, based on his long-term experience in the Jiaolong drilling operation, proposed a deep-sea self-balancing and self-pressurizing core sampling drilling device based on a manned submersible, which ensures that the device is in a balanced state during deep-sea core sampling. At the same time, the device has a self-pressurizing function to improve the balancing efficiency and mining power. The solution is as follows:

[0006] A deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible comprises a drilling rig body, which comprises a clamping part, a general control box and a coring rig from top to bottom, a drilling rig propulsion component is symmetrically arranged on both sides of the outside of the general control box, a rotating lifting mechanism is also arranged on the upper part of the coring rig, and a plurality of drilling rig balancing components are evenly arranged on the lower part of the rotating lifting mechanism along the circumferential direction;

[0007] The drilling rig balancing component includes a shell, an electric push rod, a tilting support leg, a screw adjustment assembly and a first anchor drill assembly. The electric push rod is installed in the shell. The upper end of the shell and one end of the screw adjustment assembly are hinged to the rotating lifting mechanism. The working end of the electric push rod is connected to the tilting support leg to enable the tilting support leg to extend and retract axially. The lower end of the tilting support leg is connected to the rotatable first anchor drill assembly. The other end of the screw adjustment assembly is slidably connected to the tilting support leg. The extension and retraction of the screw adjustment assembly drives the angle of the tilting support leg to change.

[0008] Furthermore, the rotary lifting mechanism includes a motor, a rotary lifting platform, a posture sensor and a hydraulic drive system. The hydraulic drive system is used to drive the rotary lifting platform to move up and down. The motor is used to drive the rotary lifting platform to rotate. The hydraulic drive system includes a hydraulic pump, a hydraulic cylinder, an electromagnetic proportional valve, an electromagnetic reversing valve, a relief valve, and a hydraulic oil tank. The piston rod of the hydraulic cylinder is fixed to the motor, and the output shaft of the motor is connected to the rotary lifting platform through a coupling. The posture sensor is installed at the center of the rotary lifting platform.

[0009] Furthermore, the first anchor drill assembly includes a motor and a threaded drill bit. The motor is fixed to the lower end of the inclined support leg. The output end of the motor is connected to the drill bit and drives the drill bit to rotate. A pressure sensor is also installed on the drill bit.

[0010] Furthermore, the drilling rig propulsion component is configured as a channel propeller.

[0011] Furthermore, the screw adjustment assembly includes a DC motor, a screw, a screw sleeve cooperating with the screw, and a movable slider. The screw sleeve is hinged to the rotary lifting mechanism. The DC motor is connected to the screw through a coupling and drives the screw to move axially in the screw sleeve. The movable slider is mounted on the outside of the inclined support leg, and the screw is hinged to the movable slider.

[0012] Furthermore, it also includes a plurality of drilling rig support components, which are arranged at the lower part of the rotating lifting mechanism and are evenly distributed along the circumferential direction, and are located on the inner side of the circle formed by the plurality of drilling rig balancing components; the drilling rig support components include vertical support legs, a hydraulic system for driving the vertical support legs to extend and retract, and a second anchor drill assembly connected to the lower part of the vertical support legs and capable of rotation.

[0013] Furthermore, the second anchor drill assembly includes a motor and a threaded drill bit, the motor is fixed to the lower end of the vertical support leg, and the output end of the motor is connected to the drill bit to drive the drill bit to rotate.

[0014] Furthermore, the rotary lifting platform includes a central axis, an inner ring and an outer ring, which are integrally connected via radial connecting ribs, a plurality of the vertical support legs are arranged at the lower part of the inner ring and are evenly distributed along the circumference, and a plurality of the inclined support legs are arranged at the lower part of the outer ring and are evenly distributed along the circumference.

