Automatic drilling machine capable of being used for rope coring drilling of extraterrestrial celestial body

Abstract

The invention discloses an automatic drilling machine capable of being used for extraterrestrial celestial body rope coring drilling, and relates to the technical field of coring drilling equipment.The automatic drilling machine mainly structurally comprises a rack, and the rack is a three-axis portal frame mechanism; a power head is arranged on a cross beam of the rack; a drilling rod storage area is arranged at one end of the middle of the rack, and a coring pipe storage area is arranged at the other end of the middle of the rack. According to the automatic drilling machine capable of being used for extraterrestrial celestial body rope coring drilling, a three-axis movable portal frame structure is adopted, the power head can move freely, and accurate positioning is achieved so as to be additionally connected with a drill rod or drill in a hole. The screw anchor rod is used for fixing the machine body, the machine body is stabilized in a low-gravity environment, and the under-drilling pressure and the reaction torque are improved. The power head and the coring winch are integrated, and the fisher is arranged in the power head, so that the problem of hole alignment when the fisher is put in rope coring is solved. The drilling machine can increase the drilling depth by additionally connecting a drill rod, and can be used for deep hole coring drilling.

Description

Technical Field

[0001] The invention relates to the technical field of coring drilling equipment, and in particular to an automated drilling rig that can be used for extraterrestrial body rope coring drilling. Background Art

[0002] So far, human beings have mainly relied on telescopes to study the solar system. However, there are not only too few planetary, asteroid and comet probes, but also a limited number of instruments that can be carried. In particular, many large scientific instruments cannot be loaded onto probes and launched into space. If samples can be brought back from extraterrestrial bodies, detailed and long-term research can be carried out on Earth. If the probe discovers some phenomena beyond people's cognition at the scene, there is no way to immediately develop new instruments and launch them. It may take many years before there is a chance to conduct another round of exploration.

[0003] If the samples are brought back to Earth, they can be processed at any time using new experimental analysis methods, and can also be used to judge and compare the results of telescope observations.

[0004] Sample return refers to obtaining samples from a location outside the Earth and sending them back to Earth for analysis. The range of "samples" here is very broad, which may be only atoms and molecules, or loose planetary materials, such as soil, rocks and other sediments.

[0005] The patent with publication number CN116086867A discloses a portable drilling sampler for the weathering layer of an extraterrestrial body and a sampling method thereof. The sampler includes an operating handle, a sealed shell, a DC power supply, a power transmission mechanism, an impact mechanism and a drilling mechanism, wherein the operating handle is installed at the upper end of the outer side of the sealed shell, the DC power supply and the power transmission mechanism are arranged inside the sealed shell, the DC power supply is used to supply power to the power transmission mechanism, the impact mechanism is arranged at the outer side of the bottom of the sealed shell, and one end is connected to the power transmission mechanism, and the other end of the impact mechanism is connected to the drilling mechanism; the power transmission mechanism drives the impact mechanism and the drilling mechanism to rotate, and the impact module is used to hammer the drilling mechanism, and the drilling sampling of the weathering layer of an extraterrestrial body is realized by the cooperation of the impact mechanism and the drilling mechanism. The present invention has a compact structure, a small size, and is easy to carry. It can automatically and continuously drill under the auxiliary operation and assembly of astronauts to realize the drilling and sampling functions of the weathering layer of an extraterrestrial body.

[0006] The above-mentioned sampler is mainly used to collect samples from the weathering layer of extraterrestrial bodies. It is more difficult to collect samples deep in the stratum. Therefore, a deep hole coring drilling device is urgently needed. Summary of the invention

[0007] In order to solve the above technical problems, the present invention provides an automated drilling rig that can be used for rope coring drilling of extraterrestrial bodies, and is used for collecting geological samples deep in the strata of extraterrestrial bodies.

