Seabed in-situ base covering structural surface fidelity sampling equipment and method

Abstract

The invention provides seafloor in-situ base covering structural plane fidelity sampling equipment and method, and relates to the technical field of seafloor drilling sampling devices.The seafloor in-situ base covering structural plane fidelity sampling equipment comprises an inner hollow sampling drill barrel, and V-shaped drilling teeth arranged in an annular array are formed in the bottom of the inner hollow sampling drill barrel; the outer hollow sampling drill cylinder sleeves the outer part of the inner hollow sampling drill cylinder in a lifting sliding manner and synchronously performs fixed-axis rotation movement along with the inner hollow sampling drill cylinder, and a plurality of movable drilling teeth which are arranged in an annular array manner are mounted at the bottom of the outer hollow sampling drill cylinder through a rotating shaft; a lifting driving mechanism for controlling the lifting motion of the outer hollow sampling drill barrel is also mounted on the outer hollow sampling drill barrel; according to the invention, a two-stage drill barrel type arrangement is adopted, so that an annular space is formed between the inner hollow sampling drill barrel and a rock layer, and the normal operation of sampling work is ensured; and in addition, a contacted seabed layer can be sensed, so that a base covering structure surface can be smoothly detected, and the drilling precision and the drilling efficiency are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of seabed drilling sampling devices, and in particular to a seabed in-situ base structure surface fidelity sampling device and method. Background Art

[0002] The seabed subgrade structural surface refers to the contact surface between different rock and soil layers in the seabed strata. The upper layer of the contact surface is usually loose sediments, such as sand or silt, while the lower layer is a denser rock layer structure. The mechanical strength of the upper layer is usually significantly lower than that of the lower rock.

[0003] This interface is very important in the fields of geology and engineering geology because it usually involves the stability of the strata and geological tectonic activities. Therefore, sampling and drilling of the base-covering structural surface can reveal and divide the strata, identify and describe the properties and composition of the rock and soil, which is of great significance for understanding the regional geological structure. Studying these interfaces helps to evaluate the stability of the slope, provide key data for engineering design and construction, and help predict and prevent geological disasters, thereby protecting people’s lives and property.

[0004] To this end, a submarine mineral sampling drilling device in extreme environments with a publication number of "CN115467661A" in the prior art includes a power mechanism, a gear transmission mechanism, a drill barrel and an ore conveying mechanism, wherein the gear transmission mechanism includes a gear box and a driving gear and a driven gear arranged in the gear box. The output end of the power mechanism is connected to the driving gear key, and the drill barrel is arranged vertically below the gear box and is fixedly connected to the driven gear, and the driven gear drives the drill barrel to rotate around its central axis. A plurality of picks are arranged at the lower end of the drill barrel, and the ore conveying mechanism is arranged on the inner side of the lower part of the drill barrel, including a hob support and two shredding hobs, and the hob support has a conveying channel. The two shredding hobs are arranged relatively parallel at the upper end of the conveying channel, and synchronously rotate to continuously convey the crushed ore upward. The gear transmission mechanism has good internal sealing, effectively avoids seawater corrosion and gear oil leakage, has extremely low destructiveness to the submarine environment, has a long service life, and is crushed twice after sampling the submarine mineral deposits, which is convenient for ore sample transportation and has high drilling sampling efficiency.

[0005] However, the above-mentioned device still has obvious defects during use: the above-mentioned drilling and sampling equipment has only one drill barrel. Due to the dense rock layer structure of the seabed, the drill barrel often encounters a situation where the drilled rock and the rock layer of the seabed cannot be broken normally after drilling, resulting in the inability to smoothly carry out the sampling operation. At the same time, the above-mentioned device is not equipped with an effective drilling position sensing device, making it difficult to carry out precise marine drilling operations. Summary of the invention

[0006] The object of the present invention is to provide a device and method for sampling the seafloor in-situ substructure surface with high fidelity, so as to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A seafloor in-situ base-covered structure surface fidelity sampling device, comprising:

