Multi-point sectional type rock core sampling device based on unmanned remote control submersible

Abstract

The invention relates to the technical field of core sampling, in particular to a multi-point sectional type core sampling device based on an unmanned remote control submersible, which comprises a rack, a drilling tool is arranged on the rack, the drilling tool comprises a vertically arranged drilling pipe, a drill bit is connected below the drilling pipe, the inner side of the drilling pipe is rotatably connected with a core barrel, and the outer side of the drilling pipe is connected with a driving mechanism. A lifting mechanism is arranged on the rack, a water conveying pipe is connected above the core barrel, the core barrel is connected with a suction mechanism through the water conveying pipe, and a storage mechanism is connected between the core barrel and the suction mechanism. By utilizing the underwater moving function of the unmanned remote control submersible, the sampling device can autonomously select the sampling point after being laid into the sea, and the situation that the sampling device deviates from the preset sampling point in the laying process, so that the sampling device is inclined, and the stability of the core sampling action is not facilitated is avoided; meanwhile, the multi-point sectional type core sampling operation can be carried out only by arranging the core sampling device once, so that the coring efficiency is greatly improved, and the core sampling cost is reduced to the greatest extent.

Description

Technical Field

[0001] The present invention relates to the technical field of core sampling, in particular to a multi-point segmented core sampling device based on an unmanned remote-controlled submersible. Background Art

[0002] As a "shell-like" sedimentary mineral that mainly grows on the hard bedrock of seamounts, cobalt-rich crusts are rich in metal elements such as cobalt, nickel, copper, manganese, platinum group, and rare earth elements, among which the "cobalt" content is particularly significant. These metal elements have extremely high application value in modern industry. Therefore, cobalt-rich crusts are regarded as a strategic mineral resource with potential economic value. At present, my country has carried out a large number of exploration and survey tasks in the Pacific Ocean cobalt-rich crust exploration contract area, obtained a large amount of first-hand mineral resource information, and has delineated multiple mineralized areas and obtained different types of resource quantities. By sampling and analyzing the cobalt-rich crust cores, the resource quantity, grade, and distribution characteristics of the cobalt-rich crusts can be evaluated, providing a scientific basis for subsequent mineral development.

[0003] However, most of the core sampling equipment currently used are fixed deep-sea submarine drilling rigs. Since the equipment itself cannot be moved underwater, it can only land on the bottom once during the deployment process. In addition, the underwater environment is complex, and the equipment will deviate from the predetermined sampling point during the deployment process. If more complex terrain is encountered, there will be problems such as equipment tilt and unstable sampling. At the same time, a single deployment can only obtain core samples from one sampling point. If core samples from different points are required, the deployment and recovery steps of the sampling equipment need to be repeated, resulting in low core sampling efficiency and high sampling costs. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-point segmented core sampling device based on an unmanned remote-controlled submersible to address the shortcomings of the existing technology. The core sampling device is mounted on the unmanned remote-controlled submersible, so that the core sampling device can utilize the underwater movement function of the unmanned remote-controlled submersible to independently select exploration sampling points, and the core sampling device can be deployed once to perform exploration and coring operations at multiple points multiple times, so as to solve the problems in the existing technology that the equipment itself is immobile underwater, and when encountering more complex terrain, there are problems such as equipment tilt and unstable sampling. At the same time, a single deployment can only obtain core samples from one sampling point, resulting in low core sampling efficiency and high sampling costs.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A multi-point segmented core sampling device based on an unmanned remote-controlled underwater vehicle comprises a frame, on which a drilling tool is provided, the drilling tool comprising a vertically arranged drill pipe, a drill bit being connected below the drill pipe, a core tube being rotatably connected inside the drill pipe, and a driving mechanism for driving the drill pipe to rotate being connected outside the drill pipe; a lifting mechanism for driving the drilling tool and the driving mechanism to rise and fall together being provided on the frame; a water pipe being connected above the core tube, the core tube being connected to a suction mechanism for circulatedly pumping seawater via the water pipe, and a storage mechanism for segmented storage of core samples being connected to the water pipe.

[0007] Furthermore, the driving mechanism includes a hydraulic motor fixed on the frame, and the output shaft of the hydraulic motor is connected to the drill pipe through a transmission mechanism.

