Underwater steel cable crawling device, crawling method and ocean monitoring buoy with fixed section

Abstract

The invention discloses an underwater steel cable crawling device, a crawling method and an ocean monitoring buoy with a fixed section. The device comprises a sealing seat, a speed reducer driving mechanism, a sealing mechanism and a crawling driving gear mechanism, the method is suitable for the underwater steel cable crawling device. The ocean monitoring buoy comprises a buoy body, a steel cable, a balance weight, a composite material pressure shell, a lithium battery pack, a temperature-salinity-depth measuring instrument, a fluorometer and an induction type modulator-demodulator. The ocean monitoring buoy further comprises the underwater steel cable crawling device. The device has the advantages that the motion state of the crawling device can be remotely and manually controlled, and the requirements of different ocean observation ranges are met; the continuity of section monitoring is ensured, so that electric energy is saved and biological fouling is prevented; the device can be deployed on various types of water surface buoys through a traditional mooring line, and the device climbs on the mooring line through wave energy and samples the sensor when the device freely falls to a preset depth.

Description

Technical Field

[0001] The present invention relates to the field of ocean monitoring technology, and in particular to an underwater steel cable crawling device, a crawling method and an ocean monitoring buoy with a fixed profile. Background Art

[0002] With the continuous innovation and development of science and technology, ocean exploration technology has gradually matured, and more and more marine resources have been explored. In order to scientifically and efficiently monitor the real-time status of the ocean, various industries have also developed the most advanced monitoring equipment to monitor the ocean in real time. Compared with the deployment of marine environment monitoring buoys and patrols by monitoring ships, the construction of monitoring base stations, etc., it has many advantages and has become the most widely used and effective means of marine environment monitoring.

[0003] Ocean monitoring buoys generally need to have the ability to monitor at a fixed range or fixed point to meet any monitoring needs in the ocean monitoring process. In the prior art, most buoys used for ocean monitoring use wave energy as energy, and perform energy conversion and large-scale and large-profile observations with the waves, but the buoy monitoring range can only change with the changes in the current wave conditions, and cannot automatically adjust the required monitoring range, resulting in most of the monitoring data being invalid. For some ocean monitoring needs that require a fixed point and range, accurate monitoring cannot be performed. In the prior art, some people have also conducted some research on underwater steel cable crawling devices. CN202110675795.6 is aimed at the locking of underwater steel cable crawling mechanisms, but there is a situation where it can only be fixed in a certain position and cannot move freely underwater. It does not reflect the characteristics of crawling. So far, there is no suitable underwater steel cable crawling device for use in ocean observation, and it is still mainly based on traditional ocean observation buoys driven by wave energy. Summary of the invention

[0004] The main purpose of the present invention is to provide an underwater steel cable crawling device, a crawling method and a fixed-section ocean monitoring buoy to solve the problem raised in the above background technology that the observation range of the existing ocean observation buoy can only change with the change of wave conditions and cannot automatically adjust the observation range according to demand.

[0005] To achieve the above-mentioned purpose, one of the technical solutions adopted by the present invention is: an underwater steel cable crawling device, which crawls along the length direction of the underwater steel cable, thereby enabling the equipment loaded on the device to crawl, and the device comprises:

[0006] A sealing seat 1, which is used to carry the components of the device; the sealing seat 1 is a hollow shell;

[0007] The reducer drive mechanism 2 is used to provide driving force for the device; the reducer drive mechanism 2 is installed in the sealing seat 1, and its output end extends out of the sealing seat 1;

[0008] The sealing mechanism 3 is located at the junction of the output end of the reducer driving mechanism 2 and the sealing seat 1;

[0009] A creeping drive gear mechanism 4, which is used to engage or open with the underwater steel cable;

[0010] Among them, the reducer driving mechanism 2 is connected to the creeping driving gear mechanism 4, driving the creeping driving gear mechanism 4 to engage or open with the underwater steel cable, so that the device crawls along the length direction of the underwater steel cable.