[0009] An inner hollow sampling drill barrel, the inner hollow sampling drill barrel is fixedly mounted on a prying plate through a bearing, the prying plate vibrates under the drive of a vibration mechanism, a drilling mechanism for driving the inner hollow sampling drill barrel to perform fixed-axis rotational motion is also mounted on the prying plate, and a V-shaped drilling tooth arranged in a ring array is provided at the bottom of the inner hollow sampling drill barrel;

[0010] An outer hollow sampling drill barrel, the outer hollow sampling drill barrel is lifted and slidably sleeved on the outside of the inner hollow sampling drill barrel, and performs fixed-axis rotational movement synchronously with the inner hollow sampling drill barrel. A plurality of movable drilling teeth arranged in an annular array are installed at the bottom of the outer hollow sampling drill barrel through a rotating shaft. The movable drilling teeth are all installed with extrusion springs. The extrusion spring is also installed on a pressure sensor seat on the side away from the movable drilling teeth. The pressure sensor seat is used to detect the extrusion force in the direction of the movable drilling teeth. The pressure value output by the pressure sensor seat is used to determine the seabed layer position where the movable drilling teeth are located. The outer hollow sampling drill barrel is also equipped with a lifting drive mechanism for controlling its lifting movement; wherein,

[0011] During the initial drilling and sampling process, the lower end faces of the V-shaped drilling teeth of the inner hollow sampling drill barrel and the movable drilling teeth of the outer hollow sampling drill barrel are in the same plane, and the drilling mechanism drives the inner hollow sampling drill barrel and the outer hollow sampling drill barrel to rotate together to perform drilling operations. When the drilling sampling depth is reached, the outer hollow sampling drill barrel retreats under the drive of the lifting drive mechanism until it breaks away from the rock layer, so that an annular space with a thickness equal to that of the outer hollow sampling drill barrel is formed between the inner hollow sampling drill barrel and the surrounding rock layer. At this time, the vibration is transmitted to the inner hollow sampling drill barrel through the prying plate, thereby causing the rock entering the inner hollow sampling drill barrel to break away from the rock layer, and then the device is retreated as a whole to complete the sampling operation.

[0012] Preferably, the vibration mechanism is a vibration motor, and the vibration end of the vibration motor is movably mounted on an end of a prying plate away from an inner hollow sampling drill tube, and the base end of the vibration motor is fixedly mounted on an L-shaped mounting plate. Prying shaft holes are symmetrically provided on both sides of the L-shaped mounting plate, and prying shafts are fitted in the prying shaft holes. The prying shafts are fixedly mounted on both sides of the prying plate, and a plurality of assembly holes are provided on the upper end surface of the L-shaped mounting plate. The L-shaped mounting plate is fixedly connected to the operating arm through the assembly holes, thereby completing the mounting of the device.

[0013] Preferably, the drilling mechanism that drives the inner hollow sampling drill barrel to perform fixed-axis rotational motion includes a pair of drilling motors, and the pair of drilling motors are fixedly mounted on a prying plate through a mounting plate, and a driving gear is fixedly mounted on the driving shafts of the pair of drilling motors, and the driving gear is meshed with a driven gear, and the driven gear is fixedly sleeved on the outside of the inner hollow sampling drill barrel.

[0014] Preferably, a plurality of sliding guide rails parallel to the axis of the inner hollow sampling drill barrel are installed in a circular array on the outside of the inner hollow sampling drill barrel, and a corresponding number of sliding guide grooves is opened on the outer hollow sampling drill barrel, which is consistent with the number of the sliding guide rails and corresponds one to one. Through the cooperation between the sliding guide grooves and the sliding guide rails, the outer hollow sampling drill barrel can rise and fall and slide on the inner hollow sampling drill barrel, and can also perform fixed-axis rotation therewith.

[0015] Preferably, the lifting drive mechanism that drives the outer hollow sampling drill barrel to perform lifting and lowering movement includes a pair of screw motors, and lifting screws are installed on the driving shafts of the pair of screw motors. A spring fixing ring is movably sleeved on the outside of the inner hollow sampling drill barrel above the outer hollow sampling drill barrel, and a screw hole for inserting the lifting screw is opened on the spring fixing ring. The spring fixing ring is driven to lift and slide through the rotation movement of the lifting screw. A buffer spring is fixedly installed at the bottom of the spring fixing ring, and one end of the buffer spring away from the spring fixing ring is fixedly installed on the sliding ring. The sliding ring is movably connected to the upper end of the outer hollow sampling drill barrel. During the fixed-axis rotation movement of the outer hollow sampling drill barrel, the sliding ring remains stationary.

