CN101555774A - Seabed deep hole coring drilling machine - Google Patents
Seabed deep hole coring drilling machine Download PDFInfo
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- CN101555774A CN101555774A CN 200910302617 CN200910302617A CN101555774A CN 101555774 A CN101555774 A CN 101555774A CN 200910302617 CN200910302617 CN 200910302617 CN 200910302617 A CN200910302617 A CN 200910302617A CN 101555774 A CN101555774 A CN 101555774A
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Abstract
The invention discloses a seabed deep hole coring drilling machine, wherein a frame of the drilling machine is of a birdcage truss structure, the appearance of the drilling machine is a quadrangular column body or a triangular column body, and three telescopic supporting legs are arranged on the outer side of the lower part of the quadrangular column body or the triangular column body; the double-linkage mechanical arm in the step-by-step rotary drill rod storage frame and the drill rod grabbing and conveying mechanism is fixedly arranged on one side surface of the mast frame through an upper bracket, a lower bracket, a supporting plate, a storage frame rotating shaft and a mechanical arm rotating shaft, is not in direct contact connection with a frame, particularly a chassis, and a hydraulic chuck set in the drill rod connecting and disconnecting mechanism is fixedly arranged on a front panel of the mast frame and is arranged at the lower part of a vertical sliding rail. The drilling machine has a regular shape, the strength of the frame is high, internal key components can be protected, the drilling machine is insensitive to impact deformation of the frame, particularly a chassis, the requirement on deck equipment matched with an exploration mother ship is not high, the adaptability to the submarine topography is high, and the adopted oil cylinder drives the double-stroke feeding and drilling mechanism of the steel wire rope, the 'virtual holding' positioning mechanism of the drill rod grabbing and conveying manipulator and the roller with the hydraulic brake support leg to work simply and reliably.
Description
Technical field
The present invention relates to a kind of submarine deep-hole coring drilling rig.
Background technology
The exploitation of marine resources, particularly abyssal floor is composed the technical field that the exploitation of the mineral resources such as multi-metal sulfide of depositing is a new developing, because ambient conditionss such as the geology of abyssal floor complexity, ocean current, pressure, development is crept into and coring equipment in the remote control that abyssal floor is suitable for, particularly deep well drilling, need the large-scale seabed core drilling rig of remote control connecting and disconnecting drill rod, be the cutting edge technology of the world today.At present; domesticly do not develop homemade large-scale submarine deep-hole coring drilling rig as yet; the submarine deep-hole coring drilling rig of external development then is the above-decks equipment that has large-scale supporting complete function at external deep-sea exploration ship; it transfers that recovery is only swung and ability such as heave compensation powerful and design; thereby do not have the firm frame that can protect its inner critical component and profile irregularity can't adopt tradition to transfer recovery method, it is less and ability is low, no heave compensation function and the special-purpose reality of retracting device of transferring to adapt to present domestic deep-sea exploration ship above-decks equipment.External submarine deep-hole coring drilling rig also exists chassis intensity and deflection requirement height, complex structure and controlling unit are many, to operating procedure particularly transfer technological requirement height such as reclaim sitting end leveling, to problems such as sea-floor relief bad adaptability, under the complex work condition at deep-sea, functional reliability and environmental suitability are difficult to meet the demands.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, provide a kind of and can protect inner critical component, frame particularly insensitive, less demanding, strong, operation of the distortion that is hit on chassis and the comparatively simple submarine deep-hole coring drilling rig of control to sea-floor relief compliance to exploration lash ship supporting above-decks equipment.
Technical scheme of the present invention is: comprise frame, be mounted on three hydraulic-driven telescopic outriggers, mast frame, deep-water pressure expansion loop, rig hydraulic power system on the frame, creep into unit head, creep into the unit head propulsive mechanism, the rotary drilling rod storage rack of stepping, drilling rod grab the duplex manipulator, the drilling rod that send in the mechanism unload mechanism, control and communication system under water, it is characterized in that, described frame is birdcage shape trussed construction, its profile is quadrangle cylinder or triangle cylinder, and three telescopic outriggers are contained in the outside, bottom of quadrangle cylinder or triangle cylinder; Rotary drilling rod storage rack of described stepping and drilling rod are grabbed the duplex manipulator that send in the mechanism and are mounted on the side of mast frame by upper bracket, lower carriage, supporting plate, storage rack turning cylinder and manipulator turning cylinder, particularly directly do not contact annexation in the chassis with frame, described drilling rod is unloaded, and oild chuck group in the mechanism is fixed on the mast frame front panel, the bottom of vertical slide rail.
