Torque feeding self-adaptive self-cleaning core drilling machine carried by submersible

Abstract

The invention discloses a torque feeding self-adaptive self-cleaning core drilling machine carried by a submersible. The torque feeding self-adaptive self-cleaning core drilling machine comprises a power unit, a gearbox, a thruster and a drilling tool. The problems that when rock core taking drilling machines carried by various submersible devices are used for taking rock cores, the submersible devices are prone to deviating from working points, cannot be self-adaptive to a working plane for feeding and cannot automatically clean sediments and raise dust are solved, the structure is compact, the size is small, reliability is high, clamping operation of a mechanical arm is facilitated, rotating torque can be balanced, feeding can be conducted perpendicular to the working plane all the time, and the working efficiency is improved. According to a drilling object, proper feeding force and cutting speed can be adapted, automatic cleaning can be achieved, multiple functions of drilling, feeding, self-cleaning and the like can be achieved only by occupying one hydraulic tool connector, the function of emergency discarding is achieved, and safety and practicability are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of in-situ core sampling of seabed resources, and in particular to a torque-fed adaptive self-cleaning core drilling rig carried by a submersible. Background Art

[0002] The ocean floor crust contains extremely rich mineral resources, including oil, natural gas, polymetallic nodules, cobalt-rich crusts, hydrothermal sulfides and clay minerals. As land resources are becoming increasingly depleted, countries are paying more and more attention to the research, exploration and exploitation of marine resources. Among them, the in-situ core sampling device for seabed resources is an essential technical equipment for the research and exploration of seabed mineral resources, especially the advantage of using submersibles to perform precise operations on the seabed, such as my country's "Struggler", "Jiaolong", "Deep Sea Warrior" and other manned submersibles, as well as some unmanned submersibles. Using the manipulator equipped on the submersible, carrying a small in-situ core sampling device for seabed resources can achieve refined sampling in specific areas and obtain high-value core sample data.

[0003] Taking a manned submersible as an example, in order to maintain the stability of the operation process during the bottom-separated core sampling operation, the submersible generally maintains a negative buoyancy of 20-30 kg. During the operation, the thrusters of the submersible do not work and the entire submersible is in a static state. At present, the domestically authorized and disclosed patents related to submersible-mounted core drilling rigs are mainly electric and hydraulic. Although the manipulator can be used for handheld sampling, the actual working conditions of the submersible operating on the seabed are not fully considered during the design. For example, if the feed force of the core drilling rig is too large, its reaction force will be applied to the manipulator, which may lift the entire submersible; when the core drilling rig torque is unbalanced, it is easy to cause the submersible's bow angle to change. The above two phenomena will cause the submersible to deviate from the operation point, seriously affecting the success rate of the operation.

[0004] In addition, although the manipulator holding the drill can easily adjust the drilling angle, it is difficult for the manipulator to keep feeding perpendicular to the working plane during the entire drilling process, which is easy to get the drill stuck. Furthermore, the underwater sediments raised when the core drill rotates during operation will affect the observation field of the submersible, bringing difficulties to the operation. All of the above problems bring difficulties to the actual operation. In order to solve the above problems, it is necessary to develop a torque-fed adaptive self-cleaning seabed in-situ core drill carried by a submersible. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the present invention provides a torque-fed adaptive self-cleaning core drilling rig carried by a submersible.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A torque-feed adaptive self-cleaning core drilling rig carried by a submersible, comprising a power unit, a gear box, a thruster and a drilling tool;

[0008] The power unit includes a hydraulic motor, fixing bolts, an oil inlet joint, an oil outlet joint and a hydraulic motor output shaft;

[0009] The hydraulic motor is fixed to the gear box by the fixing bolts, and the output shaft of the hydraulic motor is connected to the primary transmission shaft of the gear box by the first key for providing power; the oil inlet joint and the oil outlet joint are installed on the hydraulic motor;

[0010] The gearbox includes a box body, a first thruster gear, a primary transmission shaft, a first bearing, a second bearing, a third bearing, a second drill tool gear, a fourth bearing, a first oil seal, a drill tool transmission shaft, a first drill tool gear, a second thruster gear and an exhaust plug;