[0008] Furthermore, the frame includes a top plate, a middle plate and a bottom plate arranged in sequence from top to bottom, the top plate is fixedly connected to the middle plate by a connecting rod, a vertical sliding rod is provided on the bottom plate, the top plate and the middle plate are respectively slidably connected to the sliding rod, the driving mechanism is fixed on the middle plate, and the lifting mechanism is a hydraulic lifting mechanism, including a hydraulic cylinder vertically fixed on the bottom plate, and the piston rod of the hydraulic cylinder is fixedly connected to the top plate.

[0009] Furthermore, the hydraulic cylinder includes a cylinder bottom fixed on the bottom plate, a cylinder barrel is connected to the cylinder bottom via a first flange, a cylinder cover is connected to the cylinder barrel via a second flange, and a piston rod is movably connected to the cylinder barrel.

[0010] Furthermore, the storage mechanism includes a cylinder, with a water inlet end cover and a water outlet end cover connected to both sides of the cylinder respectively, the water inlet end cover is provided with a water inlet hole for connecting to a water pipe for water inlet at an eccentric position, the water outlet end cover is provided with a water outlet hole for connecting to a water pipe for water outlet at an eccentric position, the center of the water inlet hole and the center of the water outlet hole are on the same horizontal line, a circular support frame is rotatably connected between the water inlet end cover and the water outlet end cover inside the cylinder, sampling tubes are evenly spaced in the circumferential direction of the circular support frame, a filter screen is provided on the end of the sampling tube on one side of the water outlet end cover, and the circular support frame is connected to a power component for driving the circular support frame to rotate around its own center.

[0011] Furthermore, the circular support frame includes a first rotating disk rotatably connected to the water inlet end cover, a second rotating disk rotatably connected to the water outlet end cover, and a rotating rod for connecting the first rotating disk and the second rotating disk. The first rotating disk and the second rotating disk are respectively provided with a plurality of circumferentially spaced through holes. The two ends of the sampling tube are fixedly connected to the first rotating disk and the second rotating disk through the through holes, and one end of the rotating rod passes through the second rotating disk and the water outlet end cover in sequence and then is connected to the power assembly.

[0012] Furthermore, the power assembly includes a motor, and the output shaft of the motor is connected to the rotating rod through a coupling.

[0013] Furthermore, the storage mechanism also includes a limiting component for limiting the rotation position of the circular support frame.

[0014] Furthermore, the limiting assembly includes a limiting column arranged on which a limiting groove is opened correspondingly on the water inlet end cover. The number of the limiting grooves is the same as the number of the sampling tubes. The limiting column is connected to the first rotating disk through a spring.

[0015] Furthermore, the suction mechanism includes a suction pump, and the water inlet end of the suction pump is connected to the water outlet hole on the water outlet end cover through a water pipe.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention can be carried on an unmanned remote-controlled submersible. After the core sampling device and the unmanned remote-controlled submersible are deployed in the sea, the core sampling device is moved to a stable sampling formation through the underwater movement function of the unmanned remote-controlled submersible, and the drill bit is penetrated into the sampling formation through the cooperation of the driving mechanism and the lifting mechanism. While the drill bit penetrates the sampling formation, the seawater at the sampling point is continuously sucked through the suction mechanism, and the core sample in the seawater sucked by the suction mechanism is stored through the storage mechanism. After completing the sampling action of the core sample at the first sampling point, the core sampling device is driven by the unmanned remote-controlled submersible to move as a whole to the second sampling point, and the second sampling tube is moved to the position to be sampled through the power component, thereby completing the segmented core sampling action of multiple sampling points in sequence.

