Force drive redundancy and stroke complementary seabed penetration mechanism control method

Abstract

According to the force drive redundancy and stroke complementary seabed penetration mechanism control method, after one-time penetration of a probe rod is conducted, data detected by a detection device located on the probe rod is fed back to a control system, penetration resistance is obtained according to a formula preset in the control system, and the control system is further provided with a penetration force comparison table in advance; selecting the penetration force corresponding to the next penetration according to the penetration resistance and penetration force comparison table; the control system controls the driving device to act, the driving device drives a pulley block in the adjustable pulley mechanism to move, or the driving device drives the traction rope and the pulley block in the adjustable pulley mechanism to move, so that the ratio of the driving speed of the driving device of the system to the penetration speed of the probe rod is changed; adjusting the penetration force of the probe rod to be the penetration force corresponding to the next penetration; and the steps are repeated after each injection. According to the penetration method, the penetration force can be flexibly adjusted according to different penetration loads borne by different hardness degrees of actual soil, high efficiency and energy conservation of the system are achieved, and efficiency loss is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of the seabed static penetration test of ocean observation rods, and particularly relates to a control method for a seabed penetration mechanism with force drive redundancy and stroke complementarity. Background Art

[0002] The penetration mechanism of the cone penetration test is the core of seabed soil investigation. This technology penetrates the cone head into the seabed soil layer by a static force method, and determines the soil properties according to the resistance. The penetration mechanism includes a cone head, a penetration rod, a measurement system and a driving device, which provides reliable support for seabed engineering geological exploration, and is expected to provide more accurate data for seabed resource development and ocean engineering construction in the future.

[0003] The seabed soil layer is distributed in multiple layers. The existing penetration mechanism has a working mode of fixed penetration force and penetration stroke. In actual work, it has been confirmed that most soil layers do not require the maximum penetration force of the device, and the cost of ocean power output is very high. With the increase in the power requirement for the device, how to achieve high efficiency and energy saving of the system and reduce efficiency loss has become a technical difficulty faced by the current penetration device. Therefore, it is particularly important to develop a penetration adjustment method for the seabed penetration mechanism. Summary of the Invention

[0004] To solve the defects existing in the prior art, the present invention proposes a control method for a seabed penetration mechanism with force drive redundancy and stroke complementarity, so as to achieve high efficiency and energy saving of the system and reduce efficiency loss.

[0005] The solution is as follows: A control method for a seabed penetration mechanism with force drive redundancy and stroke complementarity. The seabed penetration mechanism includes an adjustable pulley mechanism, a towing rope, a clamping manipulator, a probe rod, a driving device and a control system. The towing rope is wound around the adjustable pulley mechanism, and the towing rope is fixedly connected to the clamping manipulator. The clamping manipulator clamps the probe rod. The adjustable pulley mechanism includes a plurality of pulley groups, and the driving device provides driving forces for the movement of the pulley groups and the movement of the towing rope respectively; a detection device is arranged on the probe rod; the control system is connected to the driving device, the detection device and the clamping manipulator; The control method includes: After the probe rod penetrates for the first time, the data detected by the detection device located on the probe rod is fed back to the control system, and the penetration resistance is obtained according to a preset formula in the control system. The control system also presets a penetration force comparison table, and selects the corresponding penetration force for the next penetration according to the penetration resistance and the penetration force comparison table; The control system controls the driving device to act, and the driving device drives the pulley block in the adjustable pulley mechanism to move, or the driving device drives the traction rope and the pulley block in the adjustable pulley mechanism to move, so as to change the variable penetration coefficient of the system and adjust the penetration force of the probe rod to the penetration force corresponding to the next penetration; the variable penetration coefficient refers to the ratio of the driving speed of the driving device to the penetration speed of the probe rod; Repeat the above steps after each penetration.

[0006] At the first penetration, if the soil layer properties are known, the penetration resistance can be obtained according to the known soil layer properties, and the penetration force can be selected from the penetration force comparison table. If the soil layer properties are unknown, the minimum penetration force in the penetration force comparison table can be directly selected for penetration.

[0007] The traction rope is connected end to end and wound around the adjustable pulley mechanism.

[0008] Furthermore, the detection device includes a displacement sensor and a force sensor; the displacement sensor is used to detect the penetration depth and penetration speed; the force sensor is used to detect the resistance of the soil body, including the tip resistance and the side friction resistance.