[0011] The two ends of the primary transmission shaft are fixed to the housing through the first bearing and the second bearing respectively, the first thruster gear is installed on the primary transmission shaft through the second key, the two ends of the thruster transmission shaft are fixed to the housing through the fifth bearing and the fourth bearing respectively, and the first oil seal is installed at the matching part of the drilling tool transmission shaft and the housing close to the drilling tool side to prevent compensation oil leakage in the gear box;

[0012] The thruster comprises blades, a guide tube protection cover, fastening bolts and a thruster transmission shaft;

[0013] The blade is fixed to the thruster transmission shaft by fastening bolts, the second thruster gear is installed on the thruster transmission shaft by the fifth key, the first thruster gear is meshed with the second thruster gear, and is used to transmit the power of the hydraulic motor output shaft to the thruster transmission shaft; a second oil seal is installed on the side of the thruster transmission shaft near the blade at the joint between the thruster transmission shaft and the housing to prevent leakage of compensation oil in the gearbox; the guide tube protection cover is installed on the outside of the blade, the guide tubes around the guide tube protection cover can control the water flow, so that the thrust provided by the thruster is concentrated and parallel to the drilling tool, and the protective nets provided on the upper and lower sides of the guide tube protection cover are used to protect the blade; the first drilling tool gear is installed on the thruster transmission shaft by the fourth key, the two ends of the drilling tool transmission shaft are fixed to the housing by the third bearing and the fourth bearing, the drilling tool transmission shaft is installed with the second drilling tool gear by the third key, and the first drilling tool gear and the second drilling tool gear are meshed;

[0014] The drilling tool comprises a drill bit, an adapter, a spring and a drilling tool base;

[0015] The drill tool base is fixed to the drill tool transmission shaft by bolts, the adapter is fixed in the drill tool base, the spring is installed between the adapter and the drill tool base, and the drill bit is fixed to the adapter by screwing.

[0016] Furthermore, a third oil seal is installed on the primary transmission shaft near the hydraulic motor side to prevent leakage of compensation oil in the gear box.

[0017] Furthermore, the torque-feed adaptive self-cleaning core drilling rig carried by the submersible further includes a compensator, which includes a one-way valve, a first pipe joint, a stainless steel pipe, a second pipe joint, a third pipe joint, a compensator cavity, a piston seal ring, a piston, a compression spring and a piston rod;

[0018] The compensator cavity is fixed on one side of the housing, the first pipe joint is installed on the compensator cavity, the one-way valve is installed on the first pipe joint, and is used to supplement the compensating oil with an external oil pump; the second pipe joint and the third pipe joint are respectively installed on the compensator cavity and the housing, and the second pipe joint and the third pipe joint are connected by the stainless steel pipe, so that the compensating oil in the compensator is connected to the gear box, and when adding compensating oil, the exhaust plug is opened to exhaust; the piston is provided in the compensator cavity, the piston sealing ring is installed on the piston, the piston rod is installed under the piston, and the compression spring is installed between the piston rod and the compensator cavity; the piston rod is used to observe the amount of compensating oil in the compensator.

[0019] Furthermore, assuming that the speed of the primary transmission shaft is N and the speed of the thruster is N 推 , drilling tool speed is N 钻 , the number of teeth of the first thruster gear is Z1, the number of teeth of the second thruster gear is Z2, the number of teeth of the first drilling tool gear is Y1, and the number of teeth of the second drilling tool gear is Y2, then N 推 With N 钻 The relationship is shown in equations and:

[0020]

[0021] Furthermore, the torque-fed adaptive self-cleaning core drilling rig carried by the submersible further comprises a handle, a damping ring, a first sliding bearing, a handle sleeve and a second sliding bearing;

[0022] The handle is fixedly mounted on the other side of the gear box, and the handle sleeve is fixedly mounted on the handle. The first sliding bearing is fixedly mounted on the lower end of the handle sleeve, and the second sliding bearing is fixedly mounted on the upper end of the handle. The handle sleeve can slide along the handle with the support of the first sliding bearing and the second sliding bearing. A tapered thread is tapped on the lower end of the handle sleeve, and the damping ring is mounted on the tapered thread for adjusting the damping of the handle sleeve sliding along the handle.