[0011] Furthermore, the reducer driving mechanism 2 comprises:

[0012] Motor mounting plate 201;

[0013] A limit switch mounting plate 202, wherein the limit switch mounting plate 202 is arranged parallel to the motor mounting plate 201 via at least one copper stud 203;

[0014] The reduction motor 204 has a first reduction motor output shaft 205 and a second reduction motor output shaft 206 which are coaxially located in front and behind the reduction motor 204 housing; the first reduction motor output shaft 205 extends out of the motor mounting plate 201 through a shaft end support ring 207 and is connected to the sealing mechanism 3; the second reduction motor output shaft 206 extends out of the limit switch mounting plate 202 through a bearing;

[0015] A limit drive turntable 208, which is fixedly mounted on the end of the second output shaft 206 of the reduction motor;

[0016] At least four micro switches 209 are arranged in a circular array on the limit drive rotary disk 208; each of the micro switches 209 has a reed 2010;

[0017] Wherein, the reduction motor 204 is located between the motor mounting plate 201 and the limit switch mounting plate 202;

[0018] When the second output shaft 206 of the reduction motor rotates, the limit drive turntable 208 will touch the reed 2010 on the micro switch 209, thereby knowing the movement state of the creeping drive gear mechanism 4 being engaged or opened with the underwater steel cable.

[0019] Furthermore, the sealing mechanism 3 comprises:

[0020] A shaft sealing sleeve 301, which is fixedly mounted on the sealing seat 1;

[0021] A sealed output shaft 302, which is mounted in a shaft sealing sleeve 301 via a deep groove ball bearing 303;

[0022] The input end of the sealed output shaft 302 is connected to the first output shaft 205 of the reduction motor; the output end of the sealed output shaft 302 is connected to the creeping drive gear mechanism 4 .

[0023] The creeping drive gear mechanism 4 comprises:

[0024] A front cam 401 and a rear cam 402 are coaxially mounted on the output end of the sealed output shaft 302, and the convex point of the front cam 401 and the convex point of the rear cam 402 are vertically staggered;

[0025] At least four driving gear rotating shafts 403, every two driving gear rotating shafts 403 are fixedly mounted on the sealing seat 1 in parallel with each other;

[0026] At least four gear meshing structures 404, each gear meshing structure 404 is sleeved on a corresponding driving gear rotating shaft 403;

[0027] At least two vertical fixing frames 405, each of the vertical fixing frames 405 is used to fix together the central axis of the gear meshing structure 404 on one side in the vertical direction;

[0028] An upper cover plate 406 mounted on two vertical fixing frames 405;

[0029] Among them, two gear meshing structures 404 located on the same horizontal line above are in contact with the outer contour of the rear cam 402;

[0030] The two gear meshing structures 404 located on the same horizontal line below are in contact with the outer contour of the front cam 401 .

[0031] The gear meshing structure 404 includes:

[0032] A hollow column 4041, which is mounted on the driving gear rotating shaft 403;

[0033] Gear 4042, wherein gear 4042 is a quarter gear, and gear 4042 is mounted on hollow column 4041;

[0034] A gear follower 4043, one end of which is mounted on the hollow column 4041; a rear end of the gear follower 4043 contacts the outer contour of the front cam 401 or the rear cam 402;

[0035] The connecting column 4044 is fixedly mounted on the edge of the gear 4042 .

[0036] A return spring 407 is also provided between the two gear meshing structures 404 on the same horizontal line. The two ends of the return spring 407 are respectively connected to the connecting columns 4044 on the two gear meshing structures 404, which is used to ensure that the gear meshing structure 404 always remains in a meshing state when there is no cam drive.

[0037] The device also includes a connector 5, which is used to connect to an external reduction motor control device and is responsible for information transmission of the micro switch 209.