[0009] Furthermore, the penetration resistance formula includes: In the formula: —— The maximum total tip resistance obtained in the previous penetration stroke; —— times of the cumulative total sidewall friction force; —— A constant, with a value range of 1.05 to 1.2; —— The diameter of the probe rod; —— The penetration depth of the probe rod in the same homogeneous soil body; —— The bottom area of the probe cone; —— The total contact area between the probe rod sidewall and the soil body; q c —— The tip resistance; q ci —— i The tip resistance at time p —— The number of detections; f s —— The side friction resistance.

[0010] Furthermore, the method for obtaining the penetration force comparison table: By changing the number of movable pulley states and fixed pulley states of the pulley block in the adjustable pulley mechanism, or by changing the number of movable pulley states and fixed pulley states of the pulley block in the adjustable pulley mechanism and combining with the movement of the towing rope, the variable penetration coefficient of the system is changed, and then the penetration force of the probe rod is changed. The penetration forces in the above-mentioned various situations are formed into a penetration force comparison table.

[0011] Furthermore, the rule for selecting the corresponding penetration force according to the penetration resistance and the penetration force comparison table: Select the penetration force that is closest to and greater than the penetration resistance in the penetration force comparison table.

[0012] Furthermore, the adjustable pulley mechanism includes several pairs of variable pulley blocks arranged up and down and one pair of fixed pulley blocks arranged up and down. Each pulley block includes at least two pulleys. The at least two pulleys are fixedly arranged in parallel on the main connecting rod. The main connecting rod is fixed on the frame of the seabed penetration mechanism. The fixed pulley block is close to the probe rod. The variable pulley block drives the up and down movement of the variable pulley block through the driving device to realize the mutual transformation between the fixed pulley state and the movable pulley state; the number of towing ropes is equal to the number of pulleys in the pulley block.

[0013] Furthermore, positioning points are arranged on the towing rope. The positioning points are located between the variable pulley blocks on the side far from the fixed pulley block. A connecting piece is fixedly arranged on the positioning points. The connecting piece is connected to the driving device.

[0014] Furthermore, the pulley blocks arranged up and down in several variable pulley blocks are connected by a gear-rack transmission mechanism to realize up and down movement. Adjacent two variable pulley blocks are selectively connected by a gear-rack transmission mechanism to realize the up and down movement of a pair of variable pulley blocks as a whole.

[0015] Furthermore, the gear-rack transmission mechanism includes a first gear, a second gear, a single-sided rack and a double-sided rack. The first gear meshes with the single-sided rack and one side rack of the double-sided rack respectively. The second gear meshes with the other side rack of the double-sided rack. The first gear is fixed on the first connecting rod. The two ends of the first connecting rod are fixed on the frame of the seabed penetration mechanism. The second gear is fixed at the front end of the second connecting rod. The rear end of the second connecting rod is connected to the second driving device. The driving device drives the second gear to move back and forth so that the second gear meshes with or disengages from the double-sided rack. The two ends of the double-sided rack are connected to the pulley through a connecting meshing part. The connecting meshing part is arranged on the main connecting rod. The connecting meshing part is provided with meshing teeth. The meshing teeth mesh with the single-sided rack or the double-sided rack.

[0016] Furthermore, the clamping mechanism is set as a clamping manipulator, which includes a first clamping part and a second clamping part. The two are arranged vertically to fix the position of the probe rod and prevent deviation during penetration. The first clamping part is fixedly connected to the traction rope, and the movement of the traction rope drives the probe rod to move up and down. The second clamping part is used to clamp the probe rod and move synchronously with the probe rod.

[0017] Compared with the prior art, the advantages of the present invention are as follows: The control method of the subsea penetration mechanism with force-driven redundancy and stroke complementarity according to the present invention selects the penetration force corresponding to the next penetration according to the penetration resistance and penetration force comparison table. The control system controls the driving device to act, and the driving device drives the pulley group in the adjustable pulley mechanism to move, or the driving device drives the traction rope and the pulley group in the adjustable pulley mechanism to move, so as to change the variable penetration coefficient of the system and adjust the penetration force of the probe rod to the penetration force corresponding to the next penetration. This technical solution can flexibly adjust the penetration force according to the different penetration loads borne by different actual soil hardness levels. In the case of a large penetration force redundancy, reduce the magnitude of the penetration force to obtain a larger penetration stroke. In the case of insufficient penetration force, reduce the penetration stroke to obtain a larger penetration force, effectively complete the penetration operation, achieve high efficiency and energy saving of the system, and reduce efficiency loss. Description of the Drawings

[0018] Figure 1 is a schematic flowchart of the control method of the subsea penetration mechanism according to an embodiment of the present invention; Figure 2 is a double Y-axis graphical schematic diagram of the penetration force comparison table according to an embodiment of the present invention; Figure 3 is a partial structural schematic diagram of the subsea penetration mechanism according to an embodiment of the present invention; Figure 4 is a structural schematic diagram of the connection between the variable pulley group and the gear-rack transmission mechanism according to an embodiment of the present invention.

