A seabed formation space exploration base station platform

Abstract

The application discloses a seabed stratum space exploration base station platform, and relates to the technical field of seabed exploration and operation equipment. The seabed stratum space exploration base station platform comprises a frame, a drilling robot, a robot penetrator and an angle adjusting assembly. The frame is used for being laid on the seabed surface. The drilling robot is used for being placed in the robot penetrator before entering the ground. The robot penetrator and the angle adjusting assembly are arranged on the frame. The robot penetrator can penetrate the drilling robot into the seabed stratum. The angle adjusting assembly can adjust the inclination angle of the robot penetrator. The seabed stratum space exploration base station platform can reduce the difficulty of the drilling robot entering the ground and can control the direction of the drilling robot entering the ground.

Description

Technical Field

[0001] This invention relates to the field of seabed exploration and operation equipment technology, and in particular to a seabed stratum space exploration base station platform. Background Technology

[0002] Deep-sea areas contain key strategic resources such as oil, natural gas, natural gas hydrates, and polymetallic nodules. Exploration and development in these areas are crucial for ensuring energy security and promoting marine economic development. Among these, seafloor natural gas hydrate reserves are enormous and considered one of the important clean energy sources for the future. However, their occurrence conditions are complex, and they are mostly distributed in geologically active areas such as continental slopes. During the extraction of seafloor natural gas hydrates, changes in the stress state and engineering mechanical structure of the formation can easily induce geological and environmental disasters such as submarine landslides, sedimentary layer collapses, and methane leaks. Therefore, monitoring the distribution, geological structure, and dynamic changes of seafloor natural gas hydrate reservoirs is a key prerequisite for promoting the safe and green industrialization of natural gas hydrate development.

[0003] Most existing conventional seabed observation equipment is limited to the seabed surface or shallow layers, lacking the capability for long-term, three-dimensional, in-situ exploration and deformation monitoring of the internal space of the seabed strata. To address these shortcomings, using drilling robots is an effective solution. Specifically, this involves deploying drilling robots to the seabed surface and allowing them to penetrate the strata to conduct exploration operations. However, current methods for using drilling robots face challenges in merging into the sea and controlling their descent direction. Summary of the Invention

[0004] The purpose of this invention is to provide a seabed stratum space exploration base station platform to solve the problems existing in the prior art, reduce the difficulty of drilling robots entering the ground, and control the drilling robot's entry direction.

[0005] To achieve the above objectives, the present invention provides the following solution: This invention provides a seabed strata spatial exploration base station platform, comprising a frame, a drilling robot, a robot penetrator, and an angle adjustment component; the frame is used for deployment on the seabed surface; the drilling robot is placed inside the robot penetrator before entering the seabed; the robot penetrator and the angle adjustment component are disposed on the frame, the robot penetrator is capable of penetrating the drilling robot into the seabed strata; the angle adjustment component is capable of adjusting the tilt angle of the robot penetrator.

[0006] Preferably, the robot penetrator includes a downward penetrating pusher, a penetrating guide cylinder, and a penetrating drive device. The penetrating guide cylinder can accommodate the drilling robot. The downward penetrating pusher is disposed inside the penetrating guide cylinder and positioned above the drilling robot. The downward penetrating pusher can push the drilling robot to move it downward along the guide cylinder. The penetrating drive device is connected to the downward penetrating pusher and can provide power for the downward movement of the downward penetrating pusher.

[0007] Preferably, the penetration drive device includes a drive wheel, a power motor, a first lead screw and nut transmission mechanism, and a second lead screw and nut transmission mechanism. The first lead screw and nut transmission mechanism and the second lead screw and nut transmission mechanism are respectively placed on both sides of the penetration guide cylinder. One end of the downward penetration push plate is fixedly connected to the nut of the first lead screw and nut transmission mechanism, and the other end of the downward penetration push plate is fixedly connected to the nut of the second lead screw and nut transmission mechanism. The drive wheel is driven by the lead screw of the first lead screw and nut transmission mechanism and the lead screw of the second lead screw and nut transmission mechanism. The rotation of the drive wheel can drive the lead screw of the first lead screw and nut transmission mechanism and the lead screw of the second lead screw and nut transmission mechanism to rotate. The power output shaft of the power motor is fixedly connected to the drive wheel.

