Control method of force-driven redundant and stroke complementary subsea penetration mechanism

Abstract

The application provides a seabed penetration mechanism control method with force redundancy and stroke complementation. After the first penetration of a probe rod, data detected by a detection device on the probe rod is fed back to a control system, and penetration resistance is obtained according to a preset formula in the control system. The control system is also provided with a penetration force reference table, penetration force corresponding to the next penetration is selected according to the penetration resistance and the penetration force reference table. The control system controls the driving device to act, the driving device drives the pulley set in the adjustable pulley mechanism to move, or the driving device drives the traction rope and the pulley set in the adjustable pulley mechanism to move, so as to change the ratio of the driving speed of the driving device of the system to the penetration speed of the probe rod, and adjust the penetration force of the probe rod to the penetration force corresponding to the next penetration. The above steps are repeated after each penetration. The penetration method can flexibly adjust the penetration force according to the different penetration loads borne by the actual soil hardness, realize high efficiency and energy saving of the system, and reduce efficiency loss.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of seabed static penetration test of ocean observation probe, and particularly relates to a seabed penetration mechanism control method with force redundancy and stroke complementarity. BACKGROUND

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

[0003] The seabed soil layer is distributed in multiple layers. The existing penetration mechanism has a fixed penetration force and penetration stroke working mode. It is proved in actual work that most of the soil layers do not need to use the maximum penetration force of the device, and the cost of marine power output is very high. With the increasing requirement of power of the device, how to realize high efficiency and energy saving of the system and reduce efficiency loss has become a technical difficulty faced by the penetration device at present. Therefore, it is particularly important to develop a penetration adjustment method of the seabed penetration mechanism. SUMMARY

[0004] To solve the defects in the prior art, the application provides a seabed penetration mechanism control method with force redundancy and stroke complementarity, which realizes high efficiency and energy saving of the system and reduces efficiency loss.

[0005] The scheme is as follows:

[0006] The seabed penetration mechanism control method with force redundancy and stroke complementarity, the seabed penetration mechanism includes an adjustable pulley mechanism, a traction rope, a clamping manipulator, a probe, a driving device and a control system. The traction rope is wound on the adjustable pulley mechanism, the traction rope and the clamping manipulator are fixedly connected, the clamping manipulator clamps the probe, the adjustable pulley mechanism includes a plurality of pulley groups, and the driving device provides driving force for the movement of the pulley groups and the movement of the traction rope. The probe is provided with a detection device. The control system is connected with the driving device, the detection device and the clamping manipulator.

[0007] The control method comprises:

[0008] After the probe is penetrated once, the data detected by the detection device on the probe is fed back to the control system, and the penetration resistance is obtained according to the formula preset in the control system. The control system is also provided with a penetration force reference table, and the corresponding penetration force of the next penetration is selected according to the penetration resistance and the penetration force reference table.

[0009] The control system controls the driving device to drive the pulley set in the adjustable pulley mechanism to move or drive the traction rope and the pulley set 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.

[0010] The above steps are repeated after each penetration.

[0011] In the first penetration, if the properties of the soil layer are known, the penetration resistance can be obtained according to the known properties of the soil layer, and the penetration force is selected in the penetration force table. If the properties of the soil layer are unknown, the smallest penetration force in the penetration force table can be directly selected for penetration.

[0012] The traction rope is connected at both ends and wound around the adjustable pulley mechanism.

[0013] Further, the detection device includes a displacement sensor and a force sensor; the displacement sensor is used to detect the penetration depth and penetration speed; and the force sensor is used to detect the resistance of the soil body, including the tip resistance and the side friction resistance.

[0014] Further, the penetration resistance formula includes:

[0015]

[0016] In the formula: The maximum tip total resistance obtained in the last penetration stroke;

[0017] The cumulative side wall total friction is multiplied by

[0018] It is a constant, and the value range is 1.05-1.2;

[0019] The diameter of the probe rod;

[0020] The penetration depth of the probe rod in the same uniform soil body;

[0021] The base area of the probe cone;

[0022] The total area of the probe rod side wall in contact with the soil body;

[0023] q c The tip resistance;

[0024] q ​ci i The moment of the tip of the cone resistance;

[0025] p The number of detections;

[0026] f s The side friction resistance.