[0019] In the above figures: 100, traction rope; 110, positioning point; 210, first clamping part; 220, second clamping part; 300, probe rod; 411, first pulley group A; 412, first pulley group B; 421, second pulley group A; 422, second pulley group B; 431, third pulley group A; 432, third pulley group B; 441, fourth pulley group A; 442, fourth pulley group B; 451, fixed pulley group A; 452, fixed pulley group B; 511, first gear; 512, second gear; 513, single-sided rack; 514, double-sided rack; 521, first connecting rod; 522, second connecting rod; 523, main connecting rod. Detailed Embodiments

[0020] For the convenience of those skilled in the art to understand the present invention, the specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0021] The control method of the subsea penetration mechanism with force drive redundancy and stroke complementarity of the present invention sets different penetration force gears to adapt to different working environments, and completes the adjustment of the variable penetration coefficient of the system through the action of an adjustable pulley mechanism. The variable penetration coefficient refers to the ratio of the speed of the driving device to the penetration speed of the probe 300. The pulley block can be converted from the movable pulley stage to the fixed pulley stage and from the fixed pulley stage to the movable pulley stage according to the variable penetration coefficient to change the magnitude of the penetration force. When the power output of the system is constant, the adjustment of the penetration force will bring corresponding proportional adjustments to the penetration speed and penetration stroke. The power source of the subsea penetration mechanism provides power for the driving device, the driving device provides driving force for the penetration force of the probe 300, the driving device acts on the traction rope 100, and the traction rope 100 is fixedly connected to the clamping manipulator, and the clamping manipulator clamps the probe 300 to complete the penetration task.

[0022] As Figure 1 shown, the control method includes: After the probe 300 penetrates once, the data detected by the detection device located on the probe 300 is fed back to the control system and the penetration resistance is obtained according to a preset formula in the control system. The control system also presets a penetration force comparison table, and the penetration force corresponding to the next penetration is selected according to the penetration resistance and the penetration force comparison table. The control system controls the driving device to act, and the driving device drives the pulley block in the adjustable pulley mechanism, or the driving device drives the traction rope 100 and the pulley block in the adjustable pulley mechanism to change the variable penetration coefficient of the system and adjust the penetration force of the probe 300 to the penetration force corresponding to the next penetration. The variable penetration coefficient refers to the ratio of the driving speed of the driving device to the penetration speed of the probe 300.

[0023] Repeat the above steps after each penetration.

[0024] In the above method, a probe head, also called a cone head, is provided at the working end of the probe 300, and the detection device is installed on the cone head. The detection device includes a displacement sensor and a force sensor; the displacement sensor is used to detect the penetration depth and penetration speed; the force sensor is used to detect the resistance of the soil body, including the cone tip resistance and the side friction resistance. Detecting the penetration depth can obtain the penetration stroke of one penetration.

[0025] In the above method, the penetration resistance formula includes: In the formula: ——The maximum total resistance received by the cone tip obtained in the previous penetration stroke; —— The cumulative total side friction force of times; —— is a constant, and its value range is 1.05 to 1.2; —— The diameter of the sounding rod; —— The penetration depth of the sounding rod in the same homogeneous soil mass; —— The bottom area of the probe cone; —— The total contact area between the side wall of the sounding rod and the soil mass; q c —— The cone tip resistance; q ci —— i The cone tip resistance at time p —— The number of detections; f s —— The side friction resistance.

[0026] In the above method, the method for obtaining the penetration force comparison table: By changing the number of movable pulleys and fixed pulleys in the pulley block of the adjustable pulley mechanism, or by changing the number of movable pulleys and fixed pulleys in the pulley block of the adjustable pulley mechanism and combining with the movement of the towing rope 100, the variable penetration coefficient of the system is changed, thereby changing the penetration force of the sounding rod 300. The change in the penetration force correspondingly changes the penetration stroke and penetration speed. The penetration forces in the above various movement forms are formed into a penetration force comparison table, and the penetration stroke and penetration speed can also be included in the penetration force comparison table.

