A deep-sea depth control device

Abstract

The application discloses a deep-sea depth control device, which comprises a frame body, a buoyancy component connected with the frame body and provided with an equipment mounting portion above the frame body, a cable reel rotatably connected with the frame body and provided with a cable wound thereon, a damping device arranged at one end of the frame body and comprising a damping mounting base assembled on the frame body, a cable damping device comprising a cable accommodating part rotatably connected with the damping mounting base and provided with a cable accommodating portion on each cable accommodating part, a damping transmission device linked with the cable accommodating part, a locking brake device matched with the damping transmission device, a brake device assembled on the cable reel and used for braking the cable reel, a self-locking device used for locking the deep-sea depth control device, a depth detection element and a controller in communication with the depth detection element, the damping device and the brake device. The deep-sea depth control device has high brake precision and good effect.

Description

Technical Field

[0001] This invention belongs to the field of underwater equipment technology, specifically relating to a deep-sea depth control device. Background Technology

[0002] Humanity's ongoing exploration of the ocean, especially with the national strategy of building a maritime power, has led to the development of numerous underwater devices. In many cases, these devices need to be transported to the seabed at a certain speed via cables, or a component of the device needs to be controlled at a desired depth. This necessitates a reliable cable control and release device to accomplish this function.

[0003] Existing cable-controlled release devices adjust the fixed depth by means of the spring or leaf spring in the plunger assembly at the brake pad connection end. This presents difficulties in determining the interaction between the spring or leaf spring force, friction force, and centrifugal force when adjusting the fixed depth. The adjustment structure and process are complex and prone to large errors. Summary of the Invention

[0004] This invention addresses the problems in existing technologies by proposing a novel deep-sea depth control device. This device utilizes a hydraulically controlled braking and damping mechanism, resulting in high control efficiency, timeliness, and accuracy. The device exhibits small depth accuracy errors, is simple and controllable, and allows for precise control of a fixed depth by simply modifying the depth parameters set in the controller. This approach is convenient, fast, and effective.

[0005] To achieve the above-mentioned objectives, the present invention employs the following technical solution:

[0006] A deep-sea depth control device for connection with an anchoring device for deployment includes: a frame;

[0007] A buoyancy component is connected to the frame, and an equipment mounting section is provided on top of it;

[0008] A cable reel is rotatably connected to the frame, and a cable is wound around it.

[0009] A damping device, arranged at one end of the frame, includes:

[0010] A damping mounting base is assembled onto the frame.

[0011] The cable damping device 220, at least one set, includes:

[0012] Two cable receiving components are provided and rotatably connected to the damping mounting base. Each cable receiving component has multiple cable receiving parts formed thereon. These parts can reduce the force on the cable at the cable drum by generating friction with the cable, thereby preventing the cable from getting stuck.

[0013] The damping transmission device is linked to the cable receiving component;

[0014] A locking braking device, in conjunction with the damping transmission device, enables the locking or unlocking of the cable receiving component by locking or unlocking the damping transmission device.

[0015] A braking device, mounted on the cable drum, is used to brake the cable drum.

[0016] A self-locking device is used to lock the deep-sea depth control device;

[0017] Depth detection element, used to detect the depth value of deep-sea depth control devices;

[0018] The controller communicates with the depth detection element, damping device, and braking device. It can control the damping device and braking device to switch back and forth between locking and unlocking positions based on the depth signal value transmitted by the depth detection element. When it detects that the anchor device it cooperates with has sunk to the seabed, it controls the self-locking device to act, so as to lock the deep-sea depth control device. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional structural diagram of the deep-sea depth control device in an embodiment of the present invention;

[0021] Figure 2 This is a front view of the deep-sea depth control device in an embodiment of the present invention;

[0022] Figure 3 for Figure 2 Sectional view along axis AA;

[0023] Figure 4 This is a schematic diagram of the structure of the damping device and the cable clamping device of the deep-sea depth control device in an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the damping device of the deep-sea depth control device in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of the damping device and locking braking mechanism of the deep-sea depth control device in an embodiment of the present invention.

[0026] Figure 7This is a schematic diagram of the cable clamping device of the deep-sea depth control device in an embodiment of the present invention. Figure 1 ;

[0027] Figure 8 This is a schematic diagram of the cable clamping device of the deep-sea depth control device in an embodiment of the present invention. Figure 2 ;

[0028] Figure 9 This is a schematic diagram of the braking device of the deep-sea depth control device in an embodiment of the present invention;

[0029] Figure 10 This is a schematic diagram of the self-locking device of the deep-sea depth control device in an embodiment of the present invention;

[0030] Figure 11 This is a schematic diagram of the structure of the braking device and the self-locking device of the deep-sea depth control device in an embodiment of the present invention;

[0031] Figure 12 This is a schematic diagram of the elastic locking component of the self-locking device of the deep-sea depth control device in an embodiment of the present invention;

[0032] Figure 13 for Figure 12 BB-direction sectional view;

[0033] Figure 14 This is a schematic diagram of the self-locking frame of the deep-sea depth control device in an embodiment of the present invention;

[0034] Figure 15 This is a force analysis diagram of the cable of the deep-sea depth control device in an embodiment of the present invention. Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0036] It should be noted that in the description of this invention, the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," which indicate directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] This invention proposes an embodiment of a deep-sea depth control device, comprising:

[0038] The frame 110 includes a damping device 200, a braking device 400, a cable clamping device 300, a cable guiding device 600, and a self-locking device 500, all mounted on the frame 110. The underwater positioning and release device primarily works in conjunction with the anchoring device for underwater deployment operations, ultimately enabling the equipment it carries to remain within a certain depth range, achieving precise depth-controlled release.

[0039] In some embodiments of this application, the frame 110 includes:

[0040] There are two frame support end caps 111, which are arranged opposite each other. The frame support end caps 111 are circular end caps.

[0041] And a connecting guard rod 112 connecting the two frame support end caps 111, wherein multiple connecting guard rods 112 are provided and arranged circumferentially along the frame support end caps 111;

[0042] The aforementioned accommodating space is formed between the frame support end cap 111 and the connecting protective rod 112.

[0043] The support frame of the entire deep-sea depth control device is formed by the frame support end cap 111 and multiple connecting protective rods 112.

[0044] To achieve weight reduction, weight reduction holes are also provided on the frame support end cover 111. Multiple weight reduction holes can be provided and evenly distributed on the frame support end cover 111.

[0045] A cable reel 120 is used to wind and arrange cables, the length of which extends from one frame support end cap 111 to another frame support end cap 111.

[0046] Its end protrusion forms a drum shaft, and the drum shaft and the frame support end cover 111 are rotatably connected together to realize the rotatable connection between the cable drum 120 and the frame support end cover 111.

[0047] When lowering the cable, the cable can be continuously released from the cable reel 120 relative to the support end cap 111 of the frame.

[0048] To limit the winding length of the cable wound on the cable drum 120, a rotating limiting disc is provided at at least one end of the cable drum 120, which is fixed integrally with the cable drum 120.

