Electromagnetic locking drill bit replacement mechanism, drilling rig and operation method for deep-sea manned submersible

Abstract

The present invention belongs to the field of high-end equipment for deep-sea drilling equipment and technical improvements, and specifically proposes an electromagnetic locking drill bit replacement mechanism, a drilling rig and an operation method for a deep-sea manned submersible, including: a base; a lifting device including a lifting platform, a support member and a clamping part, the support member is fixedly connected to the lifting platform, the clamping part is connected to the support member and the drill bit assembly for clamping the drilling rig, and the lifting platform moves up and down to drive the support member and the clamping part to move synchronously; the drilling rig drill bit fixing device includes a first limiting part for axial limiting the drilling rig body, and a second limiting part for radial limiting the drilling rig body and the drill bit assembly; the electromagnet locking device is used to lock the drill bit assembly, including a magnet reciprocating telescopic part and a locking part, and the locking part passes through the drilling rig drill bit fixing device and locks the drill bit connector of the drill bit assembly. The invention realizes rapid, automated and safe drill bit replacement in unknown deep-sea environments, reduces manpower dependence, and has the advantages of high versatility, miniaturization and light weight.

Description

Technical Field

[0001] The present invention relates to a technology for quickly replacing the drill bit of a deep-sea sampling drill rig under complex and unknown deep-sea terrain conditions, in particular to a refined deep-sea core electromagnetic locking drill bit replacement mechanism, a drilling rig and an operating method based on deep-sea manned submersibles and other deep-sea submersibles. Background Art

[0002] The deep sea contains a large amount of mineral resources. The development of marine resources will help alleviate the global resource shortage. Deep-sea core sampling drills are indispensable technical equipment for deep-sea mineral resource exploration, geological surveys, etc. Many deep-sea core sampling drills have been developed at home and abroad. They are usually used in scientific research and exploration activities to obtain geological and biological samples from the deep sea. These drills need to be able to withstand the high pressure and low temperature of the deep sea environment, and have sufficient stability and accuracy to carry out delicate coring and drilling operations.

[0003] Due to the challenging deep-sea environmental conditions, the submersible must collect as many samples as possible in one sampling operation. The drill bit replacement technology of deep-sea coring drills is the key to solving this problem. ROV is an automated equipment commonly used in deep-sea operations. Through remote control, ROV can complete the replacement of drill bits underwater. ROV is equipped with a mechanical arm and camera equipment, which can be used to disassemble and install the drill bit, but the operation is very difficult due to problems such as low visibility in the deep sea. Some submersibles are equipped with automated mechanical arms, which can theoretically automatically replace drill bits according to preset programs to improve the accuracy and efficiency of replacement and reduce the possibility of human error. However, in actual operation, facing the complex deep-sea environment, the effect is not ideal.

[0004] Drill bit replacement requires precise underwater operations, especially for remotely operated vehicles (ROVs) or automated robotic arms. Insufficient operating precision may result in loose installation of the drill bit, which in turn affects subsequent drilling operations. The complex structure of deep-sea drilling rigs and their supporting equipment, coupled with their high maintenance and operating costs, increases the technical difficulty of drill bit replacement. In addition, poor underwater visibility may affect the operator's monitoring and control of the replacement process, thereby reducing efficiency. Deep-sea drilling rig drill bit replacement requires precision, coordination and compliance with safety protocols. To effectively perform these operations, it is not possible to rely solely on remotely operated vehicles (ROVs) or automated robotic arms. In addition, the entire process requires strict safety measures and professional technical support. Divers need to undergo special training in the replacement process.

[0005] At present, the design of multi-drill bit replacement devices for deep-sea manned submersible core sampling drills is still in its infancy at home and abroad, and there are few related studies. A Chinese patent (patent number CN105863541B) discloses a deep-sea small multi-tube coring drill that can be carried on underwater equipment such as deep-sea remotely operated vehicles (ROVs) or deep-sea manned submersibles (HOVs). The drill is a hydraulic integrated multi-drill bit drill that uses a hydraulic system, a hydraulic cylinder, a drill rod library, a drill rod conversion mechanism and other structures to achieve multi-drill bit coring, but the multi-drill bit structure can only be used on the matching drill, which is not universal. In addition, the drill rig occupies a large space, which is not conducive to miniaturization and lightweighting. It cannot be used for core drilling in harsher environments such as relatively narrow spaces.

[0006] Due to the space and load limitations of manned submersibles (similar to space submarines), deep-sea drilling rig drill bit replacement technology urgently needs to be designed with high versatility, miniaturization, and lightweight. Summary of the invention

[0007] In order to solve the defects in the prior art, the present invention proposes an electromagnetic locking drill bit replacement mechanism, a drilling rig and an operation method, which can realize the replacement of a deep-sea coring drill bit with high versatility, miniaturization and lightness. The scheme is as follows:

[0008] On the one hand, the present invention proposes an electromagnetic locking drill bit replacement mechanism, comprising a base connected to a manned submersible; a lifting device, arranged on one side of the base, comprising a lifting platform, a support member and a clamping part, the support member is fixedly connected to the lifting platform, the clamping part is connected to the support member and is used to clamp the drill bit assembly of the drilling rig, and the up and down movement of the lifting platform drives the support member and the clamping part to move synchronously; a drilling rig drill bit fixing device, arranged on the base, comprising a first limiting part for axially limiting the drilling rig body, and a second limiting part for radially limiting the drilling rig body and the drill bit assembly; an electromagnet locking device, arranged on one side of the drilling rig drill bit fixing device, for locking the drill bit assembly, comprising a magnet reciprocating telescopic part and a locking part, the magnet reciprocating telescopic part is connected to the locking part, and the locking part passes through the drilling rig drill bit fixing device and is locked with the drill bit connector of the drill bit assembly.