[0027] Such as Figure 2As shown, a penetration force comparison table is illustrated. Different penetration forces of the seabed penetration mechanism are defined as different gears. In this figure, the penetration stroke and penetration force of each gear can be seen. In this embodiment, eight gears are set as an example for illustration. The coordinate axis at the bottom of the penetration force comparison table increases gradually from left to right in terms of gears. The coordinate axis on the left side of the penetration force comparison table represents the penetration stroke, where 1.0 refers to the maximum penetration stroke that the seabed penetration mechanism can reach during one penetration. The penetration force of the first gear is the largest and the penetration stroke is the smallest. As the gear increases, the penetration stroke gradually increases. The coordinate axis on the right side of the penetration force comparison table represents the penetration force, where 1.0 refers to the maximum penetration force that the seabed penetration mechanism can reach during one penetration. As the gear increases, the penetration force gradually decreases. The penetration force of the eighth gear reaches the minimum and the penetration stroke is the largest. The present invention can flexibly adjust the penetration force according to the different penetration loads borne by different actual soil hardness levels. When the penetration force redundancy is relatively large, the magnitude of the penetration force is reduced to obtain a larger penetration stroke. When the penetration force is insufficient, the penetration stroke is reduced to obtain a larger penetration force, effectively completing the penetration operation.

[0028] In the above method, the rule for selecting the corresponding penetration force according to the penetration resistance and the penetration force comparison table is to select the penetration force that is closest to and greater than the penetration resistance in the penetration force comparison table.

[0029] In this embodiment, a hydraulic cylinder is selected as the driving device and a hydraulic pump is selected as the system power. In this application, the speed of the driving device is defined as a constant state and runs at a uniform speed.

[0030] Specifically, the adjustable pulley mechanism includes several pairs of variable pulley groups arranged up and down and one pair of fixed pulley groups arranged up and down. Each pulley group includes at least two pulleys. The at least two pulleys are fixedly arranged in parallel on the main connecting rod 523. The fixed pulley group is close to the probe rod 300. The variable pulley group drives the up and down movement of the variable pulley group through the driving device to realize the mutual transformation between the fixed pulley state and the movable pulley state.

[0031] Specifically, in this embodiment, the number of variable pulley groups is selected as 4 groups. As Figure 2 , 3 shown, from left to right are the first pulley group A 411 and the first pulley group B 412 arranged up and down in the first group, the second pulley group A 421 and the second pulley group B 422 arranged up and down in the second group, the third pulley group A 431 and the third pulley group B 432 arranged up and down in the third group, and the fourth pulley group A 441 and the fourth pulley group B 442 arranged up and down in the fourth group. The fixed pulley group is the fixed pulley group A 451 and the fixed pulley group B 452 arranged up and down.

[0032] The number of the towing ropes 100 is equal to the number of pulleys in the pulley block. The total length of the towing ropes 100 remains unchanged and is wound around each pulley to form a closed loop, where the closed loop means that the towing ropes 100 are in a ring shape with the head and tail connected.

[0033] In this embodiment, each pulley block is composed of two parallelly arranged pulleys, and each pulley is wound with a towing rope 100. For example, the first pulley block A 411 is composed of two pulleys, which are parallelly arranged and both fixed on the main connecting rod 523, and the main connecting rod 523 is fixed on the frame of the seabed penetration mechanism.

[0034] For the adjustment of the variable penetration coefficient of the seabed penetration mechanism, the present invention adopts multiple groups of variable pulley blocks. The variable pulley blocks can be adjusted according to the penetration resistance detected by the detection device, and can be arbitrarily switched from the movable pulley stage to the fixed pulley stage and from the fixed pulley stage to the movable pulley stage to change the penetration force, and accordingly change the penetration speed and penetration stroke. The driving device drives the gear-rack transmission mechanism, and the gear-rack transmission mechanism drives the pulley block to move. The pulley blocks arranged up and down in several variable pulley blocks are connected by the gear-rack transmission mechanism to realize up and down movement, and two adjacent variable pulley blocks are selectively connected by the gear-rack transmission mechanism to realize the up and down movement of a pair of variable pulley blocks as a whole, so that the present invention has various movement forms.