[0023] Compared with the prior art, the torque-feed adaptive self-cleaning core drilling rig carried by a submersible according to the present invention has the following remarkable advantages:

[0024] 1. The present invention provides a torque-feed adaptive self-cleaning core drilling rig carried by a submersible, which solves the problems that the existing core drilling rigs carried by various submersibles are easy to cause the submersible to deviate from the working point when taking cores, cannot feed on the working plane adaptively, and automatically clean sediment dust. It has a compact structure, a small size, and high reliability, is convenient for manipulator clamping operation, can balance the rotational torque, can always feed vertically on the working surface, can adapt the appropriate feed force and cutting speed according to the drilling object, can automatically clean, and can realize multiple functions such as drilling, feeding, and self-cleaning by occupying only one hydraulic tool interface, and has the function of emergency abandonment, which is safe and practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic structural diagram of a torque-feed adaptive self-cleaning core drilling rig carried by a submersible according to the present invention;

[0026] Figure 2 It is a connection relationship diagram between the adapter and the drilling tool base of the present invention.

[0027] Description of reference numerals:

[0028] 1 hydraulic motor, 2 fixing bolts, 3 oil inlet joint, 4 oil outlet joint, 5 hydraulic motor output shaft, 6 third oil seal, 7 first bearing, 8 first key, 9 one-way valve, 10 pipe joint, 11 stainless steel pipe, 12 second pipe joint, 13 third pipe joint, 14 compensator cavity, 15 piston seal ring, 16 piston, 17 compression spring, 18 piston rod, 19 gear box body, 20 first thruster gear, 21 second key, 22 primary transmission shaft, 23 second bearing, 24 third bearing, 25 second drilling tool gear, 26 Three keys, 27 the fourth bearing, 28 the first oil seal, 29 the drill tool drive shaft, 30 the drill bit, 31 the adapter, 32 the spring, 33 the bolt, 34 the drill tool base, 35 the fifth bearing, 36 the fourth key, 37 the first drill tool gear, 38 the handle, 39 the damping ring, 40 the first sliding bearing, 41 the handle sleeve, 42 the second sliding bearing, 43 the second thruster gear, 44 the fifth key, 45 the fourth bearing, 46 the second oil seal, 47 the blade, 48 the duct protection cover, 49 the fastening bolt, 50 the thruster drive shaft, 51 the exhaust plug. DETAILED DESCRIPTION

[0029] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings 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 belong to the protection scope of the present invention.

[0030] like Figure 1 and Figure 2 As shown, the present invention provides a torque-feed adaptive self-cleaning core drilling rig carried by a submersible, comprising a power unit, a gear box, a thruster and a drilling tool;

[0031] The power unit comprises a hydraulic motor 1, a fixing bolt 2, an oil inlet joint 3, an oil outlet joint 4 and a hydraulic motor output shaft 5;

[0032] The hydraulic motor 1 is fixed to the gear box by the fixing bolt 2, and the output shaft 5 of the hydraulic motor is connected to the primary transmission shaft 22 of the gear box by the first key 8 for providing power; the oil inlet connector 3 and the oil outlet connector 4 are installed on the hydraulic motor 1;

[0033] The gearbox includes a housing 19, a first thruster gear 20, a primary transmission shaft 22, a first bearing 7, a second bearing 23, a third bearing 24, a second drilling tool gear 25, a fourth bearing 27, a first oil seal 28, a drilling tool transmission shaft 29, a first drilling tool gear 37, a second thruster gear 43 and an exhaust plug 51;

[0034] The two ends of the primary transmission shaft 22 are fixed to the housing 19 through the first bearing 7 and the second bearing 23 respectively, the first thruster gear 20 is installed on the primary transmission shaft 22 through the second key 21, the two ends of the thruster transmission shaft 50 are fixed to the housing 19 through the fifth bearing 35 and the fourth bearing 45 respectively, and the first oil seal 28 is installed at the matching part of the drilling tool transmission shaft 29 and the housing 19 close to the drilling tool side to prevent compensation oil leakage in the gear box;

[0035] The thruster includes blades 47, a guide tube protection cover 48, fastening bolts 49 and a thruster transmission shaft 50;