[0009] Furthermore, the lifting device also includes a lifting component, which includes a DC motor, a motor mounting seat, a vertical lifting bracket, gears, gear belts, pulleys and sensors. The motor mounting seat is fixedly installed on one side of the vertical lifting bracket, the DC motor is installed on the motor mounting seat, the DC motor is connected to the gear, the gear is connected to the gear belt, the gear belt is connected to the lifting platform, the pulley is arranged on the vertical lifting bracket, and the sensor is installed on the base. The upper part of the support member is fixedly connected to the lifting platform, and the lower part of the support member is connected to the clamping part, and the clamping part includes a clamping mechanical claw.

[0010] Furthermore, the drill bit replacement mechanism also includes a spring clamping device for clamping the support member, the spring clamping device includes a spring fixing block, a pressure spring and a spring ejector pin arranged in the spring fixing block, the spring fixing block is installed on the base, the spring ejector pin passes through the base and is inserted into the limiting slot hole opened on the support member, and a plurality of limiting slot holes are evenly opened on the support member along the length direction, and the limiting slot holes are adapted to the spring ejector pin.

[0011] Furthermore, the drill bit fixing device of the drilling rig is in the shape of a stepped cylinder, and a plurality of stepped holes are provided inside the stepped cylinder. The plurality of stepped holes are adapted to the diameter of the drilling rig and the drill bit assembly for radially limiting the drilling rig and the drill bit assembly. A slot is provided in the upper part of the stepped cylinder, and the width and bottom shape of the slot are adapted to the shape of the protruding column of the drilling rig for axially limiting the drilling rig.

[0012] The stepped cylindrical upper portion may also be provided with an integrally connected bell mouth for guiding, so as to facilitate the smooth placement of the drill rig and drill bit assembly into the drill rig drill bit fixture.

[0013] The notch is arranged as a U-shaped groove.

[0014] Furthermore, the upper outer surface of the drill bit assembly is gear-shaped; the magnet reciprocating telescopic part includes an electromagnet, an electromagnet suction patch and a connecting shaft, the locking part is a brake pin, the electromagnet suction patch is connected to the connecting shaft, the connecting shaft is connected to the brake pin, and the end structure of the brake pin is adapted to the gear-shaped shape of the upper outer surface of the drill bit assembly. When the power is off, the electromagnet suction patch is in contact with the electromagnet, and when the power is on, the electromagnet suction patch is separated from the electromagnet.

[0015] Furthermore, the electromagnet locking device also includes an electromagnet housing, a fixing plate, a plurality of electromagnet supporting columns, and a fastening nut. The fixing plate is installed on one side of the electromagnet housing, the electromagnet is installed on the fixing plate, and the plurality of electromagnet supporting columns are installed on the fixing plate. The electromagnet suction patch is arranged in parallel with the electromagnet and is located inside the plurality of electromagnet supporting columns. The electromagnet column is connected to the electromagnet fixing seat, and the electromagnet fixing seat is connected to the drill bit fixing device of the drilling rig.

[0016] Furthermore, the base includes a lower support plate and an upper support plate, and a support plate connecting rod located therebetween, the upper support plate is fixedly connected to the drilling rig drill bit fixing device, and one side of the drilling rig drill bit fixing device is fixedly connected to the electromagnet fixing seat.

[0017] On the other hand, the present invention proposes a deep-sea core sampling drill rig, including a drill rig body and a detachably connected drill bit assembly, and also includes any one of the above-mentioned deep-sea manned submersible electromagnetic locking drill bit replacement mechanisms.

[0018] Furthermore, the drill body includes a gripping handle, an upper end cover of the drill, a drill barrel, a motor, an shaft extension flange, a fixing seat, a bearing and a drill output shaft. The gripping handle is connected to the upper end cover of the drill. The upper end cover of the drill and the drill barrel, the drill barrel and the shaft extension flange, and the shaft extension flange and the fixing seat are all fixedly connected by set screws. The motor is arranged in the drill barrel, and the motor is connected to the drill output shaft. The outer periphery of one end of the drill output shaft is connected to the bearing, and the bearing is arranged in the shaft extension flange. The other end of the drill output shaft extends out of the fixing seat and is provided with an external thread. The drill bit assembly includes a drill rod connecting part, a drill rod and a drill bit from top to bottom. The upper part of the outer surface of the drill rod connecting part is gear-shaped, and the drill rod connecting part is axially provided with a threaded hole matching the external thread of the drill output shaft.

[0019] In another aspect, the present invention provides an operating method of the deep-sea core sampling drilling rig as described above, comprising the following steps:

[0020] S1. The replacement mechanism is installed on the workbench at the front end of the submersible;

[0021] S2, the multifunctional manipulator clamps the drill bit assembly and places it into the drill bit fixing device of the drilling rig, the electromagnet is energized, the electromagnet locking device locks the drill bit assembly, the spring clamping device clamps the lifting device, and the clamping part clamps the drill bit assembly to achieve the positioning of the drill bit assembly;

[0022] S3, the multifunctional manipulator clamps the drill body into the drill bit fixture of the drill body, inserts the protruding column on the outside of the drill body into the U-shaped groove of the drill bit fixture of the drill body, starts the motor in the drill body, and the motor rotates to drive the drill output shaft to rotate. The drill output shaft rotates into the threaded hole of the drill rod connector to achieve the connection between the drill body and the drill bit assembly;

[0023] S4, taking the drilling rig out of the replacement mechanism and taking samples;