[0008] Preferably, it further includes a first power rotating wheel and a second power rotating wheel. The first power rotating wheel is positioned between the first lead screw and nut transmission mechanism and the driving wheel, and the second power rotating wheel is positioned between the second lead screw and nut transmission mechanism and the driving wheel. The driving wheel is tractively connected to the first power rotating wheel and the second power rotating wheel, and the rotation of the driving wheel can drive the first power rotating wheel and the second power rotating wheel to rotate. The first power rotating wheel is tractively connected to the lead screw of the first lead screw and nut transmission mechanism, and the rotation of the first power rotating wheel can drive the lead screw of the first lead screw and nut transmission mechanism to rotate. The second power rotating wheel is tractively connected to the lead screw of the second lead screw and nut transmission mechanism, and the rotation of the second power rotating wheel can drive the lead screw of the second lead screw and nut transmission mechanism to rotate.

[0009] Preferably, a guide groove and a horn groove are provided on the inner side wall of the guide tube, the guide groove is positioned above the horn groove, the top end of the horn groove is connected to the bottom end of the guide groove, and the horn groove gradually widens from top to bottom; an anti-rotation protrusion is fixedly provided on the drilling robot, the anti-rotation protrusion can extend into the guide groove and move downward along the guide groove.

[0010] Preferably, the bottom end of the penetration guide cylinder is hinged to the frame; the angle adjustment assembly includes an angle adjustment cylinder, the bottom end of the cylinder body of the angle adjustment cylinder is hinged to the frame, the top end of the piston rod of the angle adjustment cylinder is hinged to the penetration guide cylinder, and the extension and retraction of the piston rod of the angle adjustment cylinder can drive the penetration guide cylinder to rotate.

[0011] Preferably, the top of the robot penetrator is provided with a first fixed pulley and a limiting baffle, the top of the frame is provided with a second fixed pulley, an umbilical cable winch is provided below the second fixed pulley, an umbilical cable is wound on the umbilical cable winch, one end of the umbilical cable passes through the second fixed pulley and the first fixed pulley in sequence and is fixedly connected to the drilling robot inside the robot penetrator, and the limiting baffle can constrain the umbilical cable between the first fixed pulley and the limiting baffle.

[0012] Preferably, it also includes a cutter disposed on the frame, the cutter being capable of cutting the umbilical cable.

[0013] Preferably, the cutter includes a cutter holder, a cutter blade, and a cutter blade drive device. The cutter holder is fixedly mounted on the frame and has a guide hole for the umbilical cable to pass through. The cutter blade and the cutter blade drive device are mounted on the cutter holder. The cutter blade can move toward the umbilical cable to cut it. The cutter blade drive device is connected to the cutter blade and provides power for the cutter blade to cut the umbilical cable.

[0014] Preferably, a load-bearing mounting base is fixedly provided at the top of the frame, and the load-bearing mounting base is used to be bolted to the cable laying head on the mother ship.

