Full Text:   <942>

Summary:  <216>

CLC number: 

On-line Access: 2023-10-18

Received: 2022-07-16

Revision Accepted: 2022-11-04

Crosschecked: 2023-10-19

Cited: 0

Clicked: 869

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Jia-wang CHEN

https://orcid.org/0000-0002-6351-0062

Peihao ZHANG

https://orcid.org/0000-0002-7676-7203

-   Go to

Article info.
Open peer comments

Journal of Zhejiang University SCIENCE A 2023 Vol.24 No.10 P.925-936

http://doi.org/10.1631/jzus.A2200351


Design and comparative analysis of self-propelling drill bit applied to deep-sea stratum drilling robot


Author(s):  Peihao ZHANG, Xingshuang LIN, Hao WANG, Jiawang CHEN, Zhenwei TIAN, Zixin WENG, Ziqiang REN, Peng ZHOU

Affiliation(s):  Ocean College, Zhejiang University, Zhoushan 316021, China; more

Corresponding email(s):   arwang@zju.edu.cn

Key Words:  Subsea stratum investigation, Stratum drilling robot, Self-propelling drill bit, Penetration resistance


Share this article to: More <<< Previous Article|

Peihao ZHANG, Xingshuang LIN, Hao WANG, Jiawang CHEN, Zhenwei TIAN, Zixin WENG, Ziqiang REN, Peng ZHOU. Design and comparative analysis of self-propelling drill bit applied to deep-sea stratum drilling robot[J]. Journal of Zhejiang University Science A, 2023, 24(10): 925-936.

@article{title="Design and comparative analysis of self-propelling drill bit applied to deep-sea stratum drilling robot",
author="Peihao ZHANG, Xingshuang LIN, Hao WANG, Jiawang CHEN, Zhenwei TIAN, Zixin WENG, Ziqiang REN, Peng ZHOU",
journal="Journal of Zhejiang University Science A",
volume="24",
number="10",
pages="925-936",
year="2023",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A2200351"
}

%0 Journal Article
%T Design and comparative analysis of self-propelling drill bit applied to deep-sea stratum drilling robot
%A Peihao ZHANG
%A Xingshuang LIN
%A Hao WANG
%A Jiawang CHEN
%A Zhenwei TIAN
%A Zixin WENG
%A Ziqiang REN
%A Peng ZHOU
%J Journal of Zhejiang University SCIENCE A
%V 24
%N 10
%P 925-936
%@ 1673-565X
%D 2023
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2200351

TY - JOUR
T1 - Design and comparative analysis of self-propelling drill bit applied to deep-sea stratum drilling robot
A1 - Peihao ZHANG
A1 - Xingshuang LIN
A1 - Hao WANG
A1 - Jiawang CHEN
A1 - Zhenwei TIAN
A1 - Zixin WENG
A1 - Ziqiang REN
A1 - Peng ZHOU
J0 - Journal of Zhejiang University Science A
VL - 24
IS - 10
SP - 925
EP - 936
%@ 1673-565X
Y1 - 2023
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2200351


Abstract: 
Robotic subsea stratum drilling robot is a method for new subsea stratigraphic geological investigation and resource exploration. Resistance at the front end is the main source of resistance to the robot’s motion in the strata. Since there is no continuous and strong downward drilling force as in conventional drilling rigs, robot movement relies heavily on the drill bit to reduce the drilling resistance. In this study we propose a self-propelling drill bit that can discharge soil debris to provide propulsive force and reduce the resistance. The key parameter of the drill bit design, the spiral blade lead angle, was determined by theoretical analysis of the drill bit’s soil discharging effect. To verify the structural advantages of the self-propelling drill bit in reducing resistance, a comparative analysis with a conventional conical drill bit was conducted. The drilling process of both bits was simulated using finite element simulation at various rotation speeds, the penetration force and torque data of both drill bits were obtained, and tests prepared accordingly in subsea soil were conducted. The simulations and tests verified that the penetration force of the self-propelling drill bit was lower than that of the conventional conical drill bit. The self-propelling drill bit can reduce the resistance effectively, and may play an important role in the stratum movement of drilling robots.