[0024] S5. When the drilling rig sampling is completed, the multifunctional manipulator is used to clamp the drilling rig, and the used drilling rig is placed in the drilling rig drill bit fixing device, the electromagnet is energized, the electromagnet locking device locks the drill bit assembly, the spring clamping device clamps the lifting device, and the clamping part clamps the drill bit assembly;

[0025] S6, start the motor in the drilling rig body to reverse the motor, the motor drives the drilling rig output shaft, so that the drilling rig output shaft is separated from the drill bit assembly, the multifunctional manipulator puts the drilling rig body on the workbench, opens the lifting device, drives the drill bit assembly to rise, rises to the upper opening of the drilling rig drill bit fixing device, and uses the multifunctional manipulator to clamp the sampled drill bit assembly and put it on the workbench, so as to realize the disassembly of the drill bit assembly;

[0026] S7, the multifunctional manipulator grabs the unused drill bit assembly and repeats steps S2 to S3 to replace the drill bit of the drilling rig.

[0027] Compared with the prior art, the advantages of the present invention are as follows:

[0028] The present invention innovatively integrates the operation mode of manned submersible manipulator and drill bit replacement, realizes rapid, automated and safe drill bit replacement in unknown deep-sea environments, reduces dependence on manpower, and has the advantages of high versatility, miniaturization and light weight.

[0029] The present invention proposes to use the on and off power of the electromagnet in the deep sea to control the movement of the electromagnet suction patch, so as to realize the clamping of the drill bit assembly when the drill bit assembly is replaced, and give full play to the advantages of the precise clamping of the electromagnet, so as to realize the replacement of the core drill bit in the complex environment and complex terrain of the deep sea; in addition, the device has completed offshore testing with significant application effects. The modular concept was adopted at the beginning of the design. Its processing, offshore assembly and offshore maintenance are simple and cost-effective. It has been applied to overseas mining exploration in China and has great social and economic benefits.

[0030] The present invention proposes a design idea of ​​the lifting mechanism and the multifunctional manipulator working together. During the working process, the motor is used as a power source to drive the belt to rotate through the reducer. The rotation of the belt drives the movable guide block to move up and down, driving the spring support rod and the mechanical clamping gripper to move up and down synchronously, thereby realizing the lifting or lowering of the drill bit assembly; when the drill bit assembly is lifted to the upper part to expose the drill bit fixing device of the drilling rig, the multifunctional manipulator clamps the drill bit assembly away, and then the multifunctional manipulator clamps the new drill bit assembly into the drill bit fixing device of the drilling rig, and then the lifting device descends, which is convenient for the drilling rig to be screwed into the drill rod connector. The sensor of the electric vertical lifting mechanism can monitor the operating status of the electric vertical lifting device in real time, including key parameters such as speed and position. Once an abnormal situation occurs, the sensor will immediately send a signal to trigger the safety protection device of the submersible to intervene and ensure the safe operation of the entire equipment. At the same time, the sensor detects the position and speed of the lifting device in real time, and transmits the data to the motor control system. The motor control system sets the speed and position interval in advance. When the interval is exceeded, the motor control system forces the motor to brake to achieve protection, thereby realizing functions such as automatic parking and reverse protection, and further improving the safety and reliability of the lifting device.

[0031] Considering the complexity of the deep-sea environment, the drill output shaft of the present invention is threaded. When the drill bit assembly is replaced, the drill is started and the drill output shaft rotates in the opposite direction, so that the drill output shaft can be separated from the drill bit connector. The used drill bit assembly is taken away by a multifunctional manipulator, and the unsampled drill bit assembly is placed in the drill bit fixing device of the drill; the drill output shaft rotates forward, so that the drill output shaft rotates into the threaded hole of the drill rod connector, so as to fix the drill and the drill bit assembly and replace the drill bit assembly; at the same time, a spring clamping device is designed. When replacing the drill bit assembly, the spring thimble in the spring clamping device is clamped into the groove of the support, and the pressure of the spring thimble causes the groove to produce a tight extrusion force, which can effectively prevent the lifting device from loosening or shaking when replacing the drill bit assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0033] Figure 2 is a schematic structural diagram of a lifting device according to an embodiment of the present invention;

[0034] Figure 3 is a side structural schematic diagram of a lifting device according to an embodiment of the present invention;

[0035] Figure 4 is a partial structural schematic diagram of a lifting device according to an embodiment of the present invention;

[0036] Figure 5 It is an exploded schematic diagram of a structure in which a base, a drill bit fixing device, a spring clamping device, an electromagnet fixing seat and an electromagnet locking device are connected in an embodiment of the present invention;

[0037] Figure 6 It is a schematic structural cross-sectional view of a drilling rig drill bit fixing device according to an embodiment of the present invention;

[0038] Figure 7 is a schematic structural diagram of an electromagnet locking device according to an embodiment of the present invention;

[0039] Figure 8 is a schematic structural diagram of the connection between the electromagnet locking device and the drill bit assembly according to an embodiment of the present invention;

[0040] Fig. 9 It is a schematic diagram of the structure of the connection between the spring clamping device and the support member according to an embodiment of the present invention;

[0041] Fig.10 It is a structural schematic diagram of the connection between the drill bit and the electromagnet locking device of the embodiment of the present invention;

[0042] Fig.11 is a front view schematic diagram of the overall structure of an embodiment of the present invention;

[0043] Fig.12 is a schematic top view of the overall structure of an embodiment of the present invention;

[0044] Fig.13 yes Fig.12 Schematic diagram of the cross section at AA in the middle.

