Lowering and recovery device for seabed static penetration system

Abstract

The present invention discloses a lowering and recovering device for a seabed static penetration system, comprising a main frame, a drum frame fixed inside the main frame, a variable diameter cable winding drum and a bidirectional lead screw fixed on the drum frame, an AC variable frequency motor fixed on the main shaft, a tension detection device fixed on the AC variable frequency motor, a cable arrangement motor fixed at one end of the bidirectional lead screw, a cable arrangement device provided on the bidirectional lead screw, the cable arrangement device connected to a guide cylinder through a rotating bearing, the guide cylinder sleeved on the bidirectional lead screw and in contact with the bidirectional lead screw through a thread; the tension detection device comprises a tension sensor, the tension sensor, the AC variable frequency motor and the cable arrangement motor are all connected to a controller, and the controller is fixed inside the main frame. The present invention solves the problems existing in the prior art that the tension control accuracy of the traditional lowering and recovering device is poor and cannot adapt to the operation requirements of different minimum bending radii of cables in field operations. The safety and efficiency of seabed static penetration operations are improved.

Description

Technical Field

[0001] The invention belongs to the field of marine geological exploration and relates to a lowering and recovering device for a seabed static penetration sounding system. Background Art

[0002] The CPT system is placed under the deck of the mother ship to the seabed.

[0003] The equipment is stably supported on the test seabed surface, and the probe is continuously penetrated from the seabed surface into the soil through a probe rod or a casing. After the operation is completed, the seabed static penetration system is recovered from the water to the deck of the mother ship. When the existing seabed static penetration (CPT) system is lowered to the seabed, the seabed static penetration equipment is lifted by a flexible umbilical cable. Since marine geological exploration often works in deep sea areas, the sea surface is often in a turbulent state, which is very different from land exploration in terms of working environment. There are sea breezes, waves, and currents in the ocean. When the seabed static penetration system is recovered and lowered, it is affected by waves, currents, sea breezes, etc., resulting in drastic changes in the tension of the lifting umbilical cable. In order to successfully complete the detection task and improve the detection efficiency, the lowering and recovery equipment of the seabed static penetration system has a constant tension function. The traditional constant tension control device detects the rotation speed of the drum through the encoder, and calculates the current diameter of the recovery or reeling drum through the set initial value of the reel diameter and the performance parameters of the cable material. According to the change of the current reel diameter, the corresponding control signal is output to control the reeling torque or the cable releasing torque to achieve constant tension recovery and reeling of the seabed static penetration sounding (CPT). Since the reel diameter changes after each layer is completed or released, and the cable loss and other factors affect this tension control, the accuracy is poor. When encountering severe sea conditions, the lifted seabed static penetration sounding equipment will move violently relative to the mother ship, which is very prone to collision. In extreme cases, the umbilical cable may break, resulting in damage or loss of the seabed static penetration sounding equipment.

[0004] During on-site marine geological exploration, different types of working voltages and data transmission signals are required to be sent to the seabed static penetration system. The diameter of the umbilical cable used to lift the seabed static penetration equipment changes accordingly, and the minimum bending radius requirements for umbilical cables of different diameters are different. The diameter of the cable drum of the traditional lowering and replaying device is fixed, which cannot meet the requirements of different cable diameters for on-site operations.

[0005] Through on-site investigation and analysis of major marine geological exploration sites, it was found that due to the limited structural size of the cable reel, during the lowering and recovery process of the seabed static penetration test (CPT) system, the cable length detection and tension detection equipment are installed at the top crane position of the operating derrick, resulting in the cable length detection and tension detection equipment being too far away from the lowering and recovery device, making the on-site wiring and signal transmission unfriendly. Summary of the invention

[0006] The purpose of the present invention is to provide a lowering and recovery device for a seabed static penetration system, which solves the problems existing in the prior art, such as poor tension control accuracy of the traditional lowering and recovery device and inability to adapt to the operation requirements of different minimum bending radius of cables in field operations, thereby improving the safety and efficiency of seabed static penetration operations.

