A deep-sea mobile operating device with replaceable tool kit and a replacement method thereof

Abstract

The present invention discloses a deep-sea mobile operation device with a replaceable tool kit and a replacement method thereof. The device comprises a tool kit module, a mobile control module and a locking mechanism. The tool kit module comprises at least two independently arranged tool kits; the tool kit is provided with a sampling device, and the tool kit performs underwater sampling through the sampling device; the mobile control module forms a detachable connection with the tool kit through a locking mechanism; the mobile control module comprises a driving device, and the mobile control module provides a driving force through the driving device, which can drive the tool kit to perform precise displacement underwater. The method is carried out using the above device. By locking the mobile control module with different tool kits, the tool kit can be replaced, which saves the resource cost of the operation and improves the operation efficiency. Further, the mobile control module is provided with a driving device, which can perform precise mobile positioning, realize autonomous operation, and improve the underwater operation efficiency and operation quality.

Description

Technical Field

[0001] The present invention relates to the field of deep-sea operation equipment, and in particular to a deep-sea mobile operation device with a replaceable tool kit and a replacement method thereof. Background Art

[0002] There are many kinds of deep-sea operation equipment, including exploration-type equipment, such as towed electrical detectors, and sample collection equipment, such as microbial samplers and box samplers. Most of these devices rely purely on towing force to move underwater, and have no active power to accurately move positions or conduct precise positioning sampling, which makes the sampling quality and efficiency less than ideal. The sampling devices of deep-sea operation equipment are mostly gravity-triggered mechanisms, which have low triggering accuracy and are prone to false triggering. In addition, most of the existing deep-sea operation equipment is only equipped with one sampling device, which has a relatively single functionality. Multiple sets of deep-sea operation equipment need to be configured to meet different sampling needs, which increases the resource cost of the operation. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a deep-sea mobile operating device with a replaceable tool kit and a method for replacing the tool kit.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: a deep-sea mobile working device with a replaceable tool kit, comprising a tool kit module, a mobile control module and a locking mechanism, wherein the tool kit module comprises at least two independently arranged tool kits; the tool kit is provided with a sampling device, and the tool kit performs underwater sampling through the sampling device; the mobile control module forms a detachable connection with the tool kit through the locking mechanism; the mobile control module comprises a driving device, and the mobile control module provides driving force through the driving device, which can drive the tool kit to perform precise displacement underwater.

[0005] As a further improvement of the above solution:

[0006] The sampling device is a multi-tube sampler, a gravity column sampler, a box sampler or an underwater drilling rig.

[0007] The tool kit comprises a lifting device, which is fixedly connected to the sampling device and is used to control the lifting displacement of the sampling device.

[0008] The locking mechanism includes a guide sleeve, a guide rod and a latch; the guide sleeve is vertically fixedly connected to the bottom of the mobile control module, the guide rod is vertically fixedly connected to the top of the tool kit, the end of the guide rod is provided with a locking groove, the latch laterally penetrates into the guide sleeve and can reciprocate and retract; the guide rod can be sleeved with the guide sleeve, and the latch extends forward and locks into the locking groove, so that the guide sleeve and the guide rod form a locking connection.

[0009] The locking mechanism also includes a hydraulic cylinder, which is laterally fixedly connected to the bottom of the mobile control module; the telescopic rod of the hydraulic cylinder is connected to the tongue to provide driving force for the extension and retraction of the tongue.

[0010] The tail of the latch tongue is provided with an active cavity, the front end of the telescopic rod is provided with a clamping platform, the telescopic rod is sleeved with the latch tongue, and the clamping platform is clamped in the active cavity.

[0011] The length of the movable cavity is greater than that of the clamping platform, the clamping tongue is slidably connected to the telescopic rod, a return spring is provided between the clamping tongue and the hydraulic cylinder, and when the telescopic rod is fully extended, the clamping tongue penetrates into the guide sleeve through the elastic force provided by the return spring.

[0012] The guide sleeve is provided with an opening for the insertion of the latch tongue; the end of the guide rod is a frustum of a cone, the locking groove is an annular groove, the frustum of a cone is located above the locking groove, and a guide slope is provided at the front end of the latch tongue. When the guide rod is introduced into the guide sleeve, the guide slope slides in contact with the outside of the frustum of a cone until the latch tongue is inserted into the locking groove.