[0045] In the above figures:

[0046] 10. Base; 11. Upper support plate; 12. Lower support plate; 13. Support plate connecting rod; 20. Lifting device; 21. Lifting platform; 22. Support member; 221. Limiting slot; 222. Clamping handle; 23. Clamping part; 24. DC motor; 25. Sensor; 26. Vertical lifting bracket; 27. Gear; 28. Gear belt; 29. ​​Pulley; 30. Spring clamping device; 31. Spring fixing block; 32. Pressure spring; 33. Spring thimble; 40. Drill bit fixing device; 41. Multi-section stepped hole; 42. Notch; 43 , bell mouth; 50, electromagnet locking device; 51, locking part; 52, electromagnet; 53, electromagnet suction patch; 54, connecting shaft; 55, electromagnet support column; 56, fixing plate; 57, electromagnet housing; 60, electromagnet fixing seat; 70, drilling rig body; 71, holding handle; 72, drilling rig upper end cover; 73, drilling rig barrel; 74, motor; 75, shaft extension flange; 76, fixing seat; 77, bearing; 78, drilling rig output shaft; 79, protruding column; 80, drill bit assembly; 81, drill rod connecting piece; 82, drill rod; 83, drill bit. DETAILED DESCRIPTION

[0047] 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.

[0048] Because of their flexibility, deep-sea remotely operated vehicles (ROVs) or deep-sea manned submersibles (HOVs) play an important role in deep-sea marine resource surveys, especially through their manipulators, they can grab rock and mineral samples, but if you want to obtain rock and mineral samples at a certain depth, you need to use a small coring drill to drill and sample. The present invention is mainly intended to solve the application technology problem of multi-drill core sampling in a deep-sea environment of 7,000 meters. Every dive of manned submersibles such as Jiaolong is of great significance, and the opportunity is precious. At present, the current domestic carrier core sampling drill can only drill once per dive, which greatly restricts the economy and efficiency of the commercial application of major deep-sea equipment. It has become a "neck-stuck" technology that currently limits the improvement of manned submersible drilling capabilities. For this reason, the inventor is based on the experience of implementing more than 150 Jiaolong manned deep-diving offshore operations, and the core is aimed at the replacement needs of multiple drills under complex sea conditions and deep underwater. A deep-sea manned submersible electromagnetic locking drill replacement mechanism is proposed.

[0049] like Figures 1 to 9 As shown, the replacement mechanism includes a base 10, a lifting device 20, a drilling rig drill bit fixing device 40, an electromagnet locking device 50 and a spring clamping device 30.

[0050] The base 10 is connected to the manned submersible. For the convenience of the drill bit replacement of the drilling rig, the base 10 is fixed on the external workbench of the submersible when the drill bit of the drilling rig is replaced.

[0051] The base 10 includes a lower support plate 12 and an upper support plate 11, and a support plate connecting rod 13 located therebetween. The upper support plate 11 is fixedly connected to a drill bit fixing device 40, and one side of the drill bit fixing device 40 is fixedly connected to an electromagnet fixing seat 60.

[0052] Specifically, Figure 5 As shown, the upper support plate 11 and the lower support plate 12 are basically the same in shape, and are both provided with a plurality of waist-shaped holes for weight reduction. The upper support plate 11 is integrally connected with the drill bit fixing device 40 and the electromagnet fixing seat 60, and the specific connection method can be welding connection or integral processing. The upper support plate 11 and the lower support plate 12 are both provided with through holes for the support member 22 and the drill bit assembly 80 to pass through.

[0053] The lifting device 20 is fixedly connected to the base 10 by welding. In this embodiment, the lower portion of the vertical lifting bracket 26 in the lifting device 20 is welded to the side surface of the upper support plate 11 .

[0054] The lifting device 20 is arranged on one side of the base 10, and includes a lifting component, a lifting platform 21, a support member 22 and a clamping portion 23. The support member 22 is fixedly connected to the lifting platform 21, and the clamping portion 23 is connected to the support member 22 and is used to clamp the drill bit assembly 80 of the drilling rig. The lifting platform 21 moves up and down to drive the support member 22 and the clamping portion 23 to move synchronously.

[0055] Specifically, Figures 2~4 As shown, the lifting component includes a DC motor 24, a motor mounting seat, a vertical lifting bracket 26, a gear 27, a gear belt 28, a pulley 29 and a sensor 25. A base 10 is fixedly mounted on one side of the vertical lifting bracket 26, and a DC motor 24 is installed on the base 10. The DC motor 24 is connected to the gear 27, the gear 27 is connected to the gear belt 28, the gear belt 28 is connected to the lifting platform 21, the pulley 29 is arranged on the vertical lifting bracket 26, and the sensor 25 is installed on the motor mounting seat. The upper part of the support member 22 is fixedly connected to the lifting platform 21, and the lower part of the support member 22 is connected to the clamping part 23. In this embodiment, the clamping part 23 is a clamping mechanical claw.

[0056] These components work together to realize the vertical lifting and lowering of the drill bit of the drilling rig. During the working process, the DC motor 24 of the lifting device 20 is used as a power source, and the DC motor 24 drives the gear belt 28 for transmission. The transmission of the gear belt 28 drives the lifting platform 21 to move up and down, and at the same time drives the support member 22 and the clamping mechanical claw to move up and down. The clamping mechanical claw always clamps the drill bit assembly 80 during the rising or falling process of the device, thereby realizing the lifting or lowering of the drill bit assembly 80.

[0057] In this process, the role of sensor 25 cannot be ignored. Sensor 25 can monitor the operating status of the electric vertical lift in real time, including key parameters such as speed and position. Once an abnormal situation occurs, sensor 25 will immediately send a signal to trigger the safety protection device on the submersible to intervene and ensure the safe operation of the equipment. At the same time, sensor 25 detects the position and speed of the lifting device in real time and transmits the data to the motor control system. The motor control system sets the speed and position range in advance. When the range is exceeded, the motor control system forces the motor to brake for protection, thereby realizing functions such as automatic parking and reverse protection, further improving the safety and reliability of the lifting device 20.

