Seabed stratum space drilling robot

Abstract

The invention discloses a submarine stratum space drilling robot, which relates to the technical field of submarine robots and comprises a first body section, a front driving body section, a second walking body section, a rear driving body section, a third body section, a self-contained battery cabin and a driving motor control cabin, a battery serves as a power source to supply power to the whole robot, and a central processing unit is arranged in the driving motor control cabin and responsible for robot motor driving control, robot path planning and stratum environment parameter collecting and storing functions. A driving steering engine is arranged, all the body sections are connected through a large U-shaped frame and a small U-shaped frame, under the control of a driving motor control cabin on a motor, the first body section, the second walking body section and the third body section can swing up and down by a certain angle, the steering function in a two-dimensional plane is achieved, and the wriggling posture is formed; a battery cabin is arranged for autonomous power supply, and the robot is a self-contained seabed drilling robot.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine robots, and in particular to a submarine stratum space drilling robot. Background Art

[0002] Globally, about 90% of the ocean slope areas contain favorable conditions for the formation of natural gas hydrates. This unique mineral resource occupies an important economic position among seabed resources. However, while pursuing its huge economic value, the occurrence characteristics of natural gas hydrates and the maturity of exploration and mining technologies are directly related to the ecological and environmental risks that may be caused. These risks include but are not limited to the instability of the seabed geological structure, the further deterioration of the global greenhouse effect, and the irreversible damage to the marine ecosystem. Therefore, in order to ensure that the development and utilization of natural gas hydrates are both efficient and safe, while taking into account the sustainability of environmental protection, it is particularly important to build a scientific, rigorous, accurate, comprehensive and real-time feedback environmental geological monitoring system. However, both at the domestic and international levels, related technical research and application are still in the primary exploration stage.

[0003] However, with the advancement of science and technology, the emergence of submarine stratum space drilling monitoring robots has provided an innovative solution to this problem, effectively making up for the technical shortcomings in geological and environmental monitoring in the hydrate pilot area, and greatly improving the accuracy and efficiency of monitoring. In order to further deepen the understanding of the dynamic characteristics of the shallow surface fluid of the seabed and improve the accuracy of geological information detection, it is imperative to develop submarine geological detection technology based on drilling robots. Given that there is still a lack of mature stratum robot products or technologies on the market that can penetrate deep into the stratum and carry sensors to operate freely, there is a great development prospect for the structural design of drilling robots. Summary of the invention

[0004] The purpose of the present invention is to provide a submarine stratum space drilling robot to solve the problems existing in the above-mentioned prior art. It can carry a variety of sensors to go deep into the stratum to realize autonomous movement and long-term exploration and monitoring operations. It will enhance the in-situ monitoring capability of deep-sea stratum physical and chemical parameters, geotechnical properties and submarine topography changes, provide data support and scientific basis for the exploration and development of submarine resources, continuous monitoring of deep-sea stratum environment, and safe production management, and contribute to the protection and safety of the hydrate pilot mining area and even the global marine environment.

[0005] To achieve the above-mentioned purpose, the present invention provides the following solution: The present invention provides a submarine stratum space drilling robot, comprising a first body segment with a drill bit on the outside, a front driving body segment, a second walking body segment with a spiral blade on the outside, a rear driving body segment and a third body segment with a drill bit on the outside, the first body segment and the front driving body segment, the second walking body segment and the rear driving body segment are connected by a large U-shaped frame, the front driving body segment and the second walking body segment, the rear driving body segment and the third body segment are connected by a small U-shaped frame, the external drill bits of the first body segment and the third body segment are used for drilling, the interior of the first body segment is used to carry sensors for in-situ dynamic monitoring of the submarine environment, and the front driving body segment, the second walking body segment and the rear driving body segment are used to realize the walking of the submarine drilling robot.

[0006] In one embodiment, the first segment includes a first drill tip, a first segment outer tube and a first segment tail end cover which are connected in sequence, a first spiral blade is arranged on the surface of the first segment outer tube, a first drill drive motor and a sensor information acquisition cabin are arranged inside the first segment outer tube, an output end of the first drill drive motor is connected to the first drill tip through a connecting ring, an end face of the first drill drive motor is fixedly connected to one end of the first segment outer tube by a screw, and one end of the sensor acquisition cabin is fixedly connected to a large U-shaped frame.