[0008] To achieve the above object, the present invention provides the following solutions:

[0009] The present invention provides an automated drilling rig that can be used for extraterrestrial rope coring drilling, comprising a frame, wherein the frame is a three-axis gantry mechanism; a power head is arranged on the crossbeam of the frame, and the frame is used to drive the power head to move along three-axis directions; an orifice mechanism is arranged in the middle of the frame, a drill rod storage area is arranged at one end of the middle of the frame, and a coring tube storage area is arranged at the other end of the middle of the frame.

[0010] Optionally, an anchor screw is provided on the frame on both sides of the orifice mechanism, and the top of the anchor screw is used for transmission connection with the output end of the power head.

[0011] Optionally, the orifice mechanism includes a positioning flange, a breaker and a lower clamp, the breaker and the lower clamp are concentrically arranged on the positioning flange, and the lower clamp is arranged below the breaker; the breaker is used to clamp and rotate the upper drill rod, and the lower clamp is used to clamp the lower drill rod, and the upper drill rod and the lower drill rod are connected or disassembled by clamping and rotating the upper drill rod with the breaker.

[0012] Optionally, the breaker includes a second electric cylinder, a second flexible shaft, a cava and a rotating part; the rotating part is rotatably arranged on the positioning flange; a through hole is arranged in the middle of the rotating part, and two cava are arranged in the through hole, the output end of the second electric cylinder is connected to one end of the second flexible shaft, and the other end of the second flexible shaft is connected to the outer edge of the rotating part.

[0013] Optionally, the lower clamp includes a first electric cylinder, a first flexible shaft, a guide rod, a forced centering link, a return spring and a cava; the guide rod is arranged on the positioning flange, and the forced centering link is arranged on the outer side of the guide rod; the return spring is arranged between the middle part of the forced centering link and the middle part of the guide rod; the cava is slidably arranged on the guide rod; the output end of the first electric cylinder is connected to one end of the first flexible shaft, and the other end of the first flexible shaft is connected to the cava.

[0014] Optionally, the power head includes a motor, a transmission box, a three-jaw chuck back-up clamp, a floating spindle, a rope coring salvage device and a coring winch; the motor is connected to the input end of the transmission box; the three-jaw chuck back-up clamp is arranged below the transmission box, and the three-jaw chuck back-up clamp is used to clamp the drill pipe; a through hole is arranged in the middle of the transmission box, the floating spindle is arranged in the through hole, and the floating spindle is transmission-connected with the output end of the transmission box; the coring winch is arranged on one side of the transmission box, and a guide pulley is arranged above the through hole, and the free end of the rope of the coring winch passes around the guide pulley and then extends into the floating spindle and is connected to the top of the rope coring salvage device; a de-jamming shoulder is arranged on the inner wall of the floating spindle, and the diameter of the part of the floating spindle located above the de-jamming shoulder is smaller than the external dimension of the rope coring salvage device.

[0015] Optionally, the frame includes an X-axis linear module, a Y-axis linear module and a Z-axis linear module; the Y-axis linear module is slidably set on the X-axis linear module, and the Z-axis linear module is slidably set on the Y-axis linear module; the power head is slidably set on the Z-axis linear module.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The automated drilling rig used for extraterrestrial rope coring drilling in the present invention adopts a three-axis mobile gantry structure, and the power head can move freely to achieve precise positioning for connecting drill rods or drilling in holes. The fuselage is fixed with spiral anchor rods to stabilize the fuselage in a low-gravity environment and increase the drilling pressure and counter-torque. The power head is integrated with the coring winch, and the salvage is placed inside the power head, avoiding the problem of hole alignment when the salvage is placed in the rope coring. The drilling rig can increase the drilling depth by adding drill rods, and can be used for deep hole coring drilling. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 The present invention is a schematic structural diagram of an automated drilling rig that can be used for extraterrestrial body rope coring drilling;

[0020] Figure 2 It is a structural schematic diagram of the orifice mechanism in the automated drilling rig that can be used for extraterrestrial body rope coring drilling according to the present invention;

[0021] Figure 3It is a structural schematic diagram of the clamping state of the lower clamp of the automatic drilling rig that can be used for extraterrestrial body rope coring drilling of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the lower clamp in the released state of the automatic drilling rig that can be used for extraterrestrial rope coring drilling of the present invention;