[0007] The technical solution adopted by the present invention is:

[0008] The lowering and recovery device for the seabed static penetration system comprises a main frame, a drum frame is fixed inside the main frame, a variable diameter cable winding drum and a bidirectional lead screw are fixed on the drum frame, an AC variable frequency motor is fixed on the main shaft, a tension detection device is fixed on the AC variable frequency motor, a cable arrangement motor is fixed at one end of the bidirectional lead screw, a cable arrangement device is arranged on the bidirectional lead screw, the cable arrangement device is connected to the guide cylinder through a rotating bearing, the guide cylinder is sleeved on the bidirectional lead screw and is in contact with the bidirectional lead screw through a thread;

[0009] The tension detection device comprises a tension sensor. The tension sensor, the AC variable frequency motor and the cable arrangement motor are all connected with a controller, and the controller is fixed in the main frame.

[0010] The present invention is also characterized in that:

[0011] The cable arranger includes a pair of overlapping fan-shaped plates, a friction wheel and a resistance cylinder are fixed between the pair of fan-shaped plates, the pair of fan-shaped plates are fixed to each other through a cable arranger connecting plate, and the cable arranger connecting plate is connected to the guide cylinder through a rotating bearing; the guide cylinder includes an outer cylinder body, a bidirectional screw passes through a through hole into the guide cylinder, a guide cylinder base is fixed to the bottom end of the outer cylinder body, the rotating bearing is fixed to the guide cylinder base, a pressure cover is fixed to the top end of the outer cylinder body, the pressure cover is fixed to the pressure cover by a clamping spring, the pressure cover is connected to the guide block through a guide bearing, one end of the guide block is fixed to the guide bearing, and one end of the guide block is set to an arc thread to contact and cooperate with the bidirectional screw.

[0012] A threaded copper sleeve is also fixed in the outer cylinder, one side of the bidirectional lead screw contacts the guide block, and the other side of the bidirectional lead screw contacts and cooperates with the threaded copper sleeve.

[0013] A locking rod is also fixed on the fan-shaped plate, one end of the locking rod is fixed to the fan-shaped plate through a locking rod fixing block, and a ratchet locking block is fixed to the other end of the locking rod, and the ratchet locking block is meshed and locked with the locking gear. The tension detection device includes a reducer, and the reducer and the AC variable frequency motor are fixed to each other through a support shaft, and the support shaft is fixed to one side of the reducer base, and a support rod is fixed to the other side of the reducer base, one end of the support rod is fixed to the reducer, and the other end of the support rod is hinged to one end of the force transmission rod, and the other end of the force transmission rod contacts the tension sensor fixing seat, and the tension sensor is fixed on the tension sensor fixing seat, and the tension sensor fixing seat is fixed in the main frame.

[0014] The controller is fixed in the control box, and is connected to the AC variable frequency motor and the cable arrangement motor respectively through the frequency converter.

[0015] The variable diameter cable winding drum includes a plurality of variable diameter gear plate mechanisms coaxially fixed by a driving shaft, the variable diameter gear plate mechanism includes a plurality of U-shaped rods extending radially along the gear fixing plate, the variable diameter gear plate mechanism can control the U-shaped rod to extend and retract radially, both ends of the U-shaped rod are fixed in the gear fixing plate, the U-shaped end of the U-shaped rod extends out of the gear fixing plate, a roller rod is fixed on the U-shaped rod, the roller rod is fixed on the U-shaped rod extending from different variable diameter gear plate mechanisms along the driving shaft direction, and the roller rod and the U-shaped rod are fixed by fastening bolts.

[0016] The variable diameter gear plate mechanism also includes an auxiliary gear and a variable diameter gear that mesh with each other and are fixed on the gear fixing plate. A variable diameter handle is fixed on the auxiliary gear and the variable diameter gear auxiliary gear. A plurality of arc-shaped track grooves are opened outward along the gear axis on the variable diameter gear. The same guide rail grooves are opened at corresponding positions on the gear fixing plate. A U-shaped rod is fixed to each arc-shaped track groove. The two ends of the U-shaped rod are fixed to both sides of the arc-shaped track groove and the guide rail groove through a pin shaft. A guide rail hole is also opened on the gear fixing plate. The guide rail rod is inserted into the guide rail hole, and both ends of the guide rail rod are fixed to the U-shaped rod.

[0017] The number of the variable diameter gear plate mechanisms is 3 to 5, and the number of the U-shaped rods on each variable diameter gear plate mechanism is 5 to 8.

[0018] The beneficial effects of the present invention are:

[0019] During the lowering and recovery process of the seabed static penetration system, the cable tension control accuracy on the cable drum is poor. When encountering severe sea conditions, the lifted seabed static penetration equipment will move violently relative to the mother ship, which is very likely to cause a collision. In extreme cases, the umbilical cable may break, resulting in damage or loss of the seabed static penetration equipment.