[0015] The present invention achieves the following technical effects compared to the prior art: The seabed strata space exploration base station platform provided by the present invention provides stable support for the robot penetrator and angle adjustment components through the frame. The robot penetrator enables the drilling robot to penetrate into the seabed strata, reducing the difficulty of the drilling robot entering the ground. At the same time, the angle adjustment components adjust the tilt angle of the robot penetrator to control the drilling robot's direction of entry into the ground. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the external structure of the seabed strata space exploration base station platform provided by the present invention; Figure 2 A side view of the external structure of the seabed strata space exploration base station platform provided by the present invention; Figure 3 This is a schematic diagram of the cutter's structure; Figure 4 This is a cross-sectional view of the cutter's structure; Figure 5 A schematic diagram of the external structure of a robot penetrator; Figure 6 This is a cross-sectional view of the robot penetrator. In the diagram: 1. Second fixed pulley; 2. Length measuring sensor; 3. Cutter; 4. Frame; 7. High-pressure oil filter; 8. Umbilical cable winch; 9. Electronic compartment; 10. First bearing seat; 11. Load-bearing mounting base; 12. Robot infiltrator; 13. Piston rod of angle adjustment cylinder; 14. Hydraulic compensator; 15. User interface box; 16. Oil tank; 17. Cylinder body of angle adjustment cylinder; 18. Low-pressure oil filter; 19. Motor; 20. Cylinder support seat; 21. Hydraulic valve box; 22. 31. Electric slip ring; 32. Cylinder body of the cutting tool hydraulic cylinder; 33. Hydraulic oil interface; 34. Cutting tool holder; 35. Bottom liner; 36. Base; 37. Guide hole; 38. Cutting blade; 121. Piston rod of the cutting tool hydraulic cylinder; 122. Limiting baffle; 123. First angle sensor; 124. Power motor; 125. Second angle sensor; 126. First fixed pulley; 127. Drive wheel; 128. Penetration guide cylinder; 129. First lead screw and nut transmission mechanism; 120. Guide groove. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The purpose of this invention is to provide a seabed stratum space exploration base station platform to solve the problems existing in the prior art, reduce the difficulty of drilling robots entering the ground, and control the drilling robot's entry direction.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1 to 6As shown, the present invention provides a seabed stratum space exploration base station platform, including a frame 4, a drilling robot, a robot penetrator 12, and an angle adjustment component; the frame 4 is used to be deployed on the seabed surface; the drilling robot is placed inside the robot penetrator 12 before entering the ground; the robot penetrator 12 and the angle adjustment component are disposed on the frame 4, the robot penetrator 12 can penetrate the drilling robot into the seabed stratum; the angle adjustment component can adjust the tilt angle of the robot penetrator 12.

[0022] The seabed strata space exploration base station platform provided by the present invention provides stable support for the robot penetrator 12 and the angle adjustment component through the frame 4. The robot penetrator 12 enables the drilling robot to penetrate into the seabed strata, reducing the difficulty of the drilling robot entering the ground. At the same time, the angle adjustment component adjusts the tilt angle of the robot penetrator 12 to control the drilling robot's direction of entry into the ground.

[0023] In a preferred embodiment of the present invention, the robot penetrator 12 includes a downward penetrating push plate, a penetrating guide cylinder 127, and a penetrating drive device. The penetrating guide cylinder 127 can accommodate the drilling robot. The downward penetrating push plate is disposed inside the penetrating guide cylinder 127 and is positioned above the drilling robot. The downward penetrating push plate can push the drilling robot so that the drilling robot moves downward along the guide cylinder. The guide cylinder can guide the movement of the drilling robot. The penetrating drive device is connected to the downward penetrating push plate and can provide power for the downward movement of the downward penetrating push plate so as to safely and accurately penetrate the seabed strata of the drilling robot.

[0024] In a preferred embodiment of the present invention, the penetration drive device includes a drive wheel 126, a power motor 123, a first lead screw and nut transmission mechanism 128, and a second lead screw and nut transmission mechanism. The first lead screw and nut transmission mechanism 128 and the second lead screw and nut transmission mechanism are respectively located on both sides of the penetration guide cylinder 127. One end of the downward penetration push plate is fixedly connected to the nut of the first lead screw and nut transmission mechanism 128, and the other end of the downward penetration push plate is fixedly connected to the nut of the second lead screw and nut transmission mechanism. The drive wheel 126 is connected to the lead screw of the first lead screw and nut transmission mechanism 128 and the lead screw of the second lead screw and nut transmission mechanism. The rotation of the drive wheel 126 can drive the lead screw of the first lead screw and nut transmission mechanism 128 and the lead screw of the second lead screw and nut transmission mechanism to rotate. The power output shaft of the power motor 123 is fixedly connected to the drive wheel 126. The synchronous movement of the first lead screw and nut transmission mechanism 128 and the second lead screw and nut transmission mechanism is achieved through the drive wheel 126. In operation, the power motor 123 operates, and the power output shaft of the power motor 123 drives the drive wheel 126 to rotate. The rotation of the drive wheel 126 drives the lead screw of the first lead screw and nut transmission mechanism 128 and the lead screw of the second lead screw and nut transmission mechanism to rotate. The rotation of the lead screw of the first lead screw and nut transmission mechanism 128 causes the nut of the first lead screw and nut transmission mechanism 128 to move up or down, and the rotation of the lead screw of the second lead screw and nut transmission mechanism causes the nut of the second lead screw and nut transmission mechanism to move up or down, thereby realizing the upward or downward movement of the downward-penetrating push plate. It should be noted that both the first lead screw and nut transmission mechanism 128 and the second lead screw and nut transmission mechanism can be conventional lead screw and nut transmission mechanisms. As a preferred embodiment of the present invention, a first angle sensor 122 is provided at the drive wheel 126. The rotation angle of the drive wheel 126 is detected by the first angle sensor 122, thereby realizing the detection of the penetration depth of the drilling robot.

