Seabed-based self-stabilizing mechanism based on rapid tensioning anchoring and dynamic vacuum adsorption

Abstract

The invention discloses a seabed-based self-stabilizing mechanism based on rapid tensioning anchoring and dynamic vacuum adsorption, and relates to the field of intertidal zone monitoring, the seabed-based self-stabilizing mechanism comprises a main body and a supporting mechanism below the main body, and the supporting mechanism is composed of a tensioning anchoring assembly, a vacuum adsorption assembly and a dynamic adjusting assembly. The supporting main rod can stretch out and draw back along the sleeve, the supporting main rod, the hemispherical supporting cover, the three sets of supporting side rods and the like form a sliding block connecting rod mechanism, and the supporting side rods are unfolded to form a triangular pyramid riveting structure. The tensioning and anchoring assembly enhances the anchoring stability through barbs, first springs and resistance plates; the vacuum adsorption assembly forms vacuum adsorption force through a sliding baffle, a second spring and a cam. The dynamic adjusting assembly monitors the soil filling state through a sound wave emitter, a sound reflecting plate and the like. The intertidal zone wave impact is effectively resisted, the stability of monitoring data is ensured, and the problem of monitoring of existing equipment in complex terrains is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intertidal zone monitoring, and particularly to a seabed base self-stabilizing mechanism based on rapid tension anchoring and dynamic vacuum adsorption. BACKGROUND

[0002] The coastal zone can generally be divided into supratidal zone, intertidal zone and subtidal zone, wherein the intertidal zone refers to the zone between the mean low water spring tide line and the mean high water spring tide line. The intertidal zone, as a special area between the mean low water spring tide line and the mean high water spring tide line, contains rich spatial resources and biological resources. However, in recent years, it is facing the dual pressures of property change and pollution invasion, so it is of great significance to monitor the intertidal zone environment for a long period and stably. At present, the monitoring devices for the intertidal zone and other offshore areas have the following technical bottlenecks in seabed stability: The traditional anchoring method has insufficient stability in complex terrain: Most of the existing monitoring devices use a single anchoring structure, such as simple pile insertion or gravity fixation. In soft terrain such as silt and fine sand, the pile is easy to tilt or shift after insertion due to insufficient soil bearing capacity; gravity fixation is caused by the horizontal force generated by wave impact, which is much larger than the weight of the device, resulting in the device being pushed away. For example, the traditional water-land monitoring equipment needs to be deployed on land and underwater respectively. During the twice-a-day tidal cycle of the rising and falling tides, the equipment is frequently impacted by waves, and the anchoring structure is difficult to resist the periodic water flow force, resulting in distorted monitoring data due to the displacement of the device.

[0003] Based on this, we propose a seabed base self-stabilizing mechanism based on rapid tension anchoring and dynamic vacuum adsorption. SUMMARY

[0004] To solve the technical problem of insufficient stability of the traditional anchoring method in complex terrain, the present application provides a seabed base self-stabilizing mechanism based on rapid tension anchoring and dynamic vacuum adsorption.

[0005] The application adopts the following technical scheme: a seabed foundation self-stabilizing mechanism based on rapid tension anchoring and dynamic vacuum adsorption, the support mechanism comprises a tension anchoring assembly, a vacuum adsorption assembly and a dynamic adjusting assembly, a support main rod is slidably connected in a sleeve and can be telescoped downward along the sleeve, the support main rod is designed as a whole in a cylindrical shape and has a conical structure at the bottom end, a recess is arranged in the middle part and embedded with a connecting frame, a hemispherical support cover is arranged above the support main rod with an opening downward, three connecting frames of support side rods are hingedly connected to the three support side rods, one end of the support side rod is a hinge structure and the other end is a conical structure, the middle part is hingedly connected to a connecting rod with both ends being hinge structures, the other end of the connecting rod is hingedly connected to a second sliding block which can slide in a sliding groove of the support main rod, and the whole constitutes a sliding block connecting rod mechanism, the support side rod is opened to form a three-prism riveting structure, the sliding block connecting rod mechanism can be driven to open the support side rod to form a stable three-prism structure, the anchoring effect of the mechanism in the seabed is enhanced, the wave impact is effectively resisted, and the device is prevented from tilting left and right.