[0016] Preferably, the number M of the movable drilling teeth disposed at the bottom of the outer hollow sampling drill barrel is ≥8.

[0017] A method for sampling a seafloor in-situ foundation-covered structure surface with fidelity, the sampling method adopts the above-mentioned seafloor in-situ foundation-covered structure surface with fidelity sampling equipment, and comprises the following steps:

[0018] Step 1: During the initial drilling sampling process, the lower end surfaces of the V-shaped drilling teeth of the inner hollow sampling drill tube and the movable drilling teeth of the outer hollow sampling drill tube are placed on the same plane, and the entire device is sent below the seabed by a mechanical arm;

[0019] Step 2: The device as a whole moves toward the seabed under the movement of the mechanical arm, and adjusts the angle toward the seabed under the guidance of the underwater camera or the frogman. When the movable drilling teeth of the outer hollow sampling drill tube are squeezed, it is determined that the end faces of the two sampling drill bits have contacted the seabed, and the drilling mechanism is started to perform seabed drilling;

[0020] Step 3: The mechanical arm performs axial drilling along the axis direction of the two drill bits. When the movable drilling teeth of the outer hollow sampling drill barrel are squeezed by the rock layer, the squeezing force on the pressure sensor is further increased. At this time, it is determined that the inner hollow sampling drill barrel and the outer hollow sampling drill barrel have entered the rock layer. When the two enter the preset depth of the rock layer, the drilling is stopped.

[0021] Step 3: The drilling mechanism drives the inner hollow sampling drill tube and the outer hollow sampling drill tube to rotate in opposite directions, and at the same time, the lifting drive mechanism pulls the outer hollow sampling drill tube upward, so that the outer hollow sampling drill tube is separated from the rock layer. At this time, an annular space with a thickness equal to that of the outer hollow sampling drill tube is formed between the inner hollow sampling drill tube and the surrounding rock layer;

[0022] Step 4: The prying plate and its connected mechanism are vibrated together by the vibration mechanism, and the vibration is finally transmitted to the bottom end surface of the inner hollow sampling drill tube. Due to the existence of the annular space, the vibration amplitude is larger than that of the traditional drill bit, so that the rock entering the inner hollow sampling drill tube can be quickly separated from the rock layer;

[0023] Step 5: Use the robotic arm to retract the device as a whole and complete the collection. At this time, take out the sampling core block in the inner hollow sampling drill tube to complete the fidelity sampling operation of the in-situ base structure surface on the seabed.

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

[0025] The present invention adopts a two-stage drill barrel setting. When drilling to a certain depth, the outer hollow sampling drill barrel slides upward to separate from the rock layer, so that an annular space is formed between the inner hollow sampling drill barrel and the rock layer. Due to the existence of the buffer zone, when vibration is applied to the inner hollow sampling drill barrel, the vibration can be effectively transmitted radially of the inner hollow sampling drill barrel, thereby promoting the separation of the rock entering the inner hollow sampling drill barrel from the seabed rock layer, thereby ensuring the normal progress of the sampling work;

[0026] The external hollow sampling drill barrel of the present invention can sense the contacted seabed level through the setting of movable drilling teeth, so that it can smoothly detect the base cover structure surface and then effectively control the drilling depth, greatly improving the drilling accuracy and drilling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a front view of the present invention;

[0028] Figure 2 It is a cutaway schematic diagram of the present invention in the main view state;

[0029] Figure 3 It is a schematic diagram of the radial vibration state of the prying plate and the inner hollow sampling drill tube of the present invention;

[0030] Figure 4 It is a schematic diagram of the installation structure of the movable drilling teeth of the present invention;

[0031] Figure 5 It is a partial enlarged schematic diagram of the inner hollow sampling drill tube and the outer hollow sampling drill tube of the present invention;

[0032] Figure 6 It is a schematic diagram of the inner hollow sampling drill tube and the outer hollow sampling drill tube of the present invention synchronously entering the covering layer;

[0033] Figure 7 This is a schematic diagram of the inner hollow sampling drill tube and the outer hollow sampling drill tube of the present invention synchronously entering the rock layer;

[0034] Figure 8 It is a schematic diagram of the outer hollow sampling drill tube of the present invention in the retracted state.