[0025] In a preferred embodiment of the present invention, the seabed stratum space exploration base station platform provided by the present invention further includes a first power rotating wheel and a second power rotating wheel. The first power rotating wheel is positioned between the first lead screw and nut transmission mechanism 128 and the drive wheel 126, and the second power rotating wheel is positioned between the second lead screw and nut transmission mechanism and the drive wheel 126. The drive wheel 126 is transmittedly connected to the first power rotating wheel and the second power rotating wheel, and the rotation of the drive wheel 126 can drive the first power rotating wheel and the second power rotating wheel to rotate. The first power rotating wheel is transmittedly connected to the lead screw of the first lead screw and nut transmission mechanism 128, and the rotation of the first power rotating wheel can drive the lead screw of the first lead screw and nut transmission mechanism 128 to rotate. The second power rotating wheel is transmitted to the second lead screw and nut... The transmission mechanism is connected by a lead screw drive. The rotation of the second power rotating wheel can drive the lead screw of the second lead screw nut transmission mechanism to rotate. The arrangement of the first and second power rotating wheels facilitates the power transmission from the drive wheel 126 to the lead screw of the first and second lead screw nut transmission mechanisms, and makes the structure more compact, reducing the space occupied. It should be noted that the drive wheel 126 can be connected to the first and second power rotating wheels by chain drive, and the first power rotating wheel can be connected to the lead screw of the first lead screw nut transmission mechanism 128 by chain drive, and the second power rotating wheel can be connected to the lead screw of the second lead screw nut transmission mechanism by chain drive, but is not limited to chain drive.

[0026] In a preferred embodiment of the present invention, a guide groove 129 and a horn groove are provided on the inner side wall of the guide tube 127. The guide groove 129 is positioned above the horn groove, and the top end of the horn groove is connected to the bottom end of the guide groove 129. The horn groove gradually widens from top to bottom. An anti-rotation protrusion is fixed on the drilling robot. The anti-rotation protrusion can extend into the guide groove 129 and move downward along the guide groove 129. During the process of the drilling robot penetrating the formation and during the process of the drilling robot being retrieved from the formation into the guide tube 127, the guide groove 129 can effectively prevent the drilling robot from deflecting, so that the drilling robot maintains linear movement and stability during the penetration process. Furthermore, during the process of the drilling robot being retrieved from the formation into the guide tube 127, the horn groove can guide the anti-rotation protrusion into the guide groove 129, reducing the difficulty of the anti-rotation protrusion entering the guide groove 129.

[0027] In a preferred embodiment of the present invention, the bottom end of the penetration guide cylinder 127 is hinged to the frame 4. In this embodiment, the frame 4 and the bottom end of the penetration guide cylinder 127 are connected through a first bearing seat 10. The angle adjustment assembly includes an angle adjustment cylinder. The bottom end of the cylinder body 17 of the angle adjustment cylinder is hinged to the frame 4. In this embodiment, the bottom end of the cylinder body 17 of the angle adjustment cylinder is connected to the frame 4 through a cylinder support seat 20. The top end of the piston rod 13 of the angle adjustment cylinder is hinged to the penetration guide cylinder 127. The extension and retraction of the piston rod 13 of the angle adjustment cylinder can drive the penetration guide cylinder 127 to rotate, which facilitates the adjustment of the drilling robot's entry direction. In a preferred embodiment of the present invention, a second angle sensor 124 is provided at the bottom end of the guide cylinder. The second angle sensor 124 monitors the tilt angle of the penetration guide cylinder 127 in real time, thereby realizing the real-time monitoring of the drilling robot's entry angle and ensuring the accuracy of the drilling robot's entry direction.