[0027] Further, the method for obtaining the penetration force table: by changing the number of the movable pulley state and the fixed pulley state of the pulley set in the adjustable pulley mechanism, or by changing the number of the movable pulley state and the fixed pulley state of the pulley set in the adjustable pulley mechanism and combining the movement of the traction rope, the variable penetration coefficient of the system is changed, and then the penetration force of the probe rod is changed, and the penetration forces in the above-mentioned various cases are formed into the penetration force table.

[0028] Further, the rule for selecting the corresponding penetration force according to the penetration resistance and the penetration force table: selecting the penetration force in the penetration force table that is closest to the penetration resistance and greater than the penetration resistance.

[0029] Further, the adjustable pulley mechanism includes a plurality of pairs of upper and lower variable pulley sets and a pair of upper and lower fixed pulley sets, each pulley set includes at least two pulleys, the at least two pulleys are fixed in parallel on a main connecting rod, the main connecting rod is fixed on the rack of the underwater penetration mechanism, the fixed pulley set is close to the probe rod, the variable pulley set drives the upper and lower movement of the variable pulley set to realize the mutual transformation of the fixed pulley state and the movable pulley state through the driving device; the number of traction ropes is equal to the number of pulleys in the pulley set.

[0030] Further, a positioning point is provided on the traction rope, the positioning point is located between the variable pulley sets away from the fixed pulley set, a connecting piece is fixedly provided on the positioning point, and the connecting piece is connected with the driving device.

[0031] Further, the pulley sets in the plurality of variable pulley sets are connected through a gear and rack transmission mechanism to realize the up and down movement, and the adjacent two variable pulley sets are selectively connected through a gear and rack transmission mechanism to realize the up and down movement of the whole pair of variable pulley sets.

[0032] ​Further, the gear and rack transmission mechanism comprises a first gear, a second gear, a single-sided rack and a double-sided rack, the first gear is engaged with the single-sided rack and one side of the double-sided rack respectively, the second gear is engaged with the other side of the double-sided rack; the first gear is fixed on a first connecting rod, the two ends of the first connecting rod are fixed on the frame of the seabed penetrating mechanism, the front end of a second connecting rod is fixed with the second gear, the rear end of the second connecting rod is connected with a second driving device, the driving device drives the second gear to move forward and backward to engage or disengage the second gear with the double-sided rack; the two ends of the double-sided rack are connected with pulleys through connecting engagement parts, the connecting engagement parts are arranged on a main connecting rod, the connecting engagement parts are provided with engagement teeth, and the engagement teeth are engaged with the single-sided rack or the double-sided rack.

[0033] Further, the clamping mechanism is arranged as a clamping manipulator, the clamping manipulator comprises a first clamping part and a second clamping part, and the two parts are arranged in an up-down mode, so that the position of the probe rod is fixed, and the penetration does not deviate; the first clamping part is fixedly connected with the traction rope, the movement of the traction rope drives the probe rod to move up and down, and the second clamping part is used for clamping the probe rod and synchronously moving with the probe rod.

[0034] Compared with the prior art, the advantages of the present application are as follows:

[0035] The seabed penetrating mechanism control method with force redundancy and stroke complementarity according to the present application selects the corresponding penetration force of the next time of penetration according to the penetration resistance and penetration force table, the control system controls the driving device to act, the driving device drives the pulley set in the adjustable pulley mechanism to move or drives the traction rope and the pulley set in the adjustable pulley mechanism to move, so as to change the variable penetration coefficient of the system, and the penetration force of the probe rod is adjusted to the corresponding penetration force of the next time of penetration. The technical scheme can flexibly adjust the penetration force according to the different penetration loads borne by the actual soil hardness, reduce the size of the penetration force in the case of large redundancy of the penetration force, obtain a larger penetration stroke, reduce the penetration stroke in the case of insufficient penetration force, obtain a larger penetration force, effectively complete the penetration operation, realize high efficiency and energy saving of the system, and reduce efficiency loss. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a flowchart of the seabed penetrating mechanism control method according to the embodiment of the present application;

[0037] Figure 2 is a double-Y-axis graphical schematic diagram of the penetration force table according to the embodiment of the present application;

[0038] Figure 3 is a partial structure schematic diagram of the seabed penetrating mechanism according to the embodiment of the present application;

[0039] Figure 4This is a schematic diagram of the connection between the variable pulley block and the gear and rack transmission mechanism in an embodiment of the present invention.