[0049] The damping device 200 is arranged at one end of the frame 110. Specifically, the damping device 200 is mounted on the frame support end cap 111 at one end.

[0050] The damping device 200 includes:

[0051] The damping mounting base 210 is assembled on the frame 110;

[0052] The cable damping device 220, at least one set, includes:

[0053] Two cable receiving components 221 are provided, which are different in size and can be rotatably connected to the damping mounting base 210.

[0054] In some embodiments of this application, in order to realize the rotatable connection of the cable receiving member 221, a first mounting shaft 230 is provided, and two shafts are provided, both of which are rotatably connected to the damping mounting base 210. The cable receiving member 221 is assembled on each of the first mounting shafts 230.

[0055] Each of the cable receiving members 221 is formed with a cable receiving portion 222 for winding and arranging a cable, which can reduce the force transmitted to the cable drum 120 by generating friction with the cable, thereby preventing the cable from getting stuck.

[0056] The cable receiving portion 222 is a cable receiving groove opened circumferentially along the cable receiving member 221. Multiple cable receiving grooves are provided and arranged along the axial direction of the cable receiving member 221. The cable is wound and arranged in one or more of the cable receiving grooves.

[0057] The cable receiving component 221 is a cable receiving wheel, and multiple cable receiving grooves are provided on its upper part.

[0058] Winding the cable into the cable receiving groove can increase the damping force between the cable and the cable receiving groove;

[0059] The more turns the cable is wound, the larger the contact area between the cable and the cable receiving member 221, and the greater the damping friction force generated. The number of turns the cable receiving member 221 is determined by the required damping strength; more turns are needed for stronger damping, and fewer turns for weaker damping.

[0060] Of course, in order to ensure that the cable can still move downward and be pulled after passing through the cable receiving member 221, the frictional damping force between the cable and the cable receiving member 221 should not be too large, so as not to affect the normal cable exit.

[0061] The two cable receiving pulleys are set to have the same diameter.

[0062] The first damping transmission device 240 is linked with the cable damping device 220 and can be driven to rotate when the cable receiving member 221 rotates.

[0063] In some embodiments of this application, the first damping transmission device 240 includes:

[0064] The first damping assembly shaft 241 is rotatably mounted on the damping mounting base 210;

[0065] The first damping active component 242 is mounted on the first damping assembly shaft 241;

[0066] The first damping follower 243 is mounted on one of the first mounting shafts 230 and meshes with the first damping drive 242.

[0067] In some embodiments of this application, the first damping active element 242 is a first active damping gear;

[0068] The first damping follower 243 is the first driven damping gear, and the two mesh together.

[0069] The cable on the cable drum 120 will unwind under the gravity traction of the anchor device. The unwound cable passes through the cable receiving member 221. Due to the friction between the cable receiving member 221 and the cable, the cable receiving member 221 will rotate relative to the damping mounting base 210. The rotation of the cable receiving member 221 will drive the first mounting shaft 230 to rotate, which in turn will drive the first damping driven member 243 on the first mounting shaft 230 to rotate. Since the first damping driven member 243 and the first damping driving member 242 are engaged, the first damping rotating member will rotate.

[0070] Because the first damping transmission device 240 and the cable receiving member 221 are linked, the damping effect between the cable receiving member 221 and the cable is enhanced by the setting of the first damping device 200.

[0071] The second damping transmission device 250 is linked with the cable damping device 220 to synchronize the two cable receiving parts 221.

[0072] In some embodiments of this application,

[0073] The second damping transmission device 250 is a damping sprocket 251 chain structure, which includes:

[0074] Two damping sprockets 251 are provided and are respectively mounted on two first mounting shafts 230;

[0075] The damping chain 252 is wound around two damping sprockets 251.

[0076] The two sets of cable winding wheels of the damping system are equipped with synchronous chains, which connect the two damping sprockets 251 together through the damping chain 252. Since the two damping sprockets 251 are respectively mounted on the first mounting shaft 230 and are coaxially arranged with the two cable receiving parts 221, the two cable receiving parts 221 connected to the damping sprockets 251 rotate synchronously under the drive of the damping chain 252. The purpose of ensuring the synchronous movement of the two cable receiving parts 221 is to prevent one of the cable receiving parts 221 from slipping or failing due to insufficient friction, and to avoid the damping effect being reduced due to slippage or failure, thus ensuring the damping effect.

[0077] Without the cable receiving member 221 in this embodiment, when the anchor device is attached to the end of the cable, the weight of the anchor device will exert a downward pulling force on the cable. The cable will transfer this pulling force to the cable at the cable drum 120. Due to the large force, the cable will be embedded in the inner layer of the multi-layer cable on the cable drum 120.

[0078] In this embodiment, the cable led out from the cable drum 120 is sequentially wound and arranged in the cable receiving groove of the cable receiving member 221. When the cable is wound in the cable receiving groove, it will generate friction with the cable receiving groove. The friction between the cable and the cable receiving groove can reduce the force carried by the cable.

[0079] After the cable tension is reduced to a reasonable level by the multi-stage friction of the two cable receiving components 221, the force on the cable will be reduced to a reasonable level.

[0080] This reduces the force transmitted from the cable to the cable drum 120, effectively preventing the cable from embedding into the inner layer at the cable drum 120 due to the force being transmitted entirely to the cable drum 120.

[0081] The cable is wound around the cable receiving member 221. The total wrap angle of the cable on the cable receiving member 221 is denoted as 'a'. The downward force on the section connecting the cable to the anchor device, i.e., the force at the traction end, is F1. The force on the cable drum leading to the cable storage winch is F2. 'f' is the frictional force between the cable and the cable receiving member 221. Taking a small segment of the cable with a wrap angle 'da' for force analysis, it can be determined through equilibrium conditions that the tension difference between the two ends of the cable is the frictional force: F1 - F2 = f. When 'da' is infinitely small, dN is the pressure on the cable, directed along the diameter of the pulley.

[0082] The greater the friction between the cable and the cable housing, the more obvious the force reduction effect.

[0083] The locking brake component is connected to the first damping transmission device 240;

[0084] A locking mechanism 270 is arranged on the frame 110 to brake or unlock the locking brake member;

[0085] When the locking brake is locked or unlocked, it can lock or unlock the first damping transmission device 240. When the first damping transmission device 240 is locked or unlocked by the damping locking member, it can lock or unlock the cable receiving member 221.

[0086] In some embodiments of this application,

[0087] The damping mounting base 210 includes damping mounting plates 211 arranged opposite to each other, and a receiving space is formed between the two damping mounting plates 211. The two ends of the first damping assembly shaft 241 are respectively rotatably connected to the damping mounting plates 211, and its end extends out from the damping mounting plates 211. The locking brake is mounted on the first damping assembly shaft 241.