[0007] In one embodiment, a pH sensor, a methane concentration sensor and a temperature sensor are provided on the external side of the sensor information collection cabin.

[0008] In one embodiment, the second walking segment includes a second segment servo connection end cover, a transmission module, a second segment front end cover, a second segment support body and a second segment tail end cover which are connected in sequence, a drive motor and a drive motor control cabin are arranged inside the second segment support body, a counter-rotating spiral blade is arranged outside the second segment support body, an end face of the drive motor is fixedly connected to one side of the second segment front end cover by a screw, and one end of the drive motor control cabin is fixedly connected to one end of the second segment tail end cover.

[0009] In one embodiment, the transmission module includes a first gear, a positioning sleeve, a second gear and a ring gear, the output end of the drive motor is fixedly connected to the first gear, the second gear is meshingly connected to the first gear, the inner teeth of the ring gear are meshingly connected to the second gear, the counter-rotating spiral blades are fixedly connected to the outer side of the ring gear, and the drive motor transmits power to the counter-rotating spiral blades through the transmission module, one end of the positioning sleeve is fixedly mounted on the front end cover of the second segment, and the other end is fixedly mounted on the second segment servo connection end cover, and the positioning sleeve movably passes through the second gear.

[0010] In one embodiment, the third segment includes a second drill tip, a third segment outer tube and a third segment tail end cover which are connected in sequence, the surface of the third segment outer tube is provided with a second spiral blade, the interior of the third segment outer tube is provided with a second drill drive motor and a battery compartment, the output end of the second drill drive motor is connected to the second drill tip through a connecting ring, the end face of the second drill drive motor is fixedly connected to one end of the third segment outer tube by a screw, and the end face of the battery compartment is fixedly connected to one end of the third segment tail end cover.

[0011] In one embodiment, the front driving segment and the rear driving segment both include a bellows and a driving servo, one end of the bellows of the front driving segment is fixedly connected to the outer side of the tail end cover of the first segment by a screw, and the other end is fixedly connected to the outer side of the connecting end cover of the second segment servo by a screw, one end of the bellows of the rear driving segment is fixedly connected to the tail end cover of the second segment by a screw, and the other end is fixedly connected to the tail end cover of the third segment by a screw, the output shafts on both sides of one end of the driving servo are fixedly connected to the large U-shaped frame, and the other end is fixedly connected to the small U-shaped frame, and when the driving servo is powered on, it drives the first segment and the third segment with a drill bit to drill in different directions.

[0012] In one embodiment, a large U-shaped frame is fixedly connected to the first segment tail end cover between the first segment and the front driving segment by screws, a second segment servo connecting end cover is fixedly connected to the small U-shaped frame between the front driving segment and the second walking segment by screws, a second segment tail end cover is fixedly connected to the large U-shaped frame between the second walking segment and the rear driving segment by screws, and a small U-shaped frame is fixedly connected to the third segment tail end cover between the rear driving segment and the third segment by screws.

[0013] Compared with the prior art, the present invention has achieved the following beneficial technical effects:

[0014] The submarine stratum space drilling robot of the present invention has a battery compartment and a drive motor control compartment. The battery is used as a power source to power the entire robot. The drive motor control compartment has a built-in central processor responsible for the robot motor drive control, robot path planning, and formation environment parameter collection and storage functions. By setting a drive servo, and each body segment is connected by a large U-shaped frame and a small U-shaped frame, under the control of the drive motor control compartment on the motor, the first body segment, the second walking body segment, and the third body segment can swing up and down a certain angle to achieve the steering function in a two-dimensional plane and form a peristaltic posture. By setting the battery compartment for autonomous power supply, it is a self-contained submarine drilling robot. When the first drill drive motor drives the first body segment to rotate clockwise, the second drill drive motor also drives the third body segment to rotate clockwise, and the drive motor drives the second walking body segment to rotate counterclockwise, the robot drills forward, and when the first body segment, the second walking body segment, and the third body segment all rotate in the opposite direction to the forward direction, the robot drills backward, and can drill flexibly and freely in the stratum. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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.

