Seabed stratum drilling monitoring robot based on hydraulic drive

Abstract

The invention discloses a seabed stratum drilling monitoring robot based on hydraulic drive. The seabed stratum drilling monitoring robot comprises a head drilling body section, a steering body section and a tail drilling body section which are sequentially connected. The head drilling body section comprises a head spiral drill bit, a head outer barrel is fixed in the head spiral drill bit, a head hydraulic driving device is arranged in the head outer barrel, and the head hydraulic driving device is connected with the head outer barrel through a head transmission module; the tail drilling body section comprises a tail spiral drill bit, a tail outer barrel is fixed in the tail spiral drill bit, a tail hydraulic driving device is arranged in the tail outer barrel, and the tail hydraulic driving device is connected with the tail outer barrel through a tail transmission module; the steering body joint comprises a steering body joint outer barrel and a steering mechanism; the steering mechanism comprises a head steering ring, a head steering push cylinder, a tail steering ring and a tail steering push cylinder; a main control cabin is arranged in the head drilling body section, and a sensor is arranged in the steering body section. According to the invention, underground large-range, low-disturbance and real-time in-situ environment monitoring can be realized.

Description

Technical Field

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

[0002] The industrialization of natural gas hydrates in the sea is a major strategic need to ensure national energy security, and safe and green development is an important prerequisite for the industrialization of hydrates. Natural gas hydrates are generally located in the slope area of ​​the passive continental margin. The regional geological structure, such as slopes, irregular formations, and instability of hydrate deposits, constitutes a potential factor for engineering disasters. The process of hydrate mining may destroy the engineering mechanical structure of the formation, leading to geological disasters such as seabed collapse, causing large-scale methane leakage, and causing major marine environmental problems. Therefore, in order to achieve safe and green development of natural gas hydrates, the exploration and monitoring of seabed formations is becoming increasingly important.

[0003] At present, the main methods used for exploration and monitoring of hydrate deposits are geophysical methods, geochemical methods, microbial methods and geological methods. Among them, three-dimensional seismic exploration technology, drilling coring and logging technology are more commonly used technical means. Three-dimensional seismic exploration surveys are fast, wide-ranging, and have strong lateral tracking capabilities, but they are suitable for overall range surveys and have weak detection capabilities for in-situ real-time dynamic changes at specific research sites. Drilling coring and logging technology can obtain in-situ samples and related temperature, pressure, methane concentration, resistivity and other data, but can only monitor vertical drilling processes and wellbores, with weak lateral monitoring capabilities and a very limited monitoring range for a single operation. Other methods such as in-situ static penetration of the seabed and seabed topographic deformation monitoring also have the disadvantages of only being able to monitor in the vertical direction, being unable to penetrate deep into the stratum, having a limited monitoring range for a single operation, and causing large disturbances. In view of this, this field urgently needs an in-situ stratum survey method to solve the shortcomings of current exploration and monitoring methods. Summary of the invention

[0004] The purpose of the present invention is to provide a hydraulically driven submarine stratum drilling and monitoring robot to solve the problems existing in the above-mentioned prior art. The robot can be equipped with various sensors, penetrate deep into the sedimentary layer to realize vertical and horizontal drilling movement, and carry out long-term, large-scale, low-disturbance, real-time in-situ dynamic monitoring of the submarine strata.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a submarine formation drilling monitoring robot based on hydraulic drive, comprising a head drilling segment, a steering segment and a tail drilling segment connected in sequence;

[0007] The head drilling segment includes a head spiral drill bit, the outer surface of the head spiral drill bit is provided with a head spiral blade, the head outer cylinder is fixedly provided inside the head spiral drill bit, the head outer cylinder is provided with a head hydraulic drive device, the head hydraulic drive device is connected to the head outer cylinder through a head transmission module, and is used to drive the head outer cylinder to rotate together with the head spiral drill bit;

[0008] The tail drilling segment includes a tail spiral drill bit, the outer surface of the tail spiral drill bit is provided with a tail spiral blade, the tail spiral drill bit is fixedly provided with a tail outer cylinder, the tail outer cylinder is provided with a tail hydraulic drive device, the tail hydraulic drive device is connected to the tail outer cylinder through a tail transmission module, and is used to drive the tail outer cylinder to rotate together with the tail spiral drill bit;