[0036] The blade 47 is fixed to the thruster transmission shaft 50 by a fastening bolt 49, the second thruster gear 43 is installed on the thruster transmission shaft 50 by a fifth key 44, the first thruster gear 20 is meshed with the second thruster gear 43, and is used to transmit the power of the hydraulic motor output shaft 5 to the thruster transmission shaft 50; a second oil seal 46 is installed near the blade 47 at the joint between the thruster transmission shaft 50 and the housing 19 to avoid leakage of compensation oil in the gearbox; the guide tube protective cover 48 is installed on the outside of the blade 47, and the guide tube The conduits around the protective cover 48 can control the water flow, so that the thrust provided by the thruster is concentrated and parallel to the drilling tool, and the protective nets provided on the upper and lower sides of the conduit protective cover 48 are used to protect the blades 47; the first drilling tool gear 37 is installed on the thruster transmission shaft 50 through the fourth key 36, and the two ends of the drilling tool transmission shaft 29 are fixed to the box 19 through the third bearing 24 and the fourth bearing 27. The drilling tool transmission shaft 29 is installed with the second drilling tool gear 25 through the third key 26, and the first drilling tool gear 37 and the second drilling tool gear 25 are meshed;

[0037] Specifically, the blades are arranged with a suitable rotation direction so that water can be pumped upward during normal operation, thereby providing a torque-fed adaptive self-cleaning core drilling rig carried by the submersible with a downward feed force parallel to the drill bit, thereby avoiding the problem of uneven feed force provided by the downward pressure of the manipulator and the reaction force that easily lifts the submersible and causes it to deviate from the operating point. At the same time, when pumping water upward, the sediment and dust raised by drilling cuttings can be taken away, thereby maintaining a clear view of the working surface.

[0038] The drilling tool comprises a drill bit 30, an adapter 31, a spring 32 and a drilling tool base 34;

[0039] The drill base 34 is fixed to the drill drive shaft 29 by bolts 33, the adapter 31 is fixed in the drill base 34, the spring 32 is installed between the adapter 31 and the drill base 34, and the drill bit 30 is fixed to the adapter 31 by screwing.

[0040] Specifically, when the drilling tool is driven by two sets of gears to work normally, the rotation direction of the drill bit is opposite to that of the thruster. The torque caused by drilling can be offset by a reasonable gear set ratio to achieve torque adaptive balance, and avoid the problem of torque imbalance during operation causing the submersible's bow angle to change. The adapter is characterized in that the lower end has a thread, and the drill bit is tightened to the adapter through the thread. During normal operation, the cutting reaction torque can make the thread tighter and tighter. When the drill bit is stuck, the thread can be loosened by reverse rotation to discard the drill bit. When the adapter is installed, it is characterized in that the clip on the adapter is fixed in the slot of the adapter base, and the clip is pressed against the lower arc of the slot by the spring; when working, the feed reaction force presses the clip against the upper arc of the slot to prevent it from coming out during work; when the adapter needs to be abandoned urgently, the adapter is abandoned by rotating to a specific position relative to the drilling tool base to ensure the safety of the operation. The adapter is characterized in that a water-permeable hole is set at the top of the adapter, and seawater can be discharged through the water-permeable hole and the slot during coring.

[0041] Furthermore, a third oil seal 6 is installed on the primary transmission shaft 22 near the hydraulic motor 1 to prevent leakage of compensation oil in the gear box.

[0042] Furthermore, since the present invention needs to be used in a deep-sea environment, in order to take into account both lightweight and pressure-resistant design, the present invention adopts an oil-filled design, that is, the gearbox is filled with compensation oil. In order to balance the pressure changes caused by depth changes, the present invention is equipped with a compensator. The compensator includes a one-way valve 9, a first pipe joint 10, a stainless steel pipe 11, a second pipe joint 12, a third pipe joint 13, a compensator cavity 14, a piston seal 15, a piston 16, a compression spring 17 and a piston rod 18;