[0015] Furthermore, the number of the plurality of inclined supporting legs is 6, and the number of the plurality of vertical supporting legs is the same as the number of the plurality of inclined supporting legs.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0017] 1. Directly facing the demand for efficient core sampling under deep-sea complex terrain conditions in deep-sea ocean scientific research, the inventor, through the practical experience of Jiaolong's deep-sea operation application for many years, aimed at the problem of difficulty in coring in deep-sea undulating terrain areas, proposed a new deep-sea self-balancing and self-pressurizing core sampling device based on manned submersibles, which innovatively integrated the operation mode of manned submersibles and drilling, and realized the ability to achieve precise operation in unknown deep-sea environments; the device is provided with a drilling rig balancing component including 6-way tilting support legs, and combined with a vertical attitude sensor, an electric adjustment screw rod adjustment component, and an electric adjustment electric push rod push-and-retract rod, so as to adjust the angle and length of the tilting support legs, give full play to the advantages of electric precision adjustment, realize the adjustment of the coring operation attitude under deep-sea complex environments and complex terrain, have real-time adjustment capabilities, and greatly improve the success rate of deep-sea coring; in addition, the device has completed offshore testing with significant application effects. The modular concept was adopted at the beginning of the design, and its processing, offshore assembly, and offshore maintenance are simple, cost-effective, and can be applied to overseas mining exploration in China, with great social and economic benefits.

[0018] 2. A rotatable first anchor drill assembly is set at the end of the inclined support leg, and a pressure sensor is installed on the drill bit of the first anchor drill assembly. The sensor can monitor the pressure of the support point in real time, mainly monitoring whether the anchoring force of the drill bit meets the coring requirements. If the monitored pressure is low, the drill bit is driven to continue drilling, which can always ensure the effectiveness of the drilling pressure during the coring process and always ensure that there is a drilling pressure of not less than 1000N, thus ensuring efficient coring in deep-sea environments.

[0019] 3. Drilling pressure is a key parameter in deep-sea core sampling. Compared with traditional heavy-duty drilling rigs, the drilling pressure that deep-sea carrier drilling rigs can provide is very limited. However, if the drilling pressure is too low, it will cause low drilling efficiency. Therefore, in order to solve the above situation, the present invention is designed to set up the drilling rig propulsion component by using a thruster loading method, and integrate the thruster with the core sampling drilling rig for design, which not only achieves the goal of providing sufficient drilling pressure to meet the goal of efficient coring, but also achieves a miniaturized and lightweight design to meet the requirements of manned submersibles; when coring, the thruster provides a downward pressure of not less than 500N, which is easy to lock the drilling rig vertically. After the coring is completed, the thruster of the drilling rig propulsion device flips to provide a buoyancy of not less than 500N, making it easy for the coring drilling rig to leave the coring rock surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic top view of the overall structure of the present invention;

[0022] Figure 3 It is a schematic diagram of the top view of the rotary lifting mechanism of the present invention;

[0023] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure at BB in the middle;

[0024] Figure 5 It is a partial structural schematic diagram of the drilling rig balancing component of the present invention;

[0025] Figure 6 It is another structural schematic diagram of a drilling rig balancing component of the present invention;

[0026] Figure 7 It is a structural schematic diagram of the drilling rig propulsion component of the present invention;

[0027] Figure 8 for Figure 2 Schematic diagram of the cross-section structure at AA in the middle;

[0028] In the above figures:

[0029] 1. Clamping part; 2. Main control box; 3. Coring drill; 31. DC motor; 32. Coring casing; 33. Coring drill bit; 4. Drilling rig propulsion component; 41. Propeller blade; 42. Shaft seal; 43. Motor; 44. Wheel hub; 45. Motor fixing rod; 5. Rotating lifting mechanism; 51. Motor; 52. Rotating lifting platform; 521. Inner ring; 522. Outer ring; 523. First mounting guide block; 524. Second mounting guide block; 53. Attitude sensor; 54. Hydraulic oil Cylinder; 6. Drill rig balancing component; 61. Electric push rod; 62. Tilt support leg; 63. Screw adjustment assembly; 631. DC motor; 632. Screw; 6321. Slider connecting end piece; 633. Screw sleeve; 6331. Sleeve end cover connecting piece; 634. Moving slide block; 64. First anchor drill assembly; 641. Motor; 642. Drill bit; 643. Pressure sensor; 65. Housing; 7. Drill rig support component; 71. Vertical support leg; 72. Second anchor drill assembly. DETAILED DESCRIPTION

[0030] To facilitate those skilled in the art to understand the present invention, specific implementations of the present invention are described below with reference to the accompanying drawings.