[0038] Another technical solution adopted by the present invention is: an underwater steel cable crawling method, which is applicable to the above-mentioned underwater steel cable crawling device, and the method comprises:

[0039] S1. When the device needs to climb, the reducer driving mechanism 2 is controlled to drive the front cam 401, the rear cam 402 and the gear meshing structure 404 to move. When the gear follower 4043 of the upper group of gear meshing structures 404 moves to the rear cam 402 near the convex point, when the gear follower 4043 of the lower group of gear meshing structures 404 moves to the front cam 401 away from the convex point, at this time, the upper group of gear meshing structures 404 are opened, and the lower group of gear meshing structures 404 are meshed, so that the steel cable moves from top to bottom, thereby causing the device to move upward;

[0040] S2. When the device needs to climb down, the reducer driving mechanism 2 is controlled to drive the movement state of the front cam 401, the rear cam 402 and the gear meshing structure 404. When the gear follower 4043 of the upper group of gear meshing structures 404 moves to the position where the rear cam 402 is away from the protrusion, and when the gear follower 4043 of the lower group of gear meshing structures 404 moves to the position where the front cam 401 is close to the protrusion, at this time, the upper group of gear meshing structures 404 are meshed, and the lower group of gear meshing structures 404 are opened, so that the steel cable can only move from bottom to top, thereby causing the device to move downward.

[0041] S3. When the device needs to be fixed, the reducer driving mechanism 2 is controlled to drive the movement state of the front cam 401, the rear cam 402 and the gear meshing structure 404. When the gear follower 4043 of the upper group of gear meshing structures 404 moves to the position where the rear cam 402 is away from the convex point, when the gear follower 4043 of the lower group of gear meshing structures 404 moves to the position where the front cam 401 is away from the convex point, at this time, the upper group of gear meshing structures 404 are meshed, and the lower group of gear meshing structures 404 are also meshed. The two pairs of gear meshing structures 404 mesh the steel cable, so that the steel cable is stationary relative to the device, thereby fixing the device.

[0042] S4. When the device needs to free fall, the movement state of the front cam 401, the rear cam 402 and the gear meshing structure 404 is driven by controlling the reducer driving mechanism 2. When the gear follower 4043 of the upper group of gear meshing structures 404 moves to the rear cam 402 near the convex point, when the gear follower 4043 of the lower group of gear meshing structures 404 moves to the front cam 401 near the convex point, at this time, the upper pair of gear meshing structures 404 are opened, and the lower pair of gear meshing structures 404 are also opened, and the device will move freely along the steel cable, thereby causing the device to freely fall.

[0043] Further, in S1-S4, by controlling the rotation speed and rotation direction of the second output shaft 206 of the reduction motor, the second output shaft 206 of the reduction motor touches the reed 2010 of the micro switch, and the corresponding micro switch 209 sends the position information of the front cam 401 and the rear cam 402. The current position information of the front cam 401 and the rear cam 402 can be determined by observing which micro switch 209 is touched;

[0044] The first output shaft 205 of the reduction motor will drive the sealed output shaft 302 to rotate, driving the front cam 401 and the rear cam 402 to rotate together. Since the gear follower 4043 is attached to the surface of the front cam 401 and the rear cam 402, the gear follower 4043 moves along the outer contour of the front cam 401 or the rear cam 402, thereby driving the entire creeping drive gear mechanism 4. The movement of the front cam 401 and the rear cam 402 in a circle will bring the two pairs of drive gears to four position states of S1-S4.

[0045] Another technical solution adopted by the present invention is: a fixed-section ocean monitoring buoy, which includes a buoy 6, a steel cable 7, a counterweight 8, a composite pressure shell 9, a lithium battery pack 10, a temperature-salinity-depth measuring instrument 11, a fluorometer 12 and an inductive modem 13, and is characterized in that the ocean monitoring buoy also includes the above-mentioned underwater steel cable crawling device, and the underwater steel cable crawling device is installed on the steel cable 7.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. Simple structure, convenient operation, small size and easy installation;

[0048] 2. Low-cost parts, high reliability, easy replacement and maintenance;

[0049] 3. The movement state of the crawling device can be remotely controlled to meet the needs of different ocean observation ranges;

[0050] 4. Ensure the continuity of profile monitoring (i.e. continuous ocean data profiles, in time and space, without faults and data waste, to avoid unnecessary profiles, thereby saving electricity and preventing biofouling);

[0051] 5. It can be deployed on many types of surface buoys with traditional mooring lines. The device uses wave energy to climb up the mooring line and sample the sensor while free falling to a predetermined depth. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a structural schematic diagram of the underwater steel cable crawling device of the present invention;