[0009] The steering body segment includes a steering body segment outer cylinder and a steering mechanism, and the steering mechanism includes a bow steering ring, a bow steering push cylinder, a tail steering ring and a tail steering push cylinder; the bow steering ring is connected to the bow hydraulic drive device, and both ends of the bow steering ring in the radial direction are rotatably connected to the bow end of the steering body segment outer cylinder, and the tail steering ring is connected to the tail hydraulic drive device, and both ends of the tail steering ring in the radial direction are rotatably connected to the tail end of the steering body segment outer cylinder, and its rotation axis is perpendicular to the rotation axis of the bow steering ring;

[0010] The two ends of the bow steering ring in the radial direction perpendicular to its rotation axis are respectively hinged to one end of the two bow steering push cylinders through fisheye joints, and the other ends of the two bow steering push cylinders are respectively hinged to the two ends of the radial direction corresponding to the rotation axis of the tail steering ring;

[0011] The two ends of the tail steering ring in the radial direction perpendicular to its rotation axis are respectively hinged to one end of the two tail steering push cylinders through fisheye joints, and the other ends of the two bow steering push cylinders are respectively hinged to the two ends of the radial direction corresponding to the rotation axis of the bow steering ring;

[0012] A main control cabin is provided in the bow drilling segment, a sensor for measuring the seabed environment is provided in the steering segment, a solenoid valve is provided in the tail drilling segment, and the tail end of the tail drilling segment is connected with a hydraulic oil pipe, an electric cable and a communication cable. The hydraulic oil pipe is respectively connected to the bow hydraulic drive device, the tail hydraulic drive device, each bow steering push cylinder and each tail steering push cylinder through the solenoid valve, the cable connects the main control cabin, the sensor and the solenoid valve, the sensor and the solenoid valve are respectively connected to the main control cabin signal, and the communication cable connects the main control cabin.

[0013] In one embodiment, the bow hydraulic drive device includes a bow hydraulic motor and a bow motor cylinder, the bow hydraulic motor is fixedly disposed in the bow motor cylinder, and the tail of the bow motor cylinder is connected to the tail of the bow outer cylinder through a first bearing.

[0014] In one embodiment, the head transmission module includes a head driving gear, a head driven gear and a head ring gear, the head driving gear is fixed to the output end of the head hydraulic motor, the head ring gear is fixed in the head outer cylinder, the head driven gear is respectively meshed with the head driving gear and the head ring gear, the head driven gear is rotatably connected to the fixed shaft on the head gear support plate, the head gear support plate is fixed on the head motor cylinder, and a head oil pipe protection plate is provided on the side of the head transmission module facing away from the head gear support plate, and the head oil pipe protection plate is fixedly connected to the head gear support plate through a head support column.

[0015] In one embodiment, the tail hydraulic drive device includes a tail hydraulic motor and a tail motor cylinder, the tail hydraulic motor is fixedly disposed in the tail motor cylinder, and the head of the tail motor cylinder is connected to the head of the tail outer cylinder through a second bearing.

[0016] In one embodiment, the tail transmission module includes a tail driving gear, a tail driven gear and a tail ring gear, the tail driving gear is fixed to the output end of the tail hydraulic motor, the tail ring gear is fixed in the tail outer cylinder, the tail driven gear is respectively meshed with the tail driving gear and the tail ring gear, the tail driven gear is rotatably connected to a fixed shaft on a tail gear support plate, the tail gear support plate is fixed on the tail motor cylinder, and a tail oil pipe protection plate is provided on the side of the tail transmission module facing away from the tail gear support plate, and the tail oil pipe protection plate is fixedly connected to the tail gear support plate through a tail support column.

[0017] In one embodiment, the main control cabin is disposed at the head of the bow outer cylinder and is located on a side of the bow oil pipe protection plate close to the head end of the bow outer cylinder.

[0018] In one embodiment, the sensors include a methane sensor, a cone tip / side friction sensor, a temperature sensor and a pressure sensor, which are evenly arranged circumferentially on the inner side of the outer cylinder of the steering body segment; eight solenoid valves are provided, which are evenly distributed circumferentially on the outer side of the tail motor cylinder.