[0013] The driving device includes a horizontal moving thruster and a vertical lifting thruster; the horizontal moving thruster is used to control the horizontal displacement of the mobile control module in the water, and there are four horizontal moving thrusters, which are located in the same horizontal plane and are distributed in a 90° rotational symmetric manner, and the propulsion direction is the horizontal direction; the vertical lifting thruster is used to control the lifting displacement of the mobile control module in the water, and there are two vertical lifting thrusters, which are located in the same horizontal plane, and the propulsion direction is the vertical direction.

[0014] A method for replacing a tool kit of a deep-sea mobile operating device is performed using the deep-sea mobile operating device with replaceable tool kits, and specifically comprises the following steps:

[0015] S1: Guide installation: Select the tool kit, lift the mobile control module through the lifting device and move it above the tool kit, so that the guide sleeve is aligned with the guide rod;

[0016] S2: Locking: Start the hydraulic cylinder of the locking mechanism to make the telescopic rod fully extended, and control the motion control module to move downward until the locking is completed;

[0017] S3: Unlock: Start the hydraulic cylinder of the locking mechanism to fully retract the hydraulic cylinder;

[0018] S4: Guided separation: lift the mobile control module until the mobile control module is separated from the tool kit, and repeat step S1 until the tool kit is replaced.

[0019] Compared with the prior art, the advantages of the present invention are:

[0020] The deep-sea mobile operation device of the present invention includes a mobile control module and a tool kit module, and the tool kit module includes a plurality of tool kits equipped with different sampling equipment. Through the locking combination of the mobile control module and different tool kits, the tool kit can be replaced, so that multiple tool kits can share a mobile control module for underwater operation, which improves the convenience of underwater operation and saves the resource cost of the operation. Further, the mobile control module is provided with a driving device, and the mobile control module can drive the tool kit to move with multiple degrees of freedom underwater, accurately move and position specific targets, realize autonomous operation, and improve underwater operation efficiency and operation quality. Further, the tool kit module is provided with a lifting device, and the sampling device in the tool kit is controlled by the lifting device to complete sampling, which further improves the sampling accuracy and sampling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic front view of the structure of an embodiment of the device of the present invention;

[0022] Figure 2 is a schematic front view of the structure of a replacement tool kit of an embodiment of the device of the present invention;

[0023] Figure 3 It is a schematic cross-sectional view of the guiding state structure of the locking mechanism of the device embodiment of the present invention;

[0024] Figure 4 It is a schematic cross-sectional view of the locking state structure of the locking mechanism of the device embodiment of the present invention;

[0025] Figure 5 is a schematic cross-sectional view of the structure of the device embodiment of the present invention in the unlocked state;

[0026] Figure 6 It is a schematic structural arrangement diagram of a driving device according to an embodiment of the device of the present invention.

[0027] The symbols in the figure represent:

[0028] 1. Mobile control module; 11. Driving device; 12. Horizontal moving thruster; 13. Vertical lifting thruster; 2. Tool kit; 21. Lifting device; 22. Sampling device; 23. Multi-tube sampler; 24. Box sampler; 25. Underwater drilling rig; 3. Locking mechanism; 31. Guide sleeve; 32. Guide rod; 321. Cone; 322. Locking groove; 33. Hydraulic cylinder; 34. Telescopic rod; 341. Clamping table; 35. Reset spring; 36. Clamping tongue; 361. Movable cavity; 362. Guide slope. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] Device Example:

[0031] Figures 1 to 6 An embodiment of a deep-sea mobile working device with a replaceable tool kit of the present invention is shown, comprising a tool kit module, a mobile control module 1 and a locking mechanism 3, wherein the tool kit module comprises at least two independently arranged tool kits 2; the tool kit 2 is provided with a sampling device 22, and the tool kit 2 performs underwater sampling through the sampling device 22; the mobile control module 1 forms a detachable connection with the tool kit 2 through the locking mechanism 3; the mobile control module 1 comprises a driving device 11, and the mobile control module 1 provides a driving force through the driving device 11, which can drive the tool kit 2 to perform precise displacement underwater.

