Design And Motion Planning Of Seafloor Drilling And Sampling Mechanism With Wireline Coring Method

With the increasing shortage of terrestrial resources,in order to obtain more resources to meet development needs,human beings need to explore seafloor resources.Restricted by the extreme environment of the subsea,humans cannot directly dive into the seafloor for sampling and exploration,so the seafloor drilling and sampling equipment came into being.Through the coordination and cooperation between multiple institutions,it realizes the connection between multiple drill pipes and core pipes,to independently complete the task of sampling and exploration of seafloor soil.Aiming at the needs of seafloor drilling sampling operations,this paper proposes a design method of a rope coring type seafloor drilling sampling mechanism,and designs and develops a set of seafloor drilling sampling mechanism prototypes.The main work is as follows:Functional decomposition and scheme design of the seafloor drilling sampling mechanism.The seafloor drilling sampling operation process is analyzed,various functions required in the sampling process are sorted out,and these functions are decomposed.According to the degree of freedom of each function corresponding mechanism,the function is divided,and the function realization of these mechanisms is analyzed in detail.According to the functional division of the mechanism,the scheme design of the mechanism is proposed.Through the analysis and comparison of various transmission schemes,the optimal design scheme of each mechanism suitable for the seafloor drilling sampling environment is finally determined.Mechanism design of seafloor drilling sampling mechanism.Based on the functional division of the mechanism,the specific configurations of six mechanisms are designed.The mechanisms mainly include: drilling drive mechanism,drill pipe storaging mechanism,drill pipe manipulating mechanism,drill pipe clamping mechanism,drill tube system and core pipe manipulating mechanism.The interrelationships between the various mechanisms are determined,and the mechanism layout is planned to combine the various mechanisms into a whole.Various mechanisms cooperated with each other in the seafloor drilling sampling operation process to complete the expected functions,and obtained a complete set of seafloor drilling sampling mechanism design.Motion analysis of seafloor drilling sampling mechanism.According to the mechanism design of the seafloor drilling sampling mechanism in this paper,the key motion parameters and motion space of each part of mechanism are analyzed.The motion and force transmission process of the mechanism is decomposed in detail,and the calculation formula of key parameters is analyzed and deduced according to the mechanism design and transmission mode of the mechanism.According to the motor selection,the maximum value of the key parameters that the mechanism can achieve is calculated,and the feasibility and effectiveness of the mechanism scheme are evaluated through these indicators.Motion planning of seafloor drilling sampling mechanism.In order to successfully complete the seafloor drilling sampling operation with the multi-pipe drilling strategy,it is necessary to carry out the motion planning of each mechanism according to the motion analysis of each mechanism.According to the different movement modes of different mechanisms,the operation of the drill pipe and the core pipe is designed to meet the functional requirements.Based on the realization process of the overall motion,the complete seafloor drilling sampling process with the multi-pipe drilling strategy is realized by executing each motion of each mechanism in an orderly manner and performing certain actions cyclically.Prototype development and test verification of seafloor drilling sampling mechanism.The test prototype and test environment were built,the motion control system was designed,and the effectiveness of the seafloor drilling sampling mechanism was verified through the test.The deficiencies in the mechanism design were found in the test,and then it was modified to meet the seafloor drilling sampling requirements.Based on these works,the mechanism design of the seafloor drilling sampling mechanism was obtained,and a prototype was developed.Through the motion analysis and motion planning of each mechanism,and verified by experiments,it is proved that the mechanism can effectively complete the function of seafloor drilling sampling.Based on the content of this paper,the structure of the mechanism can be further optimized,and the mechanism can be intelligentized to achieve more efficient drilling sampling functions.