[0006] As a further optimization scheme of the application, the tension anchoring assembly comprises a barb arranged on the support main rod, a first spring with one end connected to the second sliding block and the other end fixed to the base, and a resistance plate arranged in the middle part of the connecting rod, when the support main rod is driven into the soil, the upward component force of the soil on the resistance plate drives the resistance plate to move upward, the connecting rod drives the support side rod to gradually open, and at the same time, the first spring is pulled to form a three-prism riveting structure, and the barb on the support main rod can enhance the friction with the soil. This design can automatically trigger the tension anchoring action when the support main rod is driven into the soil, the opening and closing of the support side rod are realized by the cooperation of the spring and the resistance plate, the barb further enhances the anchoring stability and improves the fixing ability of the mechanism in complex terrain.

[0007] As a further optimization scheme of the application, the vacuum adsorption assembly comprises a sliding baffle which is slidably arranged in the inner and outer communication channels of the hemispherical support cover and has an upper end connected to a second spring, and a cam driven by a rudder, the rudder drives the cam to rotate to open or close the sliding baffle, when the sliding baffle is closed, the hemispherical support cover forms a closed space to generate a vacuum adsorption force. This structure can realize the generation and release of the vacuum adsorption force by the control of the rudder, the vacuum adsorption is formed at low tide to enhance the connection stability of the mechanism and the seabed, and the vacuum is released at ebb tide to facilitate the movement of the mechanism.

[0008] As a further optimization scheme of the present application, the dynamic adjustment assembly comprises a sound wave emitter arranged at one side of the top of the inside of the hemispherical support cover, a sliding ring connected to the support main rod, a weight block fixedly connected to the sliding ring, and an anti-sound plate fixed to the weight block, the anti-sound plate being perpendicular to the sound wave emitted by the sound wave emitter, and the cam rotation angle being controllable by the steering gear, when the top of the support cover is flush with the seabed, the sliding ring is lifted to the top of the inside of the cover under the gravity of the weight block, the distance between the anti-sound plate and the sound wave emitter is 0, and at this time, the inside of the cover is filled with soil. The component can monitor the soil filling state in the hemispherical support cover through sound wave emission and reflection, ensure that the inside of the cover is filled with soil, and thus ensure the effect of vacuum adsorption and the stability of the mechanism.

[0009] As a further optimization scheme of the present application, the main body comprises four hollow tubes arranged at the four corners of the top of the main body and having the same structure, one end of each of the hollow tubes being open and the other end being communicated with an independent cabin in the main body, a micro float being arranged above the open end of each of the hollow tubes and capable of blocking the opening, the micro float being a floating structure having buoyancy and connected to the cable at one end and wound around a cable reel in the independent cabin through the hollow tube at the other end. A monitoring unit is sleeved on the surface of the cable. When the tide rises, the micro float drives the cable to rise, and the multiple sensors on the monitoring unit can monitor the change of the tide level.

[0010] As a further optimization scheme of the present application, an underwater camera is fixedly arranged at the front center of the main body, four illuminating lamps are arranged on the outer surface around the underwater camera, and foot-shaped steps having circular truncated cone shapes are connected to the two sides of the main body through rotating steering gears. The underwater camera and the illuminating lamps can facilitate the observation of the surrounding environment by the operator, and the circular truncated cone shape of the steps can prevent the device from sinking when walking in the intertidal zone by enlarging the stress surface, thereby improving the moving ability and stability of the device in complex terrain.

[0011] As a further optimization scheme of the present application, a plurality of sediment sampling tubes are arranged below the main body, and one sediment sampling tube can be lowered to perform in-situ sampling at every interval of time. The plurality of sediment sampling tubes can obtain sediment samples at different time sequences, thereby facilitating the long-term and dynamic monitoring of the sediments in the intertidal zone and providing abundant data for environmental research.

[0012] Compared with the prior art, the present application has the following advantages: 1. The present application realizes the rapid anchoring and stable adsorption of the seabed foundation through the synergistic effect of the tension anchoring assembly, the vacuum adsorption assembly and the dynamic adjustment assembly in the support mechanism. When the support main rod is driven downward, the resistance plate drives the support side rod to open to form a three-prism riveting structure, and the barbs enhance the friction with the soil. At the same time, the vacuum adsorption assembly forms a sealed space to generate a vacuum adsorption force, effectively resisting the wave impact in the intertidal zone, preventing the device from tilting or shifting, and ensuring the stability and reliability of the monitoring data.