[0088] When it is necessary to lock the locking brake, the locking action mechanism 270 can be controlled to lock the locking brake. Since the locking brake is connected to the first damping assembly shaft 241 of the first damping transmission device 240, when the locking brake is locked, it will drive the first damping assembly shaft 241 to stop rotating, thereby driving the first damping active member 242 and the first damping driven member 243 mounted on it to engage and lock together, so as to lock and fix the cable receiving member 221 connected to the first damping driven member 243 and another cable receiving member 221 linked with it.

[0089] When the locking mechanism 270 is activated, the teeth of the first damping driven member 243 and the first damping driving member 242 can be engaged and locked together, effectively preventing the cable receiving member 221 and the cable from rotating.

[0090] The gear ratio of the first active damping gear to the first driven damping gear is 1:4, which transmits braking power to achieve rapid braking.

[0091] In some embodiments of this application, the locking mechanism 270 includes:

[0092] A locking body component 271 is arranged around the locking brake component, with one end hinged to the damping mounting base 210. The locking body component 271 is partially fitted to the locking brake component to provide damping force to the locking brake component.

[0093] The locking drive 272 has a retractable extension;

[0094] The locking drive component 272 is a locking drive cylinder, and the extended part is a locking extension arm, which can be used for telescopic movement.

[0095] The locking linkage 273 is rotatably mounted on the damping mounting base 210. One end is hinged to the protruding part, and the other end is hinged to the other end of the locking body 271. It can move under the drive of the locking drive 272 to drive the locking body 271 to move so that the locking body 271 abuts against the locking brake to lock or disengage from the first damping transmission device 240 and unlock the first damping transmission device 240.

[0096] The locking linkage 273 is a locking lever, which is rotatably connected to the damping mounting plate 211 via a connecting pin.

[0097] An insert rod is formed at the end of the locking linkage 273, and an insert hole is formed on the locking body 271. The locking linkage 273 is inserted into the insert hole through the insert rod to achieve a rotational connection with the locking body 271.

[0098] In some embodiments of this application,

[0099] The locking brake component has an annular receiving portion 261 formed thereon;

[0100] The locking body component 271 is semi-circular in shape and has an opening, including:

[0101] The main body portion is located within the receiving portion and at least partially fits into the annular receiving portion 261;

[0102] The first connecting portion 2711 and the second connecting portion 2712 are arranged on both sides of the opening and connected to the two ends of the main body, respectively. The first connecting portion 2711 and the second connecting portion 2712 are gradually moved away from the locking brake member from the main body.

[0103] When the locking drive member 272 and the locking linkage member 273 are not activated, the first connecting part 2711 and the second connecting part 2712 maintain a gradually changing distance from the locking brake member, so that the locking body member 271 part remains in contact with the locking brake member.

[0104] When braking is required, the first connecting part 2711 and the second connecting part 2712 at both ends can also come into contact with the locking brake component and press against it to achieve the braking effect.

[0105] In some embodiments of this application,

[0106] A cable limiting member 280 is provided on the damping mounting base 210, which is laterally arranged on the connection of two damping mounting plates 211. Multiple cable limiting members 280 are provided and are arranged circumferentially along the damping mounting plates 211.

[0107] The cable limiting component 280 is a cable limiting rod, which is provided in multiple places to prevent the cable arranged in the damping mounting plate 211 from playing a limiting and anti-falling role.

[0108] Specifically, an assembly frame 140 is provided on the support end cover 111 of the frame;

[0109] The cable clamping device 300 includes:

[0110] Two cable clamping parts 310 are provided and are rotatably mounted on the assembly frame 140. Each part includes a clamping part 311, with the two clamping parts 311 arranged opposite to each other.

[0111] A cable channel 320 is formed between the two clamping parts 311. The two clamping parts 311 are arranged opposite each other and are directly opposite each other to ensure that the two cable clamping parts 310 can cooperate with each other to clamp the cable when they are in operation.

[0112] In some embodiments of this application, the following are also included:

[0113] Two rotating shafts 330 are provided, arranged opposite to each other and rotatably mounted on the assembly frame 140;

[0114] The cable clamping component 310 is respectively mounted on each rotating shaft 330.

[0115] The rotating shaft 330 can be rotatably connected to the assembly frame 140 via a bearing.

[0116] The cable clamp 310 and the rotating shaft 330 are fixed, which can realize the synchronous operation of the rotating shaft 330 and the cable clamp 310. When the cable clamp 310 is under force, it can rotate relative to the mounting frame 140 through the rotating shaft 330.

[0117] The positions of the two cable clamps 310 can be changed by rotating them relative to the mounting frame 140 to achieve the clamping or loosening of the cable.

[0118] The clamping transmission device 340 is coaxially assembled with the cable clamping member 310, and can transmit the force to the other cable clamping member 310 when one of the cable clamping members 310 rotates, so that the two cable clamping members 310 open or close relative to each other.

[0119] In some embodiments of this application, the clamping transmission device 340 includes:

[0120] The first gear meshing component 341 and the second gear meshing component 342 are respectively mounted on two rotating shafts 330.

[0121] The first gear meshing member 341 and the second gear meshing member 342 are conjugate gears.

[0122] The clamping drive component 350 is retractable and is hinged to one of the cable clamping components 310. Through its retraction and extension, it drives the cable clamping component 310 connected to it to rotate.

[0123] In some embodiments of this application, the clamping drive component 350 is a clamping drive cylinder having a telescopic clamping arm that is hinged to one of the cable clamping components 310.

[0124] The clamping drive cylinder is arranged at an angle, which allows it to transmit power to the cable clamping member 310 to rotate when it is in motion.

[0125] In this embodiment, when the cable clamping device 300 is in use, the extension and retraction of the clamping drive cylinder can drive the cable clamping member 310 connected to the clamping drive cylinder to rotate. The cable clamping member 310 and the rotating shaft 330 are coaxially assembled, and the first gear meshing member 341 and the second gear meshing member 342 are conjugate gears. When the cable clamping member 310 moves, it drives the rotating shaft 330 and the gear meshing member assembled on the rotating shaft 330 to rotate. Since the two gear meshing members are meshed with each other, they will transmit power to the other gear meshing member to rotate, thereby driving the cable clamping member 310 coaxially assembled with the other gear to move, so that the two cable clamping members 310 can be closed or opened relative to each other.

[0126] When the two cable clamping parts 310 are closed relative to each other, the cable in the cable channel 320 located between the clamping parts 311 can be firmly clamped, realizing the support, positioning and fixation of the cable, so that the cable is away from the support end cover 111 of the frame, effectively avoiding the problem of the cable swaying in the water and rubbing against the support end cover 111 of the frame. This solves the problem of existing fixed-depth release devices causing the cable to be damaged by friction with the support end cover 111 of the frame after being lowered to a certain depth.

[0127] In some embodiments of this application, the cable clamping member 310 includes:

[0128] The frame support part 312 is connected to the clamping part 311;

[0129] The frame support 312 of the two cable clamps 310 is installed on two rotating shafts 330 respectively and the two are staggered.