[0031] The deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible of the present invention can be used to quickly realize automated balance and self-pressurization and efficient in-situ rock coring under complex and unknown terrain conditions in the deep sea, especially deep integration with a manned submersible, breaking through the previous deep-sea drilling mode and achieving refined and high-value deep-sea core sampling effects.

[0032] The present invention mainly solves the application technology problem of efficient and accurate core sampling in resource engineering exploration and scientific research in deep-sea environment. In view of the difficulty of coring in deep-sea undulating terrain areas, the number of drilling rig balance components 6 is 6, which are arranged in a tilted support leg 62 structure to achieve a circular balance layout and ensure a steady-state platform under complex terrain. The tip of each support leg is designed with an active first anchor drill assembly 64 embedded in the terrain, which has a self-pressurizing effect to achieve the anchoring effect after the drilling rig system sits on the bottom, ensuring efficient and rapid drilling; a posture sensor 53 is installed, and the screw rod of the screw rod adjustment assembly 63 loaded by the DC motor 631 performs telescopic movement, and the support leg angle is adjusted at any time according to the posture sensor 53 signal. The tilted support leg 62 is driven to move synchronously through the push-pull action of the electric push rod 61, and the length of the support leg is adjusted at any time according to the posture sensor 53 signal; it ensures an effective working capacity of not less than 300 hours, especially deep integration with manned submersibles, breaking through the previous deep-sea drilling mode, and achieving refined and high-value deep-sea core sampling effect. In addition, the device has completed offshore testing and has achieved remarkable results. It adopts a modular concept and is easy to process, assemble and maintain offshore with reliable costs. It has been applied in overseas mining exploration and has great social and economic benefits.

[0033] like Figures 1 to 8 As shown, the deep-sea self-balancing and self-pressurizing core sampling device of the present invention comprises a drilling rig body, a drilling rig propulsion component 4, a drilling rig support component 7, a drilling rig balancing component 6, and a rotating lifting mechanism 5. The drilling rig body comprises a clamping part 1, a main control box 2, and a coring drill rig 3 from top to bottom. In this embodiment, the clamping part 1 uses a mechanical clamping handle to facilitate the clamping of the robot.

[0034] like Figure 1 As shown, the drilling rig propulsion component 4 is installed on the side wings extending from both sides of the drilling rig body. In this embodiment, the extended side wings are located on both sides of the main control box 2, and the side wings can be connected to the shell of the main control box 2 by welding. The rotary lifting mechanism 5 is arranged on the upper part of the coring drill rig 3, and in this embodiment, it is arranged between the main control box 2 and the coring drill rig 3. The drilling rig balance component 6 and the drilling rig support component 7 are arranged at the lower part of the rotary lifting mechanism 5. Figure 2 As shown, in this embodiment, the number of the drilling rig balancing components 6 and the drilling rig supporting components 7 is 6, and of course, it can also be set to other numbers as needed.

[0035] The drilling rig balancing component 6 includes a shell 65, an electric push rod 61, a tilting support leg 62, a screw adjustment assembly 63 and a first anchor drill assembly 64. The electric push rod 61 is installed in the shell 65. The upper end of the shell 65 and one end of the screw adjustment assembly 63 are hinged to the rotating lifting platform 52 through the first mounting guide block 523. The working end of the electric push rod 61 is connected to the tilting support leg 62 to enable the tilting support leg 62 to extend and retract axially. The lower end of the tilting support leg 62 is connected to the rotatable first anchor drill assembly 64. The other end of the screw adjustment assembly 63 is slidably connected to the tilting support leg 62. The extension and retraction of the screw adjustment assembly 63 drives the angle of the tilting support leg 62 to change.