[0040] In the above figures:

[0041] 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 Implementation

[0042] To facilitate understanding of the present invention by those skilled in the art, specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0043] The present invention provides a control method for a seabed penetration mechanism with redundant force drive and complementary stroke. Different penetration force levels are set to adapt to different working environments. An adjustable pulley mechanism adjusts the system's variable penetration coefficient, which is the ratio of the drive device's speed to the probe rod's penetration speed. The pulley system can switch between a moving pulley stage and a fixed pulley stage based on the variable penetration coefficient, thereby changing the penetration force. With a constant system power output, adjusting the penetration force will proportionally adjust the penetration speed and stroke. The power source of the seabed penetration mechanism provides power to the drive device, which in turn provides the driving force for the probe rod 300's penetration. The drive device acts on the traction rope 100, which is fixedly connected to a gripping manipulator. The gripping manipulator grips the probe rod 300 to complete the penetration task.

[0044] like Figure 1 As shown, the control methods include:

[0045] After the probe rod 300 is once penetrated, 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 the preset formula in the control system. The control system is also provided with a penetration force reference table, and the corresponding penetration force of the next time of penetration is selected according to the penetration resistance and the penetration force reference table. The control system controls the driving device to act, and the driving device drives the pulley set in the adjustable pulley mechanism to move, or the driving device drives the traction rope 100 and the pulley set 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 of the next time of 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.

[0046] The above steps are repeated after each penetration.

[0047] In the above method, the working end of the probe rod 300 is provided with a probe, also known as a cone head, 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. The detection of the penetration depth can obtain the penetration stroke of the first time of penetration.

[0048] In the above method, the penetration resistance formula includes:

[0049]

[0050] In the formula: The maximum total resistance of the cone tip obtained in the last penetration stroke;

[0051] The cumulative total friction of the side wall is multiplied by

[0052] It is a constant, and the value range is 1.05-1.2;

[0053] The diameter of the probe rod;

[0054] The penetration depth of the probe rod in the same uniform soil body;

[0055] The bottom area of the probe cone;

[0056] The total area of the side wall of the probe rod in contact with the soil body;

[0057] q c The cone tip resistance;

[0058] ​q ci —— i Constant cone tip resistance;

[0059] p —Number of tests;

[0060] f s —Side friction resistance.

[0061] The above method obtains the penetration force comparison table by changing the number of movable and fixed pulley states in the adjustable pulley mechanism, or by changing the number of movable and fixed pulley states in the adjustable pulley mechanism and combining it with the movement of the traction rope 100, thereby changing the variable penetration coefficient of the system and thus changing the penetration force of the probe 300. The change in penetration force correspondingly changes the penetration stroke and penetration speed. The penetration force under the above various motion forms is used to form a penetration force comparison table, which may also include the penetration stroke and penetration speed.

[0062] like Figure 2 The diagram illustrates a penetration force comparison table, defining different penetration forces of the seabed penetration mechanism as different levels. The table shows the penetration stroke and penetration force for each level. In this embodiment, eight levels are used as an example. The coordinate axis at the bottom of the penetration force comparison table gradually increases from left to right. The left coordinate axis represents the penetration stroke, where 1.0 indicates the maximum penetration stroke achievable by the seabed penetration mechanism in a single penetration. Level one has the maximum penetration force and the minimum penetration stroke, with the penetration stroke gradually increasing as the level increases. The right coordinate axis represents the penetration force, where 1.0 indicates the maximum penetration force achievable by the seabed penetration mechanism in a single penetration. The penetration force gradually decreases as the level increases, with level eight having the minimum penetration force and the maximum penetration stroke. This invention can flexibly adjust the penetration force according to the different penetration loads borne by the actual soil hardness. When the penetration force redundancy is large, the size of the penetration force can be reduced to obtain a larger penetration stroke. When the penetration force is insufficient, the penetration stroke can be reduced to obtain a larger penetration force, thus effectively completing the penetration operation.

[0063] In the above method, the rule for selecting the corresponding penetration force according to the penetration resistance and 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.

[0064] In this embodiment, a hydraulic cylinder is selected as the driving device, and a hydraulic pump is selected as the system power source. In this application, the speed of the driving device is defined as a constant state, operating at a uniform speed.

[0065] Specifically, the adjustable pulley mechanism includes several pairs of upper and lower variable pulley sets and one pair of upper and lower fixed pulley sets, each pulley set includes at least two pulleys which are fixed in parallel on the main connecting rod 523, the fixed pulley set is close to the probe rod 300, and the variable pulley set drives the upper and lower movement of the variable pulley set to realize the mutual transformation of the fixed pulley state and the movable pulley state through the driving device.

