CN213510442U

CN213510442U - Seabed investigation drilling machine

Info

Publication number: CN213510442U
Application number: CN202022798718.3U
Authority: CN
Inventors: 王清岩; 钟蔚岭; 盛洁; 李昊轩; 郑显赫; 李铠军
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2021-06-22
Anticipated expiration: 2030-11-27

Abstract

The utility model discloses a seabed investigation rig belongs to ocean probing technical field, arrange the migration device, calandria machine, feed mechanism, unit head, rotary drive device and centre gripping and twist off the device including proper motion chassis, planer-type frame, drilling rod. The drill pipe arranging and transporting device is arranged between a rotary driving device at the center of the self-propelled chassis and a mounting flange at the upper part of the gantry type frame and can rotate around the central shaft of the self-propelled chassis, the pipe arranging machine and the drill pipe arranging and transporting device are matched to act, and angle and position control is realized through a tilt angle sensor and a rotary encoder to automatically transport and arrange the stand roots. The power head is arranged on a feeding pulley of the feeding mechanism, and the power head can float along an installation pin shaft on the feeding pulley by pressurizing drilling or lifting and lowering the drilling tool through a chain transmission device of the feeding mechanism. The drilling machine is internally integrated with a hydraulic transmission system and an electric control device, can perform a complete automatic drilling process flow on the seabed, and can change hole positions by depending on a self-propelled chassis.

Description

Seabed investigation drilling machine

Technical Field

The utility model relates to an ocean probing technical field especially relates to a seabed investigation rig.

Background

For marine resource exploration and development and marine geological research, a submarine sediment rock sample needs to be obtained. The seabed exploration drilling machine avoids the influence of sea adverse factors such as sea waves and storms, is an economic and efficient exploration sampling tool, and is particularly suitable for large-area coring and sampling operation of offshore or deep sea shallow layers.

The MeBo-200 drilling machine developed by German national treasure Emei company is a multipurpose drilling machine capable of wire-line core drilling, has the maximum drilling depth of 200m, can act on seabed hard rock and sediments, and has certain in-hole in-situ detection capability. The 'Halbach' drilling machine developed by the host of China Hunan science and technology university is a rope coring type drilling machine, can drill hard rock or seabed sediments, has the maximum drilling depth of 90m, has the functions of CPT detection of multiple items of temperature, soil mechanics and the like, realizes visual automatic control, and can visually monitor rock and soil mass.

The drill rod arranging device adopted by the MeBo-200 drilling machine and the 'Halbach' drilling machine is similar to the structure of a rotary drill rod storage mechanism for a seabed automatic rod receiving drilling machine disclosed in the patent CN 201396091: the drill rods are distributed on the circumference of the cylindrical pipe rack, the drill rods are positioned by the distribution disc, the inclination is limited by the round hoop with the notch, the oil cylinder drives the crank to drive the pipe rack to rotate, the oil cylinder drives the two positioning pins to stretch, the two positioning pins are reversely connected in parallel, the crank is connected with or separated from the pipe rack under the action of the pin at one position, and the pipe rack is fixed at the other position. The drill rod carrying capacity is limited by the diameter of the indexing disc. Patent CN207111004U discloses a seabed deep hole rig, box formula annular drilling rod support has been adopted, the drilling rod of rig is arranged the migration device and is divided and grab rod mechanism and receive rod mechanism, be the lead screw nut mechanism of X, Y, Z axle three-dimensional, receive rod mechanism to be used for the horizontal migration drilling tool and play clamping action, the seabed investigation rig portability that this scheme mentioned is more drilling rod, but the drilling rod is arranged the migration device complicacy, and grab rod mechanism and set up directly over drilling rod support, the blank space height of reservation directly over drilling rod support need be greater than the length of drilling rod, drilling rod or the stand that then carry for avoiding the rig is too high is shorter, consequently can increase rig auxiliary operation's time.