[0028] In a preferred embodiment of the present invention, the top of the robot penetrator 12 is provided with a first fixed pulley 125 and a limiting baffle 121, the top of the frame 4 is provided with a second fixed pulley 1, and an umbilical cable winch 8 is provided below the second fixed pulley 1. An umbilical cable is wound on the umbilical cable winch 8, which can release and retrieve the umbilical cable. One end of the umbilical cable passes through the second fixed pulley 1 and the first fixed pulley 125 in sequence and is fixedly connected to the drilling robot inside the robot penetrator 12. The limiting baffle 121 can constrain the umbilical cable between the first fixed pulley 125 and the limiting baffle 121. Between the baffles 121, the stability of the umbilical cable during the movement of the drilling robot is improved, entanglement is avoided, and the umbilical cable is ensured not to be entangled or damaged during the drilling robot's penetration. As a preferred embodiment of the present invention, a length measuring sensor 2 is mounted on the second fixed pulley 1 to measure the release length of the umbilical cable. As a preferred embodiment of the present invention, an electric slip ring 22 is mounted on the umbilical cable winch 8. The electric slip ring 22 is responsible for providing power and communication to the drilling robot during the rotation of the umbilical cable winch 8, thereby ensuring the continuity of power and communication.

[0029] As a preferred embodiment of the present invention, the seabed strata space exploration base station platform provided by the present invention further includes a cutter 3, which is disposed on the frame 4. The cutter 3 can cut the umbilical cable so as to disconnect the connection between the drilling robot and the frame 4 in the event that the drilling robot cannot be recovered due to a failure in the strata.

[0030] In a preferred embodiment of the present invention, the cutter 3 includes a cutter holder 33, a cutter 37, and a cutter drive device. The cutter holder 33 is fixedly mounted on the frame 4. A guide hole 36 is provided on the cutter holder 33 for the umbilical cord cable to pass through and guide the umbilical cord cable into the cutting position of the cutter 37, ensuring that the umbilical cord cable maintains the correct position during cutting and preventing cutting deviation. The cutter 37 and the cutter drive device are mounted on the cutter holder 33. The cutter 37 can move towards the umbilical cord to cut it. The cutter drive device is connected to the cutter 37 and provides power to the cutter 37 to cut the umbilical cord. In this embodiment, the cutter holder 33 is fixedly mounted on a base. The base 35 is fixedly mounted on the frame 4. The cutter drive device includes a cutter hydraulic cylinder. The cylinder body 31 of the cutter hydraulic cylinder is fixedly mounted on the cutter holder 33. The piston rod 38 of the cutter hydraulic cylinder is fixedly connected to the cutter 37. A hydraulic oil interface 32 is fixedly provided on the cylinder body 31 of the cutter hydraulic cylinder. The hydraulic oil interface 32 is used to connect the hydraulic pump to supply oil to the cylinder body 31 of the cutter hydraulic cylinder. A bottom pad 34 is fixedly provided on the cutter holder 33 so that during the process of the cutter 37 cutting the umbilical cable, the bottom pad 34 contacts the cutter 37, thereby limiting and guiding the movement of the cutter 37 and achieving a sharp cutting effect, so as to facilitate the successful recovery of the seabed stratum space exploration base station platform provided by the present invention.

[0031] In a preferred embodiment of the present invention, a load-bearing mounting base 11 is fixedly provided at the top of the frame 4. The load-bearing mounting base 11 is used to connect with the load-bearing head bolt of the laying cable on the mother ship. The connection is stable, so as to facilitate the release and recovery of the seabed stratum space exploration base station platform provided by the present invention.

[0032] The seabed strata spatial detection base station platform provided by this invention can provide an installation foundation for detection equipment or various sensors, and is of great and far-reaching significance for solving key problems such as multi-parameter in-situ detection of sediment strata in hydrate test mining areas and long-term dynamic monitoring of topographic structure changes.