[0023] Figure 5 It is a structural schematic diagram of a first state of a shackle in an automated drilling rig that can be used for extraterrestrial rope coring drilling according to the present invention;

[0024] Figure 6 It is a structural schematic diagram of the second state of the breaker in the automated drilling rig that can be used for extraterrestrial rope coring drilling of the present invention;

[0025] Figure 7 It is a schematic structural diagram of a power head in an automated drilling rig that can be used for extraterrestrial rope coring drilling of the present invention;

[0026] Figure 8 The present invention is a schematic structural diagram of a power head connected to a drill rod in an automated drilling rig that can be used for extraterrestrial rope coring drilling.

[0027] Explanation of the reference numerals: 1. Frame; 2. Power head; 3. Anchor screw; 4. Drill rod; 5. Coring tube; 6. Orifice mechanism; 7. Unclamp; 8. Lower clamp; 9. Upper drill rod; 10. Lower drill rod; 11. First electric cylinder; 12. First flexible shaft; 13. Guide rod; 14. Forced centering connecting rod; 15. Return spring; 16. Slip; 17. Second electric cylinder; 18. Second flexible shaft; 19. Motor; 20. Transmission box; 21. Three-jaw chuck back-up clamp; 22. Floating spindle; 23. Rope coring salvage device; 24. Coring winch. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figures 1 to 8 As shown, this embodiment provides an automated drilling rig that can be used for extraterrestrial rope coring drilling, including a frame 1, which is a three-axis gantry mechanism; a power head 2 is arranged on the crossbeam of the frame 1, and the frame 1 is used to drive the power head 2 to move along the three-axis direction; an orifice mechanism 6 is arranged in the middle of the frame 1, a drill rod 4 storage area is arranged at one end of the middle of the frame 1, and a core tube 5 storage area is arranged at the other end of the middle of the frame 1.

[0030] The frame 1 can drive the power head 2 to move along three axes within the frame 1, so that the power head 2 can complete operations such as twisting the anchor screw 3, taking and placing the drill rod 4, taking and placing the core tube 5, drilling and extracting the drill rod 4, etc., to achieve coring drilling.

[0031] In this specific embodiment, the frame 1 includes an X-axis linear module, a Y-axis linear module and a Z-axis linear module; the Y-axis linear module is slidably arranged on the X-axis linear module, and the Z-axis linear module is slidably arranged on the Y-axis linear module; the power head 2 is slidably arranged on the Z-axis linear module. The X-axis linear module can drive the Y-axis linear module to move in a straight line in the X direction, and the Y-axis linear module can drive the Z-axis linear module to move in a straight line in the Y direction; the Z-axis linear module can drive the power head 2 to move in a straight line in the Z direction, thereby realizing the free movement of the power head 2 within the range of the frame 1.

[0032] The power head 2 includes a motor 19, a transmission box 20, a three-claw chuck type back-up tong 21, a floating spindle 22, a rope coring salvage device 23 and a coring winch 24; the motor 19 is connected to the input end of the transmission box 20; a three-claw chuck type back-up tong 21 is arranged below the transmission box 20, and the three-claw chuck type back-up tong 21 is used to clamp the drill pipe 4 to realize the unfastening and tightening between the drill pipe 4 and the floating spindle 22 and between the drill pipes 4; a through hole is arranged in the middle of the transmission box 20, and the floating spindle 22 is arranged In the through hole, the floating main shaft 22 is transmission-connected with the output end of the transmission box 20; the coring winch 24 is arranged on one side of the transmission box 20, and a guide pulley is arranged above the through hole. The free end of the rope of the coring winch 24 passes around the guide pulley and then extends into the floating main shaft 22 and is connected with the top of the rope coring salvage device 23; a de-stuck shoulder is arranged on the inner wall of the floating main shaft 22, and the diameter of the part of the floating main shaft 22 located above the de-stuck shoulder is smaller than the external dimension of the rope coring salvage device 23.