[0032] Please refer to Figure 1 and Figure 2 The mobile control module 1 includes a protective frame, and some buoyancy materials are arranged on the upper part of the protective frame to enhance the buoyancy of the device in the water. Some conventional devices of the deep-sea mobile operation device, such as: camera system, environmental monitoring system, inertial navigation, hydraulic system, scanning deep-sound, etc., are fixedly connected to the inside of the protective frame. The mobile control module 1 and the tool kit 2 are detachably connected through the locking mechanism 3, so that the tool kit 2 can be replaced. According to the operation requirements, the tool kit 2 with a suitable sampling device 22 can be selected in advance to connect with the mobile control module 1, so that multiple tool kits 2 can share a mobile control module 1 for underwater operation, and multiple tool kits 2 can share a set of deep-sea monitoring system and deep-sea power system and other devices arranged in the mobile control module 1 for operation operation, saving the resource cost of underwater exploration. Further, the mobile control module 1 is provided with a driving device 11, and the mobile control module 1 can drive the tool kit 2 to move with multiple degrees of freedom, accurately move and locate a specific target, realize autonomous operation, and improve the efficiency and quality of underwater operation.

[0033] In this embodiment, the sampling device 22 is a multi-tube sampler 23 or a gravity column sampler or a box sampler 24 or an underwater drilling rig 25. Through this structure, the tool kit 2 is equipped with a variety of different sampling devices 22, which improves the applicability of the deep-sea mobile operation device. For different sampling scenarios, a suitable tool kit 2 is selected for installation and sampling.

[0034] In this embodiment, the tool kit 2 includes a lifting device 21, which is fixedly connected to the sampling device 22 and is used to control the lifting displacement of the sampling device 22. Most existing deep-sea operation equipment uses a gravity trigger mechanism, which has low triggering accuracy and is prone to false triggering. Figure 2A protective frame is also provided on the outside of the tool kit 2. The lifting device 21 can be a conventional scissor beam mechanism fixedly connected to the inner upper end of the protective frame. The sampling device 22 is fixedly connected to the lower end of the lifting device 21. Before the mobile control block moves the tool kit 2 to the sampling point, the scissor beam mechanism is in a retracted state. When the tool kit 2 is accurately positioned at the sediment sampling point, the scissor beam mechanism is controlled to move downward, so that the sampling device 22 contacts the sediment for sampling, and then the scissor beam mechanism moves upward for recovery, thereby further realizing active sampling and improving the sampling efficiency and sampling accuracy of the device.

[0035] In this embodiment, the locking mechanism 3 includes a guide sleeve 31, a guide rod 32 and a latch 36; the guide sleeve 31 is vertically fixedly connected to the bottom of the mobile control module 1, the guide rod 32 is vertically fixedly connected to the top of the tool kit 2, the end of the guide rod 32 is provided with a locking groove 322, the latch 36 is laterally inserted into the guide sleeve 31 and can reciprocate and retract; the guide rod 32 can be sleeved with the guide sleeve 31, and the latch 36 extends forward and snaps into the locking groove 322, so that the guide sleeve 31 and the guide rod 32 form a locking connection. In this structure, the mobile control module 1 and the tool kit 2 are each provided with a protective frame on the outside, and the guide sleeve 31 and the guide rod 32 are fixedly connected to the protective frame respectively. When the mobile control and the tool kit 2 are installed and connected, the guide sleeve 31 is aligned with the guide rod 32 and inserted, and the control latch 36 extends forward, probes into the guide sleeve 31 and snaps into the locking groove 322 of the guide rod 32, so that the mobile control module 1 and the tool kit 2 form a locking connection. When the mobile control and tool kit 2 are disassembled, the control tongue 36 is retracted to exit the locking groove 322, and then the mobile control module 1 is lifted until it is separated from the tool kit 2 to complete the disassembly.

