Geological rock automatic coring device

Abstract

The present invention discloses an automated coring device for geological rocks, which relates to the technical field of geological rock sampling, and includes a coring base portion, a plurality of adaptive coring devices, a telescopic coring drill bit device, and a chip-based automated controller. The present invention can provide an automated coring device for geological rocks, and the structure of the plurality of adaptive coring devices and the telescopic coring drill bit device realizes the multi-degree-of-freedom movement of the coring tool in space. This enables the device to flexibly adjust the coring position to adapt to the coring needs under different formation conditions, and has significant advantages, especially in areas with complex geological structures. The adaptive coring device can adaptively clamp according to the size and shape of the core, avoiding mechanical damage to the core, improving the integrity of the core, and providing a more reliable sample for subsequent rock physical property testing and geological analysis. The design of the three-stage plug-in clamping claw portion can be adaptively adjusted according to the actual size and shape of the core.

Description

Technical Field

[0001] The invention relates to the technical field of geological core permeability testing, in particular to an automatic geological rock coring device. Background Art

[0002] With the development of unconventional oil and gas resources (shale gas, tight gas, and coalbed methane), geological testing technologies are gradually developing towards higher precision and greater diversity. For example, the combination of geophysical testing techniques (seismic exploration, electromagnetic methods) and geochemical testing (hydrocarbon analysis) can more accurately assess the distribution and reserves of oil and gas reservoirs. The application of artificial intelligence and big data analytics can optimize the interpretation of exploration data and shorten the exploration cycle. Core analysis is a core step in oil and gas exploration, involving the determination of key parameters such as reservoir properties, pore structure, and fluid occurrence.

[0003] Coring is the process of using special coring tools to bring underground rock blocks to the surface during the drilling process. These blocks are called cores, and they can be used to determine various rock properties, visually studying underground structures and rock deposition environments, and understanding the properties of fluids within them. During mineral exploration and development, drilling operations are carried out according to the geologically designed stratigraphic levels and depths. Coring tools are lowered into the well to extract rock samples. Cores provide the most intuitive and practical data for understanding underground strata and mineral-bearing characteristics.

[0004] Existing coring tools (such as card plates and slips) are mostly designed with fixed dimensions, making them difficult to adapt to complex conditions such as core diameter fluctuations (±15%) and irregular shapes (such as flakes and debris) in fractured formations. For example, rectangular ring-type coring tools can handle hard rock, but are prone to getting stuck in soft rock formations due to core expansion. Domestic double-acting hydraulic impactors have a fixed impact energy.

[0005] Traditional mechanical grippers have a contradiction between rigid contact and elastic deformation during the clamping process:

[0006] Hard rock formations: Although diamond-coated jaws can grasp high-hardness cores, the peak contact stress reaches 120 MPa, causing microcracks on the core surface to expand.

[0007] Soft rock formation: The rubber buffer layer (Shore hardness 60) undergoes plastic deformation in the water-saturated core due to osmotic pressure, resulting in distortion of the core structure. Summary of the Invention

[0008] In order to solve the above technical problems, the present invention provides an automatic geological rock coring device. The following technical solutions are adopted:

[0009] The invention relates to an automated coring device for geological rocks, comprising a coring base, a plurality of adaptive coring devices, a telescopic coring drill bit device and a chip-based automated controller. One side of the coring base is mounted on the hydraulic arm of a moving device through a bracket. The adaptive coring device comprises a rotating mechanism, a rotating connection, a primary lateral moving portion, a secondary vertical telescopic portion and a tertiary plug-in clamping claw portion. The base of the rotating mechanism is detachably mounted on the side of the coring base, with the rotating portion facing outward. The rotating connection is detachably mounted on the rotating portion of the rotating mechanism. The track portion of the primary lateral moving portion is mounted on the outer wall of the rotating connection. The base end of the secondary vertical telescopic portion is mounted on the lateral moving portion of the primary lateral moving portion. The mounting portion of the tertiary plug-in clamping claw portion is mounted on the telescopic portion of the secondary vertical telescopic portion. When the rotating mechanism rotates, the rotating connection, the primary lateral moving portion, the secondary vertical telescopic portion and the tertiary plug-in clamping claw portion are driven to rotate as a whole. The telescopic coring drill bit device is mounted on the bottom of the coring base. The automated controller controls the execution actions of the moving device, the rotating mechanism, the primary lateral moving portion and the secondary vertical telescopic portion respectively.