[0018] The overall structure of the present invention is light, and it is convenient to carry the entire device on an unmanned remote-controlled submarine. By utilizing the underwater mobility function of the unmanned remote-controlled submarine, it can independently select a stable core sampling point after being deployed in the sea, thereby avoiding the sampling device from deviating from the preset sampling point during the deployment process, causing the sampling device to tilt, which is not conducive to the stability of the core sampling action; at the same time, the underwater mobility of the unmanned remote-controlled submarine allows the core sampling device to be deployed only once to perform multi-point segmented core sampling operations, greatly improving the core sampling efficiency and reducing the core sampling cost to the greatest extent; and through the storage mechanism , it can store the core samples collected from multiple different sampling points in a segmented manner. During the sea sampling process, the core samples can be stored separately in different sampling tubes, which is convenient for subsequent separate analysis of the core samples from multiple sampling points; in addition, the core sampling device adopts the principle of reverse circulation coring technology. The core samples are sucked from the top of the drill bit into the sampling tube in the storage mechanism, which can effectively reduce the "plume" phenomenon caused by the drill bit cutting the formation during the rotary drilling of the drill bit, improve the visibility of the seabed environment and the drilling efficiency of the drill bit, and reduce the accident rate during the drilling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the overall structure of a multi-point segmented core sampling device based on an unmanned remotely operated submersible provided by the present invention;

[0020] Figure 2 This is a schematic structural diagram of the drilling tool, driving mechanism, and lifting mechanism on the frame of a multi-point segmented core sampling device based on an unmanned remotely operated submersible provided by the present invention;

[0021] Figure 3 A cross-sectional view of a drilling tool in a multi-point segmented core sampling device based on an unmanned remotely operated submersible provided by the present invention;

[0022] Figure 4 A cross-sectional view of a lifting mechanism in a multi-point segmented core sampling device based on an unmanned remotely operated submersible provided by the present invention;

[0023] Figure 5 A schematic structural diagram of a cylinder in a multi-point segmented core sampling device based on an unmanned remotely operated submersible provided by the present invention;

[0024] Figure 6 A cross-sectional view of a storage mechanism in a multi-point segmented core sampling device based on an unmanned remotely operated vehicle provided by the present invention;

[0025] Figure 7 A schematic structural diagram of a circular support frame in a multi-point segmented core sampling device based on an unmanned remotely operated vehicle provided by the present invention;

[0026] Figure 8 A schematic structural diagram of a circular support frame in a multi-point segmented core sampling device based on an unmanned remotely operated vehicle provided by the present invention;

[0027] Figure 9 This is a structural schematic diagram of the water inlet end cover in a multi-point segmented core sampling device based on an unmanned remotely operated submersible provided by the present invention.

[0028] Wherein, the accompanying drawings are marked as follows:

[0029] 1. Frame; 11. Top plate; 12. Middle plate; 13. Bottom plate; 14. Connecting rod; 15. Sliding rod;

[0030] 2. Drilling tools; 21. Drill pipe; 22. Drill bit; 23. Core tube; 24. Bearing; 25. Connectors;

[0031] 3. Driving mechanism; 31. Hydraulic motor; 32. Driving gear; 33. Driven gear;

[0032] 4. Lifting mechanism; 41. Hydraulic cylinder; 411. Cylinder bottom; 412. First flange; 413. Cylinder barrel; 414. Second flange; 415. Cylinder head; 42. Piston rod;

[0033] 5. Storage mechanism; 51. Cylinder; 52. Water inlet end cap; 521. Water inlet hole; 53. Water outlet end cap; 531. Water outlet hole; 54. Circular support frame; 541. First rotating disk; 542. Second rotating disk; 543. Rotating rod; 55. Sampling tube; 56. Filter; 57. Power assembly; 571. Motor; 572. Coupling; 58. Limit assembly; 581. Limit column; 582. Limit slot; 583. Spring;

[0034] 6. Suction mechanism; 61. Suction pump;

[0035] 7. Water pipe. DETAILED DESCRIPTION

[0036] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 those skilled in the art without creative work are within the scope of protection of this application.