[0043] The compensator cavity 14 is fixed on one side of the box body 19, the first pipe joint 10 is installed on the compensator cavity 14, and the one-way valve 9 is installed on the first pipe joint 10 for replenishing the compensating oil by an external oil pump; the second pipe joint 12 and the third pipe joint 13 are respectively installed on the compensator cavity 14 and the box body 19, and the second pipe joint 12 and the third pipe joint 13 are connected through the stainless steel pipe 11, so that the compensating oil in the compensator is connected to the gear box. When adding compensating oil, open the exhaust plug 51 for exhaust; the compensator The piston 16 is provided in the cavity 14, the piston sealing ring 15 is installed on the piston 16, the piston rod 18 is installed below the piston 16, and the compression spring 17 is installed between the piston rod 18 and the compensator cavity 14; the piston rod 18 is used to observe the amount of compensating oil of the compensator. In addition, the piston divides the compensator cavity into two parts, the side with the spring is filled with seawater, and the side without the spring is filled with compensating oil. The compensating oil pressure is equal to the seawater pressure plus the spring pressure, that is, the compensating oil of the gearbox and the compensator is always slightly higher than the external seawater pressure, so as to prevent seawater from seeping into the gearbox.

[0044] Specifically, when adding compensation oil to the present invention, the oil pump is externally connected to the one-way valve 9, and the compensation oil is pumped into the compensator. The compensation oil pushes the piston 16 outward, thereby driving the piston rod 18 outward, and the compensation oil enters the gear box housing 19 through the stainless steel pipe 11, and the exhaust plug 51 is opened to discharge the gas inside the gear box housing 19. If necessary, the oil filling and exhaust steps can be repeated multiple times until no gas is discharged from the exhaust plug 51 and the protruding length of the piston rod 18 reaches the specified requirement.

[0045] Furthermore, assuming that the speed of the primary transmission shaft 22 is N, the speed of the thruster is N 推 , drilling tool speed is N 钻 , the number of teeth of the first thruster gear 20 is Z1, the number of teeth of the second thruster gear 43 is Z2, the number of teeth of the first drilling tool gear 37 is Y1 and the number of teeth of the second drilling tool gear 25 is Y2, then N 推 With N 钻 The relationship is shown in formula (1) and formula (2):

[0046]

[0047] Specifically, the first thruster gear, the second thruster gear, the first drill gear and the second drill gear in the gear box can be matched with different gear sets to achieve different speed ratios of thruster and drill. 推 The larger the thrust, the greater the thrust of the thruster, that is, the greater the feed force provided, N 钻The larger the gear, the faster the drilling tool cutting speed. By selecting different gear sets, the ratio of feed force and cutting speed can be adjusted to suit different working objects.

[0048] Furthermore, the torque-fed adaptive self-cleaning core drilling rig carried by the submersible further includes a handle 38, a damping ring 39, a first sliding bearing 40, a handle sleeve 41 and a second sliding bearing 42;

[0049] The handle 38 is fixedly mounted on the other side of the gear box, and the handle glove sleeve 41 is fixedly mounted on the handle 38. The first sliding bearing 40 is fixedly mounted on the lower end of the handle glove sleeve 41, and the second sliding bearing 42 is fixedly mounted on the upper end of the handle 38. The handle glove sleeve 41 can slide along the handle 38 with the support of the first sliding bearing 40 and the second sliding bearing 42; a tapered thread is tapped on the lower end of the handle glove sleeve 41, and the damping ring 39 is mounted on the tapered thread for adjusting the damping size of the handle glove sleeve 41 sliding along the handle 38. The torque-fed adaptive self-cleaning core drilling rig carried by the submersible can feed along the direction of the handle, thereby avoiding the disadvantage that it is difficult for the manipulator to always remain perpendicular to the working plane during operation.

[0050] The working principle of the torque-feed adaptive self-cleaning core drilling rig carried by the submersible of the present invention is:

[0051] like Figure 2 As shown, two clips 31 - 1 are symmetrically arranged on the outer surface of the adapter 31 , and two slots 34 - 3 are symmetrically distributed inside the drilling tool base 34 . The slot 34 - 3 has an upper arc 34 - 1 and a lower arc 34 - 2 at the top end, and is a hollow design. During normal installation, the adapter 31 is rotated to a suitable position so that its clip 31-1 is facing the slot 34-3 of the drill base 34, and the clip 31-1 is rotated upward along the slot 34-3 to the end of the slot 34-3. Under the action of the spring force, the clip 31-1 is tightly attached to the lower arc 34-2 of the slot to prevent it from falling out; during normal operation, the feed reaction force overcomes the spring force to attach the clip 31-1 to the upper arc 34-1 of the slot to prevent the adapter from falling out of the drill base 34 during operation; when the adapter needs to be discarded, the operation is stopped and the robot is used to assist the operation so that the clip 31-1 is facing between the upper arc 34-1 and the lower arc 34-2 of the slot, and the clip 31-1 is rotated to the slot 34-3 to complete the discarding.