[0016] Figure 1 This is a cross-sectional view of the overall structure of the submarine stratum space drilling robot;

[0017] Figure 2 It is a structural cross-sectional view of the first body segment;

[0018] Figure 3 It is a structural cross-sectional view of the second body segment;

[0019] Figure 4 It is a schematic diagram of the transmission module structure;

[0020] Figure 5 It is a structural cross-sectional view of the third body segment;

[0021] Figure 6 This is a schematic diagram of the servo installation structure;

[0022] Among them, 1-1, the first body segment; 1-2, the front driving body segment; 1-3, the second walking body segment; 1-4, the rear driving body segment; 1-5, the third body segment; 2-1, the first drill tip; 2-2, the first spiral blade; 2-3, the outer tube of the first body segment; 2-4, the sensor information collection cabin; 2-5, the pH value sensor; 2-6, the methane concentration sensor; 2-7, the first drill drive motor; 2-8, the temperature sensor; 2-9, the tail end cover of the first body segment; 3-1, the servo connection end cover of the second body segment; 3-2, the transmission module; 3-3, the front end cover of the second body segment; 3-4 , drive motor; 3-5, counter-rotating spiral blades; 3-6, second body segment support body; 3-7, drive motor control cabin; 3-8, second body segment tail end cover; 4-1, first gear; 4-2, positioning sleeve; 4-3, second gear; 4-4, gear ring; 4-5, cable duct; 5-1, third body segment tail end cover; 5-2, battery compartment; 5-3, second spiral blades; 5-4, third body segment outer cylinder; 5-5, second drill drive motor; 5-6, second drill tip; 6-1, large U-shaped frame; 6-2, bellows; 6-3, drive servo; 6-4, small U-shaped frame. DETAILED DESCRIPTION

[0023] 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.

[0024] The purpose of the present invention is to provide a submarine stratum space drilling robot to solve the problems existing in the above-mentioned prior art. It can carry a variety of sensors to go deep into the stratum to realize autonomous movement and long-term exploration and monitoring operations. It will enhance the in-situ monitoring capability of deep-sea stratum physical and chemical parameters, geotechnical properties and submarine topography changes, provide data support and scientific basis for the exploration and development of submarine resources, continuous monitoring of deep-sea stratum environment, and safe production management, and contribute to the protection and safety of the hydrate pilot mining area and even the global marine environment.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1-Figure 6 As shown, the present invention provides a submarine stratum space drilling robot including a first segment 1-1 with a drill bit on the outside, a front driving segment 1-2, a second walking segment 1-3 with a spiral blade on the outside, a rear driving segment 1-4 and a third segment 1-5 with a drill bit on the outside, the first segment 1-1 and the front driving segment 1-2, the second walking segment 1-3 and the rear driving segment 1-4 are all connected through a large U-shaped frame 6-1, the front driving segment 1-2 and the second walking segment 1-3, the rear driving segment 1-4 and the third segment 1-5 are all connected through a small U-shaped frame 6-4, the external drill bits of the first segment 1-1 and the third segment 1-5 are used for drilling, the first segment 1-1 carries a sensor for in-situ dynamic monitoring of the submarine environment, and the front driving segment 1-2, the second walking segment 1-3 and the rear driving segment 1-4 are used to realize the walking of the submarine drilling robot.

[0027] Combination Figure 1 , Figure 2 and Figure 6In this embodiment, the first body segment 1-1 includes a first drill tip 2-1, a first body segment outer tube 2-3 and a first body segment tail end cover 2-9 which are connected in sequence. The surface of the first body segment outer tube 2-3 is provided with a first spiral blade 2-2. The first body segment outer tube 2-3 is provided with a first drill drive motor 2-7 and a sensor information acquisition cabin 2-4. The outer side of the sensor information acquisition cabin 2-4 is provided with a pH sensor 2-5, a methane concentration sensor 2-6 and a temperature sensor 2-8. The output end of the first drill drive motor 2-7 is connected to the first drill tip 2-1 through a connecting ring. The end face of the first drill drive motor 2-7 is fixedly connected to one end of the first body segment outer tube 2-3 by screws. One end of the sensor acquisition cabin 2-4 is fixedly connected to the large U-shaped frame 6-1.

[0028] Combination Figure 1 and Figure 3 In this embodiment, the second walking segment 1-3 includes a second segment servo connection end cover 3-1, a transmission module 3-2, a second segment front end cover 3-3, a second segment support body 3-6 and a second segment tail end cover 3-8 which are connected in sequence. A drive motor 3-4 and a drive motor control cabin 3-7 are arranged inside the second segment support body 3-6. A counter-rotating spiral blade 3-5 is arranged outside the second segment support body 3-6. The end face of the drive motor 3-4 is fixedly connected to one side of the second segment front end cover 3-1 by screws, and one end of the drive motor control cabin 3-7 is fixedly connected to one end of the second segment tail end cover 3-8.