[0130] In some embodiments of this application, the frame support 312 includes:

[0131] The clamping main body 3121 is arranged vertically, and the clamping main body 3121 is arranged vertically in the clamping main body section;

[0132] The connecting part 3122 is formed by bending downward from the bottom of the clamping main body part 3121. A connecting hole is provided on the connecting part 3122, and it is sleeved on the rotating shaft 330 through the connecting hole.

[0133] The connecting part 3122 is a connecting section, which is set at a 90-degree angle to the clamping main body section. The connecting section is fixedly connected through the connecting hole and the rotating shaft 330.

[0134] The extension 3123 is formed by bending from the upper part of the clamping main body 3121; the extension 3123 is an extension segment, which is arranged perpendicular to the clamping main body segment.

[0135] The clamping part 311 is arranged perpendicular to and connected to the extension part 3123. Each clamping part 311 has a clamping surface, and the clamping surfaces of the two cable clamping parts 311 are arranged opposite to each other.

[0136] The clamping part 311 is a clamping arm with its vertical extension section arranged.

[0137] The two clamping parts 311 can be used to clamp and fix the cable.

[0138] The clamping surface provided on the clamping part 311 can ensure that the two cable clamping parts 310 can be seamlessly fitted through the two clamping surfaces when they are relatively closed, so as to achieve a good clamping effect on the cable.

[0139] In some embodiments of this application, a first limiting anti-detachment member 361 and a second limiting anti-detachment member 362 are arranged sequentially on each of the rotating shafts 330, with a gap between the first limiting anti-detachment member 361 and the second limiting anti-detachment member 362, and the first gear meshing member 341 / second gear meshing member 342 and the cable clamping member 310 are arranged between the first anti-detachment limiting member and the second anti-detachment limiting member.

[0140] The first limiting anti-detachment component 361 is the first limiting anti-detachment sleeve, and the second limiting anti-detachment component 362 is the second limiting anti-detachment sleeve, which are interference-fitted onto the rotating shaft 330.

[0141] The length of the first anti-slip limiting sleeve is less than the length of the second anti-slip limiting sleeve.

[0142] When the first gear meshing member 341 and the cable clamping member 310, or the second gear meshing member 342 and the cable clamping member 310 are assembled on the rotating shaft 330, they can be limited by the first limit anti-disengagement sleeve and the second limit anti-disengagement sleeve.

[0143] During the arrangement, a first anti-detachment limiting sleeve and a second anti-detachment limiting sleeve are arranged sequentially along the first direction on the rotating shaft 330 used to assemble the first gear meshing component 341. A cable clamping component 310 and the first gear meshing component 341 are arranged sequentially between the first anti-detachment limiting sleeve and the second anti-detachment limiting sleeve.

[0144] A second anti-detachment limiting sleeve and a first anti-detachment limiting sleeve are arranged sequentially along the first direction on the rotating shaft 330 used to assemble the second gear meshing component 342. The second gear meshing component 342 and the cable clamping component 310 are arranged sequentially between the second anti-detachment limiting sleeve and the first anti-detachment limiting sleeve.

[0145] The first gear meshing member 341 and the second gear meshing member 342 are positioned opposite each other, and the connecting parts 3122 of the two cable clamping members 310 are staggered to ensure that the two cable clamping members 310 do not interfere with each other during rotation. This ensures that no gap is generated between the clamping parts 311 of the two cable clamping members 310 when they are clamped and closed, thus ensuring the clamping effect.

[0146] In some embodiments of this application, a rubber protective element 313 is provided on the clamping surface. The rubber protective element 313 is a rubber protective pad that covers and is fixed to the clamping surface to provide protection for the clamped cable.

[0147] In some embodiments of this application, the assembly rack 140 includes: an assembly rack base 141;

[0148] Clamping arms 142 extending upward from the assembly frame base 141 form an installation space between the two clamping arms 142. A shielding and protective member 143 is provided at the top of the installation space. The shielding and protective member 143 has a through-hole for passing through the cable. The through-hole faces the space between the two cable clamping members 310.

[0149] The shielding and protective component 143 is a shielding and protective plate connected between the two clamping arms 142. The through part is a through hole opened on the shielding and protective plate. The through hole is an elongated hole that faces the rope passage between the two clamping parts 311, so that when the cable passes through the through hole, it directly reaches the rope passage, which facilitates the clamping parts 311 to clamp the cable.

[0150] Rotate the mounting shaft, which is laterally arranged on the two clamping arms 142, located within the mounting space;

[0151] Rotary guide wheel 621 is rotatably mounted on the rotating mounting shaft to guide the cable.

[0152] Two rotating guide wheels 621 are provided, arranged opposite each other, to guide the cable passing between the two rotating guide wheels 621.

[0153] In some embodiments of this application, the rotating shaft 330 is mounted in the mounting frame 140 along the direction perpendicular to the rotating mounting axis, and a clearance space is formed on the mounting frame 140 to avoid the cable clamping member 310 and the cable transmission device.

[0154] The cable clamping member 310 is made to allow space for clearance, so that it can operate normally to clamp the cable.

[0155] In some embodiments of this application, the extension 3123 and the clamping portion 311 are located above the clamping arm 142.

[0156] The rotating component 410 is assembled and fixed at one end of the cable drum 120;

[0157] In some embodiments of this application, the rotating component 410 is a rotating brake wheel, which includes:

[0158] The brake wheel body 411 includes a first annular body and a second annular body arranged around the first annular body. A brake wheel hub plate 412 is connected between the first annular body and the second annular body. A limiting insertion part 420 is formed between adjacent brake wheel hub plates 412. The limiting insertion part 420 is an insertion positioning hole formed between the brake wheel hub plates 412.

[0159] A limiting baffle is also provided on one side of the brake wheel body, which is adapted to the shape of the brake wheel body 411 and can be used to limit the cable wound on the cable drum 120.

[0160] It also includes: a mounting rod 130, which is connected between the frame support end caps 111 and has a diameter larger than the connecting guard rod 112.

[0161] A brake element 430 is arranged around the circumference of the rotating component 410. The brake element 430 is adapted to the shape of the rotating component 410 and is at least partially attached to the rotating component 410.

[0162] In some embodiments of this application, the brake element 430 includes:

[0163] The brake body is annular, and a brake friction element 432 is provided on the inner side wall of the brake body.

[0164] The brake friction component 432 can be made of friction rubber.

[0165] One end of the brake body is fixed with a bent arm 433, and the bent arm 433 is provided with a locking port 4331.

[0166] Brake drive component 440, which includes brake telescopic arm 441;

[0167] One end of the brake drive component 440 is hinged to the brake component body, and the brake telescopic arm 441 is hinged to the bending arm 433.

[0168] The brake drive component 440 is a brake cylinder. When it is activated, it can drive the brake telescopic arm 441 to retract, thereby driving the brake component body connected to the bending arm 433 to move closer to the rotating component 410, so that the brake component 430 and the rotating component 410 are pressed together and braked by friction.