[0035] In the figure: 1 inner hollow sampling drill barrel, 2 prying plate, 3 V-type drilling tooth, 4 outer hollow sampling drill barrel, 5 movable drilling tooth, 6 extrusion spring, 7 pressure sensor seat, 8 rotating shaft, 9 annular space, 10 vibration motor, 11 L-type mounting plate, 12 prying shaft hole, 13 prying shaft, 14 assembly hole, 15 drilling motor, 16 mounting plate, 17 driving gear, 18 driven gear, 19 sliding guide rail, 20 sliding guide groove, 21 screw motor, 22 lifting screw, 23 spring fixing ring, 24 screw hole, 25 buffer spring, 26 sliding ring, 27 rock layer, 28 overburden layer. DETAILED DESCRIPTION

[0036] 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.

[0037] See also Figure 1-8 , the present invention provides a technical solution:

[0038] Embodiment 1:

[0039] A seafloor in-situ base-covered structure surface fidelity sampling device, comprising:

[0040] An inner hollow sampling drill tube 1 is fixedly mounted on a prying plate 2 through a bearing, the prying plate 2 vibrates under the drive of a vibration mechanism, and a drilling mechanism for driving the inner hollow sampling drill tube 1 to perform fixed-axis rotation is also mounted on the prying plate 2, and a V-shaped drilling tooth 3 arranged in a ring array is provided at the bottom of the inner hollow sampling drill tube 1;

[0041] The outer hollow sampling drill tube 4 is lifted and slidably sleeved on the outside of the inner hollow sampling drill tube 1, and performs fixed-axis rotation synchronously with the inner hollow sampling drill tube 1. A plurality of movable drilling teeth 5 arranged in an annular array are installed at the bottom of the outer hollow sampling drill tube 4 through a rotating shaft 8. The movable drilling teeth 5 are all installed with extrusion springs 6. The extrusion springs 6 are also installed on the side away from the movable drilling teeth 5. The pressure sensor seat 7 is used to detect the extrusion force in the direction of the movable drilling teeth 5. The pressure value output by the pressure sensor seat 7 is used to determine the seabed layer position of the movable drilling teeth 5. The outer hollow sampling drill tube 4 is also equipped with a lifting drive mechanism for controlling its lifting movement; wherein,

[0042] During the initial drilling and sampling process, the lower end faces of the V-shaped drilling teeth 3 of the inner hollow sampling drill barrel 1 and the movable drilling teeth 5 of the outer hollow sampling drill barrel 4 are in the same plane, and the drilling mechanism drives the inner hollow sampling drill barrel 1 and the outer hollow sampling drill barrel 4 to rotate together to perform drilling operations. When the drilling sampling depth is reached, the outer hollow sampling drill barrel 4 retreats under the drive of the lifting drive mechanism until it is separated from the rock layer 27, so that an annular space 9 with a thickness equal to that of the outer hollow sampling drill barrel 4 is formed between the inner hollow sampling drill barrel 1 and the surrounding rock layer 27. At this time, the vibration is transmitted to the inner hollow sampling drill barrel 1 through the prying plate 2, thereby causing the rock entering the inner hollow sampling drill barrel 1 to separate from the rock layer 27, and then the device is retreated as a whole to complete the sampling operation.

