A Rotary Underwater Sensor Automatic Replacement Device

Abstract

The present invention discloses a rotary underwater sensor automatic replacement device, which includes a sealed cabin body, a sensor, a rotary braking device, a signal and control main board, a rotating connection structure and a cam; the cam is fixedly installed on the rotating connection structure, and a convex pushing part is arranged on the cam. The body of the rotary braking device is fixed in the sealed cabin body and its output shaft is connected with the rotating connection structure. The rotating connection structure and the cam rotate relative to the sealed cabin body. A plurality of sensor cavities that penetrate inside and outside are opened on the wall of the sealed cabin body, and the sensor cavities are arranged in an equally spaced annular pattern. The sensor is hermetically inserted into the sensor cavity. As the cam rotates, the convex pushing part cooperates with the sensor pushing part at the bottom of one of the sensors, and the front detection part of the sensor is pushed out of the sensor cavity. Both the sensor and the rotary braking device are connected to the signal and control main board. It enables the sensor to be automatically replaced, eliminating the need for regular maintenance of the sensor and thus ensuring the accuracy of the sensor.

Description

Technical Field:

[0001] The present invention belongs to the technical field of underwater equipment, and particularly relates to a rotary underwater sensor automatic replacement device. Background Art:

[0002] Underwater sensors are widely used in the fields of ocean, aquaculture, water supply, sewage, etc., and can provide users with water quality parameters, temperature, pressure and other information. For underwater sensors in the prior art, regular maintenance is required during underwater application to maintain their measurement accuracy. At the same time, biological attachment is serious in the natural water environment, which seriously affects the performance of the sensors. And the maintenance of the sensors and the cleaning of biological attachment require a large amount of manpower, material resources and financial resources, especially in the case of large-scale installation of sensors. Moreover, for sensors deployed in the open sea, maintenance or cleaning will be affected by bad weather.

[0003] Currently, the maintenance-free technology of underwater sensors mainly focuses on the research of improving the stability of sensors. By methods such as improving sensing technology, the maintenance cycle of underwater sensors is extended. However, the R & D cost of such methods is high, and for some detection parameters, the technical development is difficult and the cycle is long. Currently, the anti-attachment technologies of underwater sensors mainly include the use of anti-attachment coatings and materials, as well as disinfection technology, ultraviolet light technology, etc. In addition, direct physical wiping with a brush is also a relatively common method. These technologies not only have many application limitations, but also cannot achieve good anti-attachment effects. First, anti-attachment coating materials often bring certain toxicity, affecting the marine ecosystem, and ion release will also affect the measurement accuracy. Second, the processing of the sensor probe is difficult to be compatible with the anti-attachment coating or material, and the anti-attachment effect is greatly limited. Third, disinfection and ultraviolet light technologies also have problems of affecting the measurement accuracy of the sensors. Fourth, the physical wiping method may damage the sensor probe. The present invention provides a rotary underwater sensor automatic replacement device, which can carry multiple underwater sensors and can automatically update and replace the sensors underwater when the sensor performance deteriorates, without manual participation, eliminating the regular maintenance of the sensors and at the same time overcoming the influence of biological attachment. Summary of the Invention:

[0004] The object of the present invention is to provide a rotary underwater sensor automatic replacement device, which solves the problems that the existing underwater sensors need regular maintenance and are easily affected by biological attachment.

[0005] A rotary underwater sensor automatic replacement device of the present invention includes a sealed cabin body, a sensor, a rotary braking device, a signal and control main board, a rotating connection structure and a cam; the rotary braking device, the signal and control main board, the rotating connection structure and the cam are all arranged in the sealed cabin body. The cam is coaxially arranged with the sealed cabin body and fixedly installed on the rotating connection structure. There is a convex pushing part on the cam. The body of the rotary braking device is fixed in the sealed cabin body. The output shaft of the rotary braking device is connected to the rotating connection structure. The rotating connection structure is connected to the cam. The rotating connection structure and the cam rotate relative to the sealed cabin body. A plurality of sensor cavities that penetrate inside and outside are opened on the wall of the sealed cabin body. The sensor cavities are arranged in an equally spaced circular arrangement. The sensors corresponding to the sensor cavities are hermetically inserted into the sensor cavities. As the cam rotates, the convex pushing part cooperates with the sensor pushing part at the bottom of one of the sensors, and the front detection part of the sensor is pushed out of the sensor cavity. Both the sensor and the rotary braking device are connected to the signal and control main board.