[0036] In this embodiment, the locking mechanism further includes a hydraulic cylinder 33, which is laterally fixedly connected to the bottom of the mobile control module 1; the telescopic rod 34 of the hydraulic cylinder 33 is connected to the tongue 36, providing a driving force for the extension and retraction of the tongue 36. In this structure, the tongue 36 is fixedly connected to the telescopic rod 34 of the hydraulic cylinder 33, and the tongue 36 can be driven to extend and retract synchronously by controlling the extension and retraction of the telescopic rod 34 of the hydraulic cylinder 33, and the locking or unlocking is also completed, so as to realize the connection or disassembly between the mobile control module 1 and the tool kit 2.

[0037] In this embodiment, the tail of the latch 36 is provided with an active cavity 361, the front end of the telescopic rod 34 is provided with a clamping platform 341, the telescopic rod 34 is sleeved with the latch 36, and the clamping platform 341 is clamped in the active cavity 361. In this structure, the latch 36 and the telescopic rod 34 are connected by sleeves, the tail of the latch 36 is provided with a through hole for the telescopic rod 34 to penetrate, the radius of the clamping platform 341 is larger than the radius of the telescopic rod 34 and the above-mentioned through hole, the clamping platform 341 is placed inside the active cavity 361, so that the clamping platform 341 and the latch 36 are clamped, so that the extension and retraction of the telescopic rod 34 can synchronously drive the latch 36 to extend and retract.

[0038] In this embodiment, the length of the movable cavity 361 is greater than the length of the clamping platform 341, the clamping tongue 36 is slidably connected to the telescopic rod 34, and a return spring 35 is provided between the clamping tongue 36 and the hydraulic cylinder 33. When the telescopic rod 34 is fully extended, the return spring 35 provides elastic force to make the clamping tongue 36 penetrate into the guide sleeve 31. In this structure, the clamping tongue 36 can slide back and forth within a certain distance relative to the telescopic rod 34 under the limitation of the movable cavity 361 and the clamping platform 341. When the mobile control module 1 and the tool kit 2 are locked and connected, the hydraulic cylinder 33 is controlled to make the telescopic rod 34 fully extended. The return spring 35 provides auxiliary power to make the clamping tongue 36 in a fully raised state and penetrate into the guide sleeve 31. In the process of the guide rod 32 assembly penetrating into the guide sleeve 31, a force is applied to the clamping tongue 36 to push the clamping tongue 36 back, so that the clamping tongue 36 retracts until the clamping tongue 36 enters the locking groove 322 and then pops out under the action of the return spring 35, completing the locking action. When unlocking, it is only necessary to start the oil cylinder to retract, thereby driving the latch tongue 36 to retract, and the latch tongue 36 is released from the groove of the guide rod 32, thus forming a locked state.

[0039] In this embodiment, the guide sleeve 31 is provided with an opening for the tongue 36 to penetrate; the end of the guide rod 32 is a truncated cone 321, the locking groove 322 is an annular groove, the truncated cone 321 is located above the locking groove 322, and the front end of the tongue 36 is provided with a guiding inclined surface 362. When the guide rod 32 is introduced into the guide sleeve 31, the guiding inclined surface 362 slides and contacts with the outside of the truncated cone 321 until the tongue 36 is locked into the locking groove 322. Through this structure, it is convenient for the guide rod 32 to decompose a lateral force, so that the tongue 36 can be smoothly retracted, which is convenient for the mobile control module 1 and the tool kit 2 to be quickly locked, and the structural stability of the locking mechanism 3 is also strengthened to a certain extent. The guide sleeve 31 and the guide rod 32 can be set in multiple groups, each group includes the above-mentioned locking mechanism 3. In this embodiment, there are 4 groups to ensure the stability of the locking connection.

[0040] In this embodiment, the driving device 11 includes a horizontal moving propeller 12 and a vertical lifting propeller 13; the horizontal moving propeller 12 is used to control the horizontal displacement of the mobile control module 1 in the water, and there are four horizontal moving propellers 12, which are located in the same horizontal plane and are distributed in a 90° rotational symmetry, and the propulsion direction is horizontal; the vertical lifting propeller 13 is used to control the lifting displacement of the mobile control module 1 in the water, and there are two vertical lifting propellers 13, which are located in the same horizontal plane, and the propulsion direction is vertical.