[0020] During marine geological exploration, cables of different diameters are required to transmit voltage and signals to the seabed static penetration system. The constant cable drum diameter cannot meet the minimum bending radius requirements of different cables. As a result, the cable is broken during the lowering and recovery of the seabed static penetration system, and the seabed static penetration operation cannot be carried out.

[0021] During the lowering and recovery process of the seabed static penetration system, the cable speed and length measuring equipment on the cable drum is installed at the overhead crane position at the top of the operating derrick, resulting in a large distance between the cable length detection and speed detection equipment and the lowering and recovery device body, making on-site wiring inconvenient and prone to the risk of being torn off.

[0022] In summary, regardless of whether or not a harsh marine environment is encountered, the device of the present invention has high cable tension control accuracy during the CPT lowering and recovery process, avoiding the risk of collision when the seabed static penetration equipment moves violently relative to the mother ship. The use of a variable diameter cable drum can meet the requirements of the minimum bending radius of different cables in marine exploration operations. The problem that the cable length detection and tension detection equipment cannot be installed on the device body is solved. The device improves the safety and efficiency of seabed static penetration operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view of the lowering and recovery device of the seabed static penetration system of the present invention;

[0024] Figure 2 It is a left side view of the lowering and recovery device of the seabed static penetration system of the present invention;

[0025] Figure 3 This is a flow chart of the principle of constant tension control of the cable of the lowering and recovery device of the seabed static penetration system of the present invention;

[0026] Figure 4 It is a schematic diagram of the arrangement of the tension detection device of the lowering and recovery device of the seabed static penetration system of the present invention;

[0027] Figure 5 It is a front view of the cable arranger of the lowering and recovery device of the seabed static penetration system of the present invention;

[0028] Figure 6 It is a left side view of the cable arranger of the lowering and recovery device of the seabed static penetration system of the present invention;

[0029] Figure 7 A half-section view of the guide cylinder of the lowering and recovery device of the seabed static penetration system of the present invention;

[0030] Figure 8 It is a schematic diagram of the structure of the cable winding drum of the lowering and recovery device of the seabed static penetration system of the present invention;

[0031] Fig. 9 It is a schematic diagram of the diameter-changing mechanism in the cable winding drum of the seabed static penetration system lowering and recovery device of the present invention;

[0032] Fig.10 It is a schematic diagram of the structure of the auxiliary gear and the reducing gear of the lowering and recovery device of the seabed static penetration system of the present invention.

[0033] In the figure, 1. Main frame; 2. Variable diameter cable winding drum; 3. Control box; 4. AC variable frequency motor; 5. Cable arrangement motor; 6. Cable arrangement device; 7. Umbilical cable; 8. CPT; 9. Bidirectional screw; 10. Tension detection device; 11. Guide pulley; 12. Operating derrick.

[0034] Among them, 2-1. Variable diameter gear plate mechanism; 2-2. Roller rod; 2-3. Fastening bolt; 2-4. Driving shaft; 2-5. Variable diameter handle; 2-6. Handle locking device.

[0035] 2-1-1. U-shaped rod; 2-1-2. Guide rail rod; 2-1-3. Auxiliary gear; 2-1-4. Variable diameter gear; 2-1-5. Pin shaft; 2-1-6. Gear fixing plate; 2-1-7. Spare guide rail hole; 2-1-8. Arc track groove.

[0036] 6-1. Resistance cylinder fixing block; 6-2 Resistance cylinder; 6-3. Locking rod; 6-4. Locking rod fixing block; 6-5. Friction wheel; 6-6. Fan plate; 6-7. Rotating bearing; 6-8. Guide cylinder; 6-9. Ratchet locking block; 6-10. Cable arranger connecting plate.

[0037] 6-8-1. End cover; 6-8-2. Compression spring; 6-8-3. Pressure cover; 6-8-4. Guide bearing; 6-8-5. Guide block; 6-8-6. Outer cylinder; 6-8-7. Copper sleeve; 6-8-8. Locking gear; 6-8-9. Base.