[0019] In one embodiment, the tail end of the bow motor cylinder is fixedly connected to the bow steering ring via a first flange mechanism;

[0020] A first retaining ring is provided inside the first outer cylinder and outside the first motor cylinder for axially limiting the first bearing.

[0021] In one embodiment, the head end of the tail motor cylinder is fixedly connected to the tail steering ring through a second flange mechanism;

[0022] A second retaining ring is provided inside the tail outer cylinder and outside the tail motor cylinder for axially limiting the second bearing.

[0023] In one embodiment, the tail end openings of the tail outer cylinder and the tail spiral drill bit are used for the entry of the hydraulic oil pipe, the cable and the communication cable.

[0024] Compared with the prior art, the present invention has achieved the following technical effects:

[0025] The hydraulically driven submarine formation drilling monitoring robot provided by the present invention has a head hydraulic drive device and a tail hydraulic drive device responsible for the drilling and retreat of the robot, a head steering push cylinder and a tail steering push cylinder in the steering body segment responsible for the steering of the robot, a main control cabin responsible for the configured sensor data collection and storage, solenoid valve control, robot path planning and other functions, a sensor configured on the steering body segment responsible for the formation environmental parameter monitoring function, a cable is used to power the robot as a whole, and the hydraulic oil pipe and the main control cabin control the solenoid valve to supply oil to the head hydraulic drive device, the tail hydraulic drive device, each head steering push cylinder and each tail steering push cylinder, so as to realize the control of drilling, retreat and steering, and realize the communication with the robot through the communication cable. The present invention can carry various sensors, penetrate into the sedimentary layer to realize the drilling movement in the vertical and horizontal directions, and carry out long-term large-scale, low-disturbance, real-time in-situ dynamic monitoring of the submarine formation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 Schematic diagram of the structure of a hydraulically driven submarine formation drilling monitoring robot in an embodiment of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the head drilling body segment in an embodiment of the present invention;

[0029] Figure 3 Schematic diagram of the structure of the head transmission module in an embodiment of the present invention;

[0030] Figure 4 is a schematic structural diagram of a steering body segment in an embodiment of the present invention;

[0031] Figure 5 It is a schematic diagram of the structure of the tail drilling into the body segment in an embodiment of the present invention;

[0032] Figure 6 It is a schematic diagram of the three-dimensional structure of the steering body segment in an embodiment of the present invention.

[0033] In the figure: 1-head drilling body segment, 10-head spiral drill bit, 11-head spiral blade, 12-head outer cylinder, 13-head hydraulic drive device, 130-head hydraulic motor, 131-head motor cylinder, 14-head transmission module, 140-head driving gear, 141-head driven gear, 142-head gear ring, 15-main control cabin, 16-first bearing, 17-head gear support plate, 18-head oil pipe protection plate, 19-head support column, 2-steering body segment, 20-steering body segment outer cylinder, 21-steering mechanism, 210-head steering ring, 211-head steering push cylinder, 212-tail steering ring, 213-tail steering push cylinder, 214-fisheye connector head, 215-first bearing seat, 216-first bearing seat support plate, 217-second bearing seat, 218-second bearing seat support plate, 219-steering push cylinder base, 3-tail drilling body segment, 30-tail spiral drill bit, 31-tail spiral blade, 32-tail outer cylinder, 33-tail hydraulic drive device, 330-tail hydraulic motor, 331-tail motor cylinder, 34-tail transmission module, 35-solenoid valve, 36-second bearing, 37-tail gear support plate, 38-tail oil pipe protection plate, 40-methane sensor, 41-cone tip / side friction sensor, 42-temperature sensor, 43-pressure sensor, 5-first flange mechanism, 6-second flange mechanism. DETAILED DESCRIPTION

[0034] 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.

[0035] The purpose of the present invention is to provide a hydraulically driven submarine stratum drilling and monitoring robot to solve the problems existing in the prior art. The robot can be equipped with various sensors, penetrate deep into the sedimentary layer to achieve vertical and horizontal drilling movements, and conduct long-term, large-scale, low-disturbance, real-time in-situ dynamic monitoring of the submarine strata.