[0066] Specifically, in this embodiment, the number of variable pulley sets is selected to be 4 sets, as shown in Figure 2 、 3 From left to right, they are the first pulley set A 411 and the first pulley set B 412 of the first group, the second pulley set A 421 and the second pulley set B 422 of the second group, the third pulley set A 431 and the third pulley set B 432 of the third group, and the fourth pulley set A 441 and the fourth pulley set B 442 of the fourth group. The fixed pulley set is the fixed pulley set A 451 and the fixed pulley set B 452 arranged in an upper and lower manner.

[0067] The number of traction ropes 100 is equal to the number of pulleys in the pulley set. The total length of the traction rope 100 is unchanged and is wound around each pulley to form a closed loop, where the closed loop refers to the traction rope 100 being connected in a ring shape.

[0068] In this embodiment, each pulley set has two parallel pulleys, and one traction rope 100 is wound around each pulley. For example, the first pulley set A 411 consists of two pulleys arranged in parallel and fixed on the main connecting rod 523, and the main connecting rod 523 is fixed on the rack of the subsea penetration mechanism.

[0069] For the variable penetration coefficient adjustment of the subsea penetration mechanism, the present application adopts multiple variable pulley sets, which 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 or from the fixed pulley stage to the movable pulley stage to change the penetration force, and correspondingly change the penetration speed and penetration stroke. The driving device drives the gear rack transmission mechanism, the gear rack transmission mechanism drives the pulley set to move, the upper and lower pulley sets in the several variable pulley sets are connected through the gear rack transmission mechanism to realize the upper and lower movement, and the adjacent two variable pulley sets are selectively connected through the gear rack transmission mechanism to realize the overall upper and lower movement of a pair of variable pulley sets, so that the present application has multiple movement forms.

[0070] Specifically, as shown in Figure 3 、 4As shown, the gear rack transmission mechanism comprises 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, the two ends of the first connecting rod 521 are fixed on the frame of the seabed penetrating mechanism, the front end of a second connecting rod 522 is fixed with the second gear 512, and the rear end of the second connecting rod 522 is connected with the second driving device; the driving device drives the second gear 512 to move forward and backward to make the second gear 512 mesh with or disengage from the double-sided rack 514; the two ends of the double-sided rack 514 are connected with pulleys through connecting engagement parts, the connecting engagement parts are arranged on a main connecting rod 523, the connecting engagement parts are provided with engagement teeth, and the engagement teeth mesh with the single-sided rack 513 or the double-sided rack 514.

[0071] Referring to Figure 4 the drawings, 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 is in a disengaged state with the double-sided rack 514; at this time, the pair of upper and lower variable pulley sets can move relatively or oppositely, but cannot move as a whole. If it is desired to also realize the whole upper and lower movement of the pair of variable pulley sets, the second connecting rod 522 can be moved forward in the drawing to make the second gear 512 mesh with the double-sided rack 514.

[0072] A positioning point 110 is arranged on the traction rope 100, the positioning point 110 is located between the variable pulley sets away from the fixed pulley set, a connecting piece is fixedly arranged on the positioning point 110, and the connecting piece is connected with the driving device.

[0073] In this embodiment, the traction rope 100 is selected to be a steel wire rope.

[0074] As the steel wire rope for power transmission, the stress in the steel wire rope is constantly changing, the increase or decrease of the stress will affect the length of the steel wire rope, thereby affecting the close-fitting effect between the steel wire rope and the pulley and the transmission effect of the force. In order to cope with the strain of the steel wire rope and prolong the service life of the steel wire rope, a spring tensioning structure is fixedly connected to the upper fixed pulley set, i.e., the fixed pulley set A, and a spring tensioning device is added to offset the adverse effects of the strain of the steel wire rope.

[0075] As Figure 3 shown, the clamping mechanical hand comprises a first clamping part 210 and a second clamping part 220, which are arranged in an upper and lower manner to fix the position of the probe rod 300 and prevent the penetration from deviating. The first clamping part 210 is fixedly connected with the traction rope 100, and the movement of the traction rope 100 drives the probe rod 300 to move up and down, and the second clamping part 220 is used for clamping the probe rod 300 and moving synchronously with the probe rod 300.

[0076] More specifically, the first clamping portion 210 includes a pulley for speed regulation, ensuring that the position of the probe rod 300 does not change.