[0052] Since the present invention needs to be used in deep sea environment, in order to take into account both lightweight and pressure-resistant design, the present invention adopts an oil-filled design, that is, the gearbox is filled with compensation oil. In order to balance the pressure changes caused by depth changes, the present invention is equipped with a compensator. The piston rod is used to observe the amount of compensating oil in the compensator. The pipe joint 10 is installed on the compensator cavity 14, and a one-way valve 9 is installed on the pipe joint 10 for replenishing the compensation oil with an external oil pump.

[0053] In order to ensure that the present invention is always perpendicular to the working plane during the operation of the manipulator, the present invention is provided with a handle 38 on the other side of the gear box, a handle sleeve 41 is provided outside the handle 38, a first sliding bearing 40 is fixed to the lower end of the handle sleeve 41, and a second sliding bearing 42 is fixed to the top of the handle 38. The handle sleeve 41 can slide along the handle 38 with the support of the first sliding bearing 40 and the second sliding bearing 42. The handle sleeve 41 has a tapered thread at the lower end, and a damping ring 39 is provided on the tapered thread to adjust the damping of the handle sleeve 41 sliding along the handle 38. When in use, the manipulator grasps the handle sleeve 41 and adjusts the direction of the manipulator to make the drill bit 30 perpendicular to the working plane. Under the action of its own weight and the thrust of the thruster, the handle sleeve of the present invention always slides in the direction of the handle, so that the drill bit 30 is always perpendicular to the working plane when feeding.

[0054] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0055] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field may make various corresponding changes and modifications based on the present invention, but these changes and modifications should all fall within the scope of protection of the claims of the present invention.

Claims

1. A torque-feed adaptive self-cleaning core drilling rig carried by a submersible, characterized in that: include: power units, gearboxes, thrusters and drilling tools; The power unit comprises a hydraulic motor (1), a fixing bolt (2), an oil inlet joint (3), an oil outlet joint (4) and a hydraulic motor output shaft (5); The hydraulic motor (1) is fixed to the gear box via the fixing bolts (2); the output shaft (5) of the hydraulic motor is connected to the primary transmission shaft (22) of the gear box via a first key (8) for providing power; the oil inlet connector (3) and the oil outlet connector (4) are installed on the hydraulic motor (1); The gearbox comprises a housing (19), a first thruster gear (20), a primary transmission shaft (22), a first bearing (7), a second bearing (23), a third bearing (24), a second drilling tool gear (25), a fourth bearing (27), a first oil seal (28), a drilling tool transmission shaft (29), a first drilling tool gear (37), a second thruster gear (43) and an exhaust plug (51); The two ends of the primary transmission shaft (22) are fixed to the housing (19) via the first bearing (7) and the second bearing (23), respectively; the first thruster gear (20) is mounted on the primary transmission shaft (22) via a second key (21); the two ends of the thruster transmission shaft (50) are fixed to the housing (19) via a fifth bearing (35) and a fourth bearing (45), respectively; the first oil seal (28) is mounted on the side close to the drilling tool at the mating position of the drilling tool transmission shaft (29) and the housing (19) to prevent leakage of compensation oil in the gear box; The thruster comprises blades (47), a guide tube protection cover (48), fastening bolts (49) and a thruster transmission shaft (50); The blade (47) is fixed to the thruster transmission shaft (50) by means of a fastening bolt (49); the second thruster gear (43) is installed on the thruster transmission shaft (50) by means of a fifth key (44); the first thruster gear (20) is meshed with the second thruster gear (43) to transmit the power of the hydraulic motor output shaft (5) to the thruster transmission shaft (50); a second oil seal (46) is installed on one side of the thruster transmission shaft (50) near the blade (47) at the joint between the thruster transmission shaft (50) and the housing (19) to prevent leakage of compensation oil in the gear box; the guide tube protective cover (48) is installed on the outside of the blade (47); ... The conduits around the tube protection cover (48) can control the water flow so that the thrust provided by the thruster is concentrated and parallel to the drilling tool, and the protective nets provided on the upper and lower sides of the conduit protection cover (48) are used to protect the blades (47); the first drilling tool gear (37) is installed on the thruster transmission shaft (50) through the fourth key (36), and the two ends of the drilling tool transmission shaft (29) are fixed to the box (19) through the third bearing (24) and the fourth bearing (27), and the drilling tool transmission shaft (29) is installed with the second drilling tool gear (25) through the third key (26), and the first drilling tool gear (37) and the second drilling tool gear (25) are meshed with each other; The drilling tool comprises a drill bit (30), an adapter (31), a spring (32) and a drilling tool base (34); The drill tool base (34) is fixed to the drill tool transmission shaft (29) by means of bolts (33); the adapter (31) is fixed in the drill tool base (34); the spring (32) is installed between the adapter (31) and the drill tool base (34); and the drill bit (30) is fixed to the adapter (31) by means of threaded tightening.