[0053] Figure 2 The figure is a rear view of the underwater steel cable crawling device of the present invention with the rear cover of the sealing seat removed;

[0054] Figure 3 It is a front view of the underwater steel cable crawling device of the present invention;

[0055] Figure 4 For the present invention Figure 3 AA cross-sectional view;

[0056] Figure 5 It is a structural schematic diagram of the underwater steel cable crawling device of the present invention without the sealing seat;

[0057] Figure 6 For the present invention Figure 5 A cross-sectional view of BB;

[0058] Figure 7 It is a rear view of the creeping drive gear mechanism of the present invention;

[0059] Figure 8 The exploded view of the underwater steel cable crawling device of the present invention without the crawling drive gear mechanism;

[0060] Fig. 9 It is a motion state diagram of the underwater steel cable crawling device recorded in S1 of the underwater steel cable crawling method of the present invention;

[0061] Fig.10 It is a motion state diagram of the underwater steel cable crawling device recorded in S2 of the underwater steel cable crawling method of the present invention;

[0062] Fig.11 It is a motion state diagram of the underwater steel cable crawling device recorded in S3 of the underwater steel cable crawling method of the present invention;

[0063] Fig.12 It is a motion state diagram of the underwater steel cable crawling device recorded in S4 of the underwater steel cable crawling method of the present invention;

[0064] Fig.13 It is a schematic structural diagram of the fixed-section ocean monitoring buoy of the present invention.

[0065] In the figure: 1. Sealing seat;

[0066] 2. Reducer drive mechanism; 201. Motor mounting plate; 202. Limit switch mounting plate; 203. Copper stud; 204. Reducer motor; 205. First output shaft of reducer motor; 206. Second output shaft of reducer motor; 207. Shaft end support ring; 208. Limit drive turntable; 209. Micro switch; 2010. Reed;

[0067] 3. Sealing mechanism; 301. Shaft sealing sleeve; 302. Sealed output shaft; 303. Deep groove ball bearing;

[0068] 4. creeping drive gear mechanism; 401. front cam; 402. rear cam; 403. driving gear rotary shaft; 404. gear meshing structure; 4041. hollow column; 4042. gear; 4043. gear follower; 4044. connecting column; 405. vertical fixing frame; 406. upper cover plate; 407. return spring;

[0069] 5. Connectors; 6. Buoys; 7. Steel cables; 8. Counterweights; 9. Composite pressure shell; 10. Lithium battery pack; 11. Temperature, salinity and depth measuring instrument; 12. Fluorometer; 13. Inductive modem; 14. End caps. DETAILED DESCRIPTION

[0070] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0071] Example 1

[0072] like Figure 1-8 As shown, an underwater steel cable crawling device crawls along the length direction of the underwater steel cable, thereby enabling the equipment loaded on the device to crawl, and the device comprises:

[0073] The sealing seat 1 is used for carrying the components of the device; the sealing seat 1 is a hollow shell; the sealing seat 1 has an end cover 14.

[0074] The device further comprises: a reducer drive mechanism 2, which is used to provide driving force for the device; the reducer drive mechanism 2 is installed in the sealing seat 1, and its output end extends out of the sealing seat 1;

[0075] Furthermore, the reducer driving mechanism 2 comprises:

[0076] Motor mounting plate 201;

[0077] A limit switch mounting plate 202, wherein the limit switch mounting plate 202 is arranged parallel to the motor mounting plate 201 via at least one copper stud 203;

[0078] The reduction motor 204 has a first reduction motor output shaft 205 and a second reduction motor output shaft 206 which are coaxially located in front and behind the reduction motor 204 housing; the first reduction motor output shaft 205 extends out of the motor mounting plate 201 through a shaft end support ring 207 and is connected to the sealing mechanism 3; the second reduction motor output shaft 206 extends out of the limit switch mounting plate 202 through a bearing;

[0079] Specifically, the reduction motor 204 is but not limited to a gear-driven reduction motor in the prior art.