[0169] When the brake telescopic arm 441 extends, it can cause a portion of the end of the brake body 431 to disengage from the rotating component 410, so that part of the brake body 431 comes into contact with the rotating component 410, at which time the rotating component 410 can rotate.

[0170] The brake component body can be locked onto the mounting rod 130 by the locking port 4331 provided on the bent arm 433.

[0171] The braking device 400 can brake the rotating component 410 and the cable drum 120 fixedly connected to the rotating component 410, thereby preventing the cable drum 120 and the cable wound on it from rotating.

[0172] To ensure the cable reel 120 is locked after the anchor device sinks to the seabed, this embodiment also includes:

[0173] The self-locking device 500 includes:

[0174] The self-locking frame 510 is bent and can be rotatably installed at one end of the frame 110. Both ends have a first insertion positioning part 511 and a second insertion positioning part 512.

[0175] The self-locking bracket 510 can be rotatably mounted on the support end cover 111 of another bracket via a rotating pin.

[0176] The first insertion positioning part 511 and the second insertion positioning part 512 are respectively the first insertion positioning end and the second insertion positioning end.

[0177] Two elastic locking components are provided and installed on the frame 110. They are elastic and retractable.

[0178] The first insertion positioning part 511 and the second insertion positioning part 512 are used to position the two elastic locking components respectively.

[0179] In some embodiments of this application, the self-locking device 500 further includes:

[0180] Mounting component 540 is assembled and fixed on the frame 110, and a sliding cavity is formed inside it;

[0181] Mounting component 540 is a mounting sleeve, with a sliding cavity arranged along the length of the mounting sleeve. Mounting component 540 is fixedly connected to the support end cover 111 of the frame.

[0182] The elastic locking component is inserted into the sliding cavity and can slide relative to the mounting member 540.

[0183] It includes:

[0184] Insert 520 includes:

[0185] The insert body portion 521 includes a protrusion 522, a recess 523, and an anti-detachment portion 524 located at the end of the insert body portion 521. The outer diameter of the anti-detachment portion 524 is larger than the inner diameter of the sliding cavity.

[0186] The elastic element 530 is located inside the sliding cavity, with one end abutting against the protrusion 522 and the other end abutting against the sliding cavity wall opposite to the protrusion 522.

[0187] The insert body 521 is an insert pin, and the protrusion 522 is an annular protrusion arranged circumferentially along the insert pin. A receiving cavity is formed between the annular protrusion, the sliding cavity top wall opposite to the annular protrusion, and the sliding cavity side wall located between the two. The elastic element 530 is arranged in the receiving cavity.

[0188] The elastic element 530 can be a spring or a sheet, etc.

[0189] When the insert 520 slides out relative to the mounting 540 toward the support end cover 111 of the frame, it compresses the elastic element 530.

[0190] The recessed portion 523 is a recessed slot formed on the insert body portion 521, which is used to engage with the first insert positioning portion 511 of the self-locking frame 510 for positioning.

[0191] The anti-detachment part 524 is an anti-detachment protrusion arranged at the end of the insert body component. Its outer diameter is larger than the inner diameter of the sliding cavity to prevent the insert body component from detaching from the mounting part 540.

[0192] The anti-detachment protrusion can be integrally formed with the insert body component, or the anti-detachment protrusion can be formed as an anti-detachment bolt that is screwed and fixed inside the insert body component.

[0193] A rotating component 410 is assembled at one end of a cable drum 120, and a limiting insertion part 420 is formed above it.

[0194] In the unreleased mode, the self-locking frame 510 is respectively engaged with the two elastic locking components by the first insertion positioning part 511 and the second insertion positioning part 512, so as to limit the elastic locking components and keep them in a first position away from the rotating component 410.

[0195] When in underwater locking mode, the self-locking device 500 can drive the self-locking frame 510 to rotate relative to the frame 110 along the plane of the frame 110, so that the first insertion positioning part 511 and the second insertion positioning part 512 translate and separate from the elastic locking component. The elastic locking component moves along the plane perpendicular to the frame 110 under its own elastic force and inserts into the second position in the limiting insertion part 420 to lock the cable drum 120.

[0196] When the deep-sea depth control device is not submerged to the seabed, the insert 520 is positioned by the self-locking frame 510. The self-locking frame 510 is locked in the recess 523. The insert 520 is pulled out and its compression elastic element 530 is compressed. At this time, the insert 520 is far away from the rotating part 410 and does not cooperate with the rotating part 410.

[0197] Once the anchor device connected to the cable is sunk to the seabed, it needs to be locked. At this time, the self-locking device 500 can be activated, the self-locking frame 510 can be rotated and separated from the insert 520, the limit of the insert 520 can be eliminated, and under the force of the elastic element 530, it can automatically pop out into the limit insert part 420 and lock and fix it.

[0198] The self-locking device 500 in this embodiment is inserted into the limiting insert 420 of the rotating component 410 to firmly lock the rotating component 410 and the cable drum 120 connected to the rotating component 410, thereby preventing the rotation of the cable drum 120 and the cable wound on it, and achieving a firm locking effect.

[0199] The insert 520 is positioned by creating a recess 523 near its end. This is mainly to ensure that the insert 520 is long enough to have sufficient sliding range so that it can slide into the limiting insert 420 and lock after the limit is released.

[0200] In some other embodiments of this application, during installation, the first insertion positioning part 511 and the second insertion positioning part 512 of the self-locking bracket 510 can be directly engaged at the gap between the anti-detachment part 524 and the mounting part 540. In order to ensure that the length of the insertion part 520 is long enough, the thickness of the first insertion positioning part 511 needs to be increased, which may increase the overall weight.

[0201] In some embodiments of this application, an extended support arm is provided at the first insertion positioning part 511 of the self-locking frame 510, which is arranged perpendicular to the first insertion positioning part 511. It can be arranged along the length direction of the insertion part 520 and abut against the anti-disengagement part 524 to limit it. This can ensure that the sliding stroke of the insertion part 520 is long enough to be inserted into the limiting insertion part 420 and locked.

[0202] In some embodiments of this application,

[0203] The self-locking frame 510 includes:

[0204] The first bent arm 513 of the bent arrangement;

[0205] The second bent arm 514 and the first bent arm 513 are connected by a hinged connection 515, which is hinged to the frame 110. The second bent arm 514 and the first bent arm 513 bend in the same direction.

[0206] During arrangement, the first bent arm 513 is engaged with the insert 520 from the front and side, and the second bent arm 514 is engaged with the insert 520 from the back. This ensures that when the self-locking frame 510 rotates, the two bent arms 433 can be separated from their corresponding inserts 520 respectively.

[0207] In some embodiments of this application,

[0208] The self-locking device 500 also includes a self-locking drive 550, which includes a telescopic arm.

[0209] It is hinged to the first bending arm 513 or the second bending arm 514, and it can drive the self-locking frame 510 to rotate at a certain angle through extension and retraction so that the self-locking frame 510 and the elastic locking component can be separated.