[0058] The drill bit fixing device 40 is disposed on the base 10 , and includes a first limiting portion for axially limiting the drill body 70 , and a second limiting portion for radially limiting the drill body 70 and the drill bit assembly 80 .

[0059] Specifically, Figure 5 , 6 As shown, the drill bit fixing device 40 of the drilling rig is in the shape of a stepped cylinder, and a multi-section stepped hole 41 is provided inside the stepped cylinder. The multi-section stepped hole 41 is adapted to the diameter of the drilling rig and the drill bit assembly 80 for radially limiting the drilling rig body 70 and the drill bit assembly 80. A slot 42 is provided in the upper part of the stepped cylinder, and the width and bottom shape of the slot 42 are adapted to the shape of the protruding column 79 of the drilling rig routing for axially limiting the drilling rig.

[0060] In this embodiment, the multi-section stepped hole 41 is a four-section hole, which gradually decreases from top to bottom. For the convenience of distinction, the multi-section stepped holes 41 are named as the first step hole, the second step hole, the third step hole, and the fourth step hole from top to bottom. The diameter of the first step hole is adapted to the outer diameter of the drilling rig barrel 73 and is slightly larger than the drilling rig barrel 73. Similarly, the second step hole corresponds to the shaft extension flange 75, the third step hole corresponds to the drill rod connecting piece 81, and the fourth step hole corresponds to the drill rod 82.

[0061] Furthermore, the stepped cylindrical upper portion may also be provided with an integrally connected bell mouth 43 for guiding, so as to facilitate the smooth insertion of the drill rig and drill bit assembly 80 into the drill rig drill bit fixing device 40.

[0062] Furthermore, the notch 42 is a U-shaped notch.

[0063] like Figure 5 , 7 As shown in FIG. 8 , the electromagnet locking device 50 is disposed on one side of the drill bit fixing device 40 of the drilling machine, and is used to lock the drill bit assembly 80, and includes a magnet reciprocating telescopic portion and a locking portion 51, the magnet reciprocating telescopic portion is connected to the locking portion 51, and the locking portion 51 passes through the drill bit fixing device 40 of the drilling machine and is locked with the drill rod connecting piece 81 of the drill bit assembly 80. The locking portion 51 is a brake pin.

[0064] Specifically, the electromagnet 52 is a device for generating electromagnetism when powered on. The electromagnet clamping device 50 comprises an electromagnet 52, an electromagnet housing 57, a fixing plate 56, an electromagnet supporting column 55, an electromagnet suction patch 53, a brake pin and a connecting shaft 54. The electromagnet suction patch 53 is installed parallel to the electromagnet 52 inside the electromagnet column 55, and the end structure of the brake pin is adapted to the gear-shaped shape of the upper outer surface of the drill bit assembly 80. The iron core of the electromagnet 52 is wound with a conductive winding matched with its power outside. This coil with current is magnetic like a magnet, and the electromagnet 52 is made into a cylindrical shape so that the iron core is more easily magnetized. In addition, in order to make the electromagnet 52 demagnetized immediately when the power is turned off, a soft iron or silicon steel material with faster demagnetization is adopted to make it.

[0065] The electromagnet 52 is magnetic when powered on and disappears when powered off. The advantages are as follows: the magnetism of the electromagnet 52 can be controlled by turning on and off the current; the magnitude of the magnetism can be controlled by the strength of the current or the number of turns of the coil; the magnitude of the magnetism can also be controlled by changing the resistance to control the current; the magnetic pole can be controlled by changing the direction of the current.

[0066] The electromagnet 52 is different due to the difference in design method or material used, and is also constantly developing and improving. The electromagnet clamping device 50 of the present invention adopts an electrically controlled strong electromagnet 52, which has a super strong holding force of up to 16kg / cm², and a uniform and adjustable magnetic force distribution, and can be applied to complex deep-sea environments; the electrically controlled strong electromagnet 52 used in the present invention can be used continuously, and even if it works continuously for more than 20 hours a day, there will be no failure, and no maintenance is required. When the electrically controlled strong electromagnet 52 is energized, an outward thrust is generated, which pushes the electromagnet suction patch 53 parallel to the electromagnet 52 to move away from the electromagnet 52. At the same time, the brake pin connected to the electromagnet suction patch 53 will clamp the drill rod connector 81, thereby realizing the fixation of the drill bit replacement mechanism of the drilling rig when replacing the drill bit 83, making it convenient for the drilling rig output shaft 78 to be screwed into the threaded hole of the drill rod connector 81, or to be screwed out of the threaded hole of the drill rod connector 81, thereby realizing the connection and separation between the drilling rig and the drill rod connector 81.

[0067] The spring clamping device 30 is used to clamp the support member 22. Figure 5 , 9 As shown, the spring clamping device 30 includes a spring fixing block 31, a pressure spring 32 and a spring ejector pin 33 arranged in the spring fixing block 31. The spring fixing block 31 is installed on the base 10. The spring ejector pin 33 passes through the base 10 and is inserted into a limiting slot 221 provided on the support member 22. A plurality of limiting slots 221 are evenly provided on the support member 22 along the length direction. The limiting slots 221 are adapted to the spring ejector pin 33, and the size of the limiting slots 221 is slightly smaller than that of the spring ejector pin 33.