[0080] A limit drive turntable 208, which is fixedly mounted on the end of the second output shaft 206 of the reduction motor;

[0081] At least four micro switches 209 are arranged in a circular array on the limit drive rotary disk 208; each of the micro switches 209 has a reed 2010;

[0082] Wherein, the reduction motor 204 is located between the motor mounting plate 201 and the limit switch mounting plate 202;

[0083] When the second output shaft 206 of the reduction motor rotates, the limit drive turntable 208 will touch the reed 2010 on the micro switch 209, thereby knowing the movement state of the creeping drive gear mechanism 4 being engaged or opened with the underwater steel cable.

[0084] The device further comprises: a sealing mechanism 3, which is located at the junction of the output end of the reducer driving mechanism 2 and the sealing seat 1;

[0085] Furthermore, the sealing mechanism 3 comprises:

[0086] A shaft sealing sleeve 301, which is fixedly mounted on the sealing seat 1;

[0087] A sealed output shaft 302, which is mounted in a shaft sealing sleeve 301 via a deep groove ball bearing 303;

[0088] The input end of the sealed output shaft 302 is connected to the first output shaft 205 of the reduction motor; the output end of the sealed output shaft 302 is connected to the creeping drive gear mechanism 4 .

[0089] The device also includes: a creeping drive gear mechanism 4, which is used to engage or open with the underwater steel cable;

[0090] Among them, the reducer driving mechanism 2 is connected to the creeping driving gear mechanism 4, driving the creeping driving gear mechanism 4 to engage or open with the underwater steel cable, so that the device crawls along the length direction of the underwater steel cable.

[0091] The creeping drive gear mechanism 4 comprises:

[0092] A front cam 401 and a rear cam 402 are coaxially mounted on the output end of the sealed output shaft 302, and the convex point of the front cam 401 and the convex point of the rear cam 402 are vertically staggered;

[0093] At least four driving gear rotating shafts 403, every two driving gear rotating shafts 403 are fixedly mounted on the sealing seat 1 in parallel with each other;

[0094] At least four gear meshing structures 404, each gear meshing structure 404 is sleeved on a corresponding driving gear rotating shaft 403;

[0095] At least two vertical fixing frames 405, each of the vertical fixing frames 405 is used to fix together the central axis of the gear meshing structure 404 on one side in the vertical direction;

[0096] An upper cover plate 406 mounted on two vertical fixing frames 405;

[0097] Among them, two gear meshing structures 404 located on the same horizontal line above are in contact with the outer contour of the rear cam 402;

[0098] The two gear meshing structures 404 located on the same horizontal line below are in contact with the outer contour of the front cam 401 .

[0099] The gear meshing structure 404 includes:

[0100] A hollow column 4041, which is mounted on the driving gear rotating shaft 403;

[0101] Gear 4042, wherein gear 4042 is a quarter gear, and gear 4042 is mounted on hollow column 4041;

[0102] A gear follower 4043, one end of which is mounted on the hollow column 4041; a rear end of the gear follower 4043 contacts the outer contour of the front cam 401 or the rear cam 402;

[0103] The connecting column 4044 is fixedly mounted on the edge of the gear 4042 .

[0104] A return spring 407 is also provided between the two gear meshing structures 404 on the same horizontal line. The two ends of the return spring 407 are respectively connected to the connecting columns 4044 on the two gear meshing structures 404, which is used to ensure that the gear meshing structure 404 always remains in a meshing state when there is no cam drive.

[0105] The device also includes a connector 5, which is used to connect to an external reduction motor control device and is responsible for information transmission of the micro switch 209.

[0106] Example 2

[0107] An underwater steel cable crawling method, which is applicable to the underwater steel cable crawling device described in the above embodiment 1, comprises:

[0108] like Fig. 9 As shown, S1, when the device needs to climb, the reducer driving mechanism 2 is controlled to drive the movement state of the front cam 401, the rear cam 402 and the gear meshing structure 404. When the gear follower 4043 of the upper group of gear meshing structures 404 moves to the rear cam 402 close to the convex point, when the gear follower 4043 of the lower group of gear meshing structures 404 moves to the front cam 401 away from the convex point, at this time, the upper group of gear meshing structures 404 are opened, and the lower group of gear meshing structures 404 are meshed, so that the steel cable moves from top to bottom (that is, it can only pass in the opposite direction of the gear meshing structure 404), thereby making the device move upward;