[0037] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0038] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0040] For easier understanding, see Figures 1 to 3This embodiment provides a multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle. The device comprises a frame 1 and a controller. A drill tool 2 is provided in the middle of the frame 1, extending vertically through the frame 1. The drill tool 2 comprises a drill pipe 21 and a drill bit 22 fixedly connected to the lower end of the drill pipe 21. The drill pipe 21 is sleeved onto the outside of a core barrel 23. The upper end of the drill pipe 21 is rotatably connected to the core barrel 23 via a bearing 24. The upper end of the core barrel 23 is connected to a water pipe 7 via a connector 25. Specifically, the connector 25 is located above the bearing 24 and securely positioned between the drill pipe 21 and the core barrel 23. The inner ring of the connector 25 is threadedly connected to the outer wall of the upper end of the core barrel 23, while the outer ring of the connector 25 is threadedly connected to the inner wall of the interface end of the water pipe 7. A drive mechanism 3 is located on the frame 1 and connected to the drill pipe 21 via a transmission mechanism. The drive mechanism 3 is used to drive the drill pipe 21 to rotate about its own axis. Because the drill pipe 21 is rotationally connected to the core barrel 23, when the drive mechanism 3 drives the drill pipe 21 to rotate, the drill pipe 21 drives the drill bit 22 to rotate, while the core barrel 23 inside the drill pipe 21 does not rotate with the drill pipe 21. The lifting mechanism 4 is located on the frame 1, and the movable end of the lifting mechanism 4 is connected to the drive mechanism 3. The lifting mechanism 4 is used to drive the drive mechanism 3 to move in the vertical direction. Because the drive mechanism 3 is connected to the drilling tool 2, when the lifting mechanism 4 drives the drive mechanism 3 to move in the vertical direction, it also drives the drilling tool 2 to move in the vertical direction. Through the mutual cooperation between the lifting mechanism 4 and the drive mechanism 3, the drill pipe 21 is driven to move vertically downward or upward while rotating, that is, the drill pipe 21 drills into the sampling formation from top to bottom or the drill pipe 21 exits the sampling formation from bottom to top. Furthermore, there are two sets of lifting mechanisms 4, which are spaced apart and arranged on the frame 1. The upper end of the core tube 23 is connected to the storage mechanism 5 through the water pipe 7 for water supply. The storage mechanism 5 is further connected to the suction mechanism 6 through the water pipe 7 for water supply. The suction mechanism 6 is used to circulate and suck seawater from the drill bit 22. The storage mechanism 5 is used to store the core samples in the sucked seawater in a segmented manner. After the drill pipe 21 is drilled into the sampling formation, the seawater is sucked by the suction mechanism 6. The sucked seawater first enters the core tube 23 from the drill bit 22 and is then transported from the core tube 23 to the storage mechanism 5 through the water pipe 7. The storage mechanism 5 intercepts the core samples in the transported seawater in the storage mechanism 5 and stores the core samples in a segmented manner. The remaining seawater continues to be transported to the suction mechanism 6 through the water pipe 7 and is finally discharged into the ocean from the drainage end of the suction mechanism 6, completing the sampling of the core samples in the seawater.

[0041] For easier understanding, see Figures 1 to 4The frame 1 comprises, from top to bottom, a top plate 11, a middle plate 12, and a bottom plate 13. The top plate 11 is fixedly connected to the middle plate 12 via a connecting rod 14. A vertical sliding rod 15 is fixedly connected to the bottom plate 13. The top plate 11 and the middle plate 12 are each slidably connected to the sliding rod 15. Furthermore, there are two connecting rods 14 and two sliding rods 15, each provided on the frame 1. The drive mechanism 3 is fixedly mounted on the middle plate 12 and specifically includes a hydraulic motor 31 fixedly mounted on the middle plate 12. The transmission mechanism includes a driving gear 32, which is fixedly mounted on the outer side of the output shaft of the hydraulic motor 31 and meshed with a driven gear 33, which is fixedly mounted on the outer side of the drill pipe 21. When the hydraulic motor 31 is activated, the output shaft of the hydraulic motor 31 drives the driving gear 32 to rotate, which in turn drives the driven gear 33 meshed with the driving gear 32 to rotate synchronously, ultimately causing the drill pipe 21 fixedly connected to the driven gear 33 to rotate. Lifting mechanism 4 includes a hydraulic cylinder 41 vertically fixed to base plate 13. Specifically, hydraulic cylinder 41 includes a cylinder bottom 411 fixed to base plate 13. The top of cylinder bottom 411 is connected to cylinder barrel 413 via a first flange 412. A cylinder head 415 is connected to cylinder barrel 413 via a second flange 414. Specifically, cylinder bottom 411 is bolted to first flange 412, which is threaded to the lower end of cylinder barrel 413. The upper end of cylinder barrel 413 is threaded to second flange 414, which is bolted to cylinder head 415. A piston rod 42 is movably connected to the interior of cylinder barrel 413. The piston rod 42 moves vertically, and its upper end is fixedly connected to top plate 11. When oil is supplied to the upper end of the cylinder cover 415, the piston rod 42 moves vertically downward, driving the top plate 11 fixedly connected to the piston rod 42 and the middle plate 12 fixedly connected to the top plate 11 to slide downward along the sliding rod 15, and at the same time causing the driving mechanism 3 and the drilling tool 2 fixed on the middle plate 12 to move vertically downward together, so that the drill pipe 21 moves vertically downward while rotating, so that the drill pipe 21 drills into the sampling formation from top to bottom; when oil is supplied to the lower end of the cylinder bottom 411, the piston rod 42 moves vertically upward, driving the top plate 11 and the middle plate 12 to slide upward along the sliding rod 15, and at the same time causing the driving mechanism 3 and the drilling tool 2 to move vertically upward together, so that the drill pipe 21 moves vertically upward while rotating, so that the drill pipe 21 exits the sampling formation from bottom to top.