[0006] Specifically, the body of the rotary braking device is fixed on a fixed flange. The fixed flange is coaxially arranged with the sealed cabin body. The fixed flange is fixed in the sealed cabin body to divide the inner cavity of the sealed cabin body into upper and lower parts. An installation hole is opened in the middle of the fixed flange. The rotating connection structure is inserted into the installation hole and rotatably connected to the fixed flange. The cam is fixedly installed on the upper surface of the rotating connection structure. The output shaft of the rotary braking device is fixed below the rotating connection structure. The output shaft of the rotary braking device is connected to the cam through the rotating connection structure.

[0007] The connection structure includes a first rotating connection structure and a second rotating connection structure. An installation hole is opened in the middle of the fixed flange. The second rotating connection structure is inserted into the installation hole and rotatably connected to the fixed flange. The cam is fixedly installed on the upper surface of the second rotating connection structure. The first rotating connection structure is fixedly installed on the lower surface of the second rotating connection structure. The output shaft of the rotating motor is fixed on the first rotating connection structure.

[0008] As an implementation method, the sealed cabin body includes a sealed cabin upper cover, a first sealed cabin outer shell, a fixed flange, a second sealed cabin outer shell and a sealed cabin bottom cover. The sealed cabin bottom cover, the second sealed cabin outer shell, the fixed flange, the first sealed cabin outer shell and the sealed cabin upper cover are coaxially fixedly installed from bottom to top in sequence to form the sealed cabin body. A plurality of sensor cavities that penetrate inside and outside are opened at equal intervals around the inner wall of the first sealed cabin outer shell. The sensors are inserted into the sensor cavities. The cam is placed on the circular surface surrounded by the sensor cavities. The convex pushing part is fixed on the circumference of the cam and corresponds to the sensor pushing part.

[0009] As another implementation, the sealed cabin body includes a sealed cabin upper cover, a first sealed cabin outer shell, a fixed flange, a second sealed cabin outer shell, and a sealed cabin bottom cover. The sealed cabin bottom cover, the second sealed cabin outer shell, the fixed flange, the first sealed cabin outer shell, and the sealed cabin upper cover are coaxially and fixedly installed from bottom to top in sequence to form the sealed cabin body. A plurality of internally and externally penetrating sensor cavities are annularly and equidistantly formed on the sealed cabin upper cover. Sensors are inserted into the sensor cavities. A cam is placed below the circular surface surrounded by the sensor cavities. A convex pushing part is fixed on the upper surface of the cam and is directly below the circle where the sensors are located, corresponding to the sensor pushing part.

[0010] The sensor involved in the present invention includes a sensor base, a sealing ring, a sensor sensitive probe, and a sensor pushing part. A receiving cavity is provided at the front end of the sensor base. The sensor sensitive probe is fixed in the receiving cavity. A sealing ring groove is formed on the side wall of the sensor base. The sealing ring is embedded in the sealing ring groove. A sensor pushing part is arranged at the bottom of the sensor. The sensor pushing part corresponds to the convex pushing part on the cam. The convex pushing part pushes the sensor pushing part, and the sensor sensitive probe moves out of the sensor cavity. The sealing ring placed behind the sensor sensitive probe abuts against the inner wall of the sensor cavity. The sensor sensitive probe is connected to the signal and control main board, and the signal and control main board controls the opening and closing of any sensor.

[0011] Further, the sealing ring includes a front sealing ring and a rear sealing ring. Front sealing ring grooves and rear sealing ring grooves are respectively formed on the sensor base on the front and rear sides of the sensor sensitive probe. The front sealing ring and the rear sealing ring are respectively embedded in the front sealing ring groove and the rear sealing ring groove. When the sensor sensitive probe is in the sensor cavity, both the front sealing ring and the rear sealing ring abut against the inner wall of the sensor cavity. When the sensor sensitive probe is pushed out of the sensor cavity, the front sealing ring exposes the sensor cavity, and the rear sealing ring abuts against the inner wall of the sensor cavity.