[0029] Combination Figure 1 , Figure 3 and Figure 4 In this embodiment, the transmission module 3-2 includes a first gear 4-1, a positioning sleeve 4-2, a second gear 4-3 and a ring gear 4-4. The output end of the drive motor 3-4 is fixedly connected to the first gear 4-1, the second gear 4-3 is meshed with the first gear 4-1, the inner teeth of the ring gear 4-4 are meshed with the second gear 4-3, and the counter-rotating spiral blade 3-5 is fixedly connected to the outer side of the ring gear 4-3. The drive motor 3-4 transmits power to the counter-rotating spiral blade 3-5 through the transmission module 3-2. One end of the positioning sleeve 4-2 is fixedly sleeved on the front end cover 3-3 of the second segment, and the other end is fixedly sleeved on the second segment servo connection end cover 3-1, and the positioning sleeve 4-2 movably passes through the second gear 4-3 to play a positioning role.

[0030] Combination Figure 1 and Figure 5In this embodiment, the third segment 1-5 includes a second drill tip 5-6, a third segment outer tube 5-4 and a third segment tail end cover 5-1 which are connected in sequence, a second spiral blade 5-3 is arranged on the surface of the third segment outer tube 5-4, a second drill drive motor 5-5 and a battery compartment 5-2 are arranged inside the third segment outer tube 5-4, an output end of the second drill drive motor 5-2 is connected to the second drill tip 5-6 through a connecting ring, an end face of the second drill drive motor 5-2 is fixedly connected to one end of the third segment outer tube 5-4 by screws, and an end face of the battery compartment 5-2 is fixedly connected to one end of the third segment tail end cover 5-1, so as to provide the power required for the motor to work.

[0031] Combination Figure 2 and Figure 5 In this embodiment, a connecting ring is provided on one side of the first drill driving motor 2-7 and the second drill driving motor 5-2, and the connecting ring is fastened to the drill bit through a nut.

[0032] Combination Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 In this embodiment, the front driving segment 1-2 and the rear driving segment 1-4 both include a bellows 6-2, a driving servo 6-3, a large U-shaped frame 6-1 and a small U-shaped frame 6-4. One end of the bellows 6-2 of the front driving segment 1-2 is fixedly connected to the outer side of the first segment tail end cover 2-9 by screws, and the other end is fixedly connected to the outer side of the second segment servo connection end cover 3-1 by screws. One end of the bellows 6-2 of the rear driving segment 1-4 is fixedly connected to the second segment tail end cover 3-8 by screws, and the other end is fixedly connected to the third segment tail end cover 5-1 by screws. The output shafts on both sides of one end of the driving servo 6-3 are fixedly connected to the large U-shaped frame 6-1, and the other end is fixedly connected to the small U-shaped frame 6-4. After the driving servo 6-3 is powered on, it drives the first segment 1-1 with a drill bit and the third segment 1-5 to drill in different directions.

[0033] Combination Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 In this embodiment, the large U-shaped frame 6-1 is fixedly connected to the first segment tail end cover 2-9 between the first segment 1-1 and the front driving segment 1-2 by screws, the second segment servo connection end cover 3-1 is fixedly connected to the small U-shaped frame 6-4 between the front driving segment 1-2 and the second walking segment 1-3 by screws, the second segment tail end cover 3-8 is fixedly connected to the large U-shaped frame 6-1 between the second walking segment 1-3 and the rear driving segment 1-4 by screws, and the small U-shaped frame 6-4 is fixedly connected to the third segment tail end cover 5-1 between the rear driving segment 1-4 and the third segment 1-5 by screws.

[0034] Combination Figure 2 , Figure 3 and Figure 6 In this embodiment, the driving motor 3-4 and the driving steering gear 6-3 are on the same axis, and the pH sensor 2-5, the temperature sensor 2-8 and the methane concentration sensor 2-6 are evenly arranged on the outer side of the sensor information collection cabin 2-4 along the axial direction.