The top of described frame is tapered upwards shrinks, and its profile is the hexagonal cross-section that forms behind three clipped corners of an isosceles triangle cylinder bottom, but three flexible supporting legs of hydraulic-driven are installed in the space at three cut angles.
The top of described frame is tapered upwards shrinks, its profile is in four or two formed octagons of adjacent angular of a quadrangle cylinder undercut or hexagon horizontal section, article three, two in the hydraulic-driven telescopic outrigger are installed in the space at cut angle, in the other central recess that is installed on a side of quadrangle cylinder, constitute the equilateral triangle symmetric arrangement with two leveling supporting legs that are installed on the excision angle.
The described unit head propulsive mechanism that creeps into comprises the vertical slide rail of be installed on mast frame inside one fixed pulley group that advances oil cylinder and advance oil cylinder piston club head running block, mast frame upper and lower, mast frame front and slides on vertical slide rail and support and creep into creeping into the unit head balladeur train and walking around running block and fixed pulley group and creep into two wire rope of unit head balladeur train of unit head, and the displacement that wherein creeps into unit head is for roughly doubling the stroke that advances oil cylinder.
Described three hydraulic-driven telescopic outriggers are equipped with the cylinder of being with water brake at the touchdown point position of three hydraulic-driven telescopic outriggers, be carved with axially and many cuttings radially at cylinder surface.
Described three hydraulic-driven telescopic outriggers, be to drive feed screw nut's type of drive by hydraulic motor, it drives hydraulic motor and the thrust bearing of screw mandrel and the below that bearing support all is loaded on screw mandrel, and the screw mandrel upper end is in axial free state, to guarantee that screw mandrel can not be subjected to axial compression and unstability.
Described drilling rod is grabbed and is sent the manipulator of the duplex in the mechanism, its rod chamber one side that drives the hydraulic jack internal piston is equipped with the bigger disk spring of rigidity, rodless cavity one side is equipped with less common spring of rigidity or dish spring, makes the position of piston energy self-return to both sides spring pressure balance.
Advantage of the present invention is: complete machine has regular profile; the frame strength height, can protect inner critical component; particularly the distortion that is hit on chassis is insensitive, less demanding, strong to sea-floor relief compliance to exploration lash ship supporting above-decks equipment to frame, and the hydraulic oil cylinder driving wire rope times journey that is adopted feeds drilling sector, drilling rod is grabbed and sent the work of manipulator " void is held " detent mechanism and band water brake supporting leg cylinder simple and reliable.
Description of drawings
Fig. 1 is the structural representation of embodiment 1;
Fig. 2 is drilling rod storage rack, manipulator and chuck group scheme of installation;
Fig. 3 is mast frame and hydraulic oil cylinder driving wire rope times journey feed mechanism schematic diagram; Wherein A is a lateral plan; B is a front view;
Fig. 4 is a supporting leg drives structure schematic diagram;
Fig. 5 is a supporting leg roller frame schematic diagram;
Fig. 6 is a robot drives cylinder structure schematic diagram.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
Embodiment 1: with reference to accompanying drawing:
The frame 1 of the rig of present embodiment is birdcage shape trussed construction and profile is the quadrangle cylinder substantially, and the miscellaneous part of rig all is mounted on the inside of frame 1, makes it generally not to damage because of being subjected to external impact because of working in the adverse circumstances at sea.The upper rack side of the being taper of quadrangle cylinder is upwards shunk, its underpart has two adjacent angles cut, make it the actual hexagon that becomes, three but two in the flexible supporting leg of hydraulic-driven are installed in the space at two adjacent cut angles of frame lower quadrangle cylinder, but the flexible supporting leg of an other hydraulic-driven then is installed in the groove at center of a side of frame lower quadrangle cylinder, constitutes the equilateral triangle symmetric arrangement with two leveling supporting legs that are installed on the excision angle.Article three, supporting leg all is positioned within the four edges line of frame quadrangle cylinder when withdrawal (packing up) state, is subjected to the protection of frame; Three but each bar in the flexible supporting leg of hydraulic-driven has enough dynamics stretching out Shi Douying, with with rig complete machine jack-up, when rig is failed basic vertical stand-up because of transferring to acclive seabed, but can rig be adjusted to basic vertical stand-up state by the extension elongation of adjusting three hydraulic-driven telescopic outriggers respectively;
The bindiny mechanism 9 that is connected with load carrier 8 with rig umbilical cables 7 is arranged at mast frame 3 tops; Rig hydraulic power system 10, hydraulic control clack box 11, deep-water pressure expansion loop 12, control system is withstand voltage storehouse 13, power transformer case 14, underwater camera head 15 and illuminating lamp 16, directly be mounted on the frame 1 from parts such as end height gauges 17, rig umbilical cables 7 is an armouring load-bearing cable, for rig provides required support and power supply and the optical-fibre communications ability of reclaiming of transferring.