[0012] As one implementation, the cam pushing part is an arc-shaped convex. The sensor pushing part includes a roller and a roller shaft. A groove is formed at the rear end of the sensor base. Fixing plates are formed on both sides of the groove. The roller is embedded in the groove and is fixed on the fixing plates on both sides through the roller shaft. The edge of the cam is inserted into the groove to fix the sensor on the cam. As the cam rotates, the convex pushing part on the cam pushes the roller, and then the front end of the sensor is pushed out of the sensor cavity.

[0013] Further, the sensor further includes a conductive interface and a wire through hole. A wire through hole is formed on the fixing plate. One end of the wire is connected to the conductive interface at the bottom of the sensor sensitive probe, and the other end of the wire sequentially passes through the wire through hole and the through hole on the fixed flange and is connected to the signal and control main board.

[0014] Further, the sensor further includes a rear end convex. A rear end convex extends outward from the free end of the fixing plate to prevent the sensor from detaching from the front end of the sensor cavity.

[0015] As another implementation manner, the sensor pushing part is an arc-shaped protrusion. The cam pushing part includes a roller and a roller shaft. A groove is formed in the middle of the cam pushing part, and fixing plates are formed on both sides of the groove. The roller is embedded in the groove and fixed on the fixing plates on both sides through the roller shaft. The roller can rotate around the roller shaft.

[0016] As still another implementation manner, the sensor pushing part is a smooth arc-shaped protrusion, and the cam pushing part is also a smooth arc-shaped protrusion.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) When the performance of the sensor deteriorates, reaches the service life, or the biological attachment performance decreases, it is automatically replaced to ensure the measurement accuracy and precision of the sensor, and regular manual maintenance and cleaning of the sensor are eliminated;

[0019] (2) The structure is simple and the practicability is strong, realizing long-term in-situ monitoring of underwater sensors in the natural water environment;

[0020] (3) It has strong compatibility with the sensor and is applicable to all underwater sensors;

[0021] (4) The replacement of the sensor will not damage the sensor probe, will not affect the measurement accuracy of the sensor, there is no ecological pollution problem, and the scrapped sensor is still fixed on the device and can be recycled. Description of the drawings:

[0022] Figure 1 It is a schematic structural diagram of the rotary underwater sensor automatic replacement device related to Embodiment 1.

[0023] Figure 2 It is Figure 1 AA sectional view of

[0024] Figure 3 It is a schematic internal structure diagram of the sealed cabin.

[0025] Figure 4 It is Figure 3 top view of

[0026] Figure 5 It is a schematic structural diagram of the sensor related to Embodiment 1.

[0027] Figure 6 It is a schematic diagram of the working state of the sensor related to Embodiment 1.

[0028] Figure 7 It is a structural diagram of the fixed flange related to Embodiment 1.

[0029] Figure 8 It is a structural diagram of the protrusion related to Embodiment 1.

[0030] Figure 9 It is a schematic structural diagram of the standby state of the rotary underwater sensor automatic replacement device involved in Embodiment 2.

[0031] Figure 10 It is a schematic internal partial structural diagram of the standby state of the rotary underwater sensor automatic replacement device involved in Embodiment 2.

[0032] Figure 11 It is a schematic structural diagram of the working state of the rotary underwater sensor automatic replacement device involved in Embodiment 2.

[0033] Figure 12 It is a schematic internal partial structural diagram of the working state of the rotary underwater sensor automatic replacement device involved in Embodiment 2. Specific implementation manner:

[0034] The present invention will be further described below through embodiments in conjunction with the accompanying drawings.