[0068] The spring clamping of the spring clamping device 30 plays the role of auxiliary clamping. When the lifting device 20 rises and descends, the spring ejector pin 33 and the pressure spring 32 are stressed and will cancel the clamping of the support member 22.

[0069] Specifically, the spring clamping device 30 can be a connector commonly used in fasteners, and its working principle is similar to that of a clamp or a clamp. The spring clamping device 30 is composed of a spring fixing block 31, a spring ejector pin 33 and a pressure spring 32. The spring ejector pin 33 is a small rod that can be covered with the pressure spring 32. The spring fixing block 31 needs to be installed on the side of the upper support plate 11 of the base 10. The spring fixing block 31 and the base 10 are both provided with two holes, and can be installed on the desired surface by screws or other fixings.

[0070] When replacing the drill bit, the spring pin 33 in the spring clamping device 30 is clamped into the limiting slot 221 of the spring support rod. The pressure of the spring pin 33 causes the limiting slot 221 to produce a tight squeezing force, which can effectively prevent the lifting device 20 from loosening or shaking when replacing the drill bit 83. It should be noted that the spring pin 33 must match the material and thickness of the mounting component, i.e., the support member 22, to ensure a safe fastening effect. In general, the spring clamping device 30 has the advantages of being simple and easy to use, reliable and safe, and able to adapt to components of different materials and sizes.

[0071] like Figures 10 to 13 As shown, the present invention also proposes a deep-sea core sampling drill, including a drill body 70 and a drill bit assembly 80 detachably connected to the drill body 70, and also includes the above-mentioned replacement mechanism.

[0072] Specifically, the drill body 70 and the drill bit assembly are threadedly connected.

[0073] Specifically, the drilling rig body 70 includes a gripping handle 71, an upper end cover 72 of the drilling rig, a drilling rig barrel 73, a motor 74, an axial extension flange 75, a fixing seat 76, a bearing 77 and a drilling rig output shaft 78. The gripping handle 71 is connected to the upper end cover 72 of the drilling rig. The upper end cover 72 of the drilling rig and the drilling rig barrel 73, the drilling rig barrel 73 and the axial extension flange 75, and the axial extension flange 75 and the fixing seat 76 are all fixedly connected by set screws. The motor 74 is arranged in the drilling rig barrel 73. The motor 74 is connected to the drilling rig output shaft 78. One end of the drilling rig output shaft 78 is peripherally connected to the bearing 77, and the bearing 77 is arranged in the axial extension flange 75. The other end of the drilling rig output shaft 78 extends out of the fixing seat 76 and is provided with an external thread.

[0074] Specifically, the drill bit assembly 80 includes a drill rod connector 81, a drill rod 82 and a drill bit 83 from top to bottom. The upper outer surface of the drill rod connector 81 is in the shape of a gear 27, and the drill rod connector 81 is axially provided with a threaded hole that matches the external thread of the drill rig output shaft 78.

[0075] The present invention not only takes into account the limited space and weight limit of the submersible, but also the simplicity, reliability, economy, and portability of the mechanism in the complex deep-sea environment. For this purpose, a lifting device 20 is provided. The lifting and lowering action of the deep-sea coring drill bit is realized by the arranged micro-sized DC motor. In the limited space, the action of a drill bit not less than 5kg is realized, and the weight of the device is controlled within 2kg; an electromagnet locking device 50 is provided. Considering the extreme working conditions such as underwater pressure resistance and corrosion in deep sea water, an original design idea of ​​using electromagnetic force to realize the replacement of the drill bit assembly is proposed. The non-contact method of electromagnetic force is used to effectively solve the shortcomings of the deep sea. The test obtained the conclusion of 80N instantaneous electromagnetic force, which better realized the connection and separation of the drill rig and the drill rod under the condition of small size and light weight; a drill bit fixing device 40 is provided, which is convenient for realizing the axial positioning and radial positioning of the drill rig and the drill bit assembly when replacing the drill bit assembly; a support 22 is provided, which is fixed with the lifting device 20, and a clamping mechanical claw is designed at the lower end of the support 22, which is convenient for clamping the drill bit replacement assembly during the replacement of the drill bit assembly; a spring clamping device 30 is provided, which adopts the compact design theory and adopts a large number of composite material strategies. Through structural design, the clamping effect of the support 22 can be realized during the replacement of the drill bit assembly. The replacement mechanism has completed offshore testing and has been actually applied to the Jiaolong manned submersible. The test has been completed and the application effect is remarkable. The modular concept was adopted at the beginning of the design. Its processing, offshore assembly and offshore maintenance are simple and cost-effective. It has been applied to mine exploration in overseas mines and has great social and economic benefits.

[0076] The present invention also proposes an operation method applied to the above-mentioned deep-sea core sampling drilling rig, comprising the following steps:

[0077] S1. The replacement mechanism is installed on the workbench at the front of the submersible: Before the submersible is operated, the replacement mechanism is installed on the workbench at the front of the submersible, fastened by a flexible plate, and then dives with the manned submersible to the designated depth to carry out operations. During the dive, the pressure difference between the cabin and the external deep-water environment is actively adjusted through the compensation oil bag diaphragm and the oil-filled compensation chamber to keep a small pressure difference at all times, thereby ensuring the safety of the drilling rig; the submersible cruises through high-definition video signals and arrives at the designated area for sampling.

[0078] S2. The submariner operates the multifunctional manipulator of the submersible to clamp the drill bit assembly 80 and place it into the drill bit fixing device 40 of the drilling rig. After reaching a certain position, the multifunctional manipulator releases the drill bit assembly 80 and energizes the electromagnet 52. The electromagnet suction patch 53 receives a thrust, and the electromagnet suction patch 53 drives the brake pin to clamp the drill rod connecting piece 81, that is, the electromagnet locking device 50 locks the drill bit assembly 80. At the same time, the spring clamping device 30 clamps the spring support rod, and the clamping mechanical claw at the bottom end of the lifting device 20 clamps the drill bit assembly 80, thereby realizing the positioning of the drill bit assembly 80.