[0010] By adopting the above technical solution, the drill bit can be lowered and lifted by the telescopic coring drill bit device. When the core drilling work is completed and lifted, the drilling seam position can be made available for multiple adaptive core clamping devices. The adaptive core clamping device adopts a structural design of a rotating mechanism, a rotating connection, a first-level horizontal moving part, a second-level vertical telescopic part and a third-level inserted clamping claw part. When the telescopic coring drill bit device drills the core, the rotating mechanisms of the multiple adaptive core clamping devices rotate synchronously to drive the rotating connection, the first-level horizontal moving part, the second-level vertical telescopic part and the third-level inserted clamping claw part to rotate as a whole, so that the entire adaptive core clamping device provides a drilling position for the telescopic coring drill bit device upward. When the telescopic coring drill bit device drills the core, the rotating mechanisms of the multiple adaptive core clamping devices drive the rotating connection, the first-level horizontal moving part, the second-level vertical telescopic part and the third-level inserted clamping claw part to rotate as a whole, so that the entire adaptive core clamping device provides a drilling position for the telescopic coring drill bit device upward. After the head device completes the work of drilling the core and is lifted, the rotating mechanisms of multiple adaptive core clamping devices rotate synchronously to drive the rotating connector, the first-level lateral moving part, the second-level vertical telescopic part and the third-level plug-in claw part to rotate downward as a whole. The automatic controller controls the adjustment of the first-level lateral moving part according to the size of the core that passes through first, so that the positions of the second-level vertical telescopic part and the third-level plug-in claw part match the different core sizes. Then, the third-level plug-in claw part is inserted into the drill seam through the telescopic action of the second-level vertical telescopic part, and then the lateral moving part of the first-level lateral moving part is controlled to continue to move so that the third-level plug-in claw part holds the core. The hydraulic arm of the moving device moves to lift the entire coring device to achieve drilling of the core.

[0011] The structure of multiple adaptive core clamping devices and a telescopic coring drill bit enables the coring tool to move in multiple degrees of freedom in space (rotation, lateral movement, vertical extension, and jaw opening and closing). This allows the device to flexibly adjust the coring position to meet the coring needs of different formation conditions, which is particularly advantageous in areas with complex geological structures (such as faults and fold belts).

[0012] The adaptive core clamping device can adaptively clamp the core according to its size and shape, avoiding mechanical damage to the core, improving the integrity of the core, and providing more reliable samples for subsequent rock physical property testing and geological analysis.

[0013] The three-stage, plug-in jaw design allows for adaptive adjustment based on the actual size and shape of the core. This design overcomes the fixed-size limitations of traditional coring tools and effectively addresses core diameter fluctuations and irregular shapes, significantly improving core recovery efficiency and integrity.

[0014] The chip-based automation controller can program and control the execution of each component, realizing the automation of the coring process. This greatly reduces manual intervention, reduces the labor intensity of operators, and improves the efficiency of coring operations.

[0015] Optionally, the rotating mechanism is a hydraulic servo motor, and the rotating connecting part includes an annular connecting part and a transverse moving connecting part. The annular connecting part is mounted on the rotating part of the rotating mechanism and is transmission-connected to the rotating part. The transverse moving connecting part is provided with a connecting plane. The transverse moving connecting part and the annular connecting part are integrally formed, and the track part of the first-level transverse moving part is installed at the connecting plane of the transverse moving connecting part.

[0016] By adopting this technical solution, the rotating mechanism uses a hydraulic servo motor. Compared to traditional motors, hydraulic drive offers greater output torque and higher power density, providing stronger power. This is particularly suitable for coring operations that require overcoming significant resistance (such as hard rock or core obstruction). The hydraulic system also enables stepless speed regulation. By precisely controlling the flow and pressure of the hydraulic oil, both rotational speed and torque can be precisely controlled, thereby improving the stability and reliability of the coring process.

[0017] The annular connection is connected to the rotating part of the rotating mechanism. This design ensures direct transmission of rotational motion, reduces energy loss and mechanical wear in the intermediate transmission links, and improves transmission efficiency. At the same time, the set design of the annular connection also facilitates installation and maintenance.

[0018] Optionally, the first-level lateral moving part includes an electric servo linear slide and a first-level claw support arm, the track part of the electric servo linear slide is detachably installed on the connecting plane of the lateral moving connecting part, one end of the first-level claw support arm is installed on the slider part of the electric servo linear slide, and the base end of the second-level vertical telescopic part is installed on the other end of the first-level claw support arm.

[0019] By adopting this technical solution, the first-stage lateral movement unit utilizes an electric servo linear slide. Compared to traditional hydraulic or pneumatic drives, electric servo drives offer higher positioning accuracy and repeatability. Using sensors such as encoders, the electric servo linear slide enables closed-loop control, precisely controlling the position and speed of the slide, thereby achieving high-precision lateral positioning and adjustment of the first-stage jaw arm. This is crucial for accurately positioning the coring tool at the target rock formation.

[0020] The rail section of the electric servo linear slide is removable and mounted on the connecting plane of the lateral moving joint. This modular design makes maintenance and replacement more convenient. When the slide fails or needs to be upgraded, it can be quickly removed and replaced with a new one, reducing downtime and improving equipment utilization.