[0036] The rotary lifting mechanism 5 is installed on the upper end of the coring drill 3. The rotary lifting mechanism 5 can realize two forms of movement: rotation and lifting. The purpose of the lifting movement is to make the drill bit 642 contact the coring rock surface, and the purpose of the rotary movement is to find a suitable foothold. Because the seabed rock surface is uneven, it is necessary to select a suitable foothold.

[0037] like Figure 3 , 4As shown, the rotary lifting mechanism 5 includes a motor 51, a coupling, a rotary lifting platform 52, a hydraulic drive system and a posture sensor 53. The posture sensor 53 is a vertical posture sensor 53, and the posture of the entire device is regulated by the signal of the posture sensor 53: first, the screw adjustment component 63 loaded by the motor 51 is telescopically moved to adjust the angle of the tilting support leg 62 at any time according to the signal of the posture sensor 53; second, the electric push rod 61 drives the tilting support leg 62 axis to synchronously telescopically move, and the length of the tilting support leg 62 is adjusted in real time according to the signal of the posture sensor 53. Finally, the angle and length of the six tilting support legs 62 are used to achieve timely and accurate posture adjustment, and confirm that the coring drill bit 642 is always perpendicular to the coring surface.

[0038] Further, the hydraulic drive system includes a hydraulic pump, a hydraulic cylinder, an electromagnetic proportional valve, an electromagnetic reversing valve, a relief valve, a hydraulic oil tank and other structures; the hydraulic cylinder is usually composed of a rear end cover, a cylinder barrel, a piston rod, a piston assembly, a front end cover and other main parts; in order to prevent the oil from leaking out of the hydraulic cylinder or leaking from the high-pressure chamber to the low-pressure chamber, a sealing device is provided between the cylinder barrel and the end cover, the piston and the piston rod, the piston and the cylinder barrel, and the piston rod and the front end cover. The hydraulic drive system is placed directly above the motor 51 and directly below the main control box 2, and the piston rod of the hydraulic cylinder is fixed to the motor 51 directly below. When the rotary lifting mechanism 5 is in operation, the hydraulic cylinder in the hydraulic drive system pushes the entire rotary lifting mechanism 5 down along the central axis, and the DC motor 641 drives the rotary lifting platform 52 to rotate around the central axis until the inclined support leg 62 of the drilling rig balance component 6 finds a suitable foothold on the complex mining rock surface.

[0039] Specifically, the rotary lifting platform 52 is an overall circular structure, including a central axis, an inner ring 521 and an outer ring 522, which are integrally connected by radial connecting ribs, and six vertical support legs 71 are arranged at the lower part of the inner ring 521 and are evenly distributed along the circumference, and six inclined support legs 62 are arranged at the lower part of the outer ring 522 and are evenly distributed along the circumference. For the convenience of installation, a first mounting guide block 523 is fixedly arranged at the lower part of the outer ring 522, and the fixed end of the electric push rod 61 and the upper end of the screw adjustment assembly 63 are both hinged to the first mounting guide block 523; a second mounting guide block 524 is fixedly arranged at the lower part of the inner ring 521, and the upper end of the drilling rig support device is fixedly connected to the second mounting guide block 524, see Figure 4 .

[0040] like Figure 5 , 6As shown, the screw adjustment assembly 63 includes a DC motor 631, a screw 632, a screw sleeve 633 cooperating with the screw 632, and a movable slider 634. The screw sleeve 633 is hinged to the first mounting guide block 523 through the sleeve end cover. The DC motor 631 is connected to the screw 632 through a coupling and drives the screw 632 to rotate axially in the screw sleeve 633. The movable slider 634 is sleeved on the outer side of the tilt support leg 62. The screw 632 is hinged to the movable slider 634. The movement of the screw 632 drives the movable slider 634 to slide on the tilt support leg 62.