[0038] 10-1. Support shaft; 10-2. Support rod; 10-3. Tension sensor fixing seat; 10-4. Force transmission rod. DETAILED DESCRIPTION

[0039] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] The lowering and recovery device for the seabed static penetration system of the present invention is as follows: Figures 1 to 10 , including a main frame 1, a drum frame is fixed inside the main frame 1, a variable diameter cable winding drum 2 and a bidirectional lead screw 9 are fixed on the drum frame, an AC variable frequency motor 4 is fixed on the main shaft, a tension detection device 10 is fixed on the AC variable frequency motor 4, a cable arrangement motor 5 is fixed at one end of the bidirectional lead screw 9, a cable arrangement device 6 is arranged on the bidirectional lead screw 9, the cable arrangement device 6 is connected to the guide cylinder 6-8 through a rotating bearing 6-7, and the guide cylinder 6-8 is sleeved on the bidirectional lead screw 9 and is in contact with the bidirectional lead screw 9 through a thread;

[0041] The tension detection device 10 includes a tension sensor. The tension sensor, AC variable frequency motor 4 and cable arrangement motor 5 are all connected to the controller. The controller is fixed in the main frame 1. The controller is fixed in the control box 3. The controller is connected to the AC variable frequency motor 4 and the cable arrangement motor 5 through the frequency converter.

[0042] The specific structure of the cable arranger 6 is:

[0043] The cable arranger 6 includes a pair of overlapping sector plates 6-6, a friction wheel 6-5 and a resistance cylinder 6-2 are fixed between the pair of sector plates 6-6, the pair of sector plates 6-6 are fixed to each other through a cable arranger connecting plate 6-10, and the cable arranger connecting plate 6-10 is connected to a guide cylinder 6-8 through a rotary bearing 6-7; the guide cylinder 6-8 includes an outer cylinder body 6-8-6, a bidirectional lead screw 9 is inserted into the guide cylinder 6-8 through a through hole, and a guide cylinder base 6- 8-9, the rotating bearing 6-7 is fixed to the guide cylinder base 6-8-9, a pressure cover 6-8-3 is fixed to the top of the outer cylinder 6-8-6, the pressure cover 6-8-3 is fixed to the pressure cover 6-8-3 by a clamping spring 6-8-2, the pressure cover 6-8-3 is connected to the guide block 6-8-5 through a guide bearing 6-8-4, one end of the guide block 6-8-5 is fixed to the guide bearing 6-8-4, and one end of the guide block 6-8-5 is set to an arc thread to contact and cooperate with the bidirectional screw 9.

[0044] A threaded copper sleeve 6-8-7 is also fixed in the outer cylinder 6-8-6, one side of the bidirectional lead screw 9 is in contact with the guide block 6-8-5, and the other side of the bidirectional lead screw 9 is in contact with the threaded copper sleeve 6-8-7.

[0045] The friction wheels 6-5 and the resistance cylinders 6-2 are arranged along a certain radius arc of the sector plate 6-6. The number of friction wheels 6-5 is 3 to 7. The number of friction wheels 6-5 passing through the resistance cylinders 6-2 is two pairs, and each pair of two resistance cylinders 6-2 is arranged opposite to each other. Each pair of two resistance cylinders 6-2 is respectively fixed on two sector plates 6-6, and the resistance cylinders 6-2 are fixed on the sector plate 6-6 through the fixing blocks 6-1.

[0046] A locking rod 6-3 is also fixed on the sector plate 6-6, one end of the locking rod 6-3 is fixed to the sector plate 6-6 through a locking rod fixing block 6-4, and a ratchet locking block 6-9 is fixed to the other end of the locking rod 6-3, and the ratchet locking block 6-9 is meshed and locked with the locking gear 6-8-8.

[0047] The specific structure of the tension detection device 10 is:

[0048] The tension detection device 10 includes a reducer, which is fixed to the AC frequency conversion motor 4 through a support shaft 10-1. The support shaft 10-1 is fixed to one side of the reducer base, and a support rod is fixed to the other side of the reducer base. One end of the support rod is fixed to the reducer, and the other end of the support rod 10-2 is hinged to one end of the force transmission rod 10-4. The other end of the force transmission rod 10-4 is in contact with a tension sensor fixing seat 10-3. A tension sensor is fixed on the tension sensor fixing seat 10-3, and the tension sensor fixing seat 10-3 is fixed in the main frame 1.