[0033] As a preferred embodiment of the present invention, the seabed strata space exploration base station platform provided by the present invention is also equipped with a hydraulic power unit and a platform control unit. The hydraulic power unit has conventional functions of storing, cooling, and filtering hydraulic oil. For example, the hydraulic oil is filtered through a high-pressure oil filter 7 and a low-pressure oil filter 18, and the hydraulic oil is stored through an oil tank 16. Specifically, the hydraulic power unit includes a hydraulic station, a hydraulic valve box 21, and a pressure compensation system. The hydraulic station includes a motor 19 and a hydraulic pump. The hydraulic pump is model HD-A10VSO45DRG / 31RVSA12N00, which is an open-loop swashplate axial piston variable pump. The motor 19 is a submersible high-pressure motor. The hydraulic station is used for angle adjustment groups. The hydraulic system provides adjustable hydraulic power to components, cutter drive devices, etc. The hydraulic valve box 21 includes an eight-function proportional valve box and a sixteen-function switching valve box. The eight-function proportional valve box is used to control the umbilical cable winch 8. Through proportional flow control, the eight-function proportional valve box can adjust the flow of hydraulic oil in real time, thereby achieving precise regulation of the running speed of the umbilical cable winch 8. The sixteen-function switching valve box is used to control other actuators. It adopts switching control technology, which can quickly and reliably realize the sequential control of multiple actions and manage multiple actuators at the same time. The pressure compensation system includes a spring-type 2.5L hydraulic compensator 14 to compensate for the volume of the large and small chambers of the hydraulic system. The pressure in the hydraulic system is compensated by compressing the spring in the compensator.

[0034] The platform control unit is used to integrate and manage the power supply distribution, internal and external communication control, power and status monitoring of peripheral equipment, and sensor signal acquisition and transmission of the seabed stratum space exploration base station platform provided by this invention, realizing centralized control and stable operation in the deep-sea environment. The platform control unit includes an electronics compartment 9, a user interface box 15, and sensor units. The electronics compartment 9 includes a power distribution unit and an optoelectronic communication unit. The power distribution unit is used to realize the power distribution and control of various underwater actuators and detection sensing units, and the optoelectronic communication unit is used to realize the stable and high-speed conversion between optical signals and electrical signals. The user interface box 15 includes an underwater LED light relay board, an LED light dimming board, an underwater camera relay board, and a 24V / 12V peripheral relay board. The system includes an analog signal acquisition board, an underwater LED light relay board for managing the on / off status of LED lights, an LED light dimming board for adjusting the brightness of underwater LED lights, an underwater camera relay board for controlling the power status of underwater cameras, a 24V / 12V peripheral relay board (a core component for distributing power to 24V / 12V peripheral devices, suitable for various high-power monitoring devices), an analog signal acquisition board for real-time monitoring of analog signals from peripheral devices, providing data support for system control and fault diagnosis, and a sensor unit including a length measuring sensor 2, a first angle sensor 122, and a second angle sensor 124. The sensor unit uses an RS485 bus network and communicates with the deck operation host computer in real-time via a communication unit.

[0035] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A seabed strata space exploration base station platform, characterized in that: Includes the frame, drilling robot, robotic penetrator, and angle adjustment components; The frame is designed to be deployed on the seabed surface; The drilling robot is placed inside the robot penetrator before entering the ground; The robot penetrator and the angle adjustment component are mounted on the frame. The robot penetrator is capable of penetrating the drilling robot into the seabed strata. The angle adjustment component can adjust the tilt angle of the robot penetrator.

2. The seabed strata space exploration base station platform according to claim 1, characterized in that: The robotic penetrator includes a downward penetrating pusher, a penetrating guide cylinder, and a penetrating drive device. The penetrating guide cylinder can accommodate the drilling robot. The downward penetrating pusher is disposed inside the penetrating guide cylinder and positioned above the drilling robot. The downward penetrating pusher can push the drilling robot to move it downward along the guide cylinder. The penetrating drive device is connected to the downward penetrating pusher and provides power for the downward movement of the downward penetrating pusher.