[0021] The position adjustment of the slider of the electric servo linear slide can not only adapt to different core sizes, but also enable the three-stage plug-in claw part to be inserted into the rock crack more accurately.

[0022] The primary claw arm cleverly combines lateral movement and vertical extension, providing both connection and support, enhancing the rigidity and stability of the entire structure. During coring, especially in complex formations or with significant resistance, this enhanced rigidity and stability effectively resists deformation and vibration, ensuring the stability and reliability of the coring tool.

[0023] Optionally, the secondary vertical telescopic part includes a hydraulic lifting mechanism and a secondary claw support arm, the base of the hydraulic lifting mechanism is installed at the end of the first-level claw support arm, one end of the second-level claw support arm is installed on the lifting part of the hydraulic lifting mechanism, and the mounting part of the third-level plug-in claw part is installed at the other end of the second-level claw support arm.

[0024] By adopting the above technical solution, the hydraulic lifting mechanism can accurately drive the secondary clamping claw arm and the tertiary inserted clamping claw part downward to insert into the drill seam.

[0025] Optionally, the three-stage plug-in claw portion includes a mounting portion, an plug-in claw portion and a plurality of electric locking devices, one end of the mounting portion is detachably mounted on the end of the secondary claw support arm, the mounting portion is at right angles to the secondary claw support arm, the top of the plug-in claw portion is mounted on the other end of the mounting portion and is vertically downward, a plurality of locking device mounting grooves and insertion detection sensor mounting grooves are provided on the inner side of the plug-in claw portion, and a plurality of electric locking devices are respectively mounted at the plurality of locking device mounting grooves.

[0026] By adopting the above technical solution,

[0027] Optionally, it also includes multiple insertion detection sensors, which are respectively installed in the insertion detection sensor installation slots of the inserted claw part and are respectively wirelessly connected to the automation controller. When the automation controller determines that the multiple insertion detection sensors are all in a blocked state, it controls multiple electric locking devices to pop out the outer wall of the rock core.

[0028] Optionally, the electric locking device includes an electric lock and a communication power socket, the electric lock is installed at the locking device installation slot of the plug-in claw part, the electric lock is electrically connected to the automation controller through the communication power socket, and the automation controller controls the execution action of the electric lock.

[0029] Optionally, the inserted claw portion is an arc-shaped part, and the top of the inserted claw portion is detachably mounted on the other end of the mounting portion, so that different rock core sizes can be matched by replacing the inserted claw portion.

[0030] By adopting this technical solution, the inner side of the inserted jaw is equipped with multiple locking device mounting slots and multiple electric locking devices. This multi-locking device design can achieve multi-point gripping of the core, significantly improving the gripping force and effectively preventing the core from falling or sliding during extraction, especially in broken, loose, or irregular rock formations.

[0031] Multiple electric locking devices can be independently controlled to adapt to the actual size and shape of the core. By controlling the expansion and contraction and gripping force of each locking device, it can adapt to cores of different diameters and surface conditions, improving the success rate of coring.

[0032] The inserted jaws are installed vertically downwards. This design allows the jaws to be inserted deeper into the core, creating a larger contact area with the core, thereby enhancing the gripping force and reducing the risk of the core being damaged during extraction.

[0033] The inner side of the inserted jaws also features insertion detection sensor mounting slots, which can be installed to monitor the jaws' insertion depth and gripping status in real time. Feedback from these sensors is used to precisely control the electric locking mechanism, ensuring the jaws hold the core with the appropriate force, preventing core breakage caused by excessive gripping force, thereby improving core integrity and recovery rates.

[0034] One end of the mounting section can be removably attached to the end of the secondary jaw support arm. This modular design allows for easy removal and installation of the three-stage plug-in jaw section. When the jaws become worn or damaged, they can be quickly replaced with new ones, reducing downtime and increasing equipment utilization.

[0035] Optionally, the telescopic coring drill bit device includes a drill bit hydraulic lift, a drill bit drive motor unit and a drill head unit, wherein the base unit of the drill bit hydraulic lift unit is installed at the lower part of the coring base unit, the base unit of the drill bit drive motor unit is installed at the end of the piston rod of the drill bit hydraulic lift unit, and the drill head unit is detachably connected to the rotating part of the drill bit drive motor unit, and can adapt to different rock coring size requirements by replacing the drill head unit.

[0036] By adopting this technical solution, the drill head adopts a detachable design, allowing for quick replacement of drill bits of different diameters or types based on rock types and coring requirements. This modular design significantly enhances the adaptability and versatility of the coring drill bit assembly, enabling the same unit to handle coring tasks in a variety of geological conditions, reducing equipment investment and maintenance costs.