[0043] In this embodiment, the prying plate 2 serves as a bearing device for various parts, and an inner hollow sampling drill barrel 1 is movably installed at one end thereof. The inner hollow sampling drill barrel 1 performs drilling and sampling operations through a V-shaped drilling tooth 3 opened at the bottom. Different from the prior art, an outer hollow sampling drill barrel 4 is also arranged on the outside of the inner hollow sampling drill barrel 1, and a movable drilling tooth 5 is installed at the bottom of the outer hollow sampling drill barrel 4. The number of movable drilling teeth 5 arranged at the bottom of the outer hollow sampling drill barrel 4 is 8, and the movable drilling teeth 5 are connected to the pressure spring 6 by the pressure spring 6. The movable drilling tooth 5 is connected to the sensor seat 7, so that the value of the pressure sensor seat 7 can be used to determine the pressure on the movable drilling tooth 5 during the drilling sampling process. Since the base-covering structural surface has a relatively obvious geological boundary, the upper layer is mostly soft granular soil layer, while the lower layer is dense and solid rock layer. Therefore, different geological structures have different friction resistances to the movable drilling tooth 5. In view of this characteristic, the present invention can identify the position of the movable drilling tooth 5 by detecting the pressure caused by the movable drilling tooth 5 on the pressure sensor seat 7, and then The invention provides structural support for the precise sampling of the base covering structure surface. The pressure sensor seat 7 is electrically connected to the main control MCU arranged in the prying plate 2 through a connecting line, and the data analysis of the pressure sensor is performed by the main control MCU. At the same time, due to the double-layer drill barrel structure provided in the present invention, when the sampling depth is reached, the outer hollow sampling drill barrel 4 on the outside is retracted to above the rock layer 27. At this time, an annular space 9 is formed between the rock layer 27 and the inner hollow sampling drill barrel 1. At this time, the inner hollow sampling drill barrel 1 has a larger radial activity space than the drill barrel in the prior art. At this time, the work of the vibration motor 10 can cause the inner hollow sampling drill barrel 1 to vibrate radially, so that the rock structure inside the inner hollow sampling drill barrel 1 can be broken and separated from the rock layer 27, and finally the sampling operation is successfully completed. In summary, the outer hollow sampling drill barrel of the present invention can identify the base covering structure surface on the one hand, and can also ensure the smooth completion of sampling by retracting on the other hand, so that the device has significant substantial characteristics compared with the device in the prior art.

[0044] Embodiment 2:

[0045] The vibration mechanism is a vibration motor 10, and the vibration end of the vibration motor 10 is movably mounted on the end of the prying plate 2 away from the inner hollow sampling drill tube 1, and the base end of the vibration motor 10 is fixedly mounted on the L-shaped mounting plate 11. Prying shaft holes 12 are symmetrically opened on both sides of the L-shaped mounting plate 11, and prying shafts 13 are matched and installed in the prying shaft holes 12. The prying shaft 13 is fixedly installed on both sides of the prying plate 2. A plurality of assembly holes 14 are also opened on the upper end surface of the L-shaped mounting plate 11, and the L-shaped mounting plate 11 is fixedly connected to the operating arm through the assembly holes 14, thereby completing the mounting of the device.

[0046] In this embodiment, a mounting structure of the prying plate 2 is further disclosed, and the vibration of the prying shaft 13 around the prying shaft hole 12 causes the inner hollow sampling drill tube 1 to vibrate radially.

[0047] Embodiment three:

[0048] The drilling mechanism that drives the inner hollow sampling drill barrel 1 to perform fixed-axis rotational motion includes a pair of drilling motors 15, which are fixedly mounted on the prying plate 2 through a mounting plate 16, and a driving gear 17 is fixedly mounted on the driving shaft of the pair of drilling motors 15, and the driving gear 17 is meshed with a driven gear 18, and the driven gear 18 is fixedly sleeved on the outside of the inner hollow sampling drill barrel 1.

[0049] In this embodiment, the specific structure of the drilling mechanism for driving the inner hollow sampling drill barrel 1 and the outer hollow sampling drill barrel 4 to perform fixed-axis rotational motion is further disclosed, which generates axial rotational power through the drilling motor 15 and transmits the power to the inner hollow sampling drill barrel 1 through the driving gear 17 and the driven gear 18.

[0050] Embodiment 4:

[0051] A plurality of sliding guide rails 19 parallel to the axis of the inner hollow sampling drill barrel 1 are installed in a circular array on the outside of the inner hollow sampling drill barrel 1, and a corresponding number of sliding guide grooves 20 are opened on the outer hollow sampling drill barrel 4, and the sliding guide grooves 20 are consistent with and correspond to each other one by one. Through the cooperation between the sliding guide grooves 20 and the sliding guide rails 19, the outer hollow sampling drill barrel 4 can rise and fall and slide on the inner hollow sampling drill barrel 1, and can also perform fixed-axis rotation therewith.