[0041] The electric push rod 61 includes a servo motor, a transmission shaft, a coupling, a screw, a screw sleeve, a cylinder body, and a lower connecting end, which are not shown in the figure. Figure 5 , 6 As shown, the screw sleeve can move linearly along the screw, and the screw sleeve is fixed inside the cylinder body, which can drive the cylinder body to move; the lower connecting end of the electric push rod 61 is fixed to the tilt support leg 62. The servo motor of the electric push rod 61 transmits the rotational motion to the screw through the coupling, and the screw rotates to drive the screw sleeve to move linearly, converting the rotational motion of the servo motor into linear motion, and the servo motor is used to complete the push rod and retracting action by forward and reverse rotation, and synchronously drives the tilt support leg 62 to move. The electric push rod 61 can use the structure in the prior art.

[0042] A first anchor drill assembly 64 is disposed at the bottom end of each inclined support leg 62. Figure 5 As shown, the first anchor drill assembly 64 includes a motor 641 and a threaded drill bit 642. The motor 641 is fixed to the lower end of the inclined support leg 62. The output shaft of the motor 641 is connected to the drill bit 642 through a coupling. The motor 641 drives the drill bit 642 to rotate. A pressure sensor 643 is also installed on the drill bit 642. The drill bit 642 can actively drill and embed into the rock when it is bottomed, playing an anchoring effect, thereby making it more stable during the core sampling process. The pressure sensor 643 is used to monitor the pressure of the support point in real time, mainly monitoring whether the anchoring force of the drill bit 642 meets the coring requirements. If the monitored pressure is low, the motor 641 rotates to drive the drill bit 642 to continue drilling, which can always ensure the effectiveness of the drilling pressure during the coring process and always ensure that there is a drilling pressure of not less than 1000N.

[0043] Working principle of the drilling rig balance component 6: When the rotary lifting mechanism 5 descends, the hydraulic drive system makes the rotary lifting platform 52 descend along the central axis, and the motor 51 drives the rotary lifting platform 52 to rotate around the central axis until the tilting support leg 62 of the drilling rig balance component 6 finds a suitable footing point. When the support leg of the drilling rig balance device finds a suitable footing point, first, the screw adjustment assembly 63 loaded by the DC motor 631 performs telescopic movement to adjust the angle of the tilting support leg 62 at any time according to the signal of the attitude sensor 53, and then the push-pull action of the electric push rod 61 drives the tilting support leg 62 to move synchronously, and the length of the tilting support leg 62 is adjusted at any time according to the signal of the attitude sensor 53. The angle and length of the six tilting support legs 62 are adjusted to achieve real-time and accurate attitude adjustment, and confirm that the drill bit 642 of the coring drill rig 3 is always perpendicular to the coring surface. By setting the first anchor drill assembly 64 at the lower part of the inclined support leg 62, the device is fully in contact with the mining surface. In this way, during the actual coring process, the angle and length of the inclined support leg 62 are continuously adjusted according to the signal of the posture sensor 53, so that it is always in a favorable posture during the coring process.

[0044] Drilling pressure is a key parameter in deep-sea core sampling. Compared with traditional heavy-duty drilling rigs, the drilling pressure that can be provided by deep-sea carrier drilling rigs is very limited. However, if the drilling pressure is too low, it will cause low drilling efficiency. Therefore, in order to solve the above situation, the present invention adopts a thruster loading method in the device, and integrates the thruster and the core sampling drill rig into an integrated design, which not only achieves the goal of providing sufficient drilling pressure to meet the goal of efficient coring, but also realizes a miniaturized and lightweight design to meet the requirements of manned submersibles.