[0037] When encountering rocks of different hardness or needing to adjust the coring size, the drill bit can be quickly replaced without the need for complex adjustments to the entire drill assembly, thus improving operational efficiency and shortening the coring cycle.

[0038] The drill bit hydraulic lift provides precise drill bit feed control. By adjusting the pressure and flow of the hydraulic system, the drill bit feed speed and feed rate can be precisely controlled, achieving precise drilling of rocks of different hardness and avoiding drill bit damage or core breakage caused by excessive feed.

[0039] Optionally, the automation controller includes a visual camera, a memory, a visual analysis chip, a data analysis chip and a control chip. The visual camera is installed on the coring base through a bracket. The memory is communicatively connected to the visual camera and multiple insertion detection sensors respectively. The visual analysis chip, the data analysis chip and the control chip are communicatively connected to the memory respectively. The visual analysis chip analyzes the core drilling image taken by the visual camera based on the visual analysis algorithm. The data analysis chip analyzes the sensor data of multiple insertion detection sensors and determines whether they are all in an obstructed state. The control chip controls the execution actions of the moving device, the rotating mechanism, the first-level horizontal moving part, the second-level vertical telescopic part and the electric locking device according to the analysis results of the visual analysis chip and the data analysis chip.

[0040] In summary, the present invention includes at least one of the following beneficial technical effects:

[0041] The present invention provides an automated geological rock coring device. The structure of multiple adaptive coring devices and a telescopic coring drill bit enables the coring tool to move with multiple degrees of freedom in space. This allows the device to flexibly adjust the coring position to accommodate coring needs in varying strata, offering significant advantages particularly in areas with complex geological structures.

[0042] The adaptive core clamping device can adaptively clamp the core according to its size and shape, avoiding mechanical damage to the core, improving the integrity of the core, and providing more reliable samples for subsequent rock physical property testing and geological analysis.

[0043] The three-stage, plug-in jaw design allows for adaptive adjustment based on the actual size and shape of the core. This design overcomes the fixed-size limitations of traditional coring tools and effectively addresses core diameter fluctuations and irregular shapes, significantly improving core recovery efficiency and integrity.

[0044] The chip-based automation controller can program and control the execution of each component, realizing the automation of the coring process. This greatly reduces manual intervention, reduces the labor intensity of operators, and improves the efficiency of coring operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the component structure principle of the geological rock automatic coring device of the present invention;

[0046] Figure 2 This is a schematic diagram of the structural principle of the adaptive core holding device of the geological core permeability testing device of the present invention;

[0047] Figure 3 2. It is a side view of the structure of the insertion claw portion of the geological core permeability testing device of the present invention;

[0048] Figure 4 The figure is a schematic diagram of the connection principle of the electrical components of the automatic geological rock coring device of the present invention.

[0049] Explanation of the accompanying drawings: 1. Coring base part; 21. Rotating mechanism; 22. Rotating connecting piece; 221. Annular connecting part; 222. Lateral moving connecting part; 23. First-level lateral moving part; 231. Electric servo linear slide; 232. First-level clamping claw support arm; 24. Second-level vertical telescopic part; 241. Hydraulic lifting mechanism; 242. Second-level clamping claw support arm; 25. Third-level plug-in clamping claw part; 251. Mounting part; 252. Plug-in clamping claw part; 253. Electric lock; 3. Telescopic coring drill bit device; 31. Drill bit hydraulic lift; 32. Drill bit drive motor part; 33. Drill head; 4. Automation controller; 41. Visual camera; 42. Memory; 43. Visual analysis chip; 44. Data analysis chip; 45. Control chip; 5. Insertion detection sensor; 100. Moving device. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below with reference to the accompanying drawings.

[0051] The embodiment of the present invention discloses an automatic geological rock coring device.

[0052] Reference Figure 1-Figure 4 , Example 1, geological rock automatic coring device, including a coring base part 1, a plurality of adaptive core clamping devices, a telescopic coring drill bit device 3 and a chip-based automatic controller 4, one side of the coring base part 1 is installed on the hydraulic arm of the mobile device 100 through a bracket, the adaptive core clamping device includes a rotating mechanism 21, a rotating connection 22, a first-level horizontal moving part 23, a second-level vertical telescopic part 24 and a third-level plug-in claw part 25, the base of the rotating mechanism 21 is detachably mounted on the side of the coring base part 1, and the rotating part faces outward, the rotating connection 22 is detachably mounted on the rotating part of the rotating mechanism 21, and the track of the first-level horizontal moving part 23 is The road portion is installed on the outer wall of the rotating connection 22, the base end of the secondary vertical telescopic portion 24 is installed on the lateral moving portion of the primary lateral moving portion 23, and the mounting portion 251 of the tertiary inserted claw portion 25 is installed on the telescopic portion of the secondary vertical telescopic portion 24. When the rotating mechanism 21 rotates, the rotating connection 22, the primary lateral moving portion 23, the secondary vertical telescopic portion 24 and the tertiary inserted claw portion 25 are driven to rotate as a whole. The telescopic coring drill bit device 3 is installed at the bottom of the coring base portion 1, and the automation controller 4 controls the execution actions of the moving device 100, the rotating mechanism 21, the primary lateral moving portion 23 and the secondary vertical telescopic portion 24 respectively.