[0109] like Fig.10 As shown, S2, when the device needs to climb down, the movement state of the front cam 401, the rear cam 402 and the gear meshing structure 404 is driven by controlling the reducer driving mechanism 2. When the gear follower 4043 of the upper group of gear meshing structures 404 moves to the position where the rear cam 402 is away from the convex point, when the gear follower 4043 of the lower group of gear meshing structures 404 moves to the position where the front cam 401 is close to the convex point, at this time, the upper group of gear meshing structures 404 are meshed, and the lower group of gear meshing structures 404 are opened, so that the steel cable can only move from bottom to top (that is, it can only pass in the opposite direction of the gear meshing structure 404), thereby causing the device to move downward.

[0110] like Fig.11As shown, S3, when the device needs to be fixed, the movement state of the front cam 401, the rear cam 402 and the gear meshing structure 404 is driven by controlling the reducer driving mechanism 2. When the gear follower 4043 of the upper group of gear meshing structures 404 moves to the position where the rear cam 402 is away from the convex point, when the gear follower 4043 of the lower group of gear meshing structures 404 moves to the position where the front cam 401 is away from the convex point, at this time, the upper group of gear meshing structures 404 are meshed, and the lower group of gear meshing structures 404 are also meshed. The two pairs of gear meshing structures 404 mesh with the steel cable, so that the steel cable is stationary relative to the device (that is, the crawling device is fixed on the steel cable and cannot move), thereby fixing the device.

[0111] like Fig.12 As shown, S4, when the device needs to free fall, the movement state of the front cam 401, the rear cam 402 and the gear meshing structure 404 is driven by controlling the reducer driving mechanism 2. When the gear follower 4043 of the upper group of gear meshing structures 404 moves to the rear cam 402 near the convex point, when the gear follower 4043 of the lower group of gear meshing structures 404 moves to the front cam 401 near the convex point, at this time, the upper pair of gear meshing structures 404 are opened, and the lower pair of gear meshing structures 404 are also opened, and the device will move freely along the steel cable, thereby causing the device to freely fall.

[0112] Further, in S1-S4, by controlling the rotation speed and rotation direction of the second output shaft 206 of the reduction motor, the second output shaft 206 of the reduction motor touches the reed 2010 of the micro switch, and the corresponding micro switch 209 sends the position information of the front cam 401 and the rear cam 402. The current position information of the front cam 401 and the rear cam 402 can be determined by observing which micro switch 209 is touched;

[0113] The first output shaft 205 of the reduction motor will drive the sealed output shaft 302 to rotate, driving the front cam 401 and the rear cam 402 to rotate together. Since the gear follower 4043 is attached to the surface of the front cam 401 and the rear cam 402, the gear follower 4043 moves along the outer contour of the front cam 401 or the rear cam 402, thereby driving the entire creeping drive gear mechanism 4. The movement of the front cam 401 and the rear cam 402 in a circle will bring the two pairs of drive gears to four position states of S1-S4.

[0114] Example 3

[0115] like Fig.13As shown, a fixed-section ocean monitoring buoy includes a buoy 6, a steel cable 7, a counterweight 8, a composite pressure shell 9, a lithium battery pack 10, a temperature-salinity-depth measuring instrument 11, a fluorometer 12 and an inductive modem 13, and is characterized in that the ocean monitoring buoy also includes the underwater steel cable crawling device described in the above-mentioned embodiment 1, and the underwater steel cable crawling device is installed on the steel cable 7.

[0116] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An underwater steel cable crawling device, which crawls along the length direction of the underwater steel cable, thereby enabling the equipment loaded on the device to crawl, characterized in that: The device includes: A sealing seat (1) used for carrying components of the device; the sealing seat (1) is a hollow shell; A reducer drive mechanism (2) is used to provide driving force for the device; the reducer drive mechanism (2) is installed in the sealing seat (1), and its output end extends out of the sealing seat (1); A sealing mechanism (3) located at the junction of the output end of the reducer drive mechanism (2) and the sealing seat (1); A creeping drive gear mechanism (4) for engaging or disengaging with an underwater steel cable; The reducer drive mechanism (2) is connected to the crawling drive gear mechanism (4), and drives the crawling drive gear mechanism (4) to engage or open with the underwater steel cable, so that the device crawls along the length direction of the underwater steel cable.