[0052] In this embodiment, the installation connection method of the outer hollow sampling drill barrel 4 and the inner hollow sampling drill barrel 1 is further disclosed, which limits the outer hollow sampling drill barrel 4 through the cooperation of the sliding guide groove 20 and the sliding guide rail 19, so that it can only slide in the up and down directions relative to the inner hollow sampling drill barrel 1, and cannot slide axially, thereby ensuring that it can also perform fixed-axis rotation movement.

[0053] Embodiment five:

[0054] The lifting drive mechanism for driving the outer hollow sampling drill tube 4 to perform lifting and lowering movement includes a pair of screw motors 21, and lifting screws 22 are installed on the driving shafts of the pair of screw motors 21. A spring fixing ring 23 is also movably sleeved on the inner hollow sampling drill tube 1 above the outer hollow sampling drill tube 4. A screw hole 24 is opened on the spring fixing ring 23 for inserting the lifting screw 22. The spring fixing ring 23 is driven to lift and slide through the rotation movement of the lifting screw 22. A buffer spring 25 is fixedly installed at the bottom of the spring fixing ring 23. The end of the buffer spring 25 away from the spring fixing ring 23 is fixedly installed on the sliding ring 26. The sliding ring 26 is movably connected to the upper end of the outer hollow sampling drill tube 4. During the fixed-axis rotation movement of the outer hollow sampling drill tube 4, the sliding ring 26 remains stationary.

[0055] In this embodiment, the specific structure of the lifting drive mechanism that drives the outer hollow sampling drill barrel 4 to perform lifting and lowering movement is further disclosed. The spring fixing ring 23 is driven by the rotation of the lifting screw 22 to slide up and down. Since a buffer spring 25 is fixedly connected between the spring fixing ring 23 and the sliding ring 26, the spring fixing ring 23 will synchronously generate up and down traction on the sliding ring 26 during the lifting process. The reason why the buffer spring 25 is used to connect it is to protect the lifting screw 22 mechanism to prevent the outer hollow sampling drill barrel 4 from being subjected to a large friction force in the rock layer 27, which may cause the risk of the lifting screw 22 breaking during the lifting process. The sliding ring 26 is movably connected to the upper end of the outer hollow sampling drill barrel 4, so it is subjected to an upward pulling force that will eventually drive the outer hollow sampling drill barrel 4 to retreat. In this process, the friction between the outer hollow sampling drill barrel 4 and the rock layer 27 is reduced through the reverse rotation of the outer hollow sampling drill barrel 4, so that the outer hollow sampling drill barrel 4 can be smoothly separated from the rock layer 27.

[0056] A method for sampling a seafloor in-situ foundation-covered structure surface with fidelity, the sampling method adopts the above-mentioned seafloor in-situ foundation-covered structure surface with fidelity sampling equipment, and comprises the following steps:

[0057] Step 1: During the initial drilling sampling process, the lower end surfaces of the V-shaped drilling teeth 3 of the inner hollow sampling drill tube 1 and the movable drilling teeth 5 of the outer hollow sampling drill tube 4 are placed on the same plane, and the entire device is sent below the seabed by a mechanical arm;

[0058] Step 2: The device as a whole moves toward the seabed under the movement of the mechanical arm, and adjusts the angle toward the seabed under the guidance of the underwater camera or the frogman. When the movable drilling teeth 5 of the outer hollow sampling drill tube 4 are squeezed, it is determined that the end faces of the two sampling drill bits have contacted the seabed, and the drilling mechanism is started to perform seabed drilling;

[0059] Step 3: The mechanical arm performs axial drilling along the axis direction of the two drill bits. When the movable drilling teeth 5 of the outer hollow sampling drill tube 4 are squeezed by the rock layer 27, the squeezing force on the pressure sensor is further increased. At this time, it is determined that the inner hollow sampling drill tube 1 and the outer hollow sampling drill tube 4 have entered the rock layer 27. When the two enter the rock layer 27 to a preset depth, the drilling is stopped.