At present, most of seabed exploration drilling machines do not have the capability of autonomous movement underwater, and the seabed exploration drilling machine disclosed in the patent CN 208546137U is characterized in that a split type pipe rack is adopted, and the drilling machine and a pipe rack split module are put to the seabed; the rig has set up the end and has walked the track, through sonar detection system location pipe rack's position, the rig removes again around the pipe rack, snatchs the drilling rod and accomplishes supplementary operation through the arm. The theoretical carrying capacity of the drill rod of the drilling machine is large, but the drilling hole position of the drilling machine can be switched by the aid of an auxiliary mother ship in multi-hole-position drilling operation.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a submarine exploration drilling machine, which has the capability of autonomous movement underwater, is provided with an annular drill rod arranging and transporting device with rotary freedom, and completes the automatic processing of the drill rod through the cooperation of a pipe arranging machine and a clamping and screwing-disassembling device; the drilling machine adopts an electro-hydraulic proportional load sensitive hydraulic system controlled by a PLC to realize the cooperative action of the main mechanism of the drilling machine, and has the advantages of high automation degree, scientific and reasonable action logic relation, high positioning precision and stable operation.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a seabed exploration drilling machine is provided with a follow-up electric control box and a hydraulic power station, wherein a PLC (programmable logic controller) is arranged in the follow-up electric control box, and the PLC is in communication connection with a remote PLC system on a drilling ship through a CAN (controller area network) bus; the hydraulic power station is fixed at the top of the drilling machine and is characterized in that: the drilling machine comprises a self-propelled chassis, a gantry type frame, a drill rod arrangement and transportation device, a pipe arranging machine, a feeding mechanism, a power head, a rotary driving device and a clamping and screwing-off device; the self-propelled chassis comprises a chassis body, a transition flange seat and a hydraulic chuck seat, wherein through holes are formed in the middle of the chassis body, the middle of the transition flange seat and the middle of the hydraulic chuck seat, the chassis body, the transition flange seat and the hydraulic chuck seat are coaxially arranged, the transition flange seat is fixed above the chassis body, and the hydraulic chuck seat is fixed below the transition flange seat; the rotary driving device is arranged on a transition flange seat of the self-propelled chassis, and an absolute value encoder is arranged on an output shaft of a hydraulic motor for driving a rotating part of the rotary driving device to rotate and is connected with the PLC; the lower part of the gantry type frame passes through an inner hole of the rotary driving device and is fixed on a transition flange seat of the self-propelled chassis; the feeding mechanism consists of a chain transmission device and a feeding pulley, and the feeding pulley is in sliding connection with a pulley guide rail arranged on the gantry type frame; the chain transmission device comprises a chain, a chain joint, a driving chain wheel, a driven chain wheel and a chain wheel driving hydraulic motor, wherein the chain is connected to the feeding tackle through the chain joint and a pin shaft; the driving chain wheel is connected with a chain wheel driving hydraulic motor; the driven chain wheel is connected with the driving chain wheel through a chain; the power head is arranged on the feeding pulley by adopting a long pin shaft; the drill rod arranging and transporting device comprises a first annular component, a second annular component and an upright column connected between the first annular component and the second annular component, wherein the first annular component and the second annular component are arranged in an up-down opposite mode, the top of the first annular component is connected to a mounting flange of the drill rod arranging and transporting device positioned at the upper part of the gantry type rack through an upper bearing disc by adopting a slewing bearing, and the first annular component is uniformly provided with longitudinal through holes along the circumferential direction; the bottom of the second annular component is fixed on a rotating part of the rotary driving device through a lower bearing disc by adopting bolt groups arranged in an annular array, one side of the second annular component, which faces the first annular component, is uniformly provided with limiting cylinders along the circumferential direction, the limiting cylinders and the longitudinal through holes are consistent in quantity and are in one-to-one correspondence, and the hole wall of the longitudinal through hole is provided with an opening, the width of which is greater than the outer diameter of the drill rod and less than the outer diameter of a drill rod joint; the clamping and screwing-off device comprises a back-up tong, a clamp screw-off device, a hydraulic chuck and a rotary driving device for screw-off, wherein the back-up tong is arranged at the lower part of the power head; the clamp shackle device is rigidly connected with a rotary output flange of the rotary driving device for shackle through a transition flange by adopting a bolt group; the hydraulic chuck is arranged below the transition flange seat through a hydraulic chuck seat, the rotary driving device for shackle is arranged in the central area of the self-propelled chassis and is positioned above the hydraulic chuck, and the axis of the rotary driving device for shackle is superposed with the rotary axis of the power head main shaft; the pipe arranging machine is fixed on a gantry type rack through a pipe arranging machine mounting flange and comprises a manipulator, an extension movable arm, an extension pull rod, a support arm, a tripod, an amplitude-variable hydraulic oil cylinder, a lifting hydraulic oil cylinder, an extension hydraulic oil cylinder, a light rotary driving device, a first lifting pulley, a second lifting pulley and a guide rail upright post, wherein the light rotary driving device is provided with a worm gear transmission structure and a rotary driving hydraulic motor, the input end of a worm in the worm gear transmission structure is connected with the output shaft of the rotary driving hydraulic motor, the output shaft of the worm is provided with an absolute value encoder for measuring the integral rotary angle of the pipe arranging machine, the absolute value encoder is connected with a PLC (programmable logic controller), and the guide rail upright post is fixed below a top connecting seat of the light rotary; the upper part of the guide rail upright post is provided with an extension hydraulic oil cylinder hinged shaft support, and the bottom of the guide rail upright post is provided with a lifting hydraulic oil cylinder hinged shaft support; the first lifting pulley and the second lifting pulley are both connected to the guide rail upright in a sliding manner, displacement sensors connected with the PLC are arranged on the first lifting pulley and the second lifting pulley, the first lifting pulley is positioned above the hinged shaft support of the extension hydraulic oil cylinder, the second lifting pulley is positioned between the hinged shaft support of the extension hydraulic oil cylinder and the hinged shaft support of the lifting hydraulic oil cylinder, and a lower mounting lug seat is arranged in the second lifting pulley; the extension movable arm and the supporting arm form an extension mechanism of the pipe arranging machine, an inclination angle sensor connected with the PLC is arranged on the extension movable arm, and the extension movable arm is provided with a hinge structure with three parts of earrings at two ends and a middle earring seat; two ends of the supporting arm are provided with earring structures which are respectively a lower end earring and an upper end earring; the lower end ear ring of the supporting arm is connected with a lower mounting ear seat in the second lifting pulley by a hinge shaft, and the upper end ear ring of the supporting arm is hinged with a middle ear seat of the extending movable arm by a pin shaft; a piston rod of the extension hydraulic oil cylinder is connected with the first lifting pulley by matching an earring and a hinge shaft; a cylinder barrel of the extension hydraulic oil cylinder is arranged on a hinge shaft support of the extension hydraulic oil cylinder by adopting a middle hinge shaft; a cylinder barrel of the lifting hydraulic oil cylinder is connected with a hinged shaft support of the lifting hydraulic oil cylinder through a middle hinged shaft, and a piston rod of the lifting hydraulic oil cylinder is connected with the second lifting pulley through the matching of an earring and a hinged shaft; the tripod is hinged at the lower end ear ring of the extension movable arm, three corners of the tripod are named as a, b and c respectively, the tripod and the extension movable arm are hinged at the b, and an upper ear seat of the tripod is hinged at the a with a bearing ear seat of the manipulator mounting frame; a cylinder barrel of the amplitude-variable hydraulic oil cylinder is arranged on a supporting seat of the amplitude-variable hydraulic oil cylinder by adopting an earring, the supporting seat of the amplitude-variable hydraulic oil cylinder is welded at the lower part of the manipulator mounting frame, and the earring of a piston rod of the amplitude-variable hydraulic oil cylinder is hinged with a lower earring of the tripod at the position c; the upper end and the lower end of the manipulator mounting frame are both provided with manipulators, wherein the manipulators are provided with clamping oil cylinders for controlling the manipulators to clamp the drill rod; the pipe discharging machine adopts five-connection electro-hydraulic proportional load sensitive valves to be communicated with the hydraulic actuating mechanism and used for controlling the action of the hydraulic actuating mechanism, one end of each connection electro-hydraulic proportional load sensitive valve is connected with an oil inlet and outlet of the actuating mechanism corresponding to the connection electro-hydraulic proportional load sensitive valve, and the other end of each connection electro-hydraulic proportional load sensitive valve is connected with an oil tank and an oil inlet oil way.

Furthermore, the bicycle chassis is provided with four triangular crawler wheels, the four triangular crawler wheels are respectively installed at four corners of the chassis body through a gas-liquid damping suspension mechanism, and each triangular crawler wheel is respectively connected with a corresponding hydraulic motor; the gas-liquid damping suspension mechanism is a gas-liquid damping cylinder.

Further, a pin shaft mounting hole which is formed in the feeding tackle and used for sleeving the long pin shaft is matched with the long pin shaft in a floating mode.

Further, the mounting structures of the manipulator and the manipulator mounting frame are connected by matching rectangular flanges with bolt sets.