2. The torque-feed adaptive self-cleaning core drilling rig carried by a submersible according to claim 1, characterized in that: A third oil seal (6) is installed on the primary transmission shaft (22) on the side close to the hydraulic motor (1) to prevent leakage of compensation oil in the gear box.

3. The torque-feed adaptive self-cleaning core drilling rig carried by a submersible according to claim 2, characterized in that: The torque-feed adaptive self-cleaning core drilling rig carried by the submersible further comprises a compensator, wherein the compensator comprises a one-way valve (9), a first pipe joint (10), a stainless steel pipe (11), a second pipe joint (12), a third pipe joint (13), a compensator cavity (14), a piston sealing ring (15), a piston (16), a compression spring (17) and a piston rod (18); The compensator cavity (14) is fixed on one side of the housing (19); the first pipe joint (10) is mounted on the compensator cavity (14); the one-way valve (9) is mounted on the first pipe joint (10) for replenishing the compensating oil by an external oil pump; the second pipe joint (12) and the third pipe joint (13) are mounted on the compensator cavity (14) and the housing (19) respectively, and the second pipe joint (12) and the third pipe joint (13) are connected by the stainless steel pipe (11). 13) is connected so that the compensating oil in the compensator is connected to the gear box. When adding compensating oil, the exhaust plug (51) is opened to exhaust air; the piston (16) is arranged in the compensator cavity (14), the piston sealing ring (15) is installed on the piston (16), the piston rod (18) is installed under the piston (16), and the compression spring (17) is installed between the piston rod (18) and the compensator cavity (14); the piston rod (18) is used to observe the amount of compensating oil in the compensator.

4. The torque-feed adaptive self-cleaning core drilling rig carried by a submersible according to claim 3, characterized in that The first-stage transmission shaft (22) has a rotation speed of N and the thruster has a rotation speed of N. 推 , drilling tool speed is N 钻 , the number of teeth of the first thruster gear (20) is Z1, the number of teeth of the second thruster gear (43) is Z2, the number of teeth of the first drilling tool gear (37) is Y1, and the number of teeth of the second drilling tool gear (25) is Y2, then N 推 With N 钻 The relationship is shown in formula (1) and formula (2):

5. The torque-feed adaptive self-cleaning core drilling rig carried by a submersible according to claim 4, characterized in that: The torque-feed adaptive self-cleaning core drilling rig carried by the submersible further comprises a handle (38), a damping ring (39), a first sliding bearing (40), a handle sleeve (41) and a second sliding bearing (42); The handle (38) is fixedly mounted on the other side of the gear box, and the handle sleeve (41) is fixedly mounted on the handle (38). The first sliding bearing (40) is fixedly mounted on the lower end of the handle sleeve (41), and the second sliding bearing (42) is fixedly mounted on the upper end of the handle (38). The handle sleeve (41) can slide along the handle (38) under the support of the first sliding bearing (40) and the second sliding bearing (42); the handle sleeve (41) has a tapered thread at the lower end, and the damping ring (39) is mounted on the tapered thread for adjusting the damping of the handle sleeve (41) sliding along the handle (38).

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