[0053] The drill bit can be lowered and lifted by the telescopic coring drill bit device 3. When the core drilling work is completed and lifted, the drilling position can be made available for multiple adaptive core clamping devices. The adaptive core clamping device adopts a structural design of a rotating mechanism 21, a rotating connection 22, a first-level horizontal moving part 23, a second-level vertical telescopic part 24 and a third-level inserted clamping claw part 25. When the telescopic coring drill bit device 3 drills the core, the rotating mechanisms 21 of the multiple adaptive core clamping devices rotate synchronously to drive the rotating connection 22, the first-level horizontal moving part 23, the second-level vertical telescopic part 24 and the third-level inserted clamping claw part 25 to rotate as a whole, so that the entire adaptive core clamping device provides a drilling position for the telescopic coring drill bit device 3 upward. When the telescopic coring drill bit device 3 completes drilling, the rotary mechanism 21 of the multiple adaptive core clamping devices drives the rotary connection 22, the first-level horizontal moving part 23, the second-level vertical telescopic part 24 and the third-level inserted clamping claw part 25 to rotate as a whole, so that the entire adaptive core clamping device provides a drilling position for the telescopic coring drill bit device 3 upward. After the core is lifted, the rotating mechanisms 21 of the multiple adaptive core clamping devices rotate synchronously to drive the rotating connector 22, the first-level lateral moving part 23, the second-level vertical telescopic part 24 and the third-level plug-in claw part 25 to rotate downward as a whole. The automation controller 4 controls the adjustment of the first-level lateral moving part 23 according to the size of the core first passed, so that the positions of the second-level vertical telescopic part 24 and the third-level plug-in claw part 25 match the different core sizes, and then the third-level plug-in claw part 25 is inserted into the drill seam through the telescopic action of the second-level vertical telescopic part 24, and then the lateral moving part of the first-level lateral moving part 23 is controlled to continue to move so that the third-level plug-in claw part 25 holds the core, and the hydraulic arm of the moving device 100 moves to lift the entire coring device to achieve drilling of the core.

[0054] The structure of multiple adaptive core-holding devices and the telescopic coring drill bit 3 enables the coring tool to move in multiple degrees of freedom in space (rotation, lateral movement, vertical extension, and jaw opening and closing). This allows the device to flexibly adjust the coring position to meet the coring needs of different formation conditions, which is particularly advantageous in areas with complex geological structures (such as faults and fold zones).

[0055] The mobile device 100 may be a crawler vehicle with a hydraulic wall provided on the top, which can realize the lifting and pressing down of the entire coring device.

[0056] The adaptive core clamping device can adaptively clamp the core according to its size and shape, avoiding mechanical damage to the core, improving the integrity of the core, and providing more reliable samples for subsequent rock physical property testing and geological analysis.

[0057] The three-stage, plug-in jaw design allows for adaptive adjustment based on the actual size and shape of the core. This design overcomes the fixed-size limitations of traditional coring tools and effectively addresses core diameter fluctuations and irregular shapes, significantly improving core recovery efficiency and integrity.

[0058] The chip-based automation controller 4 can program and control the execution of each component to realize the automation of the coring process. This greatly reduces manual intervention, reduces the labor intensity of operators, and improves the efficiency of coring operations.

[0059] In embodiment 2, the rotating mechanism 21 is a hydraulic servo motor, and the rotating connecting part 22 includes an annular connecting part 221 and a transverse moving connecting part 222. The annular connecting part 221 is mounted on the rotating part of the rotating mechanism 21 and is transmission-connected to the rotating part. The transverse moving connecting part 222 is provided with a connecting plane. The transverse moving connecting part 222 is integrally formed with the annular connecting part 221, and the track part of the first-level transverse moving part 23 is installed at the connecting plane of the transverse moving connecting part 222.

[0060] The rotating mechanism 21 utilizes a hydraulic servo motor. Compared to traditional electric motors, hydraulic drive offers greater output torque and higher power density, providing stronger power. This makes it particularly suitable for coring operations that require overcoming significant resistance (such as resistance from hard rock or stuck cores). The hydraulic system also enables stepless speed regulation. By precisely controlling the flow and pressure of the hydraulic oil, both rotational speed and torque can be precisely controlled, improving the stability and reliability of the coring process.