[0060] Step 3: The drilling mechanism drives the inner hollow sampling drill tube 1 and the outer hollow sampling drill tube 4 to rotate in opposite directions, and at the same time, the lifting drive mechanism pulls the outer hollow sampling drill tube upward, so that the outer hollow sampling drill tube is separated from the rock layer 27. At this time, an annular space 9 with a thickness equal to that of the outer hollow sampling drill tube 4 is formed between the inner hollow sampling drill tube 1 and the surrounding rock layer 27;

[0061] Step 4: The prying plate 2 and the mechanism connected thereto are vibrated together by the vibration mechanism, and the vibration is finally transmitted to the bottom end surface of the inner hollow sampling drill tube 1. Due to the presence of the annular space 9, the vibration amplitude is larger than that of the conventional drill bit, so that the rock entering the inner hollow sampling drill tube 1 can be quickly separated from the rock layer 27;

[0062] Step 5: Use the robot arm to make the device retreat as a whole and complete the collection. At this time, take out the sampling core block in the inner hollow sampling drill tube 1 to complete the fidelity sampling operation of the in-situ foundation structure surface on the seabed.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A seafloor in-situ base structure surface fidelity sampling device, characterized in that: include: An inner hollow sampling drill barrel, the inner hollow sampling drill barrel is fixedly mounted on a prying plate through a bearing, the prying plate vibrates under the drive of a vibration mechanism, a drilling mechanism for driving the inner hollow sampling drill barrel to perform fixed-axis rotational motion is also mounted on the prying plate, and a V-shaped drilling tooth arranged in a ring array is provided at the bottom of the inner hollow sampling drill barrel; An outer hollow sampling drill barrel, the outer hollow sampling drill barrel is lifted and slidably sleeved on the outside of the inner hollow sampling drill barrel, and performs fixed-axis rotational movement synchronously with the inner hollow sampling drill barrel. A plurality of movable drilling teeth arranged in an annular array are installed at the bottom of the outer hollow sampling drill barrel through a rotating shaft. The movable drilling teeth are all installed with extrusion springs. The extrusion spring is also installed on a pressure sensor seat on the side away from the movable drilling teeth. The pressure sensor seat is used to detect the extrusion force in the direction of the movable drilling teeth. The pressure value output by the pressure sensor seat is used to determine the seabed layer position where the movable drilling teeth are located. The outer hollow sampling drill barrel is also equipped with a lifting drive mechanism for controlling its lifting movement; wherein, During the initial drilling and sampling process, the lower end faces of the V-shaped drilling teeth of the inner hollow sampling drill barrel and the movable drilling teeth of the outer hollow sampling drill barrel are in the same plane, and the drilling mechanism drives the inner hollow sampling drill barrel and the outer hollow sampling drill barrel to rotate together to perform drilling operations. When the drilling sampling depth is reached, the outer hollow sampling drill barrel retreats under the drive of the lifting drive mechanism until it breaks away from the rock layer, so that an annular space with a thickness equal to that of the outer hollow sampling drill barrel is formed between the inner hollow sampling drill barrel and the surrounding rock layer. At this time, the vibration is transmitted to the inner hollow sampling drill barrel through the prying plate, thereby causing the rock entering the inner hollow sampling drill barrel to break away from the rock layer, and then the device is retreated as a whole to complete the sampling operation.

2. The in-situ subsurface structural surface fidelity sampling device according to claim 1 is characterized by: The vibration mechanism is a vibration motor, and the vibration end of the vibration motor is movably mounted on an end of a prying plate away from the inner hollow sampling drill tube, and the base end of the vibration motor is fixedly mounted on an L-shaped mounting plate. Prying shaft holes are symmetrically provided on both sides of the L-shaped mounting plate, and prying shafts are fitted in the prying shaft holes. The prying shafts are fixedly mounted on both sides of the prying plate. A plurality of assembly holes are also provided on the upper end surface of the L-shaped mounting plate, and the L-shaped mounting plate is fixedly connected to the operating arm through the assembly holes, thereby completing the mounting of the device.

3. The seafloor in-situ substructure surface fidelity sampling device according to claim 1 or 2, characterized in that: The drilling mechanism that drives the inner hollow sampling drill barrel to perform fixed-axis rotational motion includes a pair of drilling motors, which are fixedly mounted on a prying plate via a mounting plate, and driving gears are fixedly mounted on the driving shafts of the pair of drilling motors, which are meshed with driven gears, and the driven gears are fixedly sleeved on the outside of the inner hollow sampling drill barrel.