[0013] 2、The hollow pipe and the micro float body are arranged, when the tidal water rises, the micro float body drives the cable to rise, the multiple sensors on the monitoring unit can monitor the change of the tidal level, data support is provided for dynamic adjustment of the device, the underwater camera and the illuminating lamp are convenient for the operator to observe the surrounding environment, the circular table shape design of the step foot expands the stress surface, sinking of the device is prevented when the device walks in the intertidal zone, multiple sediment sampling pipes can obtain sediment samples of different time sequences, and the operation capacity and the monitoring efficiency of the device in the complex terrain environment are improved.

[0014] 3、The soil filling state in the hemispherical support cover is monitored through the sound wave emitter and the sound reflection plate, the soil in the cover is ensured, and the vacuum adsorption effect is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a schematic diagram of the working state of the monitoring system of the present application; Figure 3 It is a schematic diagram of the support mechanism of the present application; Figure 4 It is a schematic diagram of the structure of the support side rod of the present application; Figure 5 It is a schematic diagram of the cross-sectional structure of the hemispherical support cover of the present application; Figure 6 It is a schematic diagram of the cross-sectional structure of the hemispherical support cover of the present application; Figure 7 It is a schematic diagram of the structure of the sliding baffle of the present application.

[0016] Main symbol explanation: 1, main body; 2, micro float body; 3, hollow pipe; 4, underwater camera; 5, illuminating lamp; 6, step foot; 7, sediment sampling pipe; 8, cable; 9, monitoring unit; 200, support mechanism; 201, hemispherical support cover; 202, support side rod; 203, support main rod; 204, barb; 205, connecting rod; 206, second sliding block; 207, resistance plate; 208, first spring; 209, sound wave emitter; 210, sliding ring; 211, weight block; 212, sound reflection plate; 213, sliding baffle; 214, second spring; 215, cam; 216, steering wheel; 217, connecting frame. DETAILED DESCRIPTION

[0017] In the following, the present application will be further described in conjunction with the drawings and specific embodiments, and it should be noted that the following described embodiments or technical features can be combined in any way to form new embodiments without conflict.

[0018] Example 1: As shown in Figure 1 The embodiment proposes a seabed foundation self-stabilizing mechanism based on rapid tension anchoring and dynamic vacuum adsorption, which comprises a main body 1, the main body 1 comprising a hollow pipe 3, a micro float 2, an underwater camera 4, a lighting lamp 5, a step foot 6, a sediment sampling pipe 7 and a cable 8. The hollow pipe 3 is four in number and has the same structure, the hollow pipe 3 is installed above the main body 1 and is distributed at four corners, one end of the hollow pipe 3 is open, and the other end is communicated with an independent cabin inside the main body 1. The micro float 2 is located above the open end of the hollow pipe 3 and can block the opening thereof, the micro float 2 is a buoyant floating structure and can freely float to the sea surface. One end of the cable 8 is connected with the micro float 2, the other end of the cable 8 passes through the inner cavity of the hollow pipe 3 and is wound on a cable reel installed in the independent cabin, a monitoring unit 9 is sleeved on the surface of the cable 8, when the limiting buckle of the cable reel is opened, the micro float 2 can drive the cable reel to release the cable 8 rapidly and gradually float to the sea surface, and then the limiting buckle is closed to lock the release of the cable 8.

[0019] It should be noted that the underwater camera 4 is installed at the front center position of the main body 1, which is convenient for the operator to observe the surrounding environment, and the lighting lamp 5 is four in number and is distributed around the underwater camera 4, which can provide a wide range of illumination.

[0020] It should be noted that the step foot 6 is fixed to the two sides of the main body 1 through a rotating rudder, the step foot 6 has two degrees of freedom, the foot part of the step foot 6 is designed in a circular truncated cone shape, and the design of the enlarged stress surface can prevent the device from sinking when walking in the intertidal zone.

[0021] It should be noted that the sediment sampling pipe 7 is arranged below the main body 1, the number of the sediment sampling pipe 7 is multiple, and a sediment sampling pipe 7 is lowered every certain period of time to carry out in-situ sampling, so that sediment samples of different time sequences can be obtained.