[0041] In this structure, through the joint action of the vertical lifting thruster 13 and the horizontal moving thruster 12, the mobile control module 1 can realize the movement in 6 degrees of freedom in the water, so as to control its precise positioning underwater, so as to provide driving force for the underwater operation tool kit 2 to perform active operation. Figure 6 , the driving device 11 belongs to over-driven movement, which can provide the control capability of fine and flexible operation in the underwater horizontal plane, and has a certain control redundancy capability. In order to achieve the fixed-point orientation or horizontal plane route tracking task at a specific position, it is necessary to solve the control quantity through the upper-level planning and motion controller, and then convert the expected control quantity of each degree of freedom in the horizontal plane into 1-4 actuators through the real-time secondary planning allocation method to achieve four degrees of freedom movement, namely longitudinal swing, transverse swing, roll, and bow swing. In longitudinal or transverse swing movement, the maximum thrust that can be generated is the combined force of the four horizontal moving thrusters 12. In roll motion, since the underwater weight of the equipment is about 1 ton and there are only two thrusters in the vertical direction, the roll adjustment range is small and is only used for device attitude adjustment. In bow swing motion, the maximum thrust that can be generated is the combined force of the four propellers, which can achieve large-angle rotation. When encountering different operation requirements, the mobile control module 1 can accurately move and position underwater, quickly replace the corresponding underwater operation tool kit 2, and provide it with driving force for autonomous operation, thereby realizing multi-functional operation and improving underwater operation efficiency, operation safety and operation quality.

[0042] Method Example:

[0043] A method for replacing a tool kit of a deep-sea mobile operating device is performed using the deep-sea mobile operating device with a replaceable tool kit in the above-mentioned device embodiment, and specifically comprises the following steps:

[0044] S1: Guide installation: Select the tool kit 2 , lift the mobile control module 1 through the lifting device and move it to the top of the tool kit 2 , so that the guide sleeve 31 is aligned with the guide rod 32 .

[0045] S2: Locking: Start the hydraulic cylinder 33 of the locking mechanism 3 to make the telescopic rod 34 in a fully extended state, and control the motion control module to move downward until the locking is completed.

[0046] S3: Unlocking: Start the hydraulic cylinder 33 of the locking mechanism 3 to fully retract the hydraulic cylinder 33.

[0047] S4: Guided separation: lift the mobile control module 1 until the mobile control module 1 is separated from the tool kit 2, and repeat step S1 until the tool kit 2 is replaced.

[0048] In step S2 , when the guide rod 32 is introduced into the guide sleeve 31 , the latch tongue 36 automatically shrinks and locks in sliding contact with the guide rod 32 , thereby realizing a one-touch installation function.

[0049] Please refer to Figures 3 to 5 In steps S3 and S4, when the tool kit 2 module is disassembled, the hydraulic cylinder 33 contracts, driving the latch 36 to retract, lifting the mobile control module 1, and the guide rod 32 is gravity-released from the guide sleeve 31. When replacing the second tool kit 2, just lift the mobile control module 1 to the top of the tool kit 2, align the guide rod 32 and the guide sleeve 31 and put it down, and the tool kit 2 and the mobile control module 1 can be automatically locked and connected, and the replacement is completed.