2. The underwater steel cable crawling device according to claim 1, characterized in that: The reducer driving mechanism (2) comprises: Motor mounting plate (201); A limit switch mounting plate (202), wherein the limit switch mounting plate (202) is arranged in parallel with the motor mounting plate (201) via at least one copper stud (203); A reduction motor (204), wherein the reduction motor (204) comprises a first reduction motor output shaft (205) and a second reduction motor output shaft (206) which are coaxially located in front and rear of a reduction motor (204) housing; the first reduction motor output shaft (205) extends out of a motor mounting plate (201) through a shaft end support ring (207) and is connected to a sealing mechanism (3); the second reduction motor output shaft (206) extends out of a limit switch mounting plate (202) through a bearing; A limited driving turntable (208) is fixedly mounted on the end of the second output shaft (206) of the reduction motor; At least four micro switches (209) are arranged in a circular array on the limit drive rotary disk (208); each of the micro switches (209) has a reed (2010); Wherein, the reduction motor (204) is located between the motor mounting plate (201) and the limit switch mounting plate (202); When the second output shaft (206) of the reduction motor rotates, the limit drive rotary disc (208) will touch the reed (2010) on the micro switch (209), thereby knowing the movement state of the creeping drive gear mechanism (4) being engaged or opened with the underwater steel cable.

3. The underwater steel cable crawling device according to claim 2, characterized in that: The sealing mechanism (3) comprises: A shaft sealing sleeve (301) fixedly mounted on the sealing seat (1); A sealed output shaft (302) is mounted in a shaft sealing sleeve (301) via a deep groove ball bearing (303); The input end of the sealed output shaft (302) is connected to the first output shaft (205) of the reduction motor; and the output end of the sealed output shaft (302) is connected to the creeping drive gear mechanism (4).

4. The underwater steel cable crawling device according to claim 3, characterized in that: The creeping drive gear mechanism (4) comprises: A front cam (401) and a rear cam (402), the front cam (401) and the rear cam (402) are coaxially mounted on the output end of the sealed output shaft (302), and the convex point of the front cam (401) and the convex point of the rear cam (402) are vertically staggered; At least four drive gear rotating shafts (403), with every two drive gear rotating shafts (403) being fixedly mounted on the sealing seat (1) in parallel with each other; At least four gear meshing structures (404), each gear meshing structure (404) being sleeved on a corresponding driving gear rotating shaft (403); At least two vertical fixing frames (405), each of the vertical fixing frames (405) being used to fix together the central axes of the gear meshing structures (404) on one side in the vertical direction; An upper cover plate (406) mounted on two vertical fixing frames (405); Wherein, two gear meshing structures (404) located on the same horizontal line above are in contact with the outer contour of the rear cam (402); Two gear meshing structures (404) located on the same horizontal line below are in contact with the outer contour of the front cam (401).

5. The underwater steel cable crawling device according to claim 4, characterized in that: The gear meshing structure (404) comprises: A hollow column (4041) is sleeved on the driving gear rotating shaft (403); A gear (4042), wherein the gear (4042) is a quarter gear, and the gear (4042) is mounted on a hollow column (4041); A gear follower (4043) is mounted at one end on the hollow column (4041); a rear end of the gear follower (4043) contacts the outer contour of the front cam (401) or the rear cam (402); The connecting column (4044) is fixedly mounted on the edge of the gear (4042).

6. The underwater steel cable crawling device according to claim 5, characterized in that: A return spring (407) is also provided between the two gear meshing structures (404) on the same horizontal line, and the two ends of the return spring (407) are respectively connected to the connecting columns (4044) on the two gear meshing structures (404), which is used to ensure that the gear meshing structure (404) always remains in a meshing state when there is no cam drive.