[0035] Specifically, as Figure 3 、 4 shown, the gear-rack transmission mechanism includes a first gear 511, a second gear 512, a single-sided rack 513 and a double-sided rack 514. The first gear 511 meshes with one side rack of the single-sided rack 513 and the double-sided rack 514 respectively, and the second gear 512 meshes with the other side rack of the double-sided rack 514; the first gear 511 is fixed on the first connecting rod 521, and both ends of the first connecting rod 521 are fixed on the frame of the seabed penetration mechanism. The second gear 512 is fixed at the front end of the second connecting rod 522, and the rear end of the second connecting rod 522 is connected to the second driving device. The driving device drives the second gear 512 to move back and forth so that the second gear 512 meshes with or disengages from the double-sided rack 514; both ends of the double-sided rack 514 are connected to the pulley through a connecting meshing part, the connecting meshing part is arranged on the main connecting rod 523, and the connecting meshing part is provided with meshing teeth, and the meshing teeth mesh with the single-sided rack 513 or the double-sided rack 514.

[0036] Refer to Figure 4, in the state shown in the figure, the first gear 511 meshes with one side rack of the unilateral rack 513 and the bilateral rack 514 respectively, while the second gear 512 is disengaged from the bilateral rack 514. At this time, a pair of variable pulley groups arranged up and down can move relatively or away from each other, but cannot move as a whole. If we want to realize the overall up and down movement of a pair of variable pulley groups, we can move the second connecting rod 522 forward in the figure to make the second gear 512 mesh with the bilateral rack 514.

[0037] A positioning point 110 is provided on the towing rope 100. The positioning point 110 is located between the variable pulley groups on the side far from the fixed pulley group. A connecting piece is fixedly arranged on the positioning point 110, and the connecting piece is connected to the driving device.

[0038] In this embodiment, the towing rope 100 is selected as a steel wire rope.

[0039] As a steel wire rope for power transmission, the stress in it is constantly changing. When the stress increases or decreases, it will affect the length of the steel wire rope, thus affecting the tightness effect between the steel wire rope and the pulley and the transmission effect of the force. In order to cope with the strain situation of the steel wire rope and extend the service life of the steel wire rope, a spring tensioning structure is fixedly connected to the upper fixed pulley group, that is, the fixed pulley group A, and a spring tensioning device is added to offset the adverse effect of the strain of the steel wire rope.

[0040] As Figure 3 shown, the clamping manipulator includes a first clamping part 210 and a second clamping part 220, which are arranged up and down to fix the position of the probe rod 300 so that the penetration does not deviate. The first clamping part 210 is fixedly connected to the towing rope 100, and the movement of the towing rope 100 drives the probe rod 300 to move up and down. The second clamping part 220 is used to clamp the probe rod 300 and move synchronously with the probe rod 300.

[0041] More specifically, the first clamping part 210 includes a pulley, which is used for speed regulation to ensure that the position of the probe rod 300 does not change.

[0042] The above-described embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. Control method for a subsea penetration mechanism with force drive redundancy and stroke complementarity, characterized in that, The seabed penetration mechanism includes an adjustable pulley mechanism, a towing rope (100), a clamping manipulator, a probe rod (300), a driving device and a control system. The towing rope (100) is wound around the adjustable pulley mechanism. The towing rope (100) is fixedly connected to the clamping manipulator, and the clamping manipulator clamps the probe rod (300). The adjustable pulley mechanism includes a number of pulley groups, and the driving device provides driving forces for the movement of the pulley groups and the movement of the towing rope (100) respectively. A detection device is provided on the probe rod (300). The control system is connected to the driving device, the detection device and the clamping manipulator. The control method includes: After the probe rod (300) penetrates once, the data detected by the detection device on the probe rod (300) is fed back to the control system, and the penetration resistance is obtained according to a preset formula in the control system. The control system also presets a penetration force comparison table, and the corresponding penetration force for the next penetration is selected according to the penetration resistance and the penetration force comparison table. The control system controls the driving device to act. The driving device drives the pulley groups in the adjustable pulley mechanism to move, or the driving device drives the towing rope (100) and the pulley groups in the adjustable pulley mechanism to move, so as to change the variable penetration coefficient of the system and adjust the penetration force of the probe rod (300) to the corresponding penetration force for the next penetration. The variable penetration coefficient refers to the ratio of the driving speed of the driving device to the penetration speed of the probe rod (300). Repeat the above steps after each penetration.