[0050] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A deep-sea mobile operation device with a replaceable tool kit, characterized in that: The invention comprises a tool kit module, a mobile control module (1) and a locking mechanism (3), wherein the tool kit module comprises at least two independently arranged tool kits (2); the tool kit (2) is provided with a sampling device (22), and the tool kit (2) performs underwater sampling via the sampling device (22); the mobile control module (1) is detachably connected to the tool kit (2) via the locking mechanism (3); the mobile control module (1) comprises a driving device (11), and the mobile control module (1) provides a driving force via the driving device (11), so as to drive the tool kit (2) to perform precise displacement underwater; the locking mechanism (3) comprises a guide sleeve (31), a guide rod (32) and a latch (36); the guide sleeve (31) is vertically fixedly connected to the bottom of the mobile control module (1), the guide rod (32) is vertically fixedly connected to the top of the tool kit (2), and the guide rod (32) is vertically fixedly connected to the bottom of the mobile control module (1), and the guide rod (32) is vertically fixedly connected to the top of the tool kit (2). ) is provided with a locking groove (322) at the end thereof, the latch tongue (36) is laterally inserted into the guide sleeve (31) and can be reciprocated and extended; the guide rod (32) can be sleeved with the guide sleeve (31), and the latch tongue (36) extends forward and is inserted into the locking groove (322), so that the guide sleeve (31) and the guide rod (32) form a locking connection; the locking mechanism (3) also includes a hydraulic cylinder (33), the hydraulic cylinder (33) is laterally fixedly connected below the mobile control module (1); the telescopic rod (34) of the hydraulic cylinder (33) is connected to the latch tongue (36) to provide a driving force for the extension and retraction of the latch tongue (36); the tail of the latch tongue (36) is provided with an active cavity (361), the front end of the telescopic rod (34) is provided with a clamping platform (341), the telescopic rod (34) is sleeved with the latch tongue (36), and the clamping platform (341) is clamped in the active cavity (361).

2. The deep-sea mobile working device with replaceable tool kit according to claim 1, characterized in that: The sampling device (22) is a multi-tube sampler (23) or a gravity column sampler or a box sampler (24) or an underwater drilling rig (25).

3. The deep-sea mobile operation device with replaceable tool kit according to claim 2 is characterized in that: The tool kit (2) comprises a lifting device (21), wherein the lifting device (21) is fixedly connected to the sampling device (22) and is used to control the lifting displacement of the sampling device (22).

4. The deep-sea mobile operation device with replaceable tool kit according to claim 1, characterized in that: The length of the movable cavity (361) is greater than the length of the clamping platform (341); the clamping tongue (36) is slidably connected to the telescopic rod (34); a return spring (35) is provided between the clamping tongue (36) and the hydraulic cylinder (33); when the telescopic rod (34) is fully extended, the clamping tongue (36) penetrates into the interior of the guide sleeve (31) by the elastic force provided by the return spring (35).

5. The deep-sea mobile operation device with replaceable tool kit according to claim 4 is characterized in that: The guide sleeve (31) is provided with an opening for the latch tongue (36) to penetrate; the end of the guide rod (32) is a truncated cone (321), the locking groove (322) is an annular groove, the truncated cone (321) is located above the locking groove (322), and a guide inclined surface (362) is provided at the front end of the latch tongue (36); when the guide rod (32) is introduced into the guide sleeve (31), the guide inclined surface (362) slides and contacts with the outside of the truncated cone (321) until the latch tongue (36) is locked into the locking groove (322).

6. The deep-sea mobile operation device with replaceable tool kit according to claim 1, characterized in that: The driving device (11) comprises a horizontal moving propeller (12) and a vertical lifting propeller (13); the horizontal moving propeller (12) is used to control the horizontal displacement of the mobile control module (1) in water, four of the horizontal moving propellers (12) are arranged, located in the same horizontal plane and distributed in a 90° rotational symmetry, and the propulsion direction is the horizontal direction; the vertical lifting propeller (13) is used to control the lifting displacement of the mobile control module (1) in water, two of the vertical lifting propellers (13) are arranged, located in the same horizontal plane, and the propulsion direction is the vertical direction.

7. A method for replacing a tool kit of a deep-sea mobile working device, characterized in that: The deep-sea mobile operation device with a replaceable tool kit according to claim 4 or 5 is used, and specifically comprises the following steps: S1: Guide installation: Select the tool kit (2), lift the mobile control module (1) by the lifting device and move it above the tool kit (2), so that the guide sleeve (31) is aligned with the guide rod (32); S2: Locking: activating the hydraulic cylinder (33) of the locking mechanism (3) to make the telescopic rod (34) in a fully extended state, and controlling the motion control module to move downward until the locking is completed; S3: Unlocking: activating the hydraulic cylinder (33) of the locking mechanism (3) to completely retract the hydraulic cylinder (33); S4: guided separation: lifting the mobile control module (1) until the mobile control module (1) and the tool kit (2) are completely separated, and repeating step S1 until the tool kit (2) is completely replaced.

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