[0079] S3, the multifunctional manipulator clamps the drill body 70 and puts it into the drill bit fixing device 40, and the protruding column 79 of the outer wiring of the drill body 70 is sunk into the U-shaped groove of the drill bit fixing device 40, and the motor 74 in the drill body 70 is started. The motor 74 rotates to drive the drill output shaft 78 to rotate, and the drill output shaft 78 rotates into the threaded hole of the drill rod connecting piece 81 to realize the connection between the drill body 70 and the drill bit assembly 80. At this time, the position is shown in FIG. Fig.11 , the protruding column 79 is just stuck in the bottom of the U-shaped groove;

[0080] S4, taking the drilling rig out of the replacement mechanism and taking samples;

[0081] S5. When the drilling rig sampling is completed, the multifunctional manipulator is used to clamp the drilling rig, and the used drilling rig is placed in the drilling rig drill bit fixing device 40, so that the electromagnet 52 is energized, and the electromagnet suction patch 53 receives a thrust, and the electromagnet suction patch 53 drives the brake pin to clamp the drill rod connecting piece 81, that is, the electromagnet locking device 50 locks the drill bit assembly 80, and at the same time, the spring clamping device 30 clamps the support member 22, and the mechanical clamping claw at the bottom end of the lifting device 20 clamps the drill bit assembly 80.

[0082] S6, start the motor 74 in the drilling rig body 70, reverse the motor 74, drive the drilling rig output shaft 78, separate the drilling rig output shaft 78 from the drill bit assembly 80, put the drilling rig body 70 on the workbench, open the lifting device 20, drive the drill bit assembly 80 to rise, rise to the upper opening of the drilling rig drill bit fixing device 40, use the multifunctional manipulator to clamp the sampled drill bit assembly 80 and put it on the workbench, and maintain pressure, so as to realize the disassembly of the drill bit assembly 80;

[0083] S7, the multifunctional manipulator grabs the unused drill bit assembly 80, and repeats steps S2 to S3 to replace the drill bit of the drilling rig.

[0084] 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. Electromagnetic locking drill bit replacement mechanism for deep-sea manned submersible, characterized in that: include: A base (10) connected to the manned submersible; A lifting device (20) is arranged on one side of the base (10), comprising a lifting platform (21), a support member (22) and a clamping portion (23); the support member (22) is fixedly connected to the lifting platform (21); the clamping portion (23) is connected to the support member (22) and is used to clamp a drill bit assembly (80) of a drilling machine; the lifting platform (21) moves up and down to drive the support member (22) and the clamping portion (23) to move synchronously; A drill bit fixing device (40) is arranged on the base (10), comprising a first limiting portion for axially limiting the drill body (70), and a second limiting portion for radially limiting the drill body (70) and the drill bit assembly (80); An electromagnet locking device (50) is arranged on one side of the drill bit fixing device (40) of the drilling machine and is used to lock the drill bit assembly (80), comprising a magnet reciprocating telescopic portion and a locking portion (51), wherein the magnet reciprocating telescopic portion is connected to the locking portion (51), and the locking portion (51) passes through the drill bit fixing device (40) of the drilling machine and is locked with a connecting piece of the drill bit (83) of the drill bit assembly (80); The drill bit fixing device (40) is in the shape of a stepped cylinder, a plurality of stepped holes (41) are provided inside the stepped cylinder, the plurality of stepped holes (41) are matched with the diameters of the drill and the drill bit assembly (80) for radially limiting the drill body (70) and the drill bit assembly (80), a notch (42) is provided on the upper part of the stepped cylinder, the width and bottom shape of the notch (42) are matched with the shape of the protruding column (79) of the drill for axially limiting the drill; The electromagnetic locking drill bit replacement mechanism for a deep-sea manned submersible is applied to a deep-sea core sampling drill rig, which comprises a drill body (70) and a drill bit assembly (80) detachably connected to the drill body (70); The electromagnetic locking drill bit replacement mechanism of a deep-sea manned submersible is used to replace a drill bit assembly (80), and the replacement operation method comprises the following steps: S1. The replacement mechanism is installed on the workbench at the front end of the submersible; S2, the multifunctional manipulator clamps the drill bit assembly (80) and places it into the drill bit fixing device (40) of the drilling machine, the electromagnet (52) is energized, the electromagnet locking device (50) locks the drill bit assembly (80), the spring clamping device (30) clamps the lifting device (20), and the clamping part (23) clamps the drill bit assembly (80), so as to realize the positioning of the drill bit assembly (80); S3, the multifunctional manipulator clamps the drill body (70) and places it into the drill bit fixing device (40), inserts the protruding column (79) on the outside of the drill body (70) into the notch (42) of the drill bit fixing device (40), starts the motor (74) in the drill body (70), and the motor (74) rotates to drive the drill output shaft (78) to rotate, and the drill output shaft (78) rotates and enters the threaded hole of the drill rod connecting piece (81), so as to realize the connection between the drill body (70) and the drill bit assembly (80); S4, taking the drilling rig out of the replacement mechanism and taking samples; S5. When the drilling rig sampling is completed, the multifunctional manipulator is used to clamp the drilling rig, and the used drilling rig is placed in the drilling rig drill bit fixing device (40). The electromagnet (52) is energized, the electromagnet locking device (50) locks the drill bit assembly (80), the spring clamping device (30) clamps the lifting device (20), and the clamping portion (23) clamps the drill bit assembly (80); S6, starting the motor (74) in the drilling machine body (70) to reverse the motor (74), and the motor (74) drives the drilling machine output shaft (78) to separate the drilling machine output shaft (78) from the drill bit assembly (80), and the multifunctional manipulator places the drilling machine body (70) on a workbench, opens the lifting device (20), drives the drill bit assembly (80) to rise to the upper opening of the drilling machine drill bit fixing device (40), and uses the multifunctional manipulator to clamp the sampled drill bit assembly (80) and place it on the workbench, thereby realizing the disassembly of the drill bit assembly (80); S7, the multifunctional manipulator grabs the unused drill bit assembly (80), and repeats steps S2 to S3 to replace the drill bit of the drilling rig.