[0061] The annular connecting portion 221 is in transmission connection with the rotating portion of the rotating mechanism 21. This design ensures direct transmission of the rotational motion, reduces energy loss and mechanical wear in the intermediate transmission links, and improves transmission efficiency. At the same time, the set design of the annular connecting portion 221 also facilitates installation and maintenance.

[0062] Example 3, the first-level lateral moving part 23 includes an electric servo linear slide 231 and a first-level claw support arm 232, the track part of the electric servo linear slide 231 can be detachably installed at the connecting plane of the lateral moving connecting part 222, one end of the first-level claw support arm 232 is installed on the slider part of the electric servo linear slide 231, and the base end of the second-level vertical telescopic part 24 is installed at the other end of the first-level claw support arm 232.

[0063] The first-stage lateral movement section 23 utilizes an electric servo linear slide 231. Compared to traditional hydraulic or pneumatic drives, electric servo drives offer higher positioning accuracy and repeatability. This slide utilizes sensors such as encoders for closed-loop control, precisely controlling the position and speed of the slide. This allows for high-precision lateral positioning and adjustment of the first-stage jaw support arm 232. This is crucial for accurately positioning the coring tool at the target rock formation.

[0064] The track portion of the electric servo linear slide 231 is removably mounted on the connection plane of the lateral movement connection portion 222. This modular design facilitates maintenance and replacement. If the slide fails or requires an upgrade, it can be quickly removed and replaced with a new one, reducing downtime and improving equipment utilization.

[0065] The position adjustment of the slider of the electric servo linear slide 231 can not only adapt to different core sizes, but also enable the three-stage inserting claw part 25 to be inserted into the rock crack more accurately.

[0066] The primary claw arm 232 cleverly combines lateral movement and vertical extension, providing both connection and support, enhancing the rigidity and stability of the entire structure. During the coring process, especially in complex formations or when encountering significant resistance, this enhanced rigidity and stability effectively resists deformation and vibration, ensuring the stability and reliability of the coring tool.

[0067] Example 4, the secondary vertical telescopic part 24 includes a hydraulic lifting mechanism 241 and a secondary claw support arm 242, the base of the hydraulic lifting mechanism 241 is installed at the end of the first-level claw support arm 232, one end of the second-level claw support arm 242 is installed on the lifting part of the hydraulic lifting mechanism 241, and the mounting part 251 of the third-level plug-in claw part 25 is installed at the other end of the second-level claw support arm 242.

[0068] The hydraulic lifting mechanism 241 can accurately drive the secondary clamping claw arm 242 and the tertiary inserting clamping claw portion 25 downward to insert into the drill seam.

[0069] Example 5, the three-stage plug-in claw portion 25 includes a mounting portion 251, an plug-in claw portion 252 and a plurality of electric locking devices, one end of the mounting portion 251 can be detachably mounted on the end of the secondary claw support arm 242, the mounting portion 251 is at a right angle to the secondary claw support arm 242, the top of the plug-in claw portion 252 is mounted on the other end of the mounting portion 251, and is vertically downward, the inner side of the plug-in claw portion 252 is provided with a plurality of locking device mounting grooves and insertion detection sensor mounting grooves, and a plurality of electric locking devices are respectively mounted at the plurality of locking device mounting grooves.

[0070] Example 6 also includes multiple insertion detection sensors 5, which are respectively installed in the insertion detection sensor installation slots of the inserted claw part 252 and are respectively wirelessly connected to the automation controller 4. When the automation controller 4 determines that the multiple insertion detection sensors 5 are all in a blocked state, it controls multiple electric locking devices to pop out the outer wall of the rock core.

[0071] Example 7, the electric locking device includes an electric lock 253 and a communication power socket. The electric lock 253 is installed at the locking device installation slot of the plug-in claw part 252. The electric lock 253 is electrically connected to the automation controller 4 through the communication power socket. The automation controller 4 controls the execution action of the electric lock 253.

[0072] In Example 8, the inserted claw portion 252 is an arc-shaped part, and the top of the inserted claw portion 252 can be detachably mounted on the other end of the mounting portion 251 , so that different rock core sizes can be matched by replacing the inserted claw portion 252 .

[0073] The inner side of the inserted claw portion 252 is provided with multiple locking device mounting slots and is equipped with multiple electric locking devices. This multi-locking device design allows for multi-point gripping of the core, significantly improving gripping force and effectively preventing the core from falling or slipping during extraction, especially in broken, loose, or irregularly shaped rock formations.

[0074] Multiple electric locking devices can be independently controlled to adapt to the actual size and shape of the core. By controlling the expansion and contraction and gripping force of each locking device, it can adapt to cores of different diameters and surface conditions, improving the success rate of coring.