Furthermore, a stop block is arranged at the hinged position of the tripod and the extension movable arm.

The seabed exploration drilling machine is characterized in that: when the pipe discharging machine does not carry a drill rod to operate, the opening degree of a throttling opening of an electro-hydraulic proportional load sensitive valve used for controlling an extension hydraulic oil cylinder, an electro-hydraulic proportional load sensitive valve used for controlling a lifting hydraulic oil cylinder and an electro-hydraulic proportional load sensitive valve used for controlling a rotary driving hydraulic motor is increased, and the oil inlet flow is increased; when the pipe discharging machine runs with a drill rod, the opening degree of a throttling opening of an electro-hydraulic proportional load sensitive valve used for controlling an extension hydraulic oil cylinder, an electro-hydraulic proportional load sensitive valve used for controlling a lifting hydraulic oil cylinder and an electro-hydraulic proportional load sensitive valve used for controlling a rotary driving hydraulic motor is reduced, and the oil inlet flow is reduced.

Furthermore, a travel switch, a proximity switch, a pressure sensor and a rotary encoder which are connected with the PLC are arranged on the power head, the mechanical arm, the clamping and unscrewing device and the feeding mechanism.

Through the above design scheme, the utility model discloses following beneficial effect can be brought:

1. the utility model is designed with an autonomous walking mechanism, the drilling hole site can be automatically adjusted underwater, and the drilling core or the sampling can be directly moved to the next hole site without the assistance of an auxiliary mother ship after finishing once drilling and coring or sampling;

2. the drill rods of the utility model are arranged around the drilling machine in a surrounding way, the number of the drill rods is large, and the drilling depth of the drilling machine is large;

3. the drill rods of the utility model are arranged around the drilling machine in a surrounding way, which does not occupy the internal space of the drilling machine, and more spaces are arranged in the drilling machine for installing other functional equipment, thus being beneficial to the multi-functionalization of the drilling machine;

4. the utility model discloses a rig adopts the sensitive hydraulic system of the electric-hydraulic proportional load of PLC control to realize the cooperative motion of rig main institution, and the degree of automation of equipment is high, control accuracy is high, operate steadily.

Drawings

The principles and features of the present invention are further explained below in conjunction with the appended drawings, which form a part of this application, wherein the illustrated embodiments are only used to assist in understanding the present invention, and are not intended to limit the scope of the invention, in which:

fig. 1 is a general structure diagram of a seabed exploration drilling machine in the embodiment of the utility model;

fig. 2 is an internal structure view of the seabed exploration drilling machine in the embodiment of the utility model;

fig. 3 is a structural diagram of a pipe discharging machine in the seabed exploration drilling rig according to the embodiment of the present invention;

fig. 4 is a schematic mechanism diagram of a pipe discharging machine in the seabed exploration drilling rig according to the embodiment of the present invention;

FIG. 5 is a flow chart of the working process of the additional connection of the drill rod of the seabed exploration drilling machine in the embodiment of the utility model;

fig. 6 is the embodiment of the utility model provides an in the embodiment seabed investigation rig dismantle drilling rod work flow chart.

The respective symbols in the figure are as follows: 1-self-propelled chassis, 2-gantry type frame, 3-drill pipe arrangement and transportation device, 4-pipe arranging machine, 5-chain transmission device, 6-feeding tackle, 7-power head, 8-back-up tong, 9-triangular crawler wheel, 10-pipe arranging machine mounting flange, 11-transition flange seat, 12-long pin shaft, 13-rotary driving device, 14-rotary support, 15-lower bearing disc, 16-upper bearing disc, 17-mechanical arm, 101-extending movable arm, 102-extending pull rod, 103-supporting arm, 104-tripod, 105-cylinder barrel of variable amplitude hydraulic oil cylinder, 106-piston rod of variable amplitude hydraulic oil cylinder, 107-first lifting tackle, 108-second lifting tackle, 109-mechanical arm mounting frame and 110-light rotary driving device, 111-guide rail upright posts, 112-extension hydraulic oil cylinder hinged shaft supports, 113-lifting hydraulic oil cylinder hinged shaft supports, 114-cylinder barrels of lifting hydraulic oil cylinders, 115-piston rods of the lifting hydraulic oil cylinders, 116-piston rods of the extension hydraulic oil cylinders, and 117-cylinder barrels of the extension hydraulic oil cylinders.

Detailed Description

In order to explain the present invention more clearly, the present invention will be further described with reference to the preferred embodiments and the accompanying drawings. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.

As shown in figure 1 and figure 2, the utility model provides a seabed investigation rig includes by oneself chassis 1, planer-type frame 2, drilling rod range migration device 3, calandria machine 4, feed mechanism, unit head 7, rotary drive device 13 and centre gripping and unscrews the device.

The self-propelled chassis 1 is an autonomous travelling mechanism of the whole submarine exploration drilling machine, the self-propelled chassis 1 comprises a chassis body, a triangular crawler wheel 9, a transition flange seat 11 and a hydraulic chuck seat, through holes are formed in the middle of the chassis body, the middle of the transition flange seat 11 and the middle of the hydraulic chuck seat, the chassis body, the middle of the transition flange seat 11 and the middle of the hydraulic chuck seat are coaxially arranged, the transition flange seat 11 is fixed above the chassis body, and the hydraulic chuck seat is fixed below the transition flange seat 11; the number of the triangular crawler wheels 9 is four, the four triangular crawler wheels 9 are respectively installed at four corners of the chassis body through a gas-liquid damping suspension mechanism, each triangular crawler wheel 9 is respectively connected with a corresponding hydraulic motor, and each triangular crawler wheel 9 is driven by the corresponding hydraulic motor to rotate; the gas-liquid damping suspension mechanism is a gas-liquid damping cylinder and plays roles in buffering vibration attenuation and adjusting the levelness of the drilling machine.

The rotary driving device 13 is installed on a transition flange seat 11 of the self-propelled chassis 1, an absolute value encoder is installed on an output shaft of a hydraulic motor for driving a rotating part of the rotary driving device 13 to rotate, the absolute value encoder is connected with a PLC (programmable logic controller), a fixing ring of the rotary driving device 13 is provided with a through fixing bolt hole and is connected with the transition flange seat 11, a moving ring of the rotary driving device 13 is provided with a threaded blind hole and is used for being connected with a bottom flange of the drill rod arrangement and transportation device 3 and driving the drill rod arrangement and transportation device 3 to rotate.