[0049] The specific structure of the variable diameter cable winding drum 2 is:

[0050] The variable diameter cable winding drum 2 includes a plurality of variable diameter gear plate mechanisms 2-1 which are coaxially fixed by a driving shaft 2-4. The variable diameter gear plate mechanism 2-1 includes a plurality of U-shaped rods 2-1-1 radially extending along a gear fixing plate 2-1-6. The variable diameter gear plate mechanism 2-1 can control the U-shaped rod 2-1-1 to extend and retract radially. Both ends of the U-shaped rod 2-1-1 are fixed in the gear fixing plate 2-1-6. The U-shaped end of the U-shaped rod 2-1-1 extends out of the gear fixing plate 2-1-6. A roller rod 2-2 is fixed on the U-shaped rod 2-1-1. The roller rod 2-2 is fixed on the U-shaped rod 2-1-1 along the direction of the driving shaft 2-4 on the U-shaped rod 2-1-1 extending from different variable diameter gear plate mechanisms 2-1. The roller rod 2-2 is fixed to the U-shaped rod 2-1-1 by fastening bolts 2-3.

[0051] The reducing gear plate mechanism 2-1 also includes an auxiliary gear 2-1-3 and a reducing gear 2-1-4 that are meshed with each other and are fixed on a gear fixing plate 2-1-6. The auxiliary gear 2-1-3 and the reducing gear 2-1-4 are provided with a reducing handle 2-5 fixed on the auxiliary gear 2-1-3, and a handle locking device 2-6 is fixed on the reducing handle 2-5. The variable diameter gear 2-1-4 is provided with a plurality of arc-shaped track grooves 2-1-8 outwardly along the gear shaft, and the gear fixing plate 2-1-6 is provided with the same guide rail grooves at the corresponding positions, each arc-shaped track groove 2-1-8 is fixed with a U-shaped rod 2-1-1, and both ends of the U-shaped rod 2-1-1 are fixed to both sides of the arc-shaped track groove 2-1-8 and the guide rail groove through a pin 2-1-5, and the gear fixing plate 2-1-6 is also provided with a guide rail hole, and the guide rail rod 2-1-2 is inserted into the guide rail hole, and both ends of the guide rail rod 2-1-2 are fixed to the U-shaped rod 2-1-1. The gear fixing plate 2-1-6 is also provided with a spare guide rail hole 2-1-7, which is used to change the direction of the U-shaped rod 2-1-1 or increase the number of the U-shaped rods 2-1-1.

[0052] The number of the variable diameter gear plate mechanisms 2-1 is 3 to 5, and the number of the U-shaped rods 2-1-1 on each variable diameter gear plate mechanism 2-1 is 5 to 8.

[0053] The working principle of the present invention is:

[0054] A plurality of roller rods 2-2 around the driving shaft 2-4 form a roller surface, and the diameter-changing function of the variable-diameter cable winding roller 2 is realized by the extension and contraction of the plurality of roller rods 2-2. The auxiliary gear 2-1-3 and the auxiliary gear 2-1-3 are driven to rotate by the diameter-changing handle 2-5. At this time, the U-shaped rod 2-1-1 moves in the arc track groove to realize the radial extension and contraction of the U-shaped rod 2-1-1 along the gear fixing plate 2-1-6, thereby obtaining rollers of different diameters. After the diameter change is completed, the handle locking device 2-6 is fastened to fix it.

[0055] The tension detection device 10 amplifies the tension of the AC variable frequency motor 4, measures it through a tension sensor, and transmits it to the controller.

[0056] The two adjacent rollers 2-2 in the variable diameter cable drum 2 are arranged at an angle staggered. When the variable diameter cable drum 2 is fully wound with cable, the adjacent roller rods 2-2 are interlocked under the action of cable tension, increasing the rigidity of the drum, and the guide block 6-8-5 follows the rotation of the bidirectional lead screw 9 along the axis direction with the help of the guide bearing 6-8-4. In this way, the frequent reversing of the cable arrangement motor 5 is reduced, and the service life of the cable arrangement motor 5 is increased.

[0057] The frequency converter in the control box 3 sends a control signal to drive the AC variable frequency motor 4, which drives the variable diameter cable drum 2 to rotate, thereby realizing the lowering and recovery of the seabed static penetration system CPT8. The control box 3 also sends a command signal to drive the cable arrangement motor 5 to rotate clockwise. The cable arrangement device 6 reciprocates along the axis direction of the bidirectional lead screw 9, thereby realizing the orderly, neat and accurate arrangement of the cable on the variable diameter cable drum 2.