[0042] For easier understanding, see Figures 5 to 9The storage mechanism 5 includes a cylinder 51. The left side of the cylinder 51 is connected to a water inlet end cap 52, and the right side of the cylinder 51 is connected to a water outlet end cap 53. The water inlet end cap 52 is provided with a water inlet hole 521, and the water outlet end cap 53 is provided with a water outlet hole 531. The water inlet hole 521 and the water outlet hole 531 are coaxially located. A circular support frame 54 is connected between the water inlet end cap 52 and the water outlet end cap 53 inside the cylinder 51. The circular support frame 54 is provided with six sampling tubes 55. The six sampling tubes 55 are arranged on the circular support frame 54 at 60° intervals along the center circumference of the circular support frame 54. The water inlet hole 521 can be connected to the water outlet hole 531 through the sampling tubes 55. A filter screen 56 is provided at the rear end of the sampling tube to intercept core samples in seawater. The two sides of the circular support frame 54 are rotatably connected to the water inlet end cover 52 and the water outlet end cover 53 respectively. The circular support frame 54 is connected to a power component 57 on the outside of the cylinder 51. The power component 57 is used to drive the circular support frame 54 to rotate around its own center. The water inlet 521 and the water outlet 531 are connected to the water pipe 7 respectively. In the initial state, the sampling tube 55 is coaxial with the water inlet 521 and the water outlet 531, that is, the front and rear ends of the sampling tube 55 are connected to the water inlet 521 and the water outlet 531 respectively. At this time, the seawater sucked up by the suction mechanism 6 passes through the core tube 23 and then enters the water inlet 521 through the water pipe 7, and then enters the sampling tube 55 through the water inlet 521. Due to the suction effect of the suction mechanism 6, the seawater in the sampling tube 55 flows from the side of the water inlet end cap 52 to the side of the water outlet end cap 53. Since the filter screen 56 is provided at the rear end of the sampling tube, the core sample in the seawater is successfully intercepted by the filter screen 56 and stored in the interior of the sampling tube 55. The remaining seawater passes through the filter screen 56 and flows out of the cylinder 51 through the water outlet 531, and is finally transported to the suction mechanism 6 through the water pipe 7 and finally discharged into the ocean. After completing the sampling action of one sampling tube 55, the suction action of the suction mechanism 6 is stopped, and then the circular support frame 54 is driven by the power component 57 to rotate 60° around its own center, so that the second unsampled sampling tube 55 is rotated to a coaxial position with the water inlet hole 521 and the water outlet hole 531, that is, the front and rear ends of the second unsampled sampling tube 55 are connected to the water inlet hole 521 and the water outlet hole 531 respectively, and seawater is sucked again by the suction mechanism 6 to perform core sampling action on the second sampling tube 55.