Drilling rod 18 or drilling tool 19 hangs to be connected in and creeps on the unit head 5, can creep into unit head 5 and creep into unit head propulsive mechanism 4 drive under rotation and feeding, get core to realize creeping into; The rotary drilling rod of stepping or drilling tool storage rack 6 and supporting with it a pair ofly be used to grab the duplex manipulator that send drilling rod 18 or drilling tool 19 and be mounted on a side of mast frame 3 by parts such as upper bracket 21, lower carriage 22, supporting plate 23, storage rack turning cylinder 24 and manipulator turning cylinders 25 directly is not connected with frame 1 or contacts; For the drilling depth ability that makes rig is bigger, also can on two sides about mast frame 3, all install and fix the cover rotary drilling rod of stepping (or drilling tool) storage rack 6 and the supporting with it a pair of duplex manipulator that send drilling rod 18 or drilling tool 19 that is used to grab; The bottom that is used for vertical slide rail 27 on the front panel that oild chuck group 26 that drilling rod and drilling tool unload is fixed on mast frame 3 directly is not connected with frame or contacts.
Creep into unit head propulsive mechanism 4, comprise a propelling oil cylinder 28 that is installed on mast frame 3 inside and advance oil cylinder piston club head running block 29, the vertical slide rail 27 of the fixed pulley group 30 of mast frame 3 upper and lowers and mast frame front and on vertical slide rail, slide and support creep into unit head creep into unit head balladeur train 31, and walk around running block and fixed pulley group and creep into two wire rope 32 of unit head balladeur train, advancing the motive force of oil cylinder 28 and displacement to creep into unit head 5 by two wire rope 32 and assembly pulley and driving slides up and down on vertical slide rail 27, and, make the displacement that creeps into unit head 5 just double the push-in stroke that advances oil cylinder 28 owing to adopted running block 29.
Be used to grab the duplex manipulator 20 that send drilling rod 18 or drilling tool 19, its rod chamber one side that drives hydraulic jack 37 internal pistons is equipped with the bigger disk spring of rigidity 38, rodless cavity one side is equipped with less common spring of rigidity or dish spring 39, when piston both sides all not during pressurization pressure hydraulic oil, piston is the position of self-return to both sides spring pressure balance, and the grasp that this position makes drilling rod that manipulator 20 is held or drilling tool can not level break away from manipulator 20 can freely slide up and down or rotate again.
Supporting leg adopts hydraulic motor to drive feed screw nut's type of drive, it drives hydraulic motor 33 and the thrust bearing of screw mandrel 34 and the below that bearing support 35 all is loaded on screw mandrel 34, and make the screw mandrel upper end be in axial free state, to guarantee that screw mandrel can not be subjected to axial compression and unstability.The cylinder 36 of band water brake 40 is equipped with at the touchdown point position of the leg root of supporting leg 2, cylinder 36 surfaces be carved with axially and many cuttings radially to increase frictional force to ground, when supporting leg be in stretch out or the withdrawal process in, when the supporting leg root needs relative slippage with ground, by hydraulic operation the water brake 40 of cylinder 36 is unclamped, cylinder can be in ground surface; Finish when no longer needing rollers roll when supporting leg stretches out, by hydraulic operation that the water brake 40 of cylinder 36 is locked, cylinder is promptly fixed at the ground frictionally, thereby rig is not shifted in the course of the work.
Embodiment 2:
As different from Example 1: the frame of rig is birdcage shape trussed construction and profile is a triangle cylinder, but the flexible supporting leg of three hydraulic-driven is installed on three angles of triangle cylinder bottom.