[0035] Embodiment 1

[0036] Such as Figures 1-4As shown in the figure, a rotary underwater sensor automatic replacement device involved in this embodiment includes a sealed cabin body, a sensor 6, a rotary motor 7, a signal and control main board (not shown in the figure), a first rotating connection structure 12, a second rotating connection structure 13, and a cam 14; the sensor 6, the rotary motor 7, the signal and control main board, the first rotating connection structure 12, the second rotating connection structure 13, and the cam 14 are placed inside the sealed cabin body. The cam 14 and the fixed flange 3 are both coaxially arranged with the sealed cabin body. The fixed flange 3 is fixed inside the sealed cabin body to divide the inner cavity of the sealed cabin body into upper and lower parts. An installation hole is opened in the middle of the fixed flange 3. The second rotating connection structure 13 is inserted into the installation hole and rotatably connected to the fixed flange 3. The cam 14 is fixedly installed on the upper surface of the second rotating connection structure 13. A convex pushing part 15 is provided on the cam 14. The first rotating connection structure 12 is fixedly installed on the lower surface of the second rotating connection structure 13. The output shaft of the rotary motor 7 is fixed on the first rotating connection structure 12. The body of the rotary motor 7 is fixed on the fixed flange. The output shaft of the rotary motor 7 drives the first rotating connection structure 12, the second rotating connection structure 13, and the cam 14 to rotate in sequence. A plurality of sensor cavities penetrating inside and outside are opened on the wall of the sealed cabin body. The sensor cavities are arranged in an equally spaced annular pattern. The sensors corresponding to the sensor cavities are hermetically inserted into the sensor cavities (standby positions). As the cam 14 rotates, the convex pushing part 15 on the cam 14 cooperates with the sensor pushing part at the bottom of the sensor, and the front detection part of the sensor is pushed out of the sensor cavity (working position). All the sensors and the rotary motor 17 are connected to the signal and control main board, and their operations are controlled by the signal and control main board. When the performance of the working sensor is abnormal or the working sensor reaches the service life, the signal and control main board controls the rotary motor 17 to work, and then drives the first rotating connection structure 12, the second rotating connection structure 13, and the cam 14 to rotate in sequence. The convex pushing part 15 on the cam 14 pushes the sensor next to the working sensor from the standby position into the working position, and the signal and control main board closes the previous sensor and turns on the next sensor.

[0037] The sealed cabin body involved in this embodiment includes a sealed cabin upper cover 1, a first sealed cabin outer shell 2, a fixed flange 3, a second sealed cabin outer shell 4, and a sealed cabin bottom cover 5. The sealed cabin bottom cover 5, the second sealed cabin outer shell 4, the fixed flange 3, the first sealed cabin outer shell 2, and the sealed cabin upper cover 1 are coaxially fixedly installed from bottom to top in sequence to form the sealed cabin body. A plurality of sensor cavities penetrating inside and outside are equally spacedly opened on the circular inner wall of the first sealed cabin outer shell 2. The sensors are inserted into the sensor cavities. The cam 14 is placed on the circular surface surrounded by the sensor cavities. The convex pushing part 15 is fixed on the circumference of the cam 14 and corresponds to the sensor pushing part.

[0038] Preferably, both the fixed flange 3 and the cam 1 are disc-shaped, and a plurality of through holes are opened in the fixed flange 3 and the cam 1, which not only reduces the weight of the device but also facilitates the wires to pass through from the upper cavity of the fixed flange to the lower cavity of the fixed flange.

[0039] As shown Figure 5 in the figure, the sensor involved in this embodiment includes a sensor base, a sealing ring, a sensor sensitive probe 603, and a sensor pushing part. A receiving cavity is provided at the front end of the sensor base. The sensor sensitive probe 603 is fixed in the receiving cavity. A sealing ring groove is formed on the side wall of the sensor base, and the sealing ring is embedded in the sealing ring groove. The sensor pushing part is arranged at the bottom of the sensor. The sensor pushing part corresponds to a convex pushing part 15 on the cam 14. The convex pushing part 15 pushes the sensor pushing part, and the sensor sensitive probe 603 moves out of the sensor cavity. The sealing ring placed behind the sensor sensitive probe 603 abuts against the inner wall of the sensor cavity to ensure water tightness. The sensor sensitive probe 603 is connected to the signal and control main board through a wire. The signal and control main board controls the opening and closing of any sensor. When the sensor works, the detection signal of the sensor is sent to the signal and control main board.