[0035] Combination Figure 2 , Figure 3 and Figure 5 In this embodiment, there are several thin-walled bearings between the first segment outer cylinder 2-3, the second walking segment support body 3-6, the third segment outer cylinder 5-4 and their corresponding spiral blades. The thin-walled bearings ensure that each motor drives the spiral blades to rotate smoothly and reduce the degree of wear. There are several retaining rings between the first segment outer cylinder 2-3 and the third segment outer cylinder 5-4. The retaining rings can limit the change of the bearing position and keep the bearing position stable.

[0036] Combination Figure 3 and Figure 4 In this embodiment, the front end cover 3-3 of the second body segment is provided with two cable ducts 4-5, which are evenly arranged on both sides of the gear ring 4-4 ​​to realize the transmission of control electrical signals.

[0037] Working principle of the present invention:

[0038] The third body segment of the submarine stratum space drilling robot proposed by the present invention has a battery compartment 5-2 for powering the entire robot, and the second walking body segment 1-3 has a drive motor control compartment 3-7, which is responsible for the drive and central control of all motors, including the path planning and follow-up control of the robot. When the robot is working, the first drill drive motor 2-7 is started, and since the output shaft of the first drill drive motor 2-7 is fixedly connected to the first drill tip 2-1 through a connecting ring, the drill bit of the first body segment 1-1 can rotate. Similarly, the second drill drive motor 5-5 is started, and since the output shaft of the second drill drive motor 5-5 is fixedly connected to the second drill tip 5-6 through a connecting ring, the drill bit of the third body segment 1-5 can rotate, thereby realizing the drilling function of the first body segment 1-1 and the third body segment 1-5. Start the driving motor 3-4. Since the output shaft of the driving motor 3-4 is fixedly connected to the first gear 4-1, the first gear 4-1 rotates and drives the second gear 4-3 to rotate. The second gear 4-3 drives the gear ring 4-4 ​​to rotate. Since the counter-rotating spiral blade 3-5 is fixedly connected to the outer side of the gear ring 4-4, the counter-rotating spiral blade 3-5 of the second walking segment 1-3 realizes the rotation function. Start the driving servos 6-3 of the front driving segment 1-2 and the rear driving segment 1-4 respectively. Since the output shafts on both sides of one end of the driving servos 6-3 are fixedly connected to the large U-shaped frame 6-1, and the other end is fixedly connected to the small U-shaped frame 6-4, and the first segment 1-1 is connected to the front driving segment 1-2, the second walking segment 1-3 is connected to the rear driving segment 1-4 through the large U-shaped frame 6-1, and the front driving segment 1-2 is connected to the second walking segment 1-3, and the rear driving segment 1-4 is connected to the third segment 1-5. The driving motor 3-4 of the front driving segment 1-2 drives the first segment 1-1 to swing up and down at a certain angle, that is, the drill bit of the first segment 1-1 can move up and down at a certain angle when performing the drilling work, and the driving motor 3-4 of the rear driving segment 1-4 drives the second walking segment 1-2 to swing up and down at a certain angle, thereby realizing the two-dimensional plane steering function of the first segment 1-1, the second walking segment 1-3 and the third segment 1-5, so that the robot can crawl to perform the drilling work. Through the regulation of the drive motor control cabin 3-7 inside the second body segment 1-2, when the first drill drive motor 2-7 drives the first body segment 1-1 to rotate clockwise, the second drill drive motor 5-5 also drives the third body segment 1-5 to rotate clockwise, and the drive motor 3-4 drives the second walking body segment 1-3 to rotate counterclockwise, the robot drills forward, and when the first body segment 1-1, the second walking body segment 1-3 and the third body segment 1-5 are all rotating in the opposite direction to the forward direction, the robot drills backward, thereby realizing the robot's flexible and free drilling in the formation. The sensor information collection cabin 2-4 inside the first body segment 1-1 has a pH sensor 2-5, a temperature sensor 2-8 and a methane concentration sensor 2-6, which can collect pH, temperature and methane concentration values ​​during the drilling process.

[0039] 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.