Embodiment 3:
As different from Example 2: three angles of triangle cylinder bottom are cut, make it the actual hexagonal cross-section that becomes, but the flexible supporting leg of three hydraulic-driven is installed in the space at three cut angles of frame lower triangle cylinder.Article three, supporting leg all is positioned within three sidelines of frame triangle cylinder when the withdrawal collapsed state, is subjected to the protection of frame 1 top frame.Except that the rack construction difference, all the other structures and principle and embodiment 1 are identical.
Claims (7)
1. submarine deep-hole coring drilling rig, comprise frame, be mounted on three hydraulic-driven telescopic outriggers on the frame, the mast frame, the deep-water pressure expansion loop, the rig hydraulic power system, creep into unit head, creep into the unit head propulsive mechanism, the rotary drilling rod storage rack of stepping, drilling rod is grabbed and is sent the manipulator of the duplex in the mechanism, the drilling rod mechanism that unloads, control under water and communication system, it is characterized in that, described frame is birdcage shape trussed construction, its profile is quadrangle cylinder or triangle cylinder, and three telescopic outriggers are contained in the outside, bottom of quadrangle cylinder or triangle cylinder; Rotary drilling rod storage rack of described stepping and drilling rod are grabbed the duplex manipulator that send in the mechanism and are mounted on by upper bracket, lower carriage, supporting plate, storage rack turning cylinder and manipulator turning cylinder on the side of mast frame, and described drilling rod is unloaded, and oild chuck group in the mechanism is fixed on the mast frame front panel, the bottom of vertical slide rail.
2. submarine deep-hole coring drilling rig according to claim 1, it is characterized in that, the top of described frame is tapered upwards shrinks, its profile is the hexagonal cross-section that forms behind three clipped corners of an isosceles triangle cylinder bottom, but three flexible supporting legs of hydraulic-driven are installed in the space at three cut angles.
3. submarine deep-hole coring drilling rig according to claim 1 and 2, it is characterized in that, the top of described frame is tapered upwards shrinks, its profile is in four or two formed octagons of adjacent angular of a quadrangle cylinder undercut or hexagon horizontal section, article three, two in the hydraulic-driven telescopic outrigger are installed in the space at cut angle, in the other central recess that is installed on a side of quadrangle cylinder, constitute the equilateral triangle symmetric arrangement with two leveling supporting legs that are installed on the excision angle.
4. according to claim 1 or 2 or 3 described submarine deep-hole coring drilling rigs, it is characterized in that, the described unit head propulsive mechanism that creeps into comprises the vertical slide rail of be installed on mast frame inside one fixed pulley group that advances oil cylinder and advance oil cylinder piston club head running block, mast frame upper and lower, mast frame front and slides on vertical slide rail and support and creep into creeping into the unit head balladeur train and walking around running block and fixed pulley group and creep into two wire rope of unit head balladeur train of unit head, and the displacement that wherein creeps into unit head is for roughly doubling the stroke that advances oil cylinder.
5. according to claim 1 or 2 or 3 described submarine deep-hole coring drilling rigs, it is characterized in that, described three hydraulic-driven telescopic outriggers are equipped with the cylinder of being with water brake at the touchdown point position of three hydraulic-driven telescopic outriggers, be carved with axially and many cuttings radially at cylinder surface.
6. according to claim 1 or 2 or 3 described submarine deep-hole coring drilling rigs, it is characterized in that, described three hydraulic-driven telescopic outriggers are to drive feed screw nut's type of drive by hydraulic motor, it drives hydraulic motor and the thrust bearing of screw mandrel and the below that bearing support all is loaded on screw mandrel, and the screw mandrel upper end is in axial free state.