[0077] The above-described embodiments of the present application are not intended to define the scope of the present application. Any modification, equivalent replacement and improvement etc. within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A control method for a seabed penetration mechanism with force-driven redundancy and stroke complementarity, characterized in that, The seabed penetration mechanism includes an adjustable pulley mechanism, a traction rope (100), a clamping manipulator, a probe (300), a drive device, and a control system. The traction rope (100) is wound around the adjustable pulley mechanism, and the traction rope (100) and the clamping manipulator are fixedly connected. The clamping manipulator clamps the probe (300). The adjustable pulley mechanism includes several pulley groups, and the drive device provides driving force for the movement of the pulley groups and the movement of the traction rope (100). A detection device is provided on the probe (300). The control system is connected to the drive device, the detection device, and the clamping manipulator. Control methods include: After the probe (300) is penetrated once, the data detected by the detection device on the probe (300) is fed back to the control system and the penetration resistance is calculated according to the preset formula in the control system. The control system also has a preset penetration force comparison table. 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 operation of the drive device, which drives the pulley block in the adjustable pulley mechanism to move, or drives the traction rope (100) 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 (300) to the penetration force corresponding to the next penetration; the variable penetration coefficient refers to the ratio of the driving speed of the drive device to the penetration speed of the probe (300). Repeat the above steps after each penetration. The penetration resistance formula includes: In the formula: —The maximum total resistance at the cone tip obtained during the previous penetration stroke; —Total frictional force of the accumulated sidewalls times; —This is a constant, with a value range of 1.05 to 1.2; —Probe diameter; — The penetration depth of the probe in the same uniform soil; —The base area of ​​the probe cone; —The total contact area between the probe sidewall and the soil; q ci —The cone tip resistance at time i; p — the number of tests; f s —Side friction resistance; Method for obtaining the penetration force comparison table: By changing the number of moving pulley states and fixed pulley states in the adjustable pulley mechanism, or by changing the number of moving pulley states and fixed pulley states in the adjustable pulley mechanism and combining the movement of the traction rope (100), the variable penetration coefficient of the system is changed, thereby changing the penetration force of the probe (300), and the penetration force under the above-mentioned various motion forms are used to form a penetration force comparison table; The rule for selecting the corresponding penetration force according to the penetration resistance and penetration force comparison table is: select the penetration force that is closest to and greater than the penetration resistance in the penetration force comparison table.

2. The control method for the seabed penetration mechanism according to claim 1, characterized in that, 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, including cone tip resistance and side friction resistance.

3. The control method for the seabed penetration mechanism according to claim 1, characterized in that, The adjustable pulley mechanism includes several pairs of variable pulley groups arranged vertically and one pair of fixed pulley groups arranged vertically. Each pulley group includes at least two pulleys, which are fixed in parallel 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 is driven to move up and down by a driving device to realize the mutual transformation between the fixed pulley state and the moving pulley state. The number of traction ropes (100) is equal to the number of pulleys in the pulley group.

4. The control method for the seabed penetration mechanism according to claim 3, characterized in that, A positioning point (110) is provided on the traction rope (100). The positioning point (110) is located between the variable pulleys on the side away from the fixed pulley group. A connecting piece is fixedly provided on the positioning point (110) and the connecting piece is connected to the drive device.

5. The control method for the seabed penetration mechanism according to claim 3, characterized in that, Several variable pulley blocks are connected vertically by a gear and rack transmission mechanism to achieve vertical movement. Two adjacent variable pulley blocks are selectively connected by a gear and rack transmission mechanism to achieve vertical movement of the entire pair of variable pulley blocks.

6. The control method for the seabed penetration mechanism according to claim 5, characterized in that, The gear and 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. 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) meshes with the other side of the double-sided rack (514). 512) is fixed to the front end of the second connecting rod (522). 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). The two ends of the double-sided rack (514) are connected to the pulley through the connecting meshing part. The connecting meshing part is provided on the main connecting rod (523). The connecting meshing part is provided with meshing teeth. The meshing teeth mesh with the single-sided rack (513) or the double-sided rack (514).

7. The control method for the seabed penetration mechanism according to claim 1, characterized in that, The clamping mechanism is configured as a clamping manipulator, which includes a first clamping part (210) and a second clamping part (220), which are arranged vertically to fix the position of the probe (300) and prevent it from shifting during insertion; the first clamping part (210) is fixedly connected to the traction rope (100), and the movement of the traction rope (100) drives the probe (300) to move up and down; the second clamping part (220) is used to clamp the probe (300) and moves synchronously with the probe (300).

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