[0045] The drilling rig propulsion component 4 is configured as a channel propeller, and there are two of them, which are symmetrically installed in the mounting holes opened on the side wings extending on both sides of the drilling rig body. Figure 7 As shown, the slotted propeller includes a motor, a rotating center shaft, propeller blades 41, bearings, a hub 44, and a shaft seal 42. The rotating center shaft connects the blades to the motor and is installed in the bearing to support and rotate the propeller; the bearing supports the shaft and the propeller to reduce friction and wear of the shaft assembly; the shaft seal 42 forms a seal between the shaft and the transmission components inside the structure to prevent water from entering the transmission components and ensure the normal operation of the components.

[0046] During core sampling, the thruster provides a downward force of not less than 500N, which is easy to lock the drill rig vertically and provide coring power. After coring, the thruster of the drill rig propulsion device flips to provide a buoyancy of not less than 500N, making it easy for the coring drill rig 3 to leave the coring rock surface.

[0047] Working principle of the drilling rig propulsion component 4: When the propeller blades 41 rotate, the blades apply a thrust in the opposite direction to the medium. According to Newton's third law, the medium will also apply an equal and opposite reaction force to the blades, so the entire propeller will generate a drilling thrust. When coring, the propeller provides a downward force of not less than 500N, locks the drill vertically and provides coring power. After coring is completed, the propeller flips to provide a buoyancy of not less than 500N, allowing the coring drill rig 3 to detach from the coring rock surface.

[0048] The core drilling rig 3 is installed at the lower end of the rotary lifting mechanism 5. Figure 8 As shown, the coring drill 3 includes a DC motor 31 , a motor output shaft, a coupling, a transmission shaft, a coring casing 32 , a coring drill bit 33 , etc. The coring drill bit 33 is installed at the end of the coring drill 3 .

[0049] The working principle of the coring drill 3 is to bring the sample back to the surface in an integrated manner underwater by rotating the hollow coring casing 32, wherein the coring drill bit 33 is the component that directly contacts the sample. The drill tool may be designed with temperature and pressure sensors to detect the temperature and water pressure of the deep sea water in the drill tool, and realize multi-parameter scientific measurement.

[0050] The coring drill 3 is turned on, and the rotary motion generated by the rotation of the DC motor 31 forms the rotary motion of the coring drill bit 33, and coring drilling begins. When coring, the thruster provides a downward pressure of not less than 500N, which is easy to lock the drill vertically and provide coring power for the coring drill 3. After the coring is completed, the thruster of the drilling rig propulsion component 4 flips to provide a buoyancy of not less than 500N, so that the coring drill 3 is easy to leave the coring rock surface. First, the screw adjustment component 63 loaded by the DC motor 631 adjusts the angle of the tilting support leg 62 at any time according to the signal of the attitude sensor 53, and then the tilting support leg 62 is driven to move synchronously by the push-and-retract action of the electric push rod 61, and the length of the tilting support leg 62 is adjusted at any time according to the signal of the attitude sensor 53. The angle and length of the six tilting support legs 62 are used to achieve real-time and accurate attitude adjustment, and confirm that the coring drill bit 33 is always perpendicular to the coring surface. After coring is completed, the coring drill rig 3 returns to the mother ship with the submersible, and the coring drill bit 33 is manually disassembled to take out the core sample.

[0051] like Figure 1 , 2As shown, the drilling rig support component 7 is fixed to the lower end of the inner ring 521 of the rotating lifting platform 52, and there are 6 of them to form a vertical support. The support points of the 6 vertical supports are connected to form a regular hexagon. The drilling rig support component 7 includes a vertical support leg 71, a hydraulic system for driving the vertical support leg 71 to extend and retract, and a second anchor drill assembly 72 connected to the lower part of the vertical support leg 71 and rotatable. The drilling rig support device drives the vertical support leg 71 to extend and retract by the hydraulic system; the second anchor drill assembly 72 is installed at the end of the vertical support. The hydraulic system includes a hydraulic pump, a hydraulic cylinder, an electromagnetic proportional valve, an electromagnetic reversing valve, a relief valve, and a hydraulic oil tank. The reciprocating motion of the hydraulic oil cylinder drives the vertical support leg 71 to extend and retract.