7. according to claim 1 or 2 or 3 described submarine deep-hole coring drilling rigs, it is characterized in that, described drilling rod is grabbed and is sent the manipulator of the duplex in the mechanism, its rod chamber one side that drives the hydraulic jack internal piston is equipped with the bigger disk spring of rigidity, rodless cavity one side is equipped with less common spring of rigidity or dish spring, makes the position of piston energy self-return to both sides spring pressure balance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910302617 CN101555774A (en) | 2009-05-26 | 2009-05-26 | Seabed deep hole coring drilling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910302617 CN101555774A (en) | 2009-05-26 | 2009-05-26 | Seabed deep hole coring drilling machine |
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| Publication Number | Publication Date |
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| CN101555774A true CN101555774A (en) | 2009-10-14 |
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| CN 200910302617 Pending CN101555774A (en) | 2009-05-26 | 2009-05-26 | Seabed deep hole coring drilling machine |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101864929A (en) * | 2010-05-05 | 2010-10-20 | 宝鸡石油机械有限责任公司 | Marine underwater exploration template |
| CN102383723A (en) * | 2011-07-12 | 2012-03-21 | 中国地质大学（武汉） | Seabed type conical investigating and drilling integrated machine |
| CN103015895A (en) * | 2011-08-23 | 2013-04-03 | 包尔机械有限公司 | Underwater work assembly and method for anchoring the same |
| CN103075110A (en) * | 2013-02-26 | 2013-05-01 | 江苏省无锡探矿机械总厂有限公司 | Double rope propelling mechanism |
| CN103674606A (en) * | 2013-11-21 | 2014-03-26 | 湖南科技大学 | Battery-driven submersed vibrating drilling machine |
| CN105649563A (en) * | 2016-01-29 | 2016-06-08 | 赤峰市浩峰钻机有限责任公司 | Application of steel strand in multi-angle drilling and coring process |
| CN107420042A (en) * | 2017-09-25 | 2017-12-01 | 中国地质大学（武汉） | A kind of seabed rig automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism |
| CN107905745A (en) * | 2017-12-15 | 2018-04-13 | 湖南湘首智能科技有限公司 | A kind of underwater multiple-disc drilling tool conveying device and method |
| CN108005575A (en) * | 2018-01-23 | 2018-05-08 | 南通市华安超临界萃取有限公司 | A kind of new Type of Hydraulic drilling well apparatus |
| CN108756766A (en) * | 2018-07-30 | 2018-11-06 | 湖南科技大学 | A kind of oil cylinder times journey push type seabed drilling machine cable core tube assembly |
| CN109030072A (en) * | 2018-07-30 | 2018-12-18 | 浙江大学 | A kind of multitube vibration sampler drill based on underwater ROV |
| CN109025878A (en) * | 2018-10-19 | 2018-12-18 | 中国铁建重工集团有限公司 | A kind of core drilling rig |
| CN110145260A (en) * | 2019-06-18 | 2019-08-20 | 湖南科技大学 | A kind of multi-functional take suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator |
| CN110145263A (en) * | 2019-06-18 | 2019-08-20 | 湖南科技大学 | The multi-functional pipe mover tool hand of seabed drilling machine multidigit |
| CN111441721A (en) * | 2020-02-28 | 2020-07-24 | 青岛海洋地质研究所 | Portable deep-sea drilling machine |
| CN112360445A (en) * | 2020-10-28 | 2021-02-12 | 中交第四航务工程局有限公司 | Method for correcting drilling stratum conditions of karst area by using video monitoring |
| CN113242929A (en) * | 2018-12-20 | 2021-08-10 | 包尔机械有限公司 | Underwater drilling apparatus and method for obtaining a drilling core from the bottom of a body of water |
| CN114509294A (en) * | 2022-01-16 | 2022-05-17 | 浙江大学 | Seabed creeps into and grab bucket integration sampling system |
| CN114809950A (en) * | 2022-06-22 | 2022-07-29 | 山东尼采科技有限公司 | Deep hole drilling machine for submarine exploration |
| CN117145401A (en) * | 2023-11-01 | 2023-12-01 | 徐州徐工能源装备有限公司 | Split mast structure, assembly method thereof and drilling machine |
-
2009
- 2009-05-26 CN CN 200910302617 patent/CN101555774A/en active Pending
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101864929B (en) * | 2010-05-05 | 2012-11-21 | 宝鸡石油机械有限责任公司 | Marine underwater exploration template |
| CN101864929A (en) * | 2010-05-05 | 2010-10-20 | 宝鸡石油机械有限责任公司 | Marine underwater exploration template |