[0043] For easier understanding, please refer to Figures 5 to 9The circular support frame 54 includes a first rotating disk 541 rotatably connected to the inner flange of the water inlet end cap 52, a second rotating disk 542 rotatably connected to the inner flange of the water outlet end cap 53, and a rotating rod 543 for connecting the first rotating disk 541 and the second rotating disk 542. The left and right ends of the rotating rod 543 are fixedly connected to the first rotating disk 541 and the second rotating disk 542, respectively. The first rotating disk 541 and the second rotating disk 542 each have six through-holes spaced 60 degrees apart circumferentially. The left and right ends of the sampling tube 55 are connected to the first rotating disk 541 and the second rotating disk 542, respectively, through the through-holes. The right end of the rotating rod 543 passes through the second rotating disk 542 and the water outlet end cap 53, and then connects to the power assembly 57. The power assembly 57 includes a motor 571, the output shaft of which is connected to the rotating rod 543 via a coupling 572. The suction mechanism 6 includes a suction pump 61, the water inlet of which is connected to the outlet hole 531 on the outlet end cap 53 via a water pipe 7. After completing the sampling operation for one sampling tube 55, the suction pump 61 ceases its suction operation. The motor 571 then drives the rotating rod 543 to rotate 60° about its own axis, causing the second unsampled sampling tube 55 to rotate to a coaxial position with the water inlet hole 521 and the outlet hole 531. This allows the front and rear sections of the second unsampled sampling tube 55 to be connected to the water inlet hole 521 and the outlet hole 531, respectively. Seawater is then drawn in by the suction pump 61 again, allowing core sampling to be performed on the second sampling tube 55. Furthermore, annular waterproof rings are provided at the rotational connection between the water inlet end cap 52 and the first rotating disk 541, and at the rotational connection between the water outlet end cap 53 and the second rotating disk 542. These rings are used to prevent partial leakage of seawater during the circulation of seawater by the suction pump 61. Furthermore, waterproof sealing materials may be respectively filled at the rotation connection between the water inlet end cover 52 and the first rotating disk 541 and at the rotation connection between the water outlet end cover 53 and the second rotating disk 542 .

[0044] For easier understanding, please refer to Figures 5 to 9 The storage mechanism 5 also includes a limiting assembly 58 for limiting the rotation position of the circular support frame 54, specifically including a limiting column 581, corresponding to a limiting groove 582 opened on the water inlet end cover 52, there are six limiting grooves 582 and they are respectively arranged at 60° intervals along the circumference of the rotating rod 543, one end of the spring 583 is fixedly connected to the limiting column 581, and the other end of the spring 583 is fixedly connected to the first rotating disk 541, and the movement direction of the spring 583 is horizontal. In the initial state, the sampling tube 55 is in a coaxial position with the water inlet hole 521 and the water outlet hole 531, that is, the two ends of the sampling tube 55 are connected to the water inlet hole 521 and the water outlet hole 531 respectively, and the limiting column 581 is located inside a certain limiting groove 582. Since the limiting column 581 is connected to the first rotating disk 541 through the spring 583, the spring 583 produces a forward (corresponding to) force on the limiting column 581. Figure 6The thrust (to the left) in the middle causes the head of the limiting post 581 to completely sink into the limiting groove 582, thereby limiting the rotation position of the first rotating disk 541, that is, limiting the rotation position of the circular support frame 54 and the sampling tube 55, to prevent the circular support frame 54 from rotating during the process of the suction pump 61 circulating and sucking seawater, causing the sampling tube 55 located on the circular support frame 54 to deviate from the coaxial position with the water inlet hole 521 and the water outlet hole 531. When the sampling action of the first sampling tube 55 is completed, the motor 571 drives the rotating rod 543 to rotate 60 degrees, thereby driving the limiting column 581 connected to the first rotating disk 541 to rotate 60 degrees together. During the rotation process, the head of the limiting column 581 slides out of the limiting groove 582. At this time, the limiting column 581 retracts toward the direction of the spring 583. The spring 583 is squeezed and contracts until the rotating rod 543 rotates 60 degrees. At this time, the second sampling tube 55 is in a coaxial position with the water inlet hole 521 and the water outlet hole 531. At the same time, the spring 583 releases its elastic potential energy, pushing the limiting column 581 forward (corresponding to Figure 6 The circular support frame 54 is moved to the left and reset until the head of the limiting column 581 is completely immersed in the corresponding limiting groove 582, thereby limiting the rotation position of the circular support frame 54.