[0036] 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.

[0037] like Figure 1-Figure 6 As shown, this embodiment provides a submarine formation drilling monitoring robot based on hydraulic drive, comprising a head drilling segment 1, a steering segment 2 and a tail drilling segment 3 connected in sequence;

[0038] The head drilling segment 1 includes a head spiral drill bit 10, the outer surface of the head spiral drill bit 10 is provided with a head spiral blade 11, the head spiral drill bit 10 is fixedly provided with a head outer cylinder 12, the head outer cylinder 12 is fixedly connected to the head spiral drill bit 10 by a fastening screw, and the head outer cylinder 12 is provided with a head hydraulic drive device 13, and the head hydraulic drive device 13 is connected to the head outer cylinder 12 through a head transmission module 14, and is used to drive the head outer cylinder 12 to rotate together with the head spiral drill bit 10;

[0039] The tail drilling segment 3 includes a tail spiral drill bit 30, the outer surface of the tail spiral drill bit 30 is provided with a tail spiral blade 31, a tail outer cylinder 32 is fixedly provided inside the tail spiral drill bit 30, the tail outer cylinder 32 is fixedly connected to the tail spiral drill bit 30 by a fastening screw, a tail hydraulic drive device 33 is provided inside the tail outer cylinder 32, and the tail hydraulic drive device 33 is connected to the tail outer cylinder 32 through a tail transmission module 34, and is used to drive the tail outer cylinder 32 to rotate together with the tail spiral drill bit 30;

[0040] The steering body segment 2 includes a steering body segment outer cylinder 20 and a steering mechanism 21, and the steering mechanism 21 includes a bow steering ring 210, a bow steering push cylinder 211, a tail steering ring 212 and a tail steering push cylinder 213; the bow steering ring 210 is connected to the bow hydraulic drive device 13, and the two ends of the bow steering ring 210 in the radial direction are rotatably connected to the head end of the steering body segment outer cylinder 20. Specifically, the two ends of the bow steering ring 210 in the radial direction are rotatably connected to the first bearing seat 215 through bearings, and the first bearing seat 215 is fixed to the first bearing seat support plate 216 by screws, and the first bearing seat support plate 216 is fixed to the first bearing seat support plate 216 by screws. The plate 216 is fixed to the head end of the steering body segment outer cylinder 20 by screws; the tail steering ring 212 is connected to the tail hydraulic drive device 33, and the two ends of the tail steering ring 212 in the radial direction are rotatably connected to the tail end of the steering body segment outer cylinder 20, and its rotation axis is perpendicular to the rotation axis of the head steering ring 210. Specifically, the two ends of the tail steering ring 212 in the radial direction are rotatably connected to the second bearing seat 217 through bearings, and the second bearing seat 217 is fixed to the second bearing seat support plate 218 by screws, and the second bearing seat support plate 218 is fixed to the tail end of the steering body segment outer cylinder 20 by screws;

[0041] The two ends of the bow steering ring 210 in the radial direction perpendicular to its rotation axis are respectively hinged to one end of the two bow steering push cylinders 211 through fisheye joints 214, and the other ends of the two bow steering push cylinders 211 are respectively hinged to the two ends of the radial direction corresponding to the rotation axis of the tail steering ring 212 through steering push cylinder bases 219;

[0042] The two ends of the tail steering ring 212 in the radial direction perpendicular to its rotation axis are respectively hinged to one end of the two tail steering push cylinders 213 through the fisheye joints 214, and the other ends of the two bow steering push cylinders 211 are respectively hinged to the two ends of the radial direction corresponding to the rotation axis of the bow steering ring 210 through the steering push cylinder bases 219;

[0043] A main control cabin 15 is provided in the bow drilling segment 1, a sensor for measuring the seabed environment is provided in the steering segment 2, a solenoid valve 35 is provided in the tail drilling segment 3, and the tail end of the tail drilling segment 3 is connected with hydraulic oil pipes, cables and communication cables. The hydraulic oil pipes are respectively connected to the bow hydraulic drive device 13, the tail hydraulic drive device 33, each bow steering push cylinder 211 and each tail steering push cylinder 213 through the solenoid valve 35, the cables connect the main control cabin 15, the sensors and the solenoid valve 35, the sensors and the solenoid valve 35 are respectively connected to the main control cabin 15 signals, and the communication cables are connected to the main control cabin 15, thereby realizing the power supply, oil supply and communication functions of the robot.