[0040] Preferably, the sealing ring includes a front sealing ring 601 and a rear sealing ring 602. Front sealing ring grooves and rear sealing ring grooves are respectively formed on the sensor base on the front and rear sides of the sensor sensitive probe 603. The front sealing ring 601 and the rear sealing ring 602 are respectively embedded in the front sealing ring groove and the rear sealing ring groove. When the sensor sensitive probe 603 is in the sensor cavity, both the front sealing ring 601 and the rear sealing ring 602 abut against the inner wall of the sensor cavity. When the sensor sensitive probe 603 is pushed out of the sensor cavity, the front sealing ring exposes the sensor cavity, and the rear sealing ring 602 abuts against the inner wall of the sensor cavity.

[0041] As an implementation manner, the cam pushing part is an arc-shaped convex. The sensor pushing part includes a roller 604 and a roller shaft 605. A groove is formed at the rear end of the sensor base. Fixing plates 610 are formed on both sides of the groove. The roller 604 is embedded in the groove and fixed on the fixing plates 610 on both sides through the roller shaft 605. As the cam 14 rotates, the convex pushing part 15 on the cam 14 pushes the roller 604, and then the front end of the sensor is pushed out of the sensor cavity.

[0042] The sensor further includes a conductive interface 607 and a wire through hole 608. The wire through hole 608 is formed on the fixing plate 610. One end of the wire is connected to the conductive interface 607 at the bottom of the sensor sensitive probe, and the other end of the wire passes through the wire through hole 608 and the through hole on the fixing flange in sequence and is connected to the signal and control main board.

[0043] Furthermore, the sensor further includes a rear end convex 609. The rear end convex 609 extends outward from the free end of the fixing plate 610 to prevent the sensor from detaching from the device and falling into the water.

[0044] Specifically, the interval between adjacent sensors is designed according to actual needs to meet the requirement for the number of sensors. The number of sensors is related to the interval between sensors and the size of the circle formed by the sensor cavity. If the number of sensors is N, the included angle between adjacent sensors is 360° / (N + 1). As Figure 4 shown, along the rotation direction of the cam (taking counterclockwise as an example), starting from the position close to the convex pushing part 15, the sensors are respectively named the first sensor (6 - 1), the second sensor (6 - 2),..., the Nth sensor (6 - N). When on standby, the front surface 606 of the first sensor is flush with the edge of the front end of the sensor cavity, and the cam convex is between the first sensor and the Nth sensor. When the cam rotates 360° / (N + 1), the cam convex contacts the roller of the first sensor, pushing the first sensor forward. The front sealing ring leaves the sensor cavity, while the rear sealing ring still remains in the sensor cavity to prevent water from entering the sealed cavity. The sensitive probe of the first sensor will contact the water body to be measured, and the signal will activate the first sensor with the control main board. The first sensor becomes the working sensor to measure the water body, and the remaining sensors are standby sensors. When the first sensor reaches the end of its service life or its performance deteriorates, the signal and the control main board will control the rotation motor to continue rotating 360° / (N + 1). The cam convex contacts the roller of the second sensor, and the sensitive probe of the second sensor is pushed out of the sensor cavity. The signal and the control main board turn off the first sensor and turn on the second sensor. The second sensor becomes the new working sensor. At this time, the first sensor continues to stay in its original position, that is, the upper edge of the sensor protrudes from the housing, the front sealing ring leaves the hole of the sensor cavity, and the rear sealing ring still remains in the hole of the sensor cavity to prevent water from entering the sealed cavity. And so on. When the last sensor's life ends, the overall life of this device also ends.

[0045] Specifically, the rotation motor 7 is fixed on the motor fixing plate 8, and the motor fixing plate 8 is fixed on the fixed flange 3 through the motor bracket 9.

[0046] The second rotational connection structure 13 involved in this embodiment is inserted into the installation hole and rotationally connected to the fixed flange 3. Specifically: an installation hole is opened in the middle of the disc-shaped fixed flange 3, a bearing installation groove is opened in the installation hole, and the bearing 11 is fixed in the bearing installation groove through the bearing cover 10. The second rotational connection structure 13 is inserted into the installation hole and rotationally connected to the fixed flange 3 through the bearing 11.

[0047] The cam 14 involved in this embodiment is fixedly installed on the upper surface of the second rotational connection structure 13. Specifically: the lower surface of the cam 14 is closely attached to the upper surface of the second rotational connection structure 13, and the cam 14 is fixed on the upper surface of the second rotational connection structure 13 through screws.