应用于海底地层钻探机器人的自推进钻头设计及自推进效果对比分析

作者:张培豪1,2,林型双1,2,王豪1,2,陈家旺1,2,3,田祯玮1,翁子欣1,任自强1,2,周朋1
机构:1浙江大学,海洋学院,中国舟山,316021;2浙江大学,海南浙江大学研究院,中国三亚,572025;3海洋感知技术与装备教育部工程研究中心,中国舟山,316000
目的:海底地层钻探机器人作为一种新型的海底地层地质调查手段具有广阔的应用前景。本文旨在分析并设计一种新型的自推进式螺旋钻头,以减小机器人在地层中运动时的前端阻力。
创新点:1.通过理论建模分析,推导出新型自推进螺旋钻头的螺旋升角与土壤钻屑排出运动的关系;2.建立仿真模型,成功模拟钻头在海底土壤中的钻进过程,并通过其贯入力和扭矩分析其自推进效果;3.设计试验装置,成功模拟钻头在土壤中的钻进过程,并通过其贯入力和扭矩进一步验证其自推进效果。
方法:1.通过理论推导,构建螺旋叶片升角与土壤钻屑排出运动之间的关系,得到具有设计优势的新型自推进钻头。2.通过Abaqus有限元仿真软件,采用耦合欧拉-拉格朗日方法进行钻头钻进过程的仿真分析,可视化观察钻头钻进过程对周围土壤的扰动范围(图9);对比自推进钻头与传统锥形钻头在相同转速下轴向贯入力上的差别,确定其自推进效果的优势(图10)。3.通过试验,进一步验证所设计的自推进钻头在配制的模拟海底土壤中的减阻钻进效果(图14)。
结论:1.自推进钻头钻进过程对周围土壤的影响范围小于传统锥形钻头;2.自推进钻头能够靠排出土屑提供推进力,因而有着更小的钻进阻力;3.自推进钻头的轴向推进力随着转速的增加而不断增大,所以较高转速有着更好的钻进减阻优势;4.自推进钻头的扭矩高于传统锥形钻头。

关键词:海底地层调查;钻探机器人;自推进钻头;钻进阻力

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

[1]AbeR, KawamuraY, KamijimaK, et al., 2010. Performance evaluation of contra-rotating drill for DIGBOT. Proceedings of the SICE Annual Conference, p.885-888.

[2]BeckerF, BoernerS, LichtenheldtR, et al., 2016. Enabling autonomous locomotion into sand–a mobile and modular drilling robot. Proceedings of the 47th International Symposium on Robotics, p.1-6.

[3]ChenH, 2016. Finite Element Analysis on the Operation of Submarine Move-in-Soil Robot Based on CEL Algorithm. MS Thesis, Tianjin University, Tianjin, China(in Chinese).

[4]ChenXY, FanHH, GuoBY, et al., 2014. Real-time prediction and optimization of drilling performance based on a new mechanical specific energy model. Arabian Journal for Science and Engineering, 39(11):8221-8231.

[5]DaiJC, SnyderF, GillespieD, et al., 2008. Exploration for gas hydrates in the deepwater, northern Gulf of Mexico: part I. A seismic approach based on geologic model, inversion, and rock physics principles. Marine and Petroleum Geology, 25(9):830-844.

[6]DorschDS, WinterVAG, 2014. Design of a low energy, self contained subsea burrowing robot based on localized fluidization exhibited by Atlantic razor clams. Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.

[7]IsakaK, TsumuraK, WatanabeT, et al., 2019. Development of underwater drilling robot based on earthworm locomotion. IEEE Access, 7:103127-103141.

[8]KarmakarS, KushwahaRL, 2006. Dynamic modeling of soil–tool interaction: an overview from a fluid flow perspective. Journal of Terramechanics, 43(4):411-425.

[9]KimD, 2021. Large deformation finite element analyses in TBM tunnel excavation: CEL and auto-remeshing approach. Tunnelling and Underground Space Technology, 116:104081.

[10]KubotaT, NakataniI, WatanabeK, et al., 2005. Study on mole-typed deep driller robot for subsurface exploration. Proceedings of the IEEE International Conference on Robotics and Automation, p.1297-1302.

[11]LebedevSV, 2011. Torque and axial force at the surface of a blade in a conical helical anchor. Russian Engineering Research, 31(5):424-427.

[12]LeónR, LlorenteM, Giménez-MorenoCJ, 2021. Marine gas hydrate geohazard assessment on the European continental margins. The impact of critical knowledge gaps. Applied Sciences, 11(6):2865.

[13]LinY, ZhuH, WangW, et al., 2019. Rheological behavior for laponite and bentonite suspensions in shear flow. AIP Advances, 9(12):125233.