[0022] As shown in Figures 2-6 The lower end of the main body 1 is fixedly connected with a support mechanism 200, the support mechanism 200 comprising a tension anchoring assembly, a vacuum adsorption assembly and a dynamic adjustment assembly; The support main rod 203 is slidingly connected in the sleeve and extends downward and upward along the sleeve; the support main rod 203 is designed in a cylindrical shape as a whole, the bottom end is designed in a conical structure, the middle part is designed with a groove, the groove is embedded with the connecting frame 217, the hemispherical support cover 201 is arranged above the support main rod 203 with the opening downward, the support side rod 202 is provided in three groups, the connecting frame 217 is hingedly connected with the three support side rods 202, one end of the support side rod 202 is designed in a hinge structure, the other end is designed in a conical shape, the middle part of the support side rod 202 is hingedly connected with the connecting rod 205, and both ends of the connecting rod 205 are designed in a hinge structure; the support side rod 202 is provided in three groups and forms a three-prism riveting structure when expanded, and the barb 204 is used to enhance the friction between the support main rod 203 and the soil.

[0023] The other end of the connecting rod 205 is hingedly connected to a second sliding block 206, and a sliding groove matching the structure of the second sliding block 206 is formed in the support main rod 203, and the second sliding block 206 can slide in the sliding groove, and the whole constitutes a sliding block connecting rod mechanism.

[0024] The tensioning and anchoring assembly comprises a barb 204, a first spring 208 and a resistance plate 207, the barb 204 is arranged on the support main rod 203, one end of the first spring 208 is connected to the second sliding block 206, and the other end is fixed to the base, and the resistance plate 207 is arranged in the middle of the connecting rod 205.

[0025] Specifically, when the support main rod 203 is entirely driven into the soil, the soil will generate an upward component force on the resistance plate 207, drive the resistance plate 207 to move upward, and then the connecting rod 205 will drive the support side rod 202 to gradually open, and at the same time, the first spring 208 is pulled open, and the whole forms a riveting structure similar to a triangular pyramid, greatly enhancing the stability in the horizontal direction, and preventing the device from being tilted left and right due to wave impact, when the support main rod 203 is retracted upward, the soil will generate a downward component force on the resistance plate 207, and at the same time, the first spring 208 is gradually reset, and the support side rod 202 returns to the initial state. The barb 204 structure is designed on the support main rod 203 to enhance the stability.

[0026] Further, the vacuum adsorption assembly comprises a sliding baffle 213, a second spring 214 and a cam 215, the sliding baffle 213 can slide on the inner-outer connecting channel of the hemispherical support cover 201, the upper end of the sliding baffle 213 is connected with the second spring 214, and the cam 215 is driven by a steering engine 216.

[0027] Further, the dynamic adjustment assembly comprises a sound wave emitter 209, a sound reflection plate 212 and a sliding ring 210, the sound wave emitter 209 is arranged on one side of the upper part of the inside of the hemispherical support cover 201, the sliding ring 210 is slidingly connected to the support main rod 203, the weight block 211 is fixedly connected to the sliding ring 210, and the sound reflection plate 212 is fixedly connected to the weight block 211.

[0028] It should be noted that the middle plate of the sliding baffle 213 can slide on the inner-outer connecting channel of the hemispherical support cover 201, the upper baffle of the sliding baffle 213 is connected with the second spring 214 and can block the inner-outer connecting channel.

[0029] Further, the sound reflection plate 212 is perpendicular to the sound wave emitted by the sound wave emitter 209, the steering engine 216 is arranged on a connecting frame 217, and the steering engine 216 can control the rotation angle of the cam 215.

[0030] Specific technical solutions, rudder 216 drive cam 215 clockwise rotation 90°, open sliding baffle 213, half-spherical support cover 201 inside and outside communication. Support main rod 203 into the cover, the sea water from the communication channel discharge, soil into. When the support cover top with seabed flush, sliding ring 210 in the weight block 211 gravity rises to the cover inside the top, the sound board 212 and sound wave emitter 209 distance is 0, at this time cover inside filled with soil. Cam 215 reset, sliding baffle 213 under the action of the second spring 214 block passageway, form airtight space.

[0031] More specific technical solutions, the tide goes out, rudder 216 drive cam 215 open sliding baffle 213, half-spherical support cover 201 inside and outside communication, vacuum adsorption force disappears.

[0032] Support main rod 203 is retracted, soil on the resistance plate 207 downward force, the first spring 208 reset driven support side rod 202 closed, barb 204 from the soil, the device through the foot 6 movement.

[0033] Working principle: (1) low tide anchor phase: Support main rod 203 into the seabed The device through the foot 6 moves to the designated point, support main rod 203 along the sleeve down, the bottom end of the conical structure into the seabed.

[0034] Soil