[0210] The self-locking drive component 550 is a self-locking drive cylinder, which drives the self-locking frame 510 to move by extending and retracting the telescopic arm.

[0211] In some embodiments of this application,

[0212] The rotating component 410 is a rotating limiting disk used to limit the length of the cable winding, and the limiting insertion part 420 is a limiting insertion hole formed on the rotating limiting disk.

[0213] In some embodiments of this application,

[0214] The rotating component 410 is the rotating brake wheel in the braking device 400, which includes a brake wheel body 411 and a brake wheel hub plate 412, and the limiting insert portion 420 is formed between adjacent brake wheel hub plates 412.

[0215] In some embodiments of this application,

[0216] The ends of the first insertion positioning part 511 and the second insertion positioning part 512 are provided with locking grooves for engaging with the elastic locking component. That is, when it is installed, the locking groove can also be provided above the self-locking frame 510 to achieve the locking engagement between the two. The locking groove is open on one side and can be used to lock onto the insertion part 520 to limit the elastic locking component.

[0217] In some embodiments of this application,

[0218] The first bent arm 513 includes a first bent segment and a second bent segment, and the included angle between the first bent segment and the second bent segment is 120-135 degrees.

[0219] In some embodiments of this application, the self-locking drive member 550 is obliquely arranged on the frame support end cover 111, with one end hinged to the frame support end cover 111 and the other end hinged to the first bending section. The included angle between the self-locking drive member 550 and the first bending section is 45-60 degrees.

[0220] By tilting the self-locking drive 550 and setting it to maintain a suitable angle with the first bending section, it can be ensured that when it is in operation, it can drive the self-locking frame 510 to rotate and disengage from the elastic locking component.

[0221] The self-locking device ensures that the cable drum 120 is securely locked, preventing the cable on the drum from being laid out further and avoiding changes in the depth of the equipment it carries, thus ensuring a fixed-depth release effect.

[0222] In order to guide the cable leading out from the cable drum 120, a cable guiding device 600 is also provided in this embodiment. The cable guiding device 600 is arranged along the path of the cable to achieve a good guiding effect on the cable.

[0223] The cable guiding device 600 includes:

[0224] The first guide device 610 includes:

[0225] The guide rod 611 has a guide channel inside it, which extends to the frame support end cover 111 on which the damping device 200 is assembled, and the frame support end cover 111 has a through channel.

[0226] The guide rotating frame 612 is rotatably connected to one end of the guide rod 611 and can rotate omnidirectionally relative to the guide rod frame. A first guide wheel 613 is assembled inside the guide rotating frame 612.

[0227] The guide horn member 614 has a guide horn opening and is rotatably connected to the guide rotating frame 612;

[0228] The second guide wheel 615 is arranged at the exit of the passageway to guide the cable to the damping device 200.

[0229] To facilitate the assembly of the second guide wheel 615, a guide wheel mounting bracket 616 is provided on the support end cover 111 of the frame, and a connecting shaft is provided on the guide wheel mounting bracket 616, on which the second guide wheel 615 is rotatably connected.

[0230] The guide wheel mounting bracket 616 is also fixedly connected to the damping mounting plate 211.

[0231] To limit the movement of the cable, a cable guardrail is also installed on the guide wheel mounting frame 616.

[0232] The guide rotating frame 612 can be rotatably connected to the guide rod 611 via a universal joint to ensure that the guide rotating frame 612 can rotate in multiple directions to accommodate the situation where the position of the cable on the cable drum 120 may change in multiple directions after it is led out.

[0233] Cable guardrails are also installed on the guide rotating frame 612.

[0234] The guide horn 614 is rotatably connected to the connecting shaft via the connecting arm 617 to achieve its rotation relative to the guide rotating frame 612.

[0235] The second guiding device includes a guide wheel assembly 620 mounted on the mounting frame 140. The guide wheel assembly 620 includes a rotatable guide wheel 621, which is rotatably mounted on the rotatable mounting shaft for guiding the cable.

[0236] Two rotating guide wheels 621 are provided and arranged opposite each other. A rope passage is formed between the two rotating guide wheels 621. The cable passes through the rope passage between the two rotating guide wheels 621 and enters the position between the two cable clamping members 310.

[0237] The cable drawn from the cable reel 120 is introduced into the guide horn 614 through the guide horn opening of the guide horn 614, then passes out of the guide horn 614 and enters the first guide wheel 613. From the first guide wheel 613, it enters the guide channel of the guide rod 611, passes through the through channel on the frame support end cover 111 and enters the second guide wheel 615. Through the second guide wheel 615, it enters the cable receiving member 221 of the damping device 200.

[0238] The cable passing through the damping device 200, after rotating the guide wheel 621, passes between the two cable clamps 310 and is connected to the anchor device or other gravity equipment.

[0239] To supply oil to each drive cylinder, a hydraulic oil pump box 700 is also installed on the support end cover 111 of the frame. The hydraulic oil pump box 700 and each drive cylinder are connected via oil pipelines. The hydraulic oil pump box 700 is equipped with a power plug and multiple hydraulic oil inlets and outlets.

[0240] To balance the pressure changes on the seabed, a compensation oil bladder 800 is also provided, which is connected to the hydraulic oil pump box 700.

[0241] During operation, the upper part of the deep-sea depth control device, carrying the equipment, is connected to the buoyancy component. The depth-keeping release device and the buoyancy component together must have positive buoyancy. The lower part of the depth-keeping release device is connected to the anchor device, which can also carry the equipment. The negative buoyancy of the lower anchor device must be greater than the buoyancy of the deep-sea depth control device and the buoyancy component together; that is, the integrated unit must have negative buoyancy. When the deep-sea depth control device, carrying the equipment and the buoyancy component, is placed in the sea together with the anchor device, because the whole unit has negative buoyancy, it sinks together under the influence of gravity. Generally, the gravity generated by the anchor device is much greater than the buoyancy of the depth-keeping component.

[0242] It also includes a control panel tank 900, which has a controller installed inside.

[0243] The controller's control program includes settings for the opening and closing depths of the brake and damping devices 200 and 400 of the deep-sea depth control device. Depth parameters are provided by a depth detection element. Pressure signals are converted into electrical signals via a control plate tank 900, which are then used to control the on / off states of different hydraulic oil lines. This enables the release and closing of the brakes on the deep-sea depth control device, the release and tightening of the damping device 200, the tightening and loosening of the cable clamping device 300, and the locking of the locking mechanism.