The lower part of the gantry type frame 2 penetrates through an inner hole of the rotary driving device 13 and is fixedly installed on the transition flange seat 11, a drill rod arrangement and transportation device installation flange for installing the drill rod arrangement and transportation device 3 and a pulley guide rail for supplying the feeding pulley 6 to longitudinally slide are arranged on the gantry type frame 2, meanwhile, the gantry type frame 2 also provides an installation support of main working parts and a translation rail of the feeding pulley 6, the translation rail plays a role in guiding the feeding pulley 6 during movement, a plurality of pairs of rollers are arranged on the feeding pulley 6, each pair of rollers are in rolling contact with the translation rail of the gantry type frame 2, the reverse torque of the power head 7 during rotation acts on the translation rail through the feeding pulley 6, and the gantry type frame 2 bears the load.

The feeding mechanism consists of a chain transmission device 5 and a feeding pulley 6, and the feeding pulley 6 is in sliding connection with a pulley guide rail arranged on the gantry type frame 2; the chain transmission device 5 comprises a chain, a chain joint, a driving chain wheel, a driven chain wheel and a chain wheel driving hydraulic motor, wherein the chain is connected to the feeding tackle 6 through the chain joint and a pin shaft; the driving chain wheel is connected with a chain wheel driving hydraulic motor, and the chain wheel driving hydraulic motor provides power for the operation of the driving chain wheel; the driven chain wheel is connected with the driving chain wheel through a chain; the link joint has the function of a universal joint.

The power head 7 is mounted on the feeding pulley 6 by adopting a long pin shaft 12, a certain floating stroke is reserved in the feeding pulley 6, the specific power head 7 and the feeding pulley 6 are mutually connected in a matched mode through the long pin shaft 12, the distance of a matched hole provided by the power head 7 is shorter than the allowed stroke of the feeding pulley 6, which slides along the long pin shaft 12, so that in the feeding and lifting processes, the power head 7 can move for a certain distance along the long pin shaft 12 under the control of an electro-hydraulic proportional load sensitive hydraulic system, a floating space is reserved for further screwing-in and unscrewing actions, and accordingly the damage of a main shaft protective joint thread or a drill rod joint thread of the power head 7 is effectively avoided.

The drill rod arranging and transporting device 3 is an annular component capable of rotating, the drill rod arranging and transporting device 3 comprises a first annular component, a second annular component and an upright column connected between the first annular component and the second annular component, the first annular component and the second annular component are arranged in an up-down opposite mode, the top of the first annular component is connected to a mounting flange of the drill rod arranging and transporting device positioned at the upper part of the gantry type frame 2 through an upper bearing disc 16 by adopting a rotating support 14, and the first annular component is uniformly provided with longitudinal through holes along the circumferential direction; the bottom of the second annular component is fixed on a rotating part of the rotary driving device 13 through a lower bearing disc 15 by adopting bolt groups arranged in an annular array, one side of the second annular component facing the first annular component is uniformly provided with limiting cylinders along the circumferential direction, the limiting cylinders and the longitudinal through holes are consistent in quantity and are in one-to-one correspondence, and the limiting cylinders are used for limiting the storage position of the drill rod, wherein the wall of the longitudinal through hole is provided with an opening, the width of the opening is larger than the outer diameter of the drill rod and smaller than the outer diameter of a; the drill rod is limited on the drill rod arranging and transporting device 3 through the limiting cylinder and the longitudinal through hole; the slewing bearing 14 is a bearing member; the rotary driving device 13 is suitable for sea areas with water depth within 2000m, the rotary driving device 13 uses a hydraulic motor as an execution element, wherein an absolute value encoder is installed on an output shaft of the hydraulic motor for driving the rotary driving device 13 to operate, the absolute value encoder is used for measuring the rotation angle of the drill rod arrangement and transportation device 3 and is used as a feedback signal of the electro-hydraulic proportional load sensitive hydraulic system, closed-loop control is realized through the electro-hydraulic proportional load sensitive hydraulic system, the rotation angle is accurately controlled, and accurate positioning between the pipe arranging machine 4 and a target drill rod is realized. The utility model discloses the sensitive hydraulic system of the electro-hydraulic proportional load who mentions forms for the sensitive hydraulic system of the electro-hydraulic proportional load of PLC electrical control system control electro-hydraulic proportional load.

The clamping and screwing-off device comprises a back-up tong 8, a clamp screw-off device, a hydraulic chuck and a rotary driving device for screw-off, wherein the back-up tong 8 is arranged at the lower part of the power head 7; the clamp shackle device is rigidly connected with a rotary output flange of the rotary driving device for shackle through a transition flange by adopting a bolt group; the hydraulic chuck is arranged below the transition flange seat 11 through a hydraulic chuck seat and is used for fixing a drill string in a hole during the drill stopping period; the rotary driving device for the shackle is arranged in the central area of the self-propelled chassis 1 and is positioned above the hydraulic chuck, the axis of the rotary driving device for the shackle is superposed with the rotary axis of the main shaft of the power head 7, and the rotary driving device for the shackle can also be used for disconnecting a drill stem in a hole and a drill rod above the hydraulic chuck independently from the power head 7.