[0045] The method of using the present invention is as follows: the storage mechanism 5 and the suction mechanism 6 are fixedly installed on the unmanned remote-controlled submersible body, and the drilling tool 2, the storage mechanism 5 and the suction mechanism 6 are connected in sequence through the water pipe 7. Then, the frame 1 is clamped and fixed by the manipulator on the unmanned remote-controlled submersible body to achieve relative fixation of the unmanned remote-controlled submersible body and the frame 1, thereby completing the pre-installation before sampling. The frame 1 equipped with the drilling tool 2 and the unmanned remote-controlled submersible equipped with the storage mechanism 5 and the suction mechanism 6 are put into the sea together. The frame 1 is driven to move to the first sampling point by the mobility of the unmanned remote-controlled submersible underwater. After the frame 1 is fixed to the first sampling point by the manipulator, the driving mechanism 3 and the lifting mechanism 4 are started by the controller to drive the drill pipe 21 and the drill bit 22 to move vertically downward while rotating, so that the drill pipe 21 drills into the sampling formation; during the drilling process of the drill pipe 21, the suction pump 61 is started by the controller to suck the seawater at the sampling point. The seawater sucked up by the suction pump 61 passes through the core tube 23 and then passes through the delivery port. The water pipe 7 enters the water inlet hole 521 and enters the first sampling tube 55 through the water inlet hole 521. Due to the suction action of the suction mechanism 6, the seawater in the sampling tube 55 flows from the water inlet end cover 52 to the water outlet end cover 53. Since the filter screen 56 is arranged on the side of the water outlet end cover 53, the core sample in the seawater will be successfully intercepted by the filter screen 56 and stored inside the first sampling tube 55, that is, the core sampling action of the first sampling point is completed in the first sampling tube 55. The remaining seawater passes through the filter screen 56 and flows out of the cylinder 51 through the water outlet hole 531, and is finally transported to the drain outlet of the suction pump 61 through the water pipe 7 and discharged into the ocean. After completing the sampling action of a sampling tube 55, the controller stops the suction action of the suction pump 61, and the driving mechanism 3 and the lifting mechanism 4 cooperate to realize the upward withdrawal of the drill tool 2 from the bottom to the top and out of the sampling formation, until the drill tool 2 is completely separated from the sampling formation, and the unmanned remote-controlled submersible drives the frame 1 to move to the second sampling point, and the manipulator fixes the frame 1 to the second sampling point, and the controller drives the motor 571 to drive the rotating rod 543 to rotate 60° around its own axis, so that the second unsampled sampling tube 55 is rotated to the coaxial position with the water inlet hole 521 and the water outlet hole 531, that is, the second unsampled sampling tube 55 is connected to the water inlet hole 521 and the water outlet hole 531. The controller then restarts the drive mechanism 3 and the lifting mechanism 4, driving the drill pipe 21 and the drill bit 22 to rotate and move vertically downward. This causes the drill pipe 21 to penetrate the sampling formation, and the suction pump 61 is restarted to draw seawater, thereby completing the core sampling operation at the second sampling point in the second sampling tube 55. The above steps are repeated to sequentially complete the core sampling operation at multiple sampling points in multiple different sampling tubes 55 until core sampling is completed at all sampling points. The unmanned remotely operated submersible and the frame 1 are then recovered.

[0046] Although the present invention has been described using the above preferred embodiments, they are not intended to limit the scope of protection of the present invention. Any person skilled in the art who makes various changes and modifications to the above embodiments without departing from the spirit and scope of the present invention still fall within the scope of protection of the present invention.

Claims

1. A multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle, characterized in that: The invention comprises a frame (1), a drilling tool (2) is provided on the frame (1), the drilling tool (2) comprises a vertically arranged drill pipe (21), a drill bit (22) is connected to the bottom of the drill pipe (21), a core pipe (23) is rotatably connected to the inside of the drill pipe (21), a driving mechanism (3) for driving the drill pipe (21) to rotate is connected to the outside of the drill pipe (21), a lifting mechanism (4) is provided on the frame (1) for driving the drilling tool (2) and the driving mechanism (3) to rise and fall together, a water pipe (7) is connected to the top of the core pipe (23), the core pipe (23) is connected to a suction mechanism (6) for circulated suction of seawater through the water pipe (7), and a storage mechanism (5) for segmented storage of core samples is connected to the water pipe (7).