[0244] When the deep-sea depth control device, carrying equipment and buoyancy components, is lowered into the sea along with the anchor, it gradually sinks under gravity. When the depth reaches a set point A, which corresponds to the first depth position (e.g., 500 meters or 1000 meters), the depth detection element transmits a signal to the controller. The controller then activates the cable clamping device 300, the braking device 400, and the damping device 200, causing them to unlock. At this point, the cable is relaxed and, under the weight of the anchor, pulls the cable off the drum. The anchor sinks, and the deep-sea depth control device rises. The distance between the anchor and the deep-sea depth control device increases. When the deep-sea depth control device rises to point B, the depth position corresponding to point B is determined. At the second depth position, the depth sensor transmits a signal to the controller. The controller locks the cable clamping device 300, damping device 200, and braking device 400. The anchor device then pulls the deep-sea depth control device together with the cable and sinks. When the depth reaches the set point A again, the signals to release the cable clamping device 300, damping device 200, and braking device 400 are triggered again. At this time, the anchor device continues to sink, and the deep-sea depth control device then rises again. When the depth reaches the set point B again, the signals to close the cable clamping device 300 and tighten the damping device 200 and braking device 400 are triggered again. The anchor device then pulls the deep-sea depth control device together with the cable and sinks again. This process repeats until the anchor device reaches the bottom.

[0245] If the deep-sea depth control device is in an upward state before the anchor device sinks to the bottom, it will close the cable clamping device 300, the braking damping device 200 and the braking device 400 when it reaches the depth of point B. After a period of stabilization and confirmation, the self-locking device 500 will be triggered to lock the device, so that the deep-sea depth control device will no longer loosen.

[0246] If the depth-fixing part is in a sinking state before the anchor device reaches the bottom, it will be located between points A and B. When the anchor device reaches the bottom, the deep-sea depth control device will be located between A and B. The depth detection element will not be able to send a signal to the controller to control the damping device 200, the braking device 400, and the cable clamping device 300. At this time, a certain time is set to prevent the depth position at point A from being triggered as a control signal. If point A is not reached for a long time, it will automatically release the cable clamping device 300, the damping device 200, and the braking device 400, allowing the deep-sea depth control device to float to point B. The cable clamping device 300, the damping device 200, and the braking device 400 will then be controlled to close. After a period of stabilization and confirmation, the self-locking device 500 signal will be triggered to lock the device, preventing the deep-sea depth control device from loosening.

[0247] The deep-sea depth control device of this invention is equipped with a braking device, a damping device, a cable clamping device, and a self-locking device. By setting up multiple devices in coordination, when detecting depth, after obtaining a precise depth value through the depth detection element, multiple devices can be hydraulically controlled to simultaneously apply corresponding braking or release the cable. The cooperation of multiple braking devices makes braking more precise, efficient, and effective.

[0248] A method for depth-controlled release of the deep-sea depth control device described in the above technical solution:

[0249] The damping device 200, the braking device 400, and the cable clamping device 300 all have a locking position for locking the cable and an unlocking position for releasing the cable. The control methods include: a control method during the sinking process and a control method when the anchor device sinks to the bottom.

[0250] The bottom of the cable release device is connected to the anchor device, which controls the damping device 200 and the brake device 400 to be in the locking position, and then the underwater positioning release device and the anchor device are launched into the sea.

[0251] Control method during sinking: The depth value is detected by the depth detection element. When the depth value is detected to be at the first depth position, the damping device 200, the braking device 400, and the cable clamping device 300 are controlled to be in the unlocking position so that the underwater positioning and release device floats up as a whole and the anchor device sinks.

[0252] When the detected depth value reaches the second depth position, the control damping device 200, braking device 400 and cable clamping device 300 are locked in the locking position so that the underwater positioning release device and anchor device sink synchronously, and the cycle continues until the anchor device sinks to the seabed.

[0253] The first depth position and the second depth position are preset depth values ​​in the controller. When the depth detection element detects that the depth position has been reached, it sends a signal to the controller, which then controls the damping device 200, the braking device 400 and the cable clamping device 300 to perform corresponding actions.

[0254] Control methods when the anchor device sinks to the bottom:

[0255] When the depth value of the underwater positioning and release device is detected to be greater than a first preset time within the first depth range and the damping device 200, the braking device 400, and the cable clamping device 300 are all in the locking position, the self-locking device 500 is controlled to activate to lock the underwater positioning and release device.

[0256] If the underwater positioning and release device fluctuates within the first depth range for a period of time, it indicates that the anchor device has sunk to the seabed and the position of the underwater positioning and release device no longer changes. Simultaneously, if the damping device 200, the braking device 400, and the cable clamping device 300 are all in the locked position, it means that the device has surfaced to near the first depth position, allowing the controller to control each device to be in the locked position. At this point, the depth-fixing device can be locked, keeping it near the depth position corresponding to the first depth range, thus achieving a fixed-depth release.

[0257] When the depth of the deep-sea depth control device is detected to be within the second depth range, and the damping device 200 and the braking device 400 have been in the locked position for more than a second preset time, the damping device 200, the braking device 400 and the cable clamping device 300 are controlled to move to the unlocked position.

[0258] If the deep-sea depth control device keeps changing within the second depth range, it means that it is basically stationary. However, if the damping device 200, the brake device 400, and the cable clamping device 300 are locked for a longer time than the second preset time, it means that it is located between the first and second depths and cannot float. At this time, the damping device 200, the brake device 400, and the cable clamping device 300 can be controlled to be unlocked to make it float.

[0259] And after a preset time, it is detected whether the depth of the underwater positioning and release device is greater than the first preset time within the first depth range, and whether the damping device 200, the brake device 400 and the cable clamping device 300 are in the locking position. If so, the self-locking device 500 is controlled to activate to lock the deep-sea depth control device.

[0260] After surfacing for a certain period of time, the deep-sea depth control device will surface. When it reaches the first depth range and all devices are in the locking position, it can be locked.

[0261] Among them, all values ​​in the second depth interval are within the depth interval formed by the first depth position and the second depth position.

[0262] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by the present invention.

Claims

1. A deep-sea depth control device for connection with an anchoring device for deployment, characterized in that, Includes: frame; A buoyancy component is connected to the frame, and an equipment mounting section is provided on top of it; A cable reel is rotatably connected to the frame, and a cable is wound around it. A damping device, arranged at one end of the frame, includes: A damping mounting base is assembled onto the frame. The cable damping device, at least one set, includes: Two cable receiving components are provided and rotatably connected to the damping mounting base. Each cable receiving component has multiple cable receiving parts formed thereon. These parts can reduce the force on the cable at the cable drum by generating friction with the cable, thereby preventing the cable from getting stuck. The damping transmission device, which is linked to the cable receiving component, includes: a first damping transmission device, which includes: a first damping assembly shaft, rotatably mounted on the damping mounting base; The first damping active component is assembled on the first damping mounting shaft; the first damping driven component is assembled on one of the first mounting shafts and meshes with the first damping active component. The second damping transmission device is linked with the cable damping device to synchronize the two cable receiving parts. The second damping transmission device is a damping sprocket and chain structure, which includes: two damping sprockets, which are respectively mounted on two first mounting shafts; and a damping chain wound around the two damping sprockets. A locking braking device, in conjunction with the damping transmission device, enables the locking or unlocking of the cable receiving component by locking or unlocking the damping transmission device. The locking and braking device includes: A locking brake component is connected to the first damping transmission device; A locking mechanism is arranged on the frame to brake or unlock the locking brake element; The locking mechanism includes: The locking body component is arranged around the locking brake component, and one end of it is hinged to the damping mounting base. Above, the locking body part is partially fitted to the locking brake to provide damping force to the locking brake; The locking drive has a retractable extension; The locking linkage is rotatably mounted on the damping mounting base, with one end hinged to the protrusion and the other end hinged to the other end of the locking body. It can move under the drive of the locking drive to move the locking body so that the locking body abuts against the locking brake to lock the first damping transmission device or disengage from the first damping transmission device to unlock the first damping transmission device. A braking device, mounted on the cable drum, is used to brake the cable drum. A self-locking device is used to lock the deep-sea depth control device; Depth detection element, used to detect the depth value of deep-sea depth control devices; The controller communicates with the depth detection element, damping device, and braking device. It can control the damping device and braking device to switch back and forth between locking and unlocking positions based on the depth signal value transmitted by the depth detection element. When it detects that the anchor device it cooperates with has sunk to the seabed, it controls the self-locking device to act, so as to lock the deep-sea depth control device.