The number of the pipe racking machine 4 is 1, the pipe racking machine 4 is fixed on the appointed side of the gantry type frame 2 through a pipe racking machine mounting flange 10, as shown in fig. 3, the pipe racking machine 4 is hung below the pipe racking machine mounting flange 10, the pipe racking machine 4 comprises a mechanical hand 17, a stretching movable arm 101, a stretching pull rod 102, a supporting arm 103, a tripod 104, a variable amplitude hydraulic cylinder, a lifting hydraulic cylinder, a stretching hydraulic cylinder, a light rotary driving device 110, a first lifting pulley 107, a second lifting pulley 108 and a guide rail upright post 111, the existing rotary driving device comprises a light rotary driving device series and a heavy rotary driving device series, the light rotary driving device 110 in the pipe racking machine 4 of the utility model uses the light rotary driving device which is common in the pipe racking machine of the existing drilling machine, and the light rotary driving device 110 is provided with a worm gear transmission structure and a rotary, the worm input end of the worm gear and worm transmission structure is connected with an output shaft of a rotary driving hydraulic motor, an absolute value encoder for measuring the integral rotary angle of the pipe arranging machine 4 is mounted on the output shaft of the worm, and a guide rail upright column 111 is fixed below a top connecting seat of the light rotary driving device 110 by adopting a pin shaft and a bolt; the rear upper part of the guide rail upright post 111 is provided with an extension hydraulic oil cylinder hinge shaft support 112, the free end of the manipulator 17 faces to the front, the direction opposite to the free end of the manipulator 17 faces to the rear, and the bottom of the guide rail upright post 111 is provided with a lifting hydraulic oil cylinder hinge shaft support 113; the first feeding pulley 107 and the second feeding pulley 108 are both arranged on a guide rail upright post 111 and can slide up and down along the guide rail upright post 111, the first lifting pulley 107 is positioned above a hinged shaft support 112 of an extension hydraulic oil cylinder, the second feeding pulley 108 is positioned between the hinged shaft support 112 of the extension hydraulic oil cylinder and a hinged shaft support 113 of a lifting hydraulic oil cylinder, a lower mounting lug seat is arranged in the second lifting pulley 108, and displacement sensors connected with a PLC (programmable logic controller) are respectively arranged on the first lifting pulley 107 and the second lifting pulley 108 and are used for measuring the lifting height of the manipulator 17 and calculating the horizontal moving distance of the manipulator 17; the extending movable arm 101 and the supporting arm 103 form an extending mechanism of the pipe exhauster 4, the extending mechanism acts to realize inward and outward translation of the mobile manipulator 17, and the height of the manipulator 17 relative to the longitudinal position of the whole machine is ensured not to change in the outward and inward translation process by means of the accurately designed structural form and size of the extending mechanism, wherein the extending movable arm 101 is provided with a three-position hinge structure with two-end earrings and a middle earring seat; two ends of the supporting arm 103 are provided with earring structures, namely a lower earring and an upper earring; the lower end ear ring of the supporting arm 103 is connected with a lower mounting ear seat in the second lifting pulley 108 by a hinge shaft, and the upper end ear ring of the supporting arm 103 is hinged with a middle ear seat of the extending movable arm 101 by a pin shaft; a piston rod 116 of the extension hydraulic oil cylinder is connected with the first lifting tackle 107 by matching of an earring and a hinge shaft; a cylinder barrel 117 of the extension hydraulic oil cylinder is arranged on a hinge shaft support 112 of the extension hydraulic oil cylinder by adopting a middle hinge shaft; a cylinder barrel 114 of the lifting hydraulic oil cylinder is connected with a hinged shaft support 113 of the lifting hydraulic oil cylinder by adopting a middle hinged shaft, and a piston rod 115 of the lifting hydraulic oil cylinder is connected with an ear seat at the rear part of the second lifting pulley 108 by adopting the matching of an ear ring and a hinged shaft; a tripod 104 is hinged to the lower end earring of the extension movable arm 101, three corners of the tripod 104 are named as a, b and c respectively, the tripod 104 and the extension movable arm 101 are hinged to the b, the rotational freedom degree of the b is limited by a stop block and is used for limiting the extension and contraction range of the pipe exhauster 4, and an upper earring of the tripod 104 is hinged to the a with a bearing earring of the manipulator mounting frame 109; a cylinder barrel 105 of the variable amplitude hydraulic oil cylinder is arranged on a supporting seat of the variable amplitude hydraulic oil cylinder by adopting an earring, the supporting seat of the variable amplitude hydraulic oil cylinder is welded at the lower part of a manipulator mounting frame 109, and the earring of a piston rod 106 of the variable amplitude hydraulic oil cylinder is hinged with a lower earring of a tripod 104 at a position c; the manipulator 17 is installed at the upper end and the lower end of the manipulator installation frame 109, a clamping oil cylinder is arranged on the manipulator 17 and used for controlling the manipulator 17 to clamp the drill rod, the manipulator 17 keeps the rotation freedom degree of the clamped drill rod and reduces the abrasion of the drill rod, and the installation structures of the manipulator 17 and the manipulator installation frame 109 are connected through a rectangular flange and a bolt group.

As shown in fig. 4, the hydraulic actuating member of the pipe discharging machine 4 is composed of five actuating mechanisms, namely a variable amplitude hydraulic oil cylinder, a lifting hydraulic oil cylinder, an extension hydraulic oil cylinder, a clamping oil cylinder and a rotary driving hydraulic motor; the pipe discharging machine 4 is controlled by adopting a five-connection electro-hydraulic proportional load sensitive valve, each five-connection electro-hydraulic proportional load sensitive valve controls one executing mechanism, one end of each five-connection electro-hydraulic proportional load sensitive valve is connected with an oil inlet and an oil outlet of the corresponding executing mechanism, the other end of each five-connection electro-hydraulic proportional load sensitive valve is connected with an oil tank and an oil inlet oil way, when the pipe discharging machine 4 does not carry a drill rod to operate, the opening of the throttling openings of the electro-hydraulic proportional load sensitive valve used for controlling the extension hydraulic oil cylinder, the electro-hydraulic proportional load sensitive valve used for controlling the lifting hydraulic oil cylinder and the electro-hydraulic proportional load sensitive valve used for controlling the rotary driving hydraulic motor is increased, the oil inlet flow is increased, the pipe discharging machine 4 runs at high speed, when the pipe discharging machine 4 runs with a drill rod, the opening degree of the throttle ports of the electro-hydraulic proportional load sensitive valves of the executing mechanisms is reduced, the oil inlet flow is reduced, the pipe discharging machine 4 runs at a low speed, and the vibration of the drilling machine caused by the running process of the pipe discharging machine 4 with the drill rod is reduced.