[0040] The present invention 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 ideas of the present invention. At the same time, for those skilled in the art, according to the ideas 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. A submarine stratum space drilling robot, characterized in that: The invention comprises a first body segment with a drill bit on the outside, a front driving body segment, a second walking body segment with a spiral blade on the outside, a rear driving body segment and a third body segment with a drill bit on the outside. The first body segment and the front driving body segment, the second walking body segment and the rear driving body segment are connected via a large U-shaped frame, the front driving body segment and the second walking body segment, the rear driving body segment and the third body segment are connected via a small U-shaped frame, the external drill bits of the first body segment and the third body segment are used for drilling, the interior of the first body segment is used for carrying sensors for in-situ dynamic monitoring of the seabed environment, and the front driving body segment, the second walking body segment and the rear driving body segment are used for realizing the walking of the seabed drilling robot.

2. The submarine stratum space drilling robot according to claim 1, characterized in that: The first body segment includes a first drill tip, a first body segment outer tube and a first body segment tail end cover which are connected in sequence; a first spiral blade is arranged on the surface of the first body segment outer tube; a first drill drive motor and a sensor information acquisition cabin are arranged inside the first body segment outer tube; an output end of the first drill drive motor is connected to the first drill tip through a connecting ring; an end face of the first drill drive motor is fixedly connected to one end of the first body segment outer tube by a screw; and one end of the sensor acquisition cabin is fixedly connected to a large U-shaped frame.

3. The submarine stratum space drilling robot according to claim 2, characterized in that: The external side of the sensor information collection cabin is provided with a pH sensor, a methane concentration sensor and a temperature sensor.

4. The submarine stratum space drilling robot according to claim 1, characterized in that: The second walking segment includes a second segment servo connection end cover, a transmission module, a second segment front end cover, a second segment support body and a second segment tail end cover which are connected in sequence; a drive motor and a drive motor control cabin are arranged inside the second segment support body; counter-rotating spiral blades are arranged outside the second segment support body; an end face of the drive motor is fixedly connected to one side of the second segment front end cover by screws; and one end of the drive motor control cabin is fixedly connected to one end of the second segment tail end cover.

5. The submarine stratum space drilling robot according to claim 4, characterized in that: The transmission module includes a first gear, a positioning sleeve, a second gear and a gear ring. The output end of the drive motor is fixedly connected to the first gear, the second gear is meshingly connected to the first gear, the inner teeth of the gear ring are meshingly connected to the second gear, the counter-rotating spiral blades are fixedly connected to the outer side of the gear ring, and the drive motor transmits power to the counter-rotating spiral blades through the transmission module. One end of the positioning sleeve is fixedly mounted on the front end cover of the second segment, and the other end is fixedly mounted on the second segment servo connection end cover, and the positioning sleeve movably passes through the second gear.

6. The submarine stratum space drilling robot according to claim 1, characterized in that: The third segment includes a second drill tip, a third segment outer tube and a third segment tail end cover which are connected in sequence, a second spiral blade is arranged on the surface of the third segment outer tube, a second drill drive motor and a battery compartment are arranged inside the third segment outer tube, an output end of the second drill drive motor is connected to the second drill tip via a connecting ring, an end face of the second drill drive motor is fixedly connected to one end of the third segment outer tube via a screw, and an end face of the battery compartment is fixedly connected to one end of the third segment tail end cover.

7. The submarine stratum space drilling robot according to claim 1, characterized in that: The front driving body segment and the rear driving body segment both include a bellows and a driving servo. One end of the bellows of the front driving body segment is fixedly connected to the outer side of the tail end cover of the first body segment by a screw, and the other end is fixedly connected to the outer side of the connecting end cover of the second body segment servo by a screw. One end of the bellows of the rear driving body segment is fixedly connected to the tail end cover of the second body segment by a screw, and the other end is fixedly connected to the tail end cover of the third body segment by a screw. The output shafts on both sides of one end of the driving servo are fixedly connected to the large U-shaped frame, and the other end is fixedly connected to the small U-shaped frame. When the driving servo is powered on, it drives the first body segment and the third body segment with a drill bit to drill in different directions.

8. The submarine stratum space drilling robot according to claim 1, characterized in that: The first body segment and the front driving body segment are connected with the large U-shaped frame and the tail end cover of the first body segment by screws, the front driving body segment and the second walking body segment are connected with the second body segment servo connecting end cover and the small U-shaped frame by screws, the second walking body segment and the rear driving body segment are connected with the large U-shaped frame by screws, and the rear driving body segment and the third body segment are connected with the small U-shaped frame and the tail end cover of the third body segment by screws.

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