[0075] The inserted claw portion 252 is installed vertically downward. This design allows the claw to be inserted deeper into the core, creating a larger contact area with the core, thereby enhancing the gripping force and reducing the risk of the core being damaged during the extraction process.

[0076] Insertion detection sensor mounting slots are also provided on the inner side of the inserted jaw portion 252. Sensors can be installed to monitor the jaw's insertion depth and gripping status in real time. Feedback from these sensors is used to precisely control the operation of the electric locking mechanism, ensuring that the jaws grip the core with appropriate force, avoiding core breakage due to excessive gripping force, thereby improving core integrity and recovery rate.

[0077] One end of the mounting portion 251 is detachably mounted on the end of the secondary claw support arm 242. This modular design allows for easy removal and installation of the three-stage plug-in claw portion 25. When the claws become worn or damaged, they can be quickly replaced with new ones, reducing downtime and improving equipment utilization.

[0078] Example 9, the telescopic coring drill bit device 3 includes a drill bit hydraulic lift 31, a drill bit drive motor part 32 and a drill head part 33. The base part of the drill bit hydraulic lift 31 is installed at the lower part of the coring base part 1, and the base of the drill bit drive motor part 32 is installed at the end of the piston rod of the drill bit hydraulic lift 31. The drill head part 33 is detachable and transmission-connected with the rotating part of the drill bit drive motor part 32. By replacing the drill head part 33, it can adapt to different rock coring size requirements.

[0079] The drill head 33 is detachable, allowing for quick replacement of drill bits of different diameters or types based on rock types and coring requirements. This modular design significantly enhances the adaptability and versatility of the coring drill assembly, enabling the same unit to handle coring tasks in a variety of geological conditions, reducing equipment investment and maintenance costs.

[0080] When encountering rocks of different hardness or needing to adjust the coring size, the drill bit can be quickly replaced without the need for complex adjustments to the entire drill assembly, thus improving operational efficiency and shortening the coring cycle.

[0081] The drill bit hydraulic lift 31 can provide precise drill bit feed control. By adjusting the pressure and flow of the hydraulic system, the feed speed and feed amount of the drill bit can be precisely controlled, achieving accurate drilling of rocks of different hardness and avoiding damage to the drill bit or core breakage caused by excessive feed.

[0082] Example 10, the automation controller 4 includes a visual camera 41, a memory 42, a visual analysis chip 43, a data analysis chip 44 and a control chip 45. The visual camera 41 is installed on the coring base part 1 through a bracket. The memory 42 is communicated with the visual camera 41 and multiple insertion detection sensors 5 respectively. The visual analysis chip 43, the data analysis chip 44 and the control chip 45 are communicated with the memory 42 respectively. The visual analysis chip 43 analyzes the core drilling image taken by the visual camera 41 based on the visual analysis algorithm. The data analysis chip 44 analyzes the sensor data of multiple insertion detection sensors 5 and determines whether they are all in an obstructed state. The control chip 45 controls the execution actions of the moving device 100, the rotating mechanism 21, the first-level horizontal moving part 23, the second-level vertical telescopic part 24 and the electric locking device according to the analysis results of the visual analysis chip 43 and the data analysis chip 44.

[0083] The above are all preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. Automatic geological rock coring device, characterized by: The invention comprises a coring base portion (1), a plurality of adaptive core clamping devices, a telescopic coring drill bit device (3) and a chip-based automatic controller (4), wherein one side of the coring base portion (1) is mounted on a hydraulic arm of a moving device (100) via a bracket, and the adaptive core clamping device comprises a rotating mechanism (21), a rotating connecting member (22), a first-level transverse moving portion (23), a second-level vertical telescopic portion (24) and a third-level plug-in claw portion (25), wherein the base of the rotating mechanism (21) is detachably mounted on the side of the coring base portion (1) with the rotating portion facing outward, the rotating connecting member (22) is detachably mounted on the rotating portion of the rotating mechanism (21), and the track portion of the first-level transverse moving portion (23) is mounted on the rotating connecting member ( 22), the base end of the secondary vertical telescopic part (24) is mounted on the lateral moving part of the primary lateral moving part (23), and the mounting part (251) of the tertiary plug-in claw part (25) is mounted on the telescopic part of the secondary vertical telescopic part (24). When the rotating mechanism (21) rotates, the rotating connector (22), the primary lateral moving part (23), the secondary vertical telescopic part (24) and the tertiary plug-in claw part (25) are driven to rotate as a whole. The telescopic coring drill bit device (3) is mounted on the bottom of the coring base part (1). The automatic controller (4) controls the execution of the moving device (100), the rotating mechanism (21), the primary lateral moving part (23) and the secondary vertical telescopic part (24) respectively. The inner side of the insertion claw portion (252) of the three-stage insertion claw portion (25) is provided with a plurality of locking device mounting slots and insertion detection sensor mounting slots, and a plurality of electric locking devices are respectively mounted at the plurality of locking device mounting slots; The plurality of insertion detection sensors (5) are respectively installed at the insertion detection sensor installation slots of the insertion claw portion (252), and are respectively wirelessly connected to the automation controller (4). When the automation controller (4) determines that the plurality of insertion detection sensors (5) are all in a blocked state, the plurality of electric locking devices are controlled to pop out and clamp the outer wall of the rock core.