[0052] The working process of the present invention is as follows:

[0053] Before the submersible is operated, the deep-sea self-balancing and self-pressurizing core sampling device is installed on the sampling platform at the front end of the submersible, fastened by a flexible flat plate, and dives with the manned submersible to the specified depth to carry out operations. During the dive, the pressure difference between the cabin and the external deep-water environment is actively adjusted by the compensation oil bag diaphragm and the oil-filled compensation chamber, so that the pressure difference is always kept small, thereby ensuring the safety of the drilling rig. The submariner cruises through high-definition video signals and arrives at the designated area for sampling. During the coring operation, the submariner operates the functional manipulator of the submersible to clamp the clamping part 1 vertically anchored, and at the same time the submersible starts the automatic height setting mode. By operating the manipulator, the drilling rig slowly approaches the rock to be cored, and then the rotating lifting mechanism 5 is turned on to make it descend and rotate. When the rotating lifting mechanism 5 descends, the hydraulic system makes the rotating lifting platform 52 descend along the central axis, and the motor 51 drives the rotating lifting platform 52 to rotate around the central axis until the inclined support legs 62 and the vertical support legs 71 of the drilling rig balance component 6 and the drilling rig support component 7 find a suitable foothold. When each support leg of the drilling rig finds a suitable foothold, the anchor drill assembly at the tip of each support leg is started, and the drill bit 642 actively drills and embeds into the rock when it is seated, playing the role of anchoring, so that it is more stable during the core sampling process. Then, the screw adjustment assembly 63 driven by the DC motor 631 adjusts the angle of the inclined support leg 62 at any time according to the signal of the attitude sensor 53. Secondly, the electric push rod 61 arranged axially on the inclined support leg 62 is extended and retracted, and the length of the inclined support leg is adjusted at any time according to the signal of the attitude sensor 53. Finally, the angle and length of the six support legs are used to achieve timely and accurate attitude adjustment, and confirm that the coring drill bit 33 is always perpendicular to the coring surface. Make the six inclined support legs 62 all contact with the mining surface, so that in the actual coring process, the angle and length of the inclined support leg 62 are continuously adjusted according to the signal of the attitude sensor 53, so that it is always in a favorable posture during the coring process. And when coring, the thruster provides a downward force of not less than 500N, which is easy to lock the verticality of the drilling rig and provide coring power for the coring drill rig 3. After coring is completed, the propeller of the drilling rig propulsion component 4 turns over to provide a buoyancy of not less than 500N, so that the coring drill rig 3 can easily leave the coring rock surface. After coring is completed, the manipulator is operated to put the drilling rig back. After the deep-sea self-balancing and self-pressurizing core sampling device returns to the mother ship with the submersible, the coring drill bit 33 is manually disassembled to take out the core sample.