[0033] The coring winch 24 is connected to the rope coring catching device 23 through a rope, and the claws at the bottom of the rope coring catching device 23 are used to grab the top of the coring tube 5, thereby completing the recovery of the coring tube 5. The transmission box 20 is driven by the motor 19, and the output end of the transmission box 20 is provided with an internal spline, and the outer wall of the floating main shaft 22 is provided with an external spline. Through the spline matching transmission connection, the transmission box 20 can drive the floating main shaft 22 to rotate, and the floating main shaft 22 can move up and down while rotating, thereby drilling the drill pipe 4 during the drilling process. The three-jaw chuck type back-up tongs 21 can grasp or loosen the drill pipe 4 to cooperate with the power head 2 to complete the connection of the drill pipe 4, or cooperate with the breaker 7 to complete the shackle between the drill pipes 4 and then cooperate with the power head 2 to complete the disassembly of the drill pipe 4.

[0034] An anchor screw 3 is provided on both sides of the orifice mechanism 6 on the frame 1, and the top of the anchor screw 3 is used for transmission connection with the output end of the power head 2. The anchor screw 3 is driven by the power head 2 to be screwed into the formation, thereby stabilizing the frame 1 in a microgravity environment and providing pressure and counter torque for drilling.

[0035] The orifice mechanism 6 includes a positioning flange, a breaker 7 and a lower clamp 8. The breaker 7 and the lower clamp 8 are concentrically arranged on the positioning flange, and the lower clamp 8 is arranged below the breaker 7; the breaker 7 is used to clamp and rotate the upper drill rod 9, and the lower clamp 8 is used to clamp the lower drill rod 10. The upper drill rod 9 and the lower drill rod 10 are connected or disassembled by clamping and rotating the upper drill rod 9 by the breaker 7. The breaker 7 includes a second electric cylinder 17, a second flexible shaft 18, a slip 16 and a rotating member; the rotating member is rotatably arranged on the positioning flange; a through hole is arranged in the middle of the rotating member, and two slips 16 are arranged in the through hole. The output end of the second electric cylinder 17 is connected to one end of the second flexible shaft 18, and the other end of the second flexible shaft 18 is connected to the outer edge of the rotating member. The lower clamp 8 includes a first electric cylinder 11, a first flexible shaft 12, a guide rod 13, a forced centering connecting rod 14, a return spring 15 and a slip 16; the guide rod 13 is arranged on the positioning flange, and a forced centering connecting rod 14 is arranged on the outer side of the guide rod 13; a return spring 15 is arranged between the middle part of the forced centering connecting rod 14 and the middle part of the guide rod 13; the slip 16 is slidably arranged on the guide rod 13; the output end of the first electric cylinder 11 is connected to one end of the first flexible shaft 12, and the other end of the first flexible shaft 12 is connected to the slip 16.

[0036] The first flexible shaft 12 is driven by the first electric cylinder, and the first flexible shaft 12 drives the slips 16 so that the two slips 16 clamp the lower drill rod 10. The second electric cylinder drives the second flexible shaft 18, and the second flexible shaft 18 drives the rotating part to rotate counterclockwise, so that the upper drill rod 9 rotates counterclockwise, so that the upper drill rod 9 and the lower drill rod 10 are completely unhooked, so that the subsequent power head 2 rotates the upper drill rod 9 to complete the disassembly of the upper drill rod 9 and the lower drill rod 10.

[0037] The drilling rig is equipped with an extraterrestrial lander and landed. It is in a horizontal state when working. After selecting the target operation area, the power head 2 moves along the Z axis and connects with the anchor screw 3. The two anchor screws 3 are screwed into the formation by rotation and pressure, and the drilling rig is stabilized under microgravity conditions to provide drilling pressure and counter torque. Then the power head 2 moves along the X axis and the Y axis. After aligning the drill rod 4, the three-claw chuck type back clamp 21 clamps the end of the drill rod 4, and the power head 2 rotates the connecting rod. Move along the X axis and the Y axis again, move together with the drill rod 4 to the top of the orifice mechanism 6, and carry out drilling operations. After the drilling round is completed, the core tube 5 in the hole is extracted by the rope core salvage device 23 built into the power head 2. After being pulled out of the hole, the core tube 5 is moved to the core tube 5 placement area, and a new core tube 5 is extracted and placed in the hole. The drill rod 4 is connected again to carry out the next round of drilling.