[0058] When the present invention is working, the umbilical cable 7 is sequentially extended around the variable diameter cable drum 2 and the cable arranger 6, and is lowered through the guide pulley 11 on the operating derrick 12 (submarine static penetration system) CPT8. First, according to the cable diameter, breaking force, minimum bending radius and working water depth used in the field operation, the required drum diameter of the variable diameter cable drum 2 and the setting range of the inverter current in the control box 3 are determined. The diameter of the cable drum is changed by the variable diameter handle, and the resistance cylinder 6-2 and the friction wheel 6-5 in the cable arranger 6 are checked to see whether the resistance cylinder 6-2 and the friction wheel 6-5 in the cable arranger 6 are flexible to rotate, and the main structure of the cable arranger 6 is checked to see whether the main structure of the cable arranger 6 is flexible to rotate around the axis of the guide cylinder 6-8. The guide cylinder 6-8 is rotated to observe whether the guide cylinder 6-8 and the bidirectional lead screw 9 are stuck. According to the needs of the field operation, it is determined whether the locking rod 6-3 in the fan-shaped plate 6-6 is opened, and whether the main structure of the cable arranger 6 is arranged at a fixed angle or at an arbitrary angle along the axis of the guide cylinder 6-8. The inverter output current value I in the control box 3 is set, and the rotation speed of the AC variable frequency motor 4 and the cable arranger motor 5 is matched. Start the power supply in the control box 3, the AC variable frequency motor 4 drives the variable diameter cable winding drum 2 to rotate, and at the same time, the cable arrangement motor 5 drives the bidirectional lead screw 9 to rotate clockwise, and the cable arrangement device 6 moves back and forth along the axis of the variable diameter cable winding drum 2 to complete the lowering and recovery of the seabed static sounding system. The frequency converter in the control box 3 sends a control signal to drive the AC variable frequency motor 4, which drives the variable diameter cable winding drum 2 to rotate, realizing the lowering and recovery of the seabed static sounding system. The control box 3 also sends a command signal to drive the cable arrangement motor 5 to rotate clockwise. The cable arrangement device 6 reciprocates along the axis of the bidirectional lead screw 9 to achieve orderly, neat and accurate cable arrangement on the variable diameter cable winding drum 2.

Claims

1. A lowering and recovery device for a seabed static penetration system, characterized in that: The invention comprises a main frame (1), a drum frame is fixed inside the main frame (1), a variable diameter cable winding drum (2) and a bidirectional lead screw (9) are fixed on the drum frame, an AC variable frequency motor (4) is fixed on the main shaft, a tension detection device (10) is fixed on the AC variable frequency motor (4), a cable arrangement motor (5) is fixed at one end of the bidirectional lead screw (9), a cable arrangement device (6) is arranged on the bidirectional lead screw (9), the cable arrangement device (6) is connected to a guide cylinder (6-8) via a rotary bearing (6-7), and the guide cylinder (6-8) is sleeved on the bidirectional lead screw (9) and is in contact with the bidirectional lead screw (9) via a thread. The tension detection device (10) comprises a tension sensor, wherein the tension sensor, the AC variable frequency motor (4) and the cable arrangement motor (5) are all connected to a controller, and the controller is fixed in the main frame (1); The cable arranger (6) comprises a pair of overlapping fan-shaped plates (6-6), a friction wheel (6-5) and a resistance cylinder (6-2) are fixed between the pair of fan-shaped plates (6-6), the pair of fan-shaped plates (6-6) are fixed to each other via a cable arranger connecting plate (6-10), and the cable arranger connecting plate (6-10) is connected to the guide cylinder (6-8) via a rotary bearing (6-7); the guide cylinder (6-8) comprises an outer cylinder body (6-8-6), the bidirectional lead screw (9) penetrates into the guide cylinder (6-8) through a through hole, and the bottom end of the outer cylinder body (6-8-6) is fixed with a guide cylinder bottom The outer cylinder (6-8-6) is provided with a pressure cover (6-8-3) fixed to the top of the outer cylinder (6-8-6), the pressure cover (6-8-3) is fixed to the pressure cover (6-8-3) by a compression spring (6-8-2), the pressure cover (6-8-3) is connected to the guide block (6-8-5) by a guide bearing (6-8-4), one end of the guide block (6-8-5) is fixed to the guide bearing (6-8-4), and one end of the guide block (6-8-5) is provided with an arc thread to contact and cooperate with the bidirectional lead screw (9); The variable diameter cable winding drum (2) comprises a plurality of variable diameter gear plate mechanisms (2-1) coaxially fixed via a drive shaft (2-4), the variable diameter gear plate mechanism (2-1) comprising a plurality of U-shaped rods (2-1-1) radially extending from a gear fixing plate (2-1-6), the variable diameter gear plate mechanism (2-1) being capable of controlling the U-shaped rods (2-1-1) to extend and retract radially, the two ends of the U-shaped rods (2-1-1) being fixed in the gear fixing plate (2-1-6), the U-shaped end of the U-shaped rod (2-1-1) extending from the gear fixing plate (2-1-6), a roller rod (2-2) being fixed on the U-shaped rod (2-1-1), the roller rod (2-2) being fixed on U-shaped rods (2-1-1) extending from different variable diameter gear plate mechanisms (2-1) along the direction of the drive shaft (2-4), and the roller rod (2-2) and the U-shaped rod (2-1-1) being fixed via fastening bolts (2-3).