[0044] Under the control of the electromagnetic valve 35 in the main control cabin 15, the head drilling segment 1 can swing up and down at a certain angle, and the tail drilling segment 3 can swing left and right at a certain angle, so as to realize the steering function in three-dimensional space. When the head hydraulic drive device 13 drives the head drilling segment 1 to rotate clockwise, and the tail hydraulic drive device 33 drives the tail drilling segment 3 to rotate counterclockwise, the robot drills forward. When the head drilling segment 1 and the tail drilling segment 3 rotate in the opposite direction to the forward direction, the robot retreats and can move flexibly and freely in the formation.

[0045] In this embodiment, the bow hydraulic drive device 13 includes a bow hydraulic motor 130 and a bow motor cylinder 131. The bow hydraulic motor 130 is fixedly arranged in the bow motor cylinder 131. The tail of the bow motor cylinder 131 is connected to the tail of the bow outer cylinder 12 through the first bearing 16, so that the bow outer cylinder 12 can rotate relative to the bow motor cylinder 131. The inside of the bow outer cylinder 12 and the outside of the bow motor cylinder 131 are both provided with a first retaining ring, which is used to axially limit the first bearing 16, ensure that the axial position of the first bearing 16 remains unchanged, and keep the position of the first bearing 16 stable. Among them, the first bearing 16 adopts a deep groove ball bearing.

[0046] In this embodiment, the bow transmission module 14 includes a bow driving gear 140, a bow driven gear 141 and a bow ring gear 142. The bow driving gear 140 is fixed to the output end of the bow hydraulic motor 130, and the bow ring gear 142 is fixed in the bow outer cylinder 12. The bow driven gear 141 is respectively meshed with the bow driving gear 140 and the bow ring gear 142. There are two bow driven gears 141, which are respectively located on both sides of the bow driven gear 141. The bow driven gear 141 is rotatably connected to the fixed shaft on the bow gear support plate 17. The bow gear support plate 17 is fixed on the bow motor cylinder 131. A bow oil pipe protection plate 18 is provided on the side of the bow transmission module 14 facing away from the bow gear support plate 17. The bow oil pipe protection plate 18 is fixedly connected to the bow gear support plate 17 through a bow support column 19. The head hydraulic motor 130 drives the head driving gear 140 to rotate, and drives the head gear ring 142 to rotate through the head driven gear 141, thereby realizing the rotation of the head outer cylinder 12 and the head spiral drill head 10. The head oil pipe protection plate 18 is used as a supporting structure to protect the through oil pipe to prevent the oil pipe from being mixed between the gears of the head transmission module 14. It mainly plays the role of supporting and fixing the head and tail through oil pipes. The oil pipe layout path is from the tail of the robot through the steering body segment 2 and finally reaches the head hydraulic motor 130 of the robot.

[0047] In this embodiment, the tail hydraulic drive device 33 includes a tail hydraulic motor 330 and a tail motor cylinder 331. The tail hydraulic motor 330 is fixedly arranged in the tail motor cylinder 331. The head of the tail motor cylinder 331 is connected to the head of the tail outer cylinder 32 through the second bearing 36, so that the tail outer cylinder 32 can rotate relative to the tail motor cylinder 331. The inside of the tail outer cylinder 32 and the outside of the tail motor cylinder 331 are both provided with a second retaining ring, which is used to axially limit the second bearing 36, ensure that the axial position of the second bearing 36 remains unchanged, and keep the position of the second bearing 36 stable. Among them, the second bearing 36 adopts a deep groove ball bearing.

