实验技术与管理2025，Vol.42Issue(8)：45-50,6.DOI:10.16791/j.cnki.sjg.2025.08.007
海底沉积地层钻探机器人钻头力学测试平台设计
Design of a mechanical testing platform for the drill bit of a submarine sedimentary strata drilling robot
摘要
Abstract
[Objective]Natural gas hydrates found in submarine sedimentary strata represent considerable strategic energy resources.A submarine sedimentary strata drilling robot can perform in situ mobile monitoring of critical parameters such as temperature,pressure,methane concentration,and conductivity of the hydrate storage strata,data essential for assessing hydrate viability and preventing geological disasters during extraction.These submarine drilling robots are designed with bionic earthworm locomotion and utilize self-propelled spiral drill bits to minimize resistance during forward drilling while enabling in-situ monitoring.However,drilling motion parameters,including feed rate and rotational speed,are closely linked to the soil resistance encountered by the drill.This study designs a mechanical testing platform to analyze the relationship between robot motion parameters and the drilling force and torque of the drill bit under actual working conditions,ultimately identifying optimal motion parameters for the robot.[Methods]First,a force balance model was established for soil microelements within the spiral blades,considering soil density,frictional forces,and accelerations in axial,radial,and tangential directions,respectively.Finite element simulations were conducted using ABAQUS software to evaluate strain and soil resistance at three feed speeds of 20,60,and 120 mm s-1 while maintaining a constant rotation speed of 60 rpm.Second,a specialized testing platform was designed,comprising an aluminum alloy outer frame,programmable high-precision electric push-pull screw mechanism,hydraulic motor,dynamic torque transducer,overbore slip ring,tensile force transducer,and test drive shaft connecting the tested components.These elements were integrated into an upper-computer system for data acquisition and motion control.Third,a mixture of 65％bentonite and 35％quartz sand was prepared to simulate various seabed sediment conditions,and the samples were consolidated for either three or seven days to closely replicate diverse soil conditions.Experiments were conducted under 18 different working conditions,measuring axial resistance and torque at penetration depths up to 55 cm.[Results]At the same rotational speed,increasing the drilling depth resulted in greater resistance with higher drilling speeds.By contrast,at the same drilling speed,deeper penetration led to lower resistance with increased rotational speed.As the drill bit penetrated deeper into the soil,torque increased;with higher rotational speeds,torque was greater at the same drilling speed.However,at a constant rotational speed,minimal variation in torque was observed across different feed speeds.[Conclusions]A mechanical platform was designed to explore the relationship between drill bit kinematic parameters and soil resistance,yielding vital data for optimizing the design of robotic drill bits.The experimental platform can be incorporated into innovative teaching practices for college students and has the potential for broader application,providing test verifications for students in related research fields while enhancing their innovative capabilities.关键词
海底地层/钻探/钻头阻力/测试平台Key words
submarine formation/stratum drilling/drill bit resistance/testing platform分类
能源科技引用本文复制引用
王玉红,周朋,张培豪..海底沉积地层钻探机器人钻头力学测试平台设计[J].实验技术与管理,2025,42(8):45-50,6.基金项目
广东省自然资源厅海洋经济发展专项基金(海洋六大产业)项目(粤自然资合[2024]34号) （海洋六大产业）