2. The lowering and recovery device for the seabed static penetration system according to claim 1, characterized in that: A threaded copper sleeve (6-8-7) is also fixed in the outer cylinder (6-8-6), one side of the bidirectional lead screw (9) is in contact with the guide block (6-8-5), and the other side of the bidirectional lead screw (9) is in contact and fit with the threaded copper sleeve (6-8-7).

3. The lowering and recovery device for the seabed static penetration system according to claim 1, characterized in that: A locking rod (6-3) is also fixed to the sector plate (6-6), one end of the locking rod (6-3) is fixed to the sector plate (6-6) via a locking rod fixing block (6-4), and a ratchet locking block (6-9) is fixed to the other end of the locking rod (6-3), the ratchet locking block (6-9) meshing with the locking gear (6-8-8) for locking.

4. The lowering and recovery device for the seabed static penetration system according to claim 1, characterized in that: The tension detection device (10) comprises a reducer, wherein the reducer and the AC variable frequency motor (4) are fixed to each other via a support shaft (10-1), wherein the support shaft (10-1) is fixed to one side of a reducer base, and a support rod is fixed to the other side of the reducer base, wherein one end of the support rod is fixed to the reducer, and the other end of the support rod (10-2) is hinged to one end of a force transmission rod (10-4), and the other end of the force transmission rod (10-4) is in contact with a tension sensor fixing seat (10-3), wherein a tension sensor is fixed to the tension sensor fixing seat (10-3), and the tension sensor fixing seat (10-3) is fixed in a main frame (1).

5. The lowering and recovering device for the seabed static penetration system according to claim 1, characterized in that: The controller is fixed in the control box (3), and is connected to the AC variable frequency motor (4) and the cable arrangement motor (5) respectively through a frequency converter.

6. The lowering and recovery device for the seabed static penetration system according to claim 1, characterized in that: The variable diameter gear plate mechanism (2-1) further comprises an auxiliary gear (2-1-3) and a variable diameter gear (2-1-4) meshing with each other, both of which are fixed on a gear fixing plate (2-1-6), the auxiliary gear (2-1-3) and the variable diameter gear (2-1-4), the auxiliary gear (2-1-3) being fixed with a variable diameter handle (2-5), the variable diameter gear (2-1-4) being provided with a plurality of arc-shaped track grooves (2-1-8) outwardly along the gear axis, and the gear fixing plate (2-1- 6) The same guide rail grooves are opened at corresponding positions, each of the arc-shaped track grooves (2-1-8) is fixed with a U-shaped rod (2-1-1), and the two ends of the U-shaped rod (2-1-1) are fixed to the arc-shaped track groove (2-1-8) and the two sides of the guide rail groove through a pin shaft (2-1-5), and a guide rail hole is also opened on the gear fixing plate (2-1-6), and the guide rail rod (2-1-2) is inserted into the guide rail hole, and the two ends of the guide rail rod (2-1-2) are fixed to the U-shaped rod (2-1-1).

7. The lowering and recovering device for the seabed static penetration system according to claim 1, characterized in that: The number of the variable diameter gear plate mechanisms (2-1) is 3 to 5, and the number of the U-shaped rods (2-1-1) on each of the variable diameter gear plate mechanisms (2-1) is 5 to 8.

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