[14]LivnehB, El NaggarM, 2008. Axial testing and numerical modeling of square shaft helical piles under compressive and tensile loading. Canadian Geotechnical Journal, 45(8):1142-1155.

[15]McConnellDR, ZhangZJ, BoswellR, 2012. Review of progress in evaluating gas hydrate drilling hazards. Marine and Petroleum Geology, 34(1):209-223.

[16]NagaokaK, KubotaT, OtsukiM, et al., 2008. Experimental study on autonomous burrowing screw robot for subsurface exploration on the Moon. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, p.4104-4109.

[17]NagaokaK, KubotaT, OtsukiM, et al., 2009. Robotic screw explorer for lunar subsurface investigation: dynamics modelling and experimental validation. Proceedings of the International Conference on Advanced Robotics, p.1-6.

[18]PessierRC, FearMJ, 1992. Quantifying common drilling problems with mechanical specific energy and a bit-specific coefficient of sliding friction. Proceedings of the SPE Annual Technical Conference and Exhibition.

[19]QiuG, HenkeS, GrabeJ, 2009. Applications of coupled Eulerian-Lagrangian method to geotechnical problems with large deformations. 2009 SIMULIA Customer Conference, p.420-435.

[20]QiuG, HenkeS, GrabeJ, 2011. Application of a coupled Eulerian‍–Lagrangian approach on geomechanical problems involving large deformations. Computers and Geotechnics, 38(1):30-39.

[21]RafeekS, GorevanSP, BartlettPW, et al., 2001. The inchworm deep drilling system for kilometer scale subsurface exploration of Europa (IDDS). Proceedings of the Forum on Innovative Approaches to Outer Planetary Exploration 2001-2020, p.68.

[22]RenYB, 2021. Study on the Mechanism of Cyclic Softening and Thixotropy Hardening of Strong Structural Deep-Sea Soft Clay. PhD Thesis, Dalian University of Technology, Dalian, China (in Chinese).

[23]SolovievV, GinsburgGD, 1994. Formation of submarine gas hydrates. Bulletin of the Geological Society of Denmark, 41:86-94.

[24]TadamiN, NagaiM, NakatakeT, et al., 2017. Curved excavation by a sub-seafloor excavation robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, p.4950-4956.

[25]TangD, ZhangW, JiangS, et al., 2015. Development of an Inchworm Boring Robot (IBR) for planetary subsurface exploration. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), p.2109-2114.

[26]TealeR, 1965. The concept of specific energy in rock drilling. International Journal of Rock Mechanics and Mining Sciences & Geomechanics Abstracts, 2(1):57-73.

[27]TianZ, ChenJ, ZhangP, et al., 2021. Design of a drilling unit for deep-sea stratum drilling robot. IOP Conference Series: Earth and Environmental Science, 861:072031.

[28]WeiC, WangHL, LiuTX, 2013. Mechanical model of hollow-external-screw drill rod for lunar soil particle vertical conveying. Proceedings of the 10th IEEE International Conference on Control and Automation, p.1240-1245.

[29]WinterAG, DeitsRLH, DorschDS, et al., 2014. Razor clam to RoboClam: burrowing drag reduction mechanisms and their robotic adaptation. Bioinspiration & Biomimetics, 9(3):036009.

[30]ZhangJ, KushwahaRL, 1995. A modified model to predict soil cutting resistance. Soil and Tillage Research, 34(3):157-168.

[31]ZhangTQ, TaylorRN, ZhengG, et al., 2018. Modelling ground movements near a pressurised tunnel heading in drained granular soil. Computers and Geotechnics, 104:152-166.

[32]ZhangWW, JiangSY, TangDW, et al., 2017. Drilling load model of an inchworm boring robot for lunar subsurface exploration. International Journal of Aerospace Engineering, 2017:1282791.

[33]ZhengXY, ZhaoWM, SuJZ, 2013. Unconventional excavation study of the spiral drill pipe. Mechanical Research & Application, 26(2):61-63 (in Chinese).

[34]ZhuCQ, ZhangMS, LiuXL, et al., 2017. Gas hydrates: production, geohazards and monitoring. Journal of Catastrophology, 32(3):51-56 (in Chinese).

Open peer comments: Debate/Discuss/Question/Opinion

<1>

Please provide your name, email address and a comment





Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - 2024 Journal of Zhejiang University-SCIENCE