[0054] The above-described embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible, characterized in that: The drill rig comprises a drilling rig body, which comprises, from top to bottom, a clamping portion (1), a main control box (2) and a coring drill rig (3); a drilling rig propulsion component (4) is symmetrically arranged on both sides of the outside of the main control box (2); a rotating lifting mechanism (5) is also arranged on the top of the coring drill rig (3); and a plurality of drilling rig balancing components (6) are evenly arranged on the bottom of the rotating lifting mechanism (5) along the circumferential direction; The drilling rig balancing component (6) comprises a housing (65), an electric push rod (61), a tilting support leg (62), a screw adjustment assembly (63) and a first anchor drill assembly (64); the electric push rod (61) is installed in the housing (65); the upper end of the housing (65) and one end of the screw adjustment assembly (63) are both hinged to the rotating lifting mechanism (5); the working end of the electric push rod (61) is connected to the tilting support leg (62) so that the tilting support leg (62) can be extended and retracted along the axial direction; the lower end of the tilting support leg (62) is connected to the rotatable first anchor drill assembly (64); the other end of the screw adjustment assembly (63) is slidably connected to the tilting support leg (62); the extension and retraction of the screw adjustment assembly (63) drives the angle of the tilting support leg (62) to change; The rotary lifting mechanism (5) comprises a motor (51), a rotary lifting platform (52), a posture sensor (53) and a hydraulic drive system. The hydraulic drive system is used to drive the rotary lifting platform (52) to lift up and down. The motor (51) is used to drive the rotary lifting platform (52) to rotate. The screw adjustment component (63) loaded by the motor (51) performs telescopic movement to adjust the angle of the tilting support leg (62) at any time according to the signal of the posture sensor (53). The electric push rod (61) drives the tilting support leg (62) to perform axial synchronous telescopic movement to adjust the length of the tilting support leg (62) in real time according to the signal of the posture sensor (53). The angle and length of the tilting support leg (62) are adjusted to achieve timely and accurate posture adjustment, and to confirm that the coring drill bit (33) is always perpendicular to the coring surface. The first anchor drill assembly (64) comprises a motor (641) and a threaded drill bit (642); the motor (641) is fixed to the lower end of the inclined support leg (62); the output end of the motor (641) is connected to the drill bit (642) and drives the drill bit (642) to rotate; and a pressure sensor (643) is also installed on the drill bit (642); During core sampling, the drilling rig propulsion component (4) provides a downward pressure of not less than 500N, vertically locks the coring drill (3) and provides coring power for the coring drill (3).

2. A deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible according to claim 1, characterized in that: The hydraulic drive system comprises a hydraulic pump, a hydraulic cylinder (54), an electromagnetic proportional valve, an electromagnetic reversing valve, a relief valve, and a hydraulic oil tank; the piston rod of the hydraulic cylinder (54) is fixed to the motor (51); the output shaft of the motor (51) is connected to the central axis of the rotary lifting platform (52) via a coupling; and the attitude sensor (53) is installed at the center of the rotary lifting platform (52).

3. A deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible according to claim 1, characterized in that: The drilling rig propulsion component (4) is configured as a channel propeller.

4. A deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible according to claim 1, characterized in that: The screw adjustment assembly (63) comprises a DC motor (631), a screw (632), a screw sleeve (633) matched with the screw (632), and a movable slider (634); the screw sleeve (633) is hinged to the rotary lifting mechanism (5); the DC motor (631) is connected to the screw (632) via a coupling and drives the screw (632) to move axially in the screw sleeve (633); the movable slider (634) is sleeved on the outside of the tilting support leg (62); the screw (632) is hinged to the movable slider (634).

5. The deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible according to claim 1, characterized in that: It also includes a plurality of drilling rig support components (7), which are arranged at the bottom of the rotating lifting mechanism (5) and are evenly distributed along the circumferential direction, and are located on the inner side of the circle formed by the plurality of drilling rig balancing components (6); the drilling rig support components (7) include vertical support legs (71), a hydraulic system for driving the vertical support legs (71) to extend and retract, and a second anchor drill assembly (72) connected to the bottom of the vertical support legs (71) and rotatable.

6. A deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible according to claim 5, characterized in that: The second anchor drill assembly (72) comprises a motor (641) and a threaded drill bit (642); the motor (641) is fixed to the lower end of the vertical support leg (71); the output end of the motor (641) is connected to the drill bit (642) and drives the drill bit (642) to rotate.

7. A deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible according to claim 5, characterized in that: The rotary lifting platform (52) comprises a central axis, an inner ring (521) and an outer ring (522); the central axis, the inner ring (521) and the outer ring (522) are integrally connected via radial connecting ribs; a plurality of vertical support legs (71) are arranged at the lower part of the inner ring (521) and are evenly distributed along the circumference; and a plurality of inclined support legs (62) are arranged at the lower part of the outer ring (522) and are evenly distributed along the circumference.

8. A deep-sea self-balancing and self-pressurizing core sampling device based on a manned submersible according to claim 7, characterized in that: The number of the plurality of inclined support legs (62) is 6, and the number of the plurality of vertical support legs (71) is the same as the number of the plurality of inclined support legs (62).

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