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### _Why are the changes needed?_
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`kyuubi-extension-spark_3.1` is conflict with the scala naming convention, e.g. `spark-core_2.12`

### _How was this patch tested?_
- [ ] Add some test cases that check the changes thoroughly including negative and positive cases if possible

- [ ] Add screenshots for manual tests if appropriate

- [ ] [Run test](https://kyuubi.readthedocs.io/en/latest/tools/testing.html#running-tests

) locally before make a pull request

Closes #882 from pan3793/rename-spark-3-1.

Closes #882

d3297409 [Cheng Pan] Rename kyuubi-extension-spark_3.1 to kyuubi-extension-spark-3-1
Authored-by: Cheng Pan <chengpan@apache.org>
Signed-off-by: Cheng Pan <chengpan@apache.org>