When a piston rod of the hydraulic oil cylinder is extended, the first lifting tackle 107 moves up and down along the guide rail upright post 111, when an extension mechanism of the pipe discharging machine 4 is contracted or extended, the manipulator 17 moves horizontally, the extension hydraulic oil cylinder runs, the lifting hydraulic oil cylinder does not run, only the first lifting tackle 107 moves, and the value of a displacement sensor on the first lifting tackle 107 is combined with the size of the extension mechanism of the pipe discharging machine 4 to reflect the extension distance; during lifting movement, the extension hydraulic oil cylinder and the lifting hydraulic oil cylinder both operate, and the displacement sensor of the second lifting pulley 108 feeds back the lifting height; after the drill rod enters the grabbing range of the manipulator 17, the manipulator 17 clamps the drill rod under the action of a clamping oil cylinder on the manipulator; when the extension hydraulic cylinder and the lifting hydraulic cylinder extend and contract the piston rod at the same speed, the first lifting tackle 107 and the second lifting tackle 108 move up and down along the guide rail upright post 111 at the same speed and direction, the manipulator 17 and the extension mechanism move up and down along the guide rail upright post 111, and the lifting height of the manipulator 17 is measured according to a displacement sensor arranged on the second lifting tackle 108; the light rotary driving device 110 is provided with a worm gear and worm transmission structure and a rotary driving hydraulic motor, wherein a worm input end in the worm gear and worm transmission structure is connected with an output shaft of the rotary driving hydraulic motor, after the rotary driving hydraulic motor is connected into an oil way, a worm driven by the rotary driving hydraulic motor drives a worm wheel to rotate, the pipe discharging machine 4 rotates, an absolute value encoder is installed on a worm output shaft of the light rotary driving device 110, and the absolute value encoder can measure the integral rotation angle of the pipe discharging machine 4. An inclination angle sensor is mounted on the extending movable arm 101 and connected with a PLC (programmable logic controller), and the space inclination angle of the drill rod clamped by the pipe arranging machine 4 can be measured according to the reading of the inclination angle sensor, so that the translation position of the manipulator 4 can be indirectly measured. When the spatial inclination angle of the drill rod clamped by the pipe arranging machine 4 needs to be adjusted, the amplitude-variable hydraulic oil cylinder extends out of the piston rod, the manipulator 17 at the lower part of the pipe arranging machine 4 swings outwards, otherwise, the manipulator swings inwards, and the inclination angle change value is measured through the inclination angle sensor.

The seabed exploration drilling machine adopts a PLC electrical control system, transmits instructions and feeds back sensor signals based on a CAN2.0B communication protocol, is provided with a pressure-resistant follow-up electric control box, and is internally provided with a PLC controller for sending control instructions and collecting sensor signals; the drilling machine adopts an electro-hydraulic proportional load sensitive hydraulic system, each electro-hydraulic proportional load sensitive valve is controlled by a PLC (programmable logic controller) electrical control system, the load sensitive system responds to the load of a hydraulic actuating mechanism to automatically adjust the discharge capacity of the load sensitive pump, the flow and pressure requirements of the actuating mechanism are met, and the electro-hydraulic proportional load sensitive hydraulic system is high in efficiency and high in execution precision. In order to adapt to deep sea environment, hydraulic elements need to be resistant to high pressure and corrosion, and electric elements need to be protected by adopting a special sealing and pressure-bearing structure.

In addition, the power head 7, the manipulator 17 of the pipe arranging machine 4, the clamping and unscrewing device, the feeding mechanism and the like all adopt necessary elements such as a travel switch, a proximity switch, a pressure sensor, a rotary encoder and the like to carry out state monitoring and position detection, a follow-up PLC controller sends out an instruction and collects signals, and the follow-up PLC controller and a remote PLC system on a ship realize mutual communication based on a CAN bus so that a driller on the ship CAN monitor the seabed working condition at any time and send out a necessary intervention instruction.

And a pressure-resistant hydraulic power station is integrated in the seabed exploration drilling machine and is arranged at the top of the drilling machine. The pressure-resistant hydraulic power station is provided with a closed hydraulic oil tank, a bag breathing bag is arranged in the hydraulic oil tank, and nitrogen is filled in the bag. A high-protection-level submersible motor is adopted to provide source power for a load-sensitive hydraulic pump adopted by the system, the submersible motor obtains energy from an auxiliary mother ship through an armored cable, meanwhile, a network cable is adopted to carry out bidirectional digital communication with the auxiliary mother ship, and the auxiliary mother ship can send instructions to control all actions of a submarine exploration drilling machine and record feedback values of all sensors in real time.

The seabed exploration drilling machine adopts an underwater drilling fluid circulating system.

In the seabed exploration drilling machine, the drill rod arranging and transporting device 3 is arranged between a rotary driving device 13 in the center of the self-propelled chassis 1 and a mounting flange of the drill rod arranging and transporting device on the upper part of the gantry type frame 2 and can rotate around the central shaft of the self-propelled chassis 1, the pipe arranging machine 4 and the drill rod arranging and transporting device 3 are matched to act, angle and position control is realized through a tilt angle sensor and a rotary encoder, and automatic transporting and arranging of stands are carried out. The power head 7 is arranged on a feeding pulley 6 of the feeding mechanism, and the power head 7 can float along a long pin shaft 12 arranged on the feeding pulley 6 by pressurizing drilling or lifting a drilling tool through a chain transmission device 5 of the feeding mechanism. The drilling machine is internally integrated with a hydraulic transmission system and an electric control device, can perform a complete automatic drilling process flow on the seabed, and can change hole positions by depending on the self-propelled chassis 1.

In order to specifically explain the function realization principle of each mechanism of the seabed exploration drilling machine and the control process of the drilling machine, the action process of additionally connecting a drill rod and disassembling the drill rod of the seabed exploration drilling machine is taken as an example:

the initial state of each part of the seabed exploration drilling machine in the operation of additionally connecting the drill rod is as follows: the hydraulic chuck fixes a drill string, the central axis of a drill rod stand of the drill rod arranging and transporting device 3, the grabbing central axis of the manipulator 17 and the main shaft axis of the power head 7 are in the same plane, the grabbing direction of the manipulator 17 is opposite to the drill rod, and the power head 7 is lifted to a position higher than the drill rod; the initialization can be automatically completed through a PLC electrical control system.

As shown in fig. 5, the operation flow of attaching the drill rod to the seabed exploration drilling machine is as follows:

step one, the pipe arranging machine 4 unfolds the stretching mechanism and clamps the drill pipe;

secondly, the pipe arranging machine 4 lifts the drill pipe away from the limiting cylinder of the drill pipe arranging and transporting device 3;

step three, the extension mechanism of the pipe arranging machine 4 contracts, and the pipe arranging machine 4 recovers the contraction state;

step four, starting the light rotary driving device 110, and integrally rotating the pipe arranging machine 4 for 180 degrees;

step five, the extension mechanism of the pipe arranging machine 4 is unfolded until the drill rod is aligned with the main shaft of the power head 7;

step six, according to the space inclination angle condition of the drill rod fed back by the inclination angle sensor, when the axis of the drill rod deviates from the main shaft axis or the drill column axis of the power head 7, starting the amplitude-variable hydraulic cylinder to adjust the space inclination angle of the drill rod;

seventhly, the power head 7 and the drill rod descend until the power head 7, the drill rod and the drill column can be connected with each other;

and step eight, the power head 7 rotates forwards under the feeding action, and the drill rod is connected with the power head 7 and the drill column.