[0038] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0039] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An automated drilling rig for extraterrestrial body rope coring drilling, characterized in that: It comprises a frame, which is a three-axis gantry mechanism; a power head is arranged on the crossbeam of the frame, and the frame is used to drive the power head to move along the three-axis direction; an orifice mechanism is arranged in the middle of the frame, a drill rod storage area is arranged at one end of the middle of the frame, and a core tube storage area is arranged at the other end of the middle of the frame.

2. The automated drilling rig for extraterrestrial rope coring drilling according to claim 1, characterized in that: An anchor screw is respectively arranged on the frame at both sides of the orifice mechanism, and the top of the anchor screw is used for transmission connection with the output end of the power head.

3. The automated drilling rig for extraterrestrial body wireline coring drilling according to claim 1, characterized in that: The orifice mechanism includes a positioning flange, a breaker and a lower clamp, wherein the breaker and the lower clamp are concentrically arranged on the positioning flange, and the lower clamp is arranged below the breaker; the breaker is used to clamp and rotate the upper drill rod, and the lower clamp is used to clamp the lower drill rod, and the upper drill rod and the lower drill rod are connected or disassembled by clamping and rotating the upper drill rod with the breaker.

4. The automated drilling rig for extraterrestrial body wireline coring drilling according to claim 3, characterized in that: The breaker includes a second electric cylinder, a second flexible shaft, a slip and a rotating part; the rotating part is rotatably arranged on the positioning flange; a through hole is arranged in the middle of the rotating part, and two slips are arranged in the through hole, the output end of the second electric cylinder is connected to one end of the second flexible shaft, and the other end of the second flexible shaft is connected to the outer edge of the rotating part.

5. The automated drilling rig for extraterrestrial body wireline coring drilling according to claim 3, characterized in that: The lower clamp includes a first electric cylinder, a first flexible shaft, a guide rod, a forced centering connecting rod, a return spring and a slip; the guide rod is arranged on the positioning flange, and the forced centering connecting rod is arranged on the outer side of the guide rod; the return spring is arranged between the middle part of the forced centering connecting rod and the middle part of the guide rod; the slip is slidably arranged on the guide rod; the output end of the first electric cylinder is connected to one end of the first flexible shaft, and the other end of the first flexible shaft is connected to the slip.

6. The automated drilling rig for extraterrestrial body wireline coring drilling according to claim 1, characterized in that: The power head includes a motor, a transmission box, a three-jaw chuck back-up tong, a floating spindle, a rope coring salvage device and a coring winch; the motor is connected to the input end of the transmission box; the three-jaw chuck back-up tong is arranged below the transmission box, and the three-jaw chuck back-up tong is used to clamp the drill pipe; a through hole is arranged in the middle of the transmission box, the floating spindle is arranged in the through hole, and the floating spindle is transmission-connected with the output end of the transmission box; the coring winch is arranged on one side of the transmission box, and a guide pulley is arranged above the through hole, and the free end of the rope of the coring winch passes around the guide pulley and then extends into the floating spindle and is connected to the top of the rope coring salvage device; a de-stuck shoulder is arranged on the inner wall of the floating spindle, and the diameter of the part of the floating spindle located above the de-stuck shoulder is smaller than the external size of the rope coring salvage device.

7. The automated drilling rig for extraterrestrial body wireline coring drilling according to claim 1, characterized in that: The frame includes an X-axis linear module, a Y-axis linear module and a Z-axis linear module; the Y-axis linear module is slidably arranged on the X-axis linear module, and the Z-axis linear module is slidably arranged on the Y-axis linear module; the power head is slidably arranged on the Z-axis linear module.

Images