2. The electromagnetic locking drill bit replacement mechanism for a deep-sea manned submersible according to claim 1, characterized in that: The lifting device (20) further comprises a lifting component, the lifting component comprising a DC motor (24), a motor mounting seat, a vertical lifting bracket (26), a gear (27), a gear belt (28), a pulley (29) and a sensor (25), the motor mounting seat being fixedly mounted on one side of the vertical lifting bracket (26), the DC motor (24) being mounted on the motor mounting seat, the DC motor (24) being connected to the gear (27), the gear (27) being connected to the gear belt (28), the gear belt (28) being connected to the lifting platform (21), the pulley (29) being arranged on the vertical lifting bracket (26), the sensor (25) being mounted on the base (10), the upper portion of the support member (22) being fixedly connected to the lifting platform (21), the lower portion of the support member (22) being connected to the clamping portion (23), and the clamping portion (23) comprising a clamping mechanical claw.

3. The electromagnetic locking drill bit replacement mechanism for a deep-sea manned submersible according to claim 2, characterized in that: The drill bit replacement mechanism further comprises a spring clamping device (30) for clamping the support member (22), the spring clamping device (30) comprising a spring fixing block (31), a pressure spring (32) and a spring ejector pin (33) arranged in the spring fixing block (31), the spring fixing block (31) being mounted on the base (10), the spring ejector pin (33) passing through the base (10) and inserted into a limiting slot hole (221) provided on the support member (22), a plurality of limiting slot holes (221) being evenly provided on the support member (22) along a length direction, the limiting slot holes (221) being adapted to match the spring ejector pin (33).

4. The electromagnetic locking drill bit replacement mechanism for a deep-sea manned submersible according to claim 1, characterized in that: The upper outer surface of the drill bit assembly (80) is in the shape of a gear (27); the magnet reciprocating telescopic portion comprises an electromagnet (52), an electromagnet suction patch (53) and a connecting shaft (54); the locking portion (51) is a brake pin; the electromagnet suction patch (53) is connected to the connecting shaft (54); the connecting shaft (54) is connected to the brake pin; the end structure of the brake pin is adapted to the gear (27) shape of the upper outer surface of the drill bit assembly (80); the electromagnet suction patch (53) is in contact with the electromagnet (52) when power is off; and the electromagnet suction patch (53) is separated from the electromagnet (52) when power is on.

5. The electromagnetic locking drill bit replacement mechanism for a deep-sea manned submersible according to claim 4, characterized in that: The electromagnet locking device (50) further comprises an electromagnet housing (57), a fixing plate (56), a plurality of electromagnet supporting columns (55), and a fastening nut; the fixing plate (56) is mounted on one side of the electromagnet housing (57); the electromagnet (52) is mounted on the fixing plate (56); the plurality of electromagnet supporting columns (55) are mounted on the fixing plate (56); the electromagnet suction patch (53) is arranged in parallel with the electromagnet (52) and is located inside the plurality of electromagnet supporting columns (55); the electromagnet supporting columns (55) are connected to an electromagnet fixing seat (60); and the electromagnet fixing seat (60) is connected to the drilling rig drill bit fixing device (40).

6. The electromagnetic locking drill bit replacement mechanism for a deep-sea manned submersible according to claim 1, characterized in that: The base (10) comprises a lower support plate (12) and an upper support plate (11), and a support plate connecting rod (13) located therebetween; the upper support plate (11) is fixedly connected to the drilling rig drill bit fixing device (40); and one side of the drilling rig drill bit fixing device (40) is fixedly connected to an electromagnet fixing seat (60).

7. The electromagnetic locking drill bit replacement mechanism for a deep-sea manned submersible according to claim 1, characterized in that: The drilling rig body (70) comprises a gripping handle (71), a drilling rig upper end cover (72), a drilling rig barrel (73), a motor (74), an axial extension flange (75), a fixing seat (76), a bearing (77) and a drilling rig output shaft (78); the gripping handle (71) is connected to the drilling rig upper end cover (72); the drilling rig upper end cover (72) and the drilling rig barrel (73), the drilling rig barrel (73) and the axial extension flange (75), and the axial extension flange (75) and the fixing seat (76) are all fixedly connected by means of set screws; the motor (74) is arranged in the drilling rig barrel (73); The motor (74) is connected to a drill output shaft (78); one end of the drill output shaft (78) is peripherally connected to a bearing (77); the bearing (77) is disposed in a shaft extension flange (75); the other end of the drill output shaft (78) extends out of a fixing seat (76) and is provided with an external thread; the drill head assembly (80) comprises, from top to bottom, a drill rod connecting piece (81), a drill rod (82) and a drill head (83); the outer surface of the drill rod connecting piece (81) is in the shape of a gear (27); and the drill rod connecting piece (81) is axially provided with a threaded hole that matches the external thread of the drill output shaft (78).

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