| CN102383723A (en) * | 2011-07-12 | 2012-03-21 | 中国地质大学（武汉） | Seabed type conical investigating and drilling integrated machine |
| CN102383723B (en) * | 2011-07-12 | 2013-06-19 | 中国地质大学（武汉） | Seabed type conical investigating and drilling integrated machine |
| CN103015895B (en) * | 2011-08-23 | 2016-04-20 | 包尔机械有限公司 | Underwater operation assembly and for its method of grappling |
| CN103015895A (en) * | 2011-08-23 | 2013-04-03 | 包尔机械有限公司 | Underwater work assembly and method for anchoring the same |
| CN103075110A (en) * | 2013-02-26 | 2013-05-01 | 江苏省无锡探矿机械总厂有限公司 | Double rope propelling mechanism |
| CN103674606B (en) * | 2013-11-21 | 2015-12-02 | 湖南科技大学 | A kind of battery-operated vibrodrill under water |
| CN103674606A (en) * | 2013-11-21 | 2014-03-26 | 湖南科技大学 | Battery-driven submersed vibrating drilling machine |
| CN105649563A (en) * | 2016-01-29 | 2016-06-08 | 赤峰市浩峰钻机有限责任公司 | Application of steel strand in multi-angle drilling and coring process |
| WO2017128572A1 (en) * | 2016-01-29 | 2017-08-03 | 赤峰市浩峰钻机有限责任公司 | Use of prestressed steel strand in multi-angle drilling and coring process |
| US10364628B2 (en) | 2016-01-29 | 2019-07-30 | Chifeng Hao Feng Drilling Co., Ltd. | Use of pre-stressed steel strand in the procedure of multi-angle drilling coring |
| CN107420042A (en) * | 2017-09-25 | 2017-12-01 | 中国地质大学（武汉） | A kind of seabed rig automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism |
| CN107905745A (en) * | 2017-12-15 | 2018-04-13 | 湖南湘首智能科技有限公司 | A kind of underwater multiple-disc drilling tool conveying device and method |
| CN108005575A (en) * | 2018-01-23 | 2018-05-08 | 南通市华安超临界萃取有限公司 | A kind of new Type of Hydraulic drilling well apparatus |
| CN108756766A (en) * | 2018-07-30 | 2018-11-06 | 湖南科技大学 | A kind of oil cylinder times journey push type seabed drilling machine cable core tube assembly |
| CN109030072A (en) * | 2018-07-30 | 2018-12-18 | 浙江大学 | A kind of multitube vibration sampler drill based on underwater ROV |
| WO2020024604A1 (en) * | 2018-07-30 | 2020-02-06 | 湖南科技大学 | Submarine drilling rig core-fetching cable device employing two-stroke pushing of cylinder |
| CN109030072B (en) * | 2018-07-30 | 2020-05-22 | 浙江大学 | Multi-tube vibration sampling drilling machine based on underwater ROV |
| CN109025878A (en) * | 2018-10-19 | 2018-12-18 | 中国铁建重工集团有限公司 | A kind of core drilling rig |
| CN113242929A (en) * | 2018-12-20 | 2021-08-10 | 包尔机械有限公司 | Underwater drilling apparatus and method for obtaining a drilling core from the bottom of a body of water |
| CN110145263A (en) * | 2019-06-18 | 2019-08-20 | 湖南科技大学 | The multi-functional pipe mover tool hand of seabed drilling machine multidigit |
| CN110145260A (en) * | 2019-06-18 | 2019-08-20 | 湖南科技大学 | A kind of multi-functional take suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator |
| CN110145263B (en) * | 2019-06-18 | 2020-10-30 | 湖南科技大学 | Multi-position multifunctional pipe moving manipulator for seabed drilling machine |
| CN110145260B (en) * | 2019-06-18 | 2023-12-12 | 湖南科技大学 | Multifunctional pipe taking and protecting manipulator applicable to submarine drilling machine with different pipe diameters |
| CN111441721A (en) * | 2020-02-28 | 2020-07-24 | 青岛海洋地质研究所 | Portable deep-sea drilling machine |
| CN112360445A (en) * | 2020-10-28 | 2021-02-12 | 中交第四航务工程局有限公司 | Method for correcting drilling stratum conditions of karst area by using video monitoring |
| CN114509294A (en) * | 2022-01-16 | 2022-05-17 | 浙江大学 | Seabed creeps into and grab bucket integration sampling system |
| CN114809950A (en) * | 2022-06-22 | 2022-07-29 | 山东尼采科技有限公司 | Deep hole drilling machine for submarine exploration |
| CN114809950B (en) * | 2022-06-22 | 2022-09-06 | 山东尼采科技有限公司 | Deep hole drilling machine for submarine exploration |
| CN117145401A (en) * | 2023-11-01 | 2023-12-01 | 徐州徐工能源装备有限公司 | Split mast structure, assembly method thereof and drilling machine |
| CN117145401B (en) * | 2023-11-01 | 2024-01-30 | 徐州徐工能源装备有限公司 | Split mast structure, assembly method thereof and drilling machine |
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