2. The deep-sea depth control device according to claim 1, characterized in that, It also includes: Mounting rods are connected between the support end caps of the frame; The braking device includes: A rotating component is assembled at one end of the cable drum, and a limiting insertion part is formed inside it; A brake element is arranged circumferentially around the rotating component, the brake element being adapted to the shape of the rotating component and at least partially conforming to the rotating component, including: The brake component body has a bent arm fixed at one end; A brake drive component, which includes a brake telescopic arm; One end of the brake drive component is hinged to the brake body, and the brake telescopic arm is hinged to the bending arm.

3. The deep-sea depth control device according to claim 2, characterized in that, The self-locking device includes: The self-locking frame is folded and can be rotatably installed at one end of the frame body. Both ends have a first insertion positioning part and a second insertion positioning part. Two elastic locking components are provided and installed on the frame. They are elastic and retractable. When the self-locking device is in the unreleased mode, the self-locking frame engages with two elastic locking components through the first and second insertion positioning parts, respectively, to limit the elastic locking components and keep them in a first position away from the rotating component. When in underwater locking mode, the self-locking device can drive the self-locking frame to rotate relative to the frame body along the plane of the frame body, so that the first insertion positioning part and the second insertion positioning part translate and separate from the elastic locking component. The elastic locking component moves along the plane perpendicular to the frame body under its own elastic force and inserts into the second position in the limiting insertion part to lock the cable drum.

4. The deep-sea depth control device according to claim 3, characterized in that, It also includes: The mounting component is assembled and fixed on the frame, and a sliding cavity is formed inside it. The resilient locking component is inserted into the sliding cavity and can slide relative to the mounting member, and includes: Insert components, including: The insert body portion includes a protrusion, a recess, and an anti-detachment portion formed on the insert body portion, wherein the outer diameter of the anti-detachment portion is larger than the inner diameter of the sliding cavity; An elastic element is located inside the sliding cavity, with one end abutting against the protrusion and the other end abutting against the sliding cavity wall opposite to the protrusion.

5. The deep-sea depth control device according to claim 1, characterized in that, It also includes: The cable clamping device includes: Two cable clamping parts are provided, both of which are rotatably mounted on the assembly frame and include clamping parts, with the two clamping parts arranged opposite to each other; Two rotating shafts are provided, arranged opposite to each other and rotatably mounted on the assembly frame; The clamping transmission device, linked with the cable clamping components, can transmit force to the other cable clamping component when one of the cable clamping components rotates, causing the two cable clamping components to open or close relative to each other. The clamping drive component includes a clamping telescopic arm, which is telescopic and is hinged to one of the cable clamping members. The telescopic movement drives the cable clamping member connected to it to rotate.

6. The deep-sea depth control device according to claim 5, characterized in that, The cable clamping component includes a frame support part, which is mounted on the rotating shaft and connected to the clamping part. The frame support parts of the two cable clamping components are staggered. The clamping transmission device includes a gear meshing component, which includes a first gear meshing component and a second gear meshing component, respectively mounted on two rotating shafts. The first gear meshing component and the second gear meshing component are conjugate gear components.

7. The deep-sea depth control device according to claim 1, characterized in that, The frame includes: The frame support end caps are provided in two, arranged opposite to each other; And connecting guard rods connecting the two frame support end caps, wherein multiple connecting guard rods are provided and arranged circumferentially along the frame support end caps; A receiving space is formed between the frame support end cap and the connecting guard rod, and the cable reel is located within the receiving space.

8. The deep-sea depth control device according to claim 6, characterized in that, It also includes a guiding device for guiding the cable on the cable reel, the guiding device comprising: The first guiding device includes: A guide rod has a guide channel formed inside it, which extends to the frame support end cap on which the damping device is assembled, and the frame support end cap has a through channel; A guide rotating frame is rotatably connected to one end of the guide rod and can rotate omnidirectionally relative to the guide rod frame. A first guide wheel is assembled inside the guide rotating frame. A guide horn component having a guide horn opening, which is rotatably connected to the guide rotating frame; A second guide wheel is arranged at the exit of the passageway to guide the cable to the damping device. The second guide device includes: The guide wheel assembly mounted on the assembly frame includes a rotatable guide wheel rotatably mounted on the rotating shaft.

9. A method for depth-controlled release control of the deep-sea depth control device according to any one of claims 1-8: The damping device, braking device, and cable clamping device all have a locking position for locking the cable and an unlocking position for releasing the cable. The control methods include: Control methods during the sinking process and control methods when the anchor device sinks to the bottom; The bottom of the cable release device is connected to the anchor device, which controls the damping device and the brake device to be in the locking position, and then the underwater positioning release device and the anchor device are launched into the sea. Control method during the sinking process: The depth value is detected by the depth detection element. When the depth value is detected to be at the first depth position, the damping device, braking device and cable clamping device are controlled to be in the unlocking position so that the underwater positioning and release device floats up as a whole and the anchor device sinks. When the depth value is detected to reach the second depth position, the control damping device, braking device, and cable clamping device are locked in the locking position so that the underwater positioning release device and anchor device sink synchronously, and the cycle continues until the anchor device sinks to the seabed. Control methods when the anchor device sinks to the bottom: When the depth value of the underwater positioning and release device is detected to be greater than a first preset time within a first depth range and the damping device, the braking device, and the cable clamping device are all in the locking position, the self-locking device is controlled to activate to lock the underwater positioning and release device. When the depth of the deep-sea depth control device is detected to be within the second depth range, and the damping device and the braking device have been in the locked position for more than a second preset time, the damping device, the braking device, and the cable clamping device are controlled to move to the unlocked position. After a preset time, it is detected whether the depth of the underwater positioning and release device is greater than the first preset time within the first depth range, and whether the damping device, the braking device and the cable clamping device are in the locking position. If so, the self-locking device is controlled to activate to lock the deep-sea depth control device. Among them, all values ​​in the second depth interval are within the depth interval formed by the first depth position and the second depth position.

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