[0048] Embodiment 2

[0049] This embodiment is the same as Embodiment 1 except for the following parts.

[0050] The sealed cabin body includes a sealed cabin upper cover 1, a first sealed cabin outer shell 2, a fixed flange 3, a second sealed cabin outer shell 4, and a sealed cabin bottom cover 5. The sealed cabin bottom cover 5, the second sealed cabin outer shell 4, the fixed flange 3, the first sealed cabin outer shell 2, and the sealed cabin upper cover 1 are coaxially and fixedly installed from bottom to top in sequence to form the sealed cabin body. A number of through holes for sensors are annularly and equally spaced on the sealed cabin upper cover 1. The sensors are inserted into the sensor cavities. The cam 14 is placed at the lower part of the circular surface surrounded by the sensor cavities. The convex pushing part 15 is fixed on the upper surface of the cam 14 and is directly below the circle where the sensors are located, corresponding to the sensor pushing part.

[0051] Embodiment 3

[0052] This embodiment is the same as Embodiment 1 except for the following parts.

[0053] The sensor pushing part is a curved convex. The cam pushing part includes a roller and a roller shaft. A groove is opened in the middle of the cam pushing part. Fixing plates are formed on both sides of the groove. The roller is embedded in the groove and fixed on the fixing plates on both sides through the roller shaft. The roller can rotate around the roller shaft.

[0054] Embodiment 4

[0055] This embodiment is the same as Embodiment 1 except for the following parts.

[0056] The sensor pushing part is a smooth curved convex, and the cam pushing part is also a smooth curved convex. When the sensor pushing part contacts the cam pushing part, sliding friction can be generated.

Claims

1. A rotary underwater sensor automatic replacement device, characterized in that, It includes a sealed cabin, sensors, a rotary braking device, a signal and control main board, a rotating connection structure, and a cam; the rotary braking device, the signal and control main board, the rotating connection structure, and the cam are all placed inside the sealed cabin. The cam is coaxially arranged with the sealed cabin, and the cam is fixedly installed on the rotating connection structure. There is a convex pushing part on the cam. The body of the rotary braking device is fixed inside the sealed cabin. The output shaft of the rotary braking device is connected to the rotating connection structure. The rotating connection structure is connected to the cam, and the rotating connection structure and the cam rotate relative to the sealed cabin. A number of sensor cavities that penetrate both inside and outside are opened on the wall of the sealed cabin. The sensor cavities are arranged in an equally spaced circular pattern. The sensors corresponding to the sensor cavities are hermetically inserted into the sensor cavities. As the cam rotates, the convex pushing part cooperates with the sensor pushing part at the bottom of one of the sensors, and the detection part at the front end of the sensor is pushed out of the sensor cavity. Both the sensors and the rotary braking device are connected to the signal and control main board; The sensor includes a sensor base, a sealing ring, a sensor sensitive probe, and a sensor pushing part. There is a receiving cavity at the front end of the sensor base. The sensor sensitive probe is fixed in the receiving cavity. A sealing ring groove is opened on the side wall of the sensor base, and the sealing ring is embedded in the sealing ring groove. The sensor pushing part is arranged at the bottom of the sensor. The sensor pushing part corresponds to the convex pushing part on the cam. The convex pushing part pushes the sensor pushing part, and the sensor sensitive probe moves out of the sensor cavity. The sealing ring placed behind the sensor sensitive probe abuts against the inner wall of the sensor cavity. The sensor sensitive probe is connected to the signal and control main board, and the signal and control main board controls the opening and closing of any sensor.

2. The automatic replacement device for a rotary underwater sensor according to claim 1, characterized in that, The body of the rotary braking device is fixed on a fixed flange. The fixed flange is coaxially arranged with the sealed cabin. The fixed flange is fixed inside the sealed cabin to divide the inner cavity of the sealed cabin into upper and lower parts. An installation hole is opened in the middle of the fixed flange. The rotating connection structure is inserted into the installation hole and rotatably connected to the fixed flange. The cam is fixedly installed on the upper surface of the rotating connection structure. The output shaft of the rotary braking device is fixed below the rotating connection structure. The output shaft of the rotary braking device is connected to the cam through the rotating connection structure.