[0048] In this embodiment, the tail transmission module 34 includes a tail driving gear, a tail driven gear and a tail ring gear. The tail driving gear is fixed to the output end of the tail hydraulic motor 330, the tail ring gear is fixed in the tail outer cylinder 32, the tail driven gear is meshed with the tail driving gear and the tail ring gear respectively, and there are two tail driven gears, which are respectively located on both sides of the tail driving gear. The tail driven gear is rotatably connected to the fixed shaft on the tail gear support plate 37, and the tail gear support plate 37 is fixed on the tail motor cylinder 331. The tail transmission module 34 is provided with a tail oil pipe protection plate 38 on the side facing away from the tail gear support plate 37, and the tail oil pipe protection plate 38 is fixedly connected to the tail gear support plate 37 through the tail support column. The tail hydraulic motor 330 drives the tail driving gear to rotate, and drives the tail ring gear to rotate through the tail driven gear, thereby realizing the rotation of the tail outer cylinder 32 and the tail spiral drill head 30. In this embodiment, the structure of the tail transmission module 34 is the same as that of the front transmission module 14, which is easy to manufacture. The tail oil pipe protection plate 38 is used as a supporting structure to protect the through oil pipe and prevent the oil pipe from being mixed between the gears of the tail transmission module 34. It mainly plays the role of supporting and fixing the front and rear through oil pipes.

[0049] In this embodiment, the main control cabin 15 is arranged at the head of the head outer cylinder 12 and is located on the side of the head oil pipe protection plate 18 close to the head end of the head outer cylinder 12. The sensors include a methane sensor 40, a cone tip / side friction sensor 41, a temperature sensor 42 and a pressure sensor 43, which are evenly arranged on the inner side of the steering body segment outer cylinder 20 along the circumferential direction, and can realize in-situ real-time dynamic long-term monitoring of multiple levels in the formation. Among them, the cone tip / side friction sensor 41 is arranged on the inner side of the steering body segment outer cylinder 20 to protect the sensor body when the drilling robot is drilling. When data needs to be collected, the sensor is extended from the inside of the steering body segment outer cylinder 20 at a constant speed and real-time collects the soil mechanics parameter information of the peripheral formation. There are four ribs evenly distributed circumferentially on the outside of the steering body segment outer cylinder 20; there are eight solenoid valves 35, evenly distributed circumferentially on the outer side of the tail motor cylinder 331, of which the eight solenoid valves 35 are four pairs in total, which are used to control the bow hydraulic motor 130, the tail hydraulic motor 330, the bow steering push cylinder 211 and the tail steering push cylinder 213 respectively.

[0050] In this embodiment, the tail end of the bow motor cylinder 131 is fixedly connected to the bow steering ring 210 through the first flange mechanism 5; the first flange mechanism 5 has a large end flange and a small end flange at both ends respectively, and the large end flange of the first flange mechanism 5 is fixedly connected to the tail end of the bow motor cylinder 131 by bolts, and the small end flange of the first flange mechanism 5 is fixedly connected to the bow steering ring 210 by bolts.

[0051] In this embodiment, the head end of the tail motor cylinder 331 is fixedly connected to the tail steering ring 212 through the second flange mechanism 6; the second flange mechanism 6 has a large end flange and a small end flange at both ends respectively, the large end flange of the second flange mechanism 6 is fixedly connected to the head end of the tail motor cylinder 331 by bolts, and the small end flange of the second flange mechanism 6 is fixedly connected to the tail steering ring 212 by bolts.

[0052] In this embodiment, the tail ends of the tail outer cylinder 32 and the tail spiral drill bit 30 are open to facilitate the entry of hydraulic oil pipes, cables and communication cables.

[0053] The working principle of the present invention is as follows:

[0054] The hydraulically driven submarine formation drilling monitoring robot provided by the present invention is connected with hydraulic oil pipes, cables and communication cables through the reserved channel of the tail drilling body segment, and the main pipeline of the hydraulic oil pipe enters from the tail end of the tail drilling body segment, and distributes and drives the head hydraulic motor, tail hydraulic motor, head steering push cylinder and tail steering push cylinder through the solenoid valve. The main control cabin of the head drilling body segment integrates the fluxgate sensor, signal acquisition, data preprocessing and data transmission system, and is responsible for the built-in solenoid valve control, data acquisition and storage, robot path planning, etc. When the robot is working, the head hydraulic motor is started. Since the output shaft of the head hydraulic motor is fixedly connected to the head driving gear, the head driving gear is connected to the head gear ring through the head driven gear, and the head gear ring is fixedly connected to the head outer cylinder through screws, when the head hydraulic motor is started, the head outer cylinder and the head spiral drill bit can be driven to rotate through the head transmission module. Similarly, when the tail hydraulic motor is started, the tail outer cylinder and the tail spiral drill bit can be driven to rotate through the tail transmission module, thereby realizing the drilling function of the head drilling segment and the tail drilling segment. By starting the two head steering push cylinders in the steering body segment, the two head steering push cylinders can be extended and retracted to a certain angle, so that the head steering ring hinged to the two head steering push cylinders through the fisheye joint has a certain offset, thereby driving the first flange mechanism fixedly connected to the head steering ring to be offset, and then driving the head motor cylinder fixedly connected to the first flange mechanism to be offset, that is, the head drilling body segment swings up and down at a certain angle when performing drilling work; similarly, the tail drilling rig body segment can start the two tail steering push cylinders in the steering body segment to cause the tail motor cylinder to be offset, so that the tail drilling body segment swings left and right at a certain angle when performing drilling work. Since the connecting line of the two head steering push cylinders in the steering body segment is orthogonal to the connecting line of the two tail steering push cylinders, the swinging directions of the head drilling body segment and the tail drilling body segment are also orthogonal to each other, thereby realizing the steering function in three-dimensional space. Through the control of the main control cabin in the head drilling segment, when the head hydraulic motor drives the head drilling segment to rotate clockwise and the tail hydraulic motor drives the tail drilling segment to rotate counterclockwise, the robot drills forward; when the head hydraulic motor drives the head drilling segment to rotate counterclockwise and the tail hydraulic motor drives the tail drilling segment to rotate clockwise, the robot retreats, thereby realizing the robot's dexterous movement in the formation. The steering segment is equipped with a methane sensor, a cone tip / side friction sensor, a temperature sensor, and a pressure sensor, which can collect temperature, pressure, methane concentration, cone tip / side friction and other values ​​during the drilling process.

[0055] 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 hydraulically driven submarine formation drilling and monitoring robot, characterized in that: It includes a head drilling body segment, a steering body segment and a tail drilling body segment which are connected in sequence; The head drilling segment includes a head spiral drill bit, the outer surface of the head spiral drill bit is provided with a head spiral blade, the head outer cylinder is fixedly provided inside the head spiral drill bit, the head outer cylinder is provided with a head hydraulic drive device, the head hydraulic drive device is connected to the head outer cylinder through a head transmission module, and is used to drive the head outer cylinder to rotate together with the head spiral drill bit; The tail drilling segment includes a tail spiral drill bit, the outer surface of the tail spiral drill bit is provided with a tail spiral blade, the tail spiral drill bit is fixedly provided with a tail outer cylinder, the tail outer cylinder is provided with a tail hydraulic drive device, the tail hydraulic drive device is connected to the tail outer cylinder through a tail transmission module, and is used to drive the tail outer cylinder to rotate together with the tail spiral drill bit; The steering body segment includes a steering body segment outer cylinder and a steering mechanism, and the steering mechanism includes a bow steering ring, a bow steering push cylinder, a tail steering ring and a tail steering push cylinder; the bow steering ring is connected to the bow hydraulic drive device, and both ends of the bow steering ring in the radial direction are rotatably connected to the bow end of the steering body segment outer cylinder, and the tail steering ring is connected to the tail hydraulic drive device, and both ends of the tail steering ring in the radial direction are rotatably connected to the tail end of the steering body segment outer cylinder, and its rotation axis is perpendicular to the rotation axis of the bow steering ring; The two ends of the bow steering ring in the radial direction perpendicular to its rotation axis are respectively hinged to one end of the two bow steering push cylinders through fisheye joints, and the other ends of the two bow steering push cylinders are respectively hinged to the two ends of the radial direction corresponding to the rotation axis of the tail steering ring; The two ends of the tail steering ring in the radial direction perpendicular to its rotation axis are respectively hinged to one end of the two tail steering push cylinders through fisheye joints, and the other ends of the two bow steering push cylinders are respectively hinged to the two ends of the radial direction corresponding to the rotation axis of the bow steering ring; A main control cabin is provided in the bow drilling segment, a sensor for measuring the seabed environment is provided in the steering segment, a solenoid valve is provided in the tail drilling segment, and the tail end of the tail drilling segment is connected with a hydraulic oil pipe, an electric cable and a communication cable. The hydraulic oil pipe is respectively connected to the bow hydraulic drive device, the tail hydraulic drive device, each bow steering push cylinder and each tail steering push cylinder through the solenoid valve, the cable connects the main control cabin, the sensor and the solenoid valve, the sensor and the solenoid valve are respectively connected to the main control cabin signal, and the communication cable connects the main control cabin.