2. The automatic geological rock coring device according to claim 1, characterized in that: The rotating mechanism (21) is a hydraulic servo motor. The rotating connecting member (22) includes an annular connecting portion (221) and a transverse moving connecting portion (222). The annular connecting portion (221) is mounted on the rotating portion of the rotating mechanism (21) and is in transmission connection with the rotating portion. The transverse moving connecting portion (222) is provided with a connecting plane. The transverse moving connecting portion (222) and the annular connecting portion (221) are integrally formed. The track portion of the first-stage transverse moving portion (23) is mounted on the connecting plane of the transverse moving connecting portion (222).

3. The automatic geological rock coring device according to claim 2, characterized in that: The first-level lateral moving portion (23) includes an electric servo linear slide (231) and a first-level claw support arm (232), wherein the track portion of the electric servo linear slide (231) is detachably mounted on the connection plane of the lateral moving connecting portion (222), one end of the first-level claw support arm (232) is mounted on the slider portion of the electric servo linear slide (231), and the base end of the second-level vertical telescopic portion (24) is mounted on the other end of the first-level claw support arm (232).

4. The automatic geological rock coring device according to claim 3, characterized in that: The secondary vertical telescopic portion (24) includes a hydraulic lifting mechanism (241) and a secondary claw support arm (242), wherein the base of the hydraulic lifting mechanism (241) is mounted on the end of the primary claw support arm (232), one end of the secondary claw support arm (242) is mounted on the lifting portion of the hydraulic lifting mechanism (241), and the mounting portion (251) of the tertiary plug-in claw portion (25) is mounted on the other end of the secondary claw support arm (242).

5. The automatic geological rock coring device according to claim 4, characterized in that: The three-stage plug-in claw portion (25) comprises a mounting portion (251), an insert-type claw portion (252) and a plurality of electric locking devices, wherein one end of the mounting portion (251) is detachably mounted on the end of the secondary claw support arm (242), the mounting portion (251) and the secondary claw support arm (242) are at right angles, and the top of the insert-type claw portion (252) is mounted on the other end of the mounting portion (251) and is vertically facing.

6. The automatic geological rock coring device according to claim 5, characterized in that: The electric locking device comprises an electric lock (253) and a communication power socket. The electric lock (253) is installed at the locking device installation slot of the plug-in claw portion (252). The electric lock (253) is electrically connected to the automation controller (4) via the communication power socket. The automation controller (4) controls the execution action of the electric lock (253).

7. The automatic geological rock coring device according to claim 6, characterized in that: The inserted claw portion (252) is an arc-shaped part. The top of the inserted claw portion (252) is detachably mounted on the other end of the mounting portion (251). Different rock core sizes can be matched by replacing the inserted claw portion (252).

8. The automatic geological rock coring device according to claim 7, characterized in that: The telescopic coring drill bit device (3) comprises a drill bit hydraulic lift (31), a drill bit drive motor unit (32) and a drill head unit (33). The base unit of the drill bit hydraulic lift (31) is mounted on the lower part of the coring base unit (1), the base unit of the drill bit drive motor unit (32) is mounted on the piston rod end of the drill bit hydraulic lift (31), and the drill head unit (33) is detachably connected to the rotating unit of the drill bit drive motor unit (32). By replacing the drill head unit (33), the drill head unit can adapt to different rock coring size requirements.

9. The automatic geological rock coring device according to claim 8, characterized in that: The automation controller (4) includes a visual camera (41), a memory (42), a visual analysis chip (43), a data analysis chip (44) and a control chip (45), wherein the visual camera (41) is mounted on the coring base (1) via a bracket, the memory (42) is respectively connected to the visual camera (41) and a plurality of insertion detection sensors (5), the visual analysis chip (43), the data analysis chip (44) and the control chip (45) are respectively connected to the memory (42), the visual analysis chip (43) analyzes the core drilling image captured by the visual camera (41) based on a visual analysis algorithm, the data analysis chip (44) analyzes the sensor data of the plurality of insertion detection sensors (5) and determines whether they are all in an obstructed state, and the control chip (45) controls the execution of the moving device (100), the rotating mechanism (21), the first-level horizontal moving part (23), the second-level vertical telescopic part (24) and the electric locking device according to the analysis results of the visual analysis chip (43) and the data analysis chip (44).

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