7. The underwater steel cable crawling device according to claim 1, characterized in that: The device also includes a plug connector (5) which is used to connect to an external reduction motor control device and is responsible for information transmission of the micro switch (209).

8. Underwater cable crawling method, characterized in that: The method is applicable to the underwater steel cable crawling device according to any one of claims 1 to 7, and the method comprises: S1. When the device needs to climb, the reducer driving mechanism (2) is controlled to drive the front cam (401), the rear cam (402) and the gear meshing structure (404) to move. When the gear follower (4043) of the upper group of gear meshing structures (404) moves to the position where the rear cam (402) is close to the protruding point, and when the gear follower (4043) of the lower group of gear meshing structures (404) moves to the position where the front cam (401) is away from the protruding point, at this time, the upper group of gear meshing structures (404) is opened and the lower group of gear meshing structures (404) is meshed, so that the steel cable moves from top to bottom, thereby causing the device to move upward; S2, when the device needs to climb down, the reducer driving mechanism (2) is controlled to drive the front cam (401), the rear cam (402) and the gear meshing structure (404) to move. When the gear follower (4043) of the upper group of gear meshing structures (404) moves to the position where the rear cam (402) is away from the protrusion, and when the gear follower (4043) of the lower group of gear meshing structures (404) moves to the position where the front cam (401) is close to the protrusion, at this time, the upper group of gear meshing structures (404) meshes, and the lower group of gear meshing structures (404) opens, so that the steel cable can only move from bottom to top, thereby causing the device to move downward; S3, when the device needs to be fixed, the reducer driving mechanism (2) is controlled to drive the front cam (401), the rear cam (402) and the gear meshing structure (404) to move. When the gear follower (4043) of the upper group of gear meshing structures (404) moves to the position where the rear cam (402) is away from the convex point, when the gear follower (4043) of the lower group of gear meshing structures (404) moves to the position where the front cam (401) is away from the convex point, at this time, the upper group of gear meshing structures (404) are meshed, and the lower group of gear meshing structures (404) are also meshed. The two pairs of gear meshing structures (404) mesh with the steel cable, so that the steel cable is stationary relative to the device, thereby fixing the device; S4. When the device needs to fall freely, the reducer driving mechanism (2) is controlled to drive the front cam (401), the rear cam (402) and the gear meshing structure (404) to move. When the gear follower (4043) of the upper group of gear meshing structures (404) moves to the position near the convex point of the rear cam (402), and when the gear follower (4043) of the lower group of gear meshing structures (404) moves to the position near the convex point of the front cam (401), at this time, the upper pair of gear meshing structures (404) are opened, and the lower pair of gear meshing structures (404) are also opened, and the device will move freely along the steel cable, thereby causing the device to fall freely.

9. The underwater steel cable crawling method according to claim 8, characterized in that: In S1-S4, by controlling the rotation speed and rotation direction of the second output shaft (206) of the reduction motor, the second output shaft (206) of the reduction motor touches the reed (2010) of the micro switch, and the corresponding micro switch (209) sends the position information of the front cam (401) and the rear cam (402). By observing which micro switch (209) is touched, the current position information of the front cam (401) and the rear cam (402) can be determined; The first output shaft (205) of the reduction motor drives the sealed output shaft (302) to rotate, thereby driving the front cam (401) and the rear cam (402) to rotate together. Since the gear follower (4043) is attached to the surface of the front cam (401) and the rear cam (402), the gear follower (4043) moves along the outer contour of the front cam (401) or the rear cam (402), thereby driving the entire creeping drive gear mechanism (4). When the front cam (401) and the rear cam (402) move in a circle, the two pairs of drive gears will bring about four position states among S1-S4.

10. A fixed-profile ocean monitoring buoy, comprising a buoy (6), a steel cable (7), a counterweight (8), a composite pressure shell (9), a lithium battery pack (10), a temperature-salinity-depth measuring instrument (11), a fluorometer (12) and an inductive modem (13), characterized in that: The ocean monitoring buoy also includes an underwater steel cable crawling device as described in any one of claims 1 to 7, and the underwater steel cable crawling device is installed on the steel cable (7).

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