3. The automatic replacement device for a rotary underwater sensor according to claim 2, characterized in that, The sealed cabin includes a sealed cabin upper cover, a first sealed cabin outer shell, a fixed flange, a second sealed cabin outer shell, and a sealed cabin bottom cover. The sealed cabin bottom cover, the second sealed cabin outer shell, the fixed flange, the first sealed cabin outer shell, and the sealed cabin upper cover are coaxially fixedly installed in sequence from bottom to top to form the sealed cabin. A number of sensor cavities that penetrate both inside and outside are opened at equal intervals along the circular inner wall of the first sealed cabin outer shell. The sensors are inserted into the sensor cavities. The cam is placed on the circular surface surrounded by the sensor cavities. The convex pushing part is fixed on the circumference of the cam and corresponds to the sensor pushing part.

4. The automatic replacement device for the rotary underwater sensor according to claim 2, characterized in that The sealed cabin body includes a sealed cabin upper cover, a first sealed cabin outer shell, a fixed flange, a second sealed cabin outer shell, and a sealed cabin bottom cover. The sealed cabin bottom cover, the second sealed cabin outer shell, the fixed flange, the first sealed cabin outer shell, and the sealed cabin upper cover are coaxially fixedly installed from bottom to top in sequence to form the sealed cabin body. A number of through holes for sensors that penetrate both inside and outside are annularly and equally spaced on the sealed cabin upper cover. The sensors are inserted into the sensor cavities. The cam is placed at the lower part of the circular surface surrounded by the sensor cavities. The convex pushing part is fixed on the upper surface of the cam and is directly below the circle where the sensors are located, corresponding to the sensor pushing part.

5. The automatic replacement device of a rotary underwater sensor according to claim 2, characterized in that, The sealing ring includes a front sealing ring and a rear sealing ring. Front sealing ring grooves and rear sealing ring grooves are respectively opened on the sensor bases on both the front and rear sides of the sensor sensitive probe. The front sealing ring and the rear sealing ring are respectively embedded into the front sealing ring groove and the rear sealing ring groove. When the sensor sensitive probe is inside the sensor cavity, both the front sealing ring and the rear sealing ring abut against the inner wall of the sensor cavity. When the sensor sensitive probe is pushed out of the sensor cavity, the front sealing ring exposes the sensor cavity, and the rear sealing ring abuts against the inner wall of the sensor cavity.

6. The automatic replacement device for a rotary underwater sensor according to claim 2, characterized in that, The cam pushing part is an arc-shaped convex. The sensor pushing part includes a roller and a roller shaft. A groove is opened at the rear end of the sensor base. Fixing plates are formed on both sides of the groove. The roller is embedded in the groove and is fixed on the fixing plates on both sides through the roller shaft. The edge of the cam is inserted into the groove to fix the sensor on the cam. As the cam rotates, the convex pushing part on the cam pushes the roller, and then the front end of the sensor is pushed out of the sensor cavity.

7. The automatic replacement device for a rotary underwater sensor according to claim 2, characterized in that The sensor also includes a conductive interface and a wire through hole. The wire through hole is opened on the fixing plate. One end of the wire is connected to the conductive interface at the bottom of the sensor sensitive probe, and the other end of the wire sequentially passes through the wire through hole and the through hole on the fixed flange and is connected to the signal and control main board; The sensor also includes a rear end convex, and the rear end convex extends outward at the free end of the fixing plate.

8. The automatic replacement device for a rotary underwater sensor according to claim 2, characterized in that, The sensor pushing part is an arc-shaped convex. The cam pushing part includes a roller and a roller shaft. A groove is opened in the middle of the cam pushing part. Fixing plates are formed on both sides of the groove. The roller is embedded in the groove and is fixed on the fixing plates on both sides through the roller shaft. The roller can rotate around the roller shaft.

9. The automatic replacement device for the rotary underwater sensor according to claim 2, characterized in that, The sensor pushing part is a smooth arc-shaped convex, and the cam pushing part is also a smooth arc-shaped convex.

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