2. The hydraulically driven submarine formation drilling monitoring robot according to claim 1 is characterized in that: The bow hydraulic drive device comprises a bow hydraulic motor and a bow motor cylinder. The bow hydraulic motor is fixedly arranged in the bow motor cylinder. The tail of the bow motor cylinder is connected to the tail of the bow outer cylinder through a first bearing.

3. The hydraulically driven submarine formation drilling monitoring robot according to claim 2 is characterized in that: The head transmission module includes a head driving gear, a head driven gear and a head gear ring, the head driving gear is fixed to the output end of the head hydraulic motor, the head gear ring is fixed in the head outer cylinder, the head driven gear is respectively meshed with the head driving gear and the head gear ring, the head driven gear is rotatably connected to the fixed shaft on the head gear support plate, the head gear support plate is fixed to the head motor cylinder, and a head oil pipe protection plate is provided on the side of the head transmission module facing away from the head gear support plate, and the head oil pipe protection plate is fixedly connected to the head gear support plate through a head support column.

4. The hydraulically driven submarine formation drilling monitoring robot according to claim 1 is characterized in that: The tail hydraulic drive device includes a tail hydraulic motor and a tail motor cylinder. The tail hydraulic motor is fixedly arranged in the tail motor cylinder. The head of the tail motor cylinder is connected to the head of the tail outer cylinder through a second bearing.

5. The hydraulically driven submarine formation drilling monitoring robot according to claim 4 is characterized in that: The tail transmission module includes a tail driving gear, a tail driven gear and a tail ring gear, wherein the tail driving gear is fixed to the output end of the tail hydraulic motor, the tail ring gear is fixed in the tail outer cylinder, the tail driven gear is respectively meshed with the tail driving gear and the tail ring gear, the tail driven gear is rotatably connected to a fixed shaft on a tail gear support plate, the tail gear support plate is fixed to the tail motor cylinder, and a tail oil pipe protection plate is provided on the side of the tail transmission module facing away from the tail gear support plate, and the tail oil pipe protection plate is fixedly connected to the tail gear support plate through a tail support column.

6. The hydraulically driven submarine formation drilling monitoring robot according to claim 3 is characterized in that: The main control cabin is arranged at the head of the head outer cylinder and is located on the side of the head oil pipe protection plate close to the head end of the head outer cylinder.

7. The hydraulically driven submarine formation drilling monitoring robot according to claim 1 is characterized in that: The sensors include a methane sensor, a cone tip / side friction sensor, a temperature sensor and a pressure sensor, which are evenly arranged circumferentially on the inner side of the steering body segment outer cylinder; eight solenoid valves are provided, which are evenly distributed circumferentially on the outer side of the tail motor cylinder.

8. The hydraulically driven submarine formation drilling monitoring robot according to claim 2 is characterized in that: The tail end of the head motor cylinder is fixedly connected to the head steering ring through a first flange mechanism; A first retaining ring is provided inside the first outer cylinder and outside the first motor cylinder for axially limiting the first bearing.

9. The hydraulically driven submarine formation drilling monitoring robot according to claim 4 is characterized in that: The head end of the tail motor cylinder is fixedly connected to the tail steering ring through a second flange mechanism; A second retaining ring is provided inside the tail outer cylinder and outside the tail motor cylinder for axially limiting the second bearing.

10. The hydraulically driven submarine formation drilling monitoring robot according to claim 1, characterized in that: The tail end openings of the tail outer cylinder and the tail spiral drill head are used for the entry of the hydraulic oil pipe, the cable and the communication cable.

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