3. The seabed strata space exploration base station platform according to claim 2, characterized in that: The penetration drive device includes a drive wheel, a power motor, a first lead screw and nut transmission mechanism, and a second lead screw and nut transmission mechanism. The first lead screw and nut transmission mechanism and the second lead screw and nut transmission mechanism are respectively placed on both sides of the penetration guide cylinder. One end of the downward penetration push plate is fixedly connected to the nut of the first lead screw and nut transmission mechanism, and the other end of the downward penetration push plate is fixedly connected to the nut of the second lead screw and nut transmission mechanism. The drive wheel is driven by the lead screw of the first lead screw and nut transmission mechanism and the lead screw of the second lead screw and nut transmission mechanism. The rotation of the drive wheel can drive the lead screw of the first lead screw and nut transmission mechanism and the lead screw of the second lead screw and nut transmission mechanism to rotate. The power output shaft of the power motor is fixedly connected to the drive wheel.

4. The seabed strata space exploration base station platform according to claim 3, characterized in that: It also includes a first power rotating wheel and a second power rotating wheel. The first power rotating wheel is positioned between the first lead screw and nut transmission mechanism and the driving wheel, and the second power rotating wheel is positioned between the second lead screw and nut transmission mechanism and the driving wheel. The driving wheel is tractively connected to the first power rotating wheel and the second power rotating wheel, and the rotation of the driving wheel can drive the first power rotating wheel and the second power rotating wheel to rotate. The first power rotating wheel is tractively connected to the lead screw of the first lead screw and nut transmission mechanism, and the rotation of the first power rotating wheel can drive the lead screw of the first lead screw and nut transmission mechanism to rotate. The second power rotating wheel is tractively connected to the lead screw of the second lead screw and nut transmission mechanism, and the rotation of the second power rotating wheel can drive the lead screw of the second lead screw and nut transmission mechanism to rotate.

5. The seabed strata space exploration base station platform according to claim 2, characterized in that: The inner wall of the guide tube is provided with a guide groove and a horn groove. The guide groove is located above the horn groove. The top end of the horn groove is connected to the bottom end of the guide groove. The horn groove gradually widens from top to bottom. The drilling robot is fixed with an anti-rotation protrusion. The anti-rotation protrusion can extend into the guide groove and move downward along the guide groove.

6. The seabed strata space exploration base station platform according to claim 2, characterized in that: The bottom end of the penetration guide cylinder is hinged to the frame; the angle adjustment assembly includes an angle adjustment cylinder, the bottom end of the cylinder body of the angle adjustment cylinder is hinged to the frame, the top end of the piston rod of the angle adjustment cylinder is hinged to the penetration guide cylinder, and the extension and retraction of the piston rod of the angle adjustment cylinder can drive the penetration guide cylinder to rotate.

7. The seabed strata space exploration base station platform according to claim 1, characterized in that: The top of the robot penetrator is provided with a first fixed pulley and a limiting baffle. The top of the frame is provided with a second fixed pulley. Below the second fixed pulley is an umbilical cable winch. An umbilical cable is wound on the umbilical cable winch. One end of the umbilical cable passes through the second fixed pulley and the first fixed pulley in sequence and is fixedly connected to the drilling robot inside the robot penetrator. The limiting baffle can constrain the umbilical cable between the first fixed pulley and the limiting baffle.

8. The seabed strata space exploration base station platform according to claim 7, characterized in that: It also includes a cutter disposed on the frame, the cutter being capable of cutting the umbilical cable.

9. The seabed strata space exploration base station platform according to claim 8, characterized in that: The cutter includes a cutter holder, a cutter blade, and a cutter blade drive device. The cutter holder is fixedly mounted on the frame and has a guide hole for the umbilical cable to pass through. The cutter blade and the cutter blade drive device are mounted on the cutter holder. The cutter blade can move toward the umbilical cable to cut it. The cutter blade drive device is connected to the cutter blade and provides power for the cutter blade to cut the umbilical cable.

10. The seabed strata space exploration base station platform according to claim 1, characterized in that: The top of the frame is fixedly provided with a load-bearing mounting base, which is used to be bolted to the cable-laying head on the mother ship.

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