2. The method for controlling a seabed penetration mechanism according to claim 1, wherein The detection device includes a displacement sensor and a force sensor. The displacement sensor is used to detect the penetration depth and penetration speed. The force sensor is used to detect the resistance of the soil body, including tip resistance and side friction resistance.

3. The control method of the seabed penetration mechanism according to claim 1, characterized in that The penetration resistance formula includes: In the formula: —— The maximum total cone tip resistance obtained in the previous penetration stroke; —— times the cumulative total sidewall friction times —— is a constant, and its value range is 1.05 to 1.2; —— Probe rod diameter; —— Penetration depth of the probe rod in the same homogeneous soil mass; —— the bottom area of the probe cone; ——The total contact area between the side wall of the probe rod and the soil mass; q c —— Cone tip resistance; q ci —— i Tip resistance of time cone p —— Number of detections; f s ——Side friction resistance.

4. The method for controlling a seabed penetration mechanism according to claim 1, wherein The method for obtaining the penetration force comparison table: By changing the number of movable pulley states and fixed pulley states of the pulley groups in the adjustable pulley mechanism, or by changing the number of movable pulley states and fixed pulley states of the pulley groups in the adjustable pulley mechanism and combining the movement of the towing rope (100), the variable penetration coefficient of the system is changed, thereby changing the penetration force of the probe rod (300). The penetration forces in the above various movement forms are formed into a penetration force comparison table.

5. The method for controlling a seabed penetration mechanism according to claim 1, characterized in that The rule for selecting the corresponding penetration force according to the penetration resistance and the penetration force comparison table: Select the penetration force that is closest to and greater than the penetration resistance in the penetration force comparison table.

6. The control method of the seabed penetration mechanism according to claim 4, wherein The adjustable pulley mechanism includes a number of pairs of variable pulley groups arranged up and down and 1 pair of fixed pulley groups arranged up and down. Each pulley group includes at least two pulleys. The at least two pulleys are fixedly arranged on the main connecting rod (523). The main connecting rod (523) is fixed on the frame of the seabed penetration mechanism. The fixed pulley group is close to the probe rod (300). The variable pulley group realizes the mutual transformation between the fixed pulley state and the movable pulley state by driving the up and down movement of the variable pulley group by the driving device. The number of towing ropes (100) is equal to the number of pulleys in the pulley group.

7. The method for controlling the seabed penetration mechanism according to claim 6, characterized in that, Positioning points (110) are provided on the towing rope (100). The positioning points (110) are located between the variable pulley groups on the side far from the fixed pulley group. Connecting pieces are fixedly arranged on the positioning points (110), and the connecting pieces are connected to the driving device.

8. The control method of the seabed penetration mechanism according to claim 6, characterized in that In a plurality of variable pulley blocks, the upper and lower pulley blocks are connected by a gear-rack transmission mechanism to achieve vertical movement, and two adjacent variable pulley blocks are selectively connected by a gear-rack transmission mechanism to achieve the overall vertical movement of a pair of variable pulley blocks.

9. The method for controlling a seabed penetration mechanism according to claim 8, characterized in that The gear-rack transmission mechanism includes a first gear (511), a second gear (512), a single-sided rack (513), and a double-sided rack (514). The first gear (511) meshes with one side of the single-sided rack (513) and the double-sided rack (514) respectively, and the second gear (512) meshes with the other side of the double-sided rack (514). The first gear (511) is fixed on a first connecting rod (521), and both ends of the first connecting rod (521) are fixed on the frame of the seabed penetration mechanism. The second gear (512) is fixed at the front end of a second connecting rod (522), and the rear end of the second connecting rod (522) is connected to a second driving device. The driving device drives the second gear (512) to move back and forth so that the second gear (512) meshes with or disengages from the double-sided rack (514). Both ends of the double-sided rack (514) are connected to the pulley through a connecting meshing part. The connecting meshing part is arranged on a main connecting rod (523), and the connecting meshing part is provided with meshing teeth, and the meshing teeth mesh with the single-sided rack (513) or the double-sided rack (514).

10. The method for controlling a seabed penetration mechanism according to claim 1, wherein The clamping mechanism is set as a clamping manipulator. The clamping manipulator includes a first clamping part (210) and a second clamping part (220), which are arranged up and down to fix the position of the probe rod (300) so that the penetration does not deviate. The first clamping part (210) is fixedly connected to the towing rope (100), and the movement of the towing rope (100) drives the probe rod (300) to move up and down. The second clamping part (220) is used to clamp the probe rod (300) and move synchronously with the probe rod (300).

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