2. The multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle according to claim 1, characterized in that: The driving mechanism (3) comprises a hydraulic motor (31) fixed on the frame (1), and the output shaft of the hydraulic motor (31) is connected to the drill pipe (21) through a transmission mechanism.

3. The multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle according to claim 2, characterized in that: The frame (1) comprises a top plate (11), a middle plate (12) and a bottom plate (13) which are arranged in sequence from top to bottom. The top plate (11) is fixedly connected to the middle plate (12) via a connecting rod (14). A vertical sliding rod (15) is provided on the bottom plate (13). The top plate (11) and the middle plate (12) are respectively slidably connected to the sliding rod (15). The rotating mechanism (3) is fixedly arranged on the middle plate (12). The lifting mechanism (4) is a hydraulic lifting mechanism, comprising a hydraulic cylinder (41) vertically fixed on the bottom plate (13), and a piston rod (42) of the hydraulic cylinder (41) is fixedly connected to the top plate (11).

4. The multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle according to claim 3, characterized in that: The hydraulic cylinder (41) includes a cylinder bottom (411) fixed on a bottom plate (13); a cylinder barrel (413) is connected to the cylinder bottom (411) via a first flange (412); a cylinder cover (415) is connected to the cylinder barrel (413) via a second flange (414); and a piston rod (42) is movably connected to the cylinder barrel (413).

5. The multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle according to claim 1, characterized in that: The storage mechanism (5) comprises a cylinder (51), and the two sides of the cylinder (51) are respectively connected with a water inlet end cover (52) and a water outlet end cover (53). The water inlet end cover (52) is provided with a water inlet hole (521) at an eccentric position for connecting to a water pipe (7) for water inlet, and the water outlet end cover (53) is provided with a water outlet hole (531) at an eccentric position for connecting to a water pipe (7) for water outlet. The center of the water inlet hole (521) and the center of the water outlet hole (531) are at the same position. On the same horizontal line, a circular support frame (54) is rotatably connected between the water inlet end cover (52) and the water outlet end cover (53) inside the cylinder (51). Sampling tubes (55) are evenly spaced in the circumferential direction of the circular support frame (54). A filter screen (56) is provided on the end of the sampling tube (55) on one side of the water outlet end cover (53). The circular support frame (54) is connected to a power assembly (57) for driving the circular support frame (54) to rotate around its own center.

6. The multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle according to claim 5, characterized in that: The circular support frame (54) comprises a first rotating disk (541) rotatably connected to the water inlet end cover (52), a second rotating disk (542) rotatably connected to the water outlet end cover (53), and a rotating rod (543) for connecting the first rotating disk (541) and the second rotating disk (542). The first rotating disk (541) and the second rotating disk (542) are respectively provided with a plurality of through holes arranged at intervals in the circumferential direction. The two ends of the sampling tube (55) are respectively connected to the first rotating disk (541) and the second rotating disk (542) through the through holes. One end of the rotating rod (543) passes through the second rotating disk (542) and the water outlet end cover (53) in sequence and is then connected to the power assembly (57).

7. The multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle according to claim 6, characterized in that: The power assembly (57) includes a motor (571), and the output shaft of the motor (571) is connected to the rotating rod (543) through a coupling (572).

8. The multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle according to claim 6, characterized in that: The storage mechanism (5) further comprises a limiting assembly (58) for limiting the rotational position of the circular support frame (54).

9. The multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle according to claim 7, characterized in that: The limiting assembly (58) includes a limiting column (581) provided on the water inlet end cover (52), and a limiting groove (582) corresponding to the limiting groove (582) is provided. The number of the limiting grooves (582) is the same as the number of the sampling tubes (55). The limiting column (581) is connected to the first rotating disk (541) via a spring (583).

10. The multi-point segmented core sampling device based on an unmanned remotely operated underwater vehicle according to claim 5, characterized in that: The suction mechanism (6) comprises a suction pump (61), and the water inlet end of the suction pump (61) is connected to the water outlet hole (531) on the water outlet end cover (53) through a water delivery pipe (7).

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