4. The in-situ subsurface structural surface fidelity sampling device according to claim 3 is characterized by: A plurality of sliding guide rails parallel to the axis of the inner hollow sampling drill barrel are installed in a circular array on the outside of the inner hollow sampling drill barrel, and a corresponding number of sliding guide grooves are opened on the outer hollow sampling drill barrel. Through the cooperation between the sliding guide grooves and the sliding guide rails, the outer hollow sampling drill barrel can not only rise and fall and slide on the inner hollow sampling drill barrel, but also perform fixed-axis rotation therewith.

5. The in-situ subgrade structural surface fidelity sampling device of the seabed according to claim 4 is characterized by: The lifting drive mechanism that drives the outer hollow sampling drill barrel to perform lifting and lowering movement includes a pair of screw motors, and lifting screws are installed on the driving shafts of the pair of screw motors. A spring fixing ring is movably sleeved on the outer side of the inner hollow sampling drill barrel above the outer hollow sampling drill barrel, and a screw hole for inserting the lifting screw is opened on the spring fixing ring. The spring fixing ring is driven to lift and slide through the rotation movement of the lifting screw. A buffer spring is fixedly installed at the bottom of the spring fixing ring, and one end of the buffer spring away from the spring fixing ring is fixedly installed on the sliding ring. The sliding ring is movably connected to the upper end of the outer hollow sampling drill barrel. During the fixed-axis rotation movement of the outer hollow sampling drill barrel, the sliding ring remains stationary.

6. The in-situ subsurface structural surface fidelity sampling device according to claim 5 is characterized by: The number M of the movable drilling teeth disposed at the bottom of the outer hollow sampling drill tube is ≥8.

7. A method for sampling the seafloor in-situ foundation structure surface with high fidelity, the sampling method adopts the seafloor in-situ foundation structure surface with high fidelity sampling equipment as claimed in claim 5 or 6, characterized in that: The following steps are involved: Step 1: During the initial drilling sampling process, the lower end surfaces of the V-shaped drilling teeth of the inner hollow sampling drill tube and the movable drilling teeth of the outer hollow sampling drill tube are placed on the same plane, and the entire device is sent below the seabed by a mechanical arm; Step 2: The device as a whole moves toward the seabed under the movement of the mechanical arm, and adjusts the angle toward the seabed under the guidance of the underwater camera or the frogman. When the movable drilling teeth of the outer hollow sampling drill tube are squeezed, it is determined that the end faces of the two sampling drill bits have contacted the seabed, and the drilling mechanism is started to perform seabed drilling; Step 3: The mechanical arm performs axial drilling along the axis direction of the two drill bits. When the movable drilling teeth of the outer hollow sampling drill barrel are squeezed by the rock layer, the squeezing force on the pressure sensor is further increased. At this time, it is determined that the inner hollow sampling drill barrel and the outer hollow sampling drill barrel have entered the rock layer. When the two enter the preset depth of the rock layer, the drilling is stopped. Step 3: The drilling mechanism drives the inner hollow sampling drill tube and the outer hollow sampling drill tube to rotate in opposite directions, and at the same time, the lifting drive mechanism pulls the outer hollow sampling drill tube upward, so that the outer hollow sampling drill tube is separated from the rock layer. At this time, an annular space with a thickness equal to that of the outer hollow sampling drill tube is formed between the inner hollow sampling drill tube and the surrounding rock layer; Step 4: The prying plate and its connected mechanism are vibrated together by the vibration mechanism, and the vibration is finally transmitted to the bottom end surface of the inner hollow sampling drill tube. Due to the existence of the annular space, the vibration amplitude is larger than that of the traditional drill bit, so that the rock entering the inner hollow sampling drill tube can be quickly separated from the rock layer; Step 5: Use the robotic arm to retract the device as a whole and complete the collection. At this time, take out the sampling core block in the hollow sampling drill bit to complete the fidelity sampling operation of the in-situ base structure surface on the seabed.

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