When the drill rod needs to be continuously connected: the pipe arranging machine 4 is reset, the rotary driving device 13 is started, the drill rod arranging and transporting device 3 rotates for a certain angle, so that the next drill rod stand enters the grabbing position, the drill rod is placed into the hole opening by the power head 7 and then is unbuckled, the drill rod is lifted to the position higher than the drill rod, and the steps are repeated. And then, a drilling fluid circulating system is started, and a feeding mechanism feeds and a power head 7 drives a drilling tool to rotate forwards to drill the crushed rock.

The initial state of the seabed exploration drilling machine in the operation of disassembling the drill rod is as follows: the power head 7 lifts the drill column out of the drill hole by the height of a drill rod stand, the hydraulic chuck is suspended and fixed with the drill column, the central axis of a drill rod storage hole of the drill rod arrangement and transportation device 3, the grabbing central axis of the manipulator 17 and the main shaft axis of the power head 7 are in the same plane, and the grabbing direction of the manipulator 17 is opposite to the drill column; the initialization can be automatically completed through a PLC electrical control system.

As shown in fig. 6, the working process of disassembling the drill rod of the seabed exploration drilling machine is as follows:

step one, the pipe arranging machine 4 clamps a drill column;

secondly, the back-up tong 8 clamps the drill rod;

thirdly, reversing the power head 7, and punching and disassembling the upper joint of the drill stem stand;

fourthly, the clamp shackle device clamps the drill rod;

fifthly, punching and disassembling a lower joint of the drill rod stand;

sixthly, the pipe arranging machine 4 lifts the drill pipe to a position limiting cylinder higher than the drill pipe arranging and transporting device 3;

step seven, the extension mechanism of the pipe arranging machine 4 is contracted, and the pipe arranging machine 4 is recovered to a contracted state;

step eight, starting the light rotary driving device 110, and integrally rotating the pipe arranging machine 4 for 180 degrees;

step nine, the extension mechanism of the pipe arranging machine 4 is unfolded until the drill rod enters a drill rod storage position on the drill rod arranging and transporting device 3;

and step ten, the pipe discharging machine 4 lowers the drill pipe to return to the position.

When the drill rod needs to be disassembled: and resetting the pipe arranging machine 4, starting the rotary driving device 13, rotating the drill rod arranging and transporting device 3 by a certain angle, enabling the next drill rod stand storage hole position to enter a receiving position, enabling the power head 7 to be connected with a drill column in a downward mode, lifting the drill column out of the hole opening by the height of the drill rod stand, and repeating the steps.

The operation method of the seabed exploration drilling machine is only one example, and the specific implementation method of the invention is not limited.

The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A seabed exploration drilling machine is provided with a follow-up electric control box and a hydraulic power station, wherein a PLC (programmable logic controller) is arranged in the follow-up electric control box, and the PLC is in communication connection with a remote PLC system on a drilling ship through a CAN (controller area network) bus; the hydraulic power station is fixed at the top of the drilling machine and is characterized in that: the drilling machine comprises a self-propelled chassis (1), a gantry type frame (2), a drill rod arranging and transporting device (3), a pipe arranging machine (4), a feeding mechanism, a power head (7), a rotary driving device (13) and a clamping and screwing-off device; the self-propelled chassis (1) comprises a chassis body, a transition flange seat (11) and a hydraulic chuck seat, wherein through holes are formed in the middle of the chassis body, the middle of the transition flange seat (11) and the middle of the hydraulic chuck seat, the transition flange seat and the hydraulic chuck seat are coaxially arranged, the transition flange seat (11) is fixed above the chassis body, and the hydraulic chuck seat is fixed below the transition flange seat (11); the rotary driving device (13) is arranged on a transition flange seat (11) of the self-propelled chassis (1), and an absolute value encoder is arranged on an output shaft of a hydraulic motor for driving a rotating part of the rotary driving device (13) to rotate and is connected with the PLC; the lower part of the gantry type frame (2) passes through an inner hole of the rotary driving device (13) and is fixed on a transition flange seat (11) of the self-propelled chassis (1); the feeding mechanism consists of a chain transmission device (5) and a feeding pulley (6), and the feeding pulley (6) is in sliding connection with a pulley guide rail arranged on the gantry type frame (2); the chain transmission device (5) comprises a chain, a chain joint, a driving chain wheel, a driven chain wheel and a chain wheel driving hydraulic motor, wherein the chain is connected to the feeding tackle (6) through the chain joint and a pin shaft; the driving chain wheel is connected with a chain wheel driving hydraulic motor; the driven chain wheel is connected with the driving chain wheel through a chain; the power head (7) is arranged on the feeding pulley (6) by adopting a long pin shaft (12); the drill rod arranging and transporting device (3) comprises a first annular component, a second annular component and a stand column connected between the first annular component and the second annular component, wherein the first annular component and the second annular component are arranged in an up-down opposite mode, the top of the first annular component is connected to a mounting flange of the drill rod arranging and transporting device positioned at the upper part of the gantry type rack (2) through an upper bearing disc (16) by adopting a slewing bearing (14), and longitudinal through holes are uniformly formed in the first annular component along the circumferential direction; the bottom of the second annular component is fixed on a rotating part of the rotary driving device (13) through a lower bearing disc (15) by adopting bolt groups arranged in an annular array, one side of the second annular component facing the first annular component is uniformly provided with limiting cylinders along the circumferential direction, the limiting cylinders and the longitudinal through holes are consistent in quantity and are in one-to-one correspondence, and openings with the width larger than the outer diameter of the drill rod and smaller than the outer diameter of a drill rod joint are formed in the wall of the longitudinal through holes; the clamping and screwing-off device comprises a back-up tong (8), a tong and screwing-off device, a hydraulic chuck and a rotary driving device for screwing-off, wherein the back-up tong (8) is arranged at the lower part of the power head (7); the clamp shackle device is rigidly connected with a rotary output flange of the rotary driving device for shackle through a transition flange by adopting a bolt group; the hydraulic chuck is arranged below the transition flange seat (11) through a hydraulic chuck seat, the rotary driving device for shackle is arranged in the central area of the self-propelled chassis (1) and is positioned above the hydraulic chuck, and the axis of the rotary driving device for shackle is superposed with the main shaft rotary axis of the power head (7); the pipe arranging machine (4) is fixed on a gantry type rack (2) through a pipe arranging machine mounting flange (10), the pipe arranging machine (4) comprises a manipulator (17), a stretching movable arm (101), a stretching pull rod (102), a supporting arm (103), a tripod (104), a variable amplitude hydraulic oil cylinder, a lifting hydraulic oil cylinder, a stretching hydraulic oil cylinder, a light rotary driving device (110), a first lifting pulley (107), a second lifting pulley (108) and a guide rail upright post (111), the light rotary driving device (110) is provided with a worm gear transmission structure and a rotary driving hydraulic motor, wherein the input end of a worm in the worm gear and worm transmission structure is connected with the output shaft of a rotary driving hydraulic motor, an absolute value encoder for measuring the integral rotary angle of the pipe arranging machine (4) is arranged on the output shaft of the worm, the absolute value encoder is connected with a PLC (programmable logic controller), and a guide rail upright post (111) is fixed below a top connecting seat of a light rotary driving device (110) by adopting a pin shaft and a bolt; the upper part of the guide rail upright post (111) is provided with an extension hydraulic oil cylinder hinge shaft support (112), and the bottom of the guide rail upright post (111) is provided with a lifting hydraulic oil cylinder hinge shaft support (113); the first lifting pulley (107) and the second lifting pulley (108) are both connected to the guide rail upright post (111) in a sliding manner, displacement sensors connected with a PLC (programmable logic controller) are arranged on the first lifting pulley (107) and the second lifting pulley (108), the first lifting pulley (107) is positioned above the extending hydraulic oil cylinder hinged shaft support (112), the second lifting pulley (108) is positioned between the extending hydraulic oil cylinder hinged shaft support (112) and the lifting hydraulic oil cylinder hinged shaft support (113), and a lower mounting lug seat is arranged in the second lifting pulley (108); the extension movable arm (101) and the support arm (103) form an extension mechanism of the pipe arranging machine (4), an inclination angle sensor connected with a PLC (programmable logic controller) is arranged on the extension movable arm (101), and the extension movable arm (101) is provided with a three-position hinge structure with earrings at two ends and a middle earring seat; two ends of the supporting arm (103) are provided with earring structures which are respectively a lower earring and an upper earring; the lower end ear ring of the supporting arm (103) is connected with a lower mounting ear seat in the second lifting pulley (108) by a hinge shaft, and the upper end ear ring of the supporting arm (103) is hinged with a middle ear seat of the extending movable arm (101) by a pin shaft; a piston rod (116) of the extension hydraulic oil cylinder is connected with the first lifting tackle (107) by matching of an earring and a hinge shaft; a cylinder barrel (117) of the extension hydraulic oil cylinder is arranged on a hinge shaft support (112) of the extension hydraulic oil cylinder by adopting a middle hinge shaft; a cylinder barrel (114) of the lifting hydraulic oil cylinder is connected with a hinged shaft support (113) of the lifting hydraulic oil cylinder through a middle hinged shaft, and a piston rod (115) of the lifting hydraulic oil cylinder is connected with a second lifting pulley (108) through the matching of an earring and a hinged shaft; the tripod (104) is hinged to the lower end ear ring of the stretching movable arm (101), three corners of the tripod (104) are named as a, b and c respectively, the tripod (104) and the stretching movable arm (101) are hinged to the b, and an upper ear seat of the tripod (104) and a bearing ear seat of the manipulator mounting frame (109) are hinged to the a; a cylinder barrel (105) of the variable amplitude hydraulic oil cylinder is arranged on a supporting seat of the variable amplitude hydraulic oil cylinder by adopting an earring, the supporting seat of the variable amplitude hydraulic oil cylinder is welded at the lower part of a manipulator mounting frame (109), and the earring of a piston rod (106) of the variable amplitude hydraulic oil cylinder is hinged with a lower earring of a tripod (104) at a position c; the upper end and the lower end of the manipulator mounting rack (109) are respectively provided with a manipulator (17), wherein the manipulator (17) is provided with a clamping oil cylinder for controlling the manipulator to clamp a drill rod; the hydraulic actuating mechanism of the pipe discharging machine (4) is formed by the amplitude-variable hydraulic oil cylinder, the lifting hydraulic oil cylinder, the extension hydraulic oil cylinder, the clamping oil cylinder and the rotation driving hydraulic motor, the pipe discharging machine (4) is communicated with the hydraulic actuating mechanism through the five-connection electro-hydraulic proportional load sensitive valve and used for controlling the action of the hydraulic actuating mechanism, one end of each one-connection electro-hydraulic proportional load sensitive valve is connected to an oil inlet and outlet of the actuating mechanism corresponding to the one-connection electro-hydraulic proportional load sensitive valve, and the other end of each one-connection electro-.

2. The subsea exploration drilling rig according to claim 1, wherein: the bicycle chassis (1) is provided with triangular crawler wheels (9), the number of the triangular crawler wheels (9) is four, the four triangular crawler wheels (9) are respectively installed at four corners of the chassis body through a gas-liquid damping suspension mechanism, and each triangular crawler wheel (9) is respectively connected with a corresponding hydraulic motor; the gas-liquid damping suspension mechanism is a gas-liquid damping cylinder.

3. The subsea exploration drilling rig according to claim 1, wherein: the feeding tackle (6) is provided with a pin shaft mounting hole for sleeving the long pin shaft (12) and matched with the long pin shaft (12) in a floating manner.

4. The subsea exploration drilling rig according to claim 1, wherein: the mounting structures of the manipulator (17) and the manipulator mounting rack (109) are connected by matching rectangular flanges with bolt sets.

5. The subsea exploration drilling rig according to claim 1, wherein: and a stop block is arranged at the hinged position of the tripod (104) and the extension movable arm (101).

6. The subsea exploration drilling rig according to claim 1, wherein:

when the pipe discharging machine (4) does not carry a drill rod to operate, the throttle openings of the electro-hydraulic proportional load sensitive valve for controlling the extension hydraulic oil cylinder, the electro-hydraulic proportional load sensitive valve for controlling the lifting hydraulic oil cylinder and the electro-hydraulic proportional load sensitive valve for controlling the rotation driving hydraulic motor are increased, and the oil inlet flow is increased;

when the pipe discharging machine (4) runs with a drill rod, the opening degree of the throttle openings of the electro-hydraulic proportional load sensitive valve used for controlling the extending hydraulic oil cylinder, the electro-hydraulic proportional load sensitive valve used for controlling the lifting hydraulic oil cylinder and the electro-hydraulic proportional load sensitive valve used for controlling the rotary driving hydraulic motor is reduced, and the oil inlet flow is reduced.

7. The subsea exploration drilling rig according to claim 1, wherein: and the power head (7), the mechanical arm (17), the clamping and unscrewing device and the feeding mechanism are provided with a travel switch, a proximity switch, a pressure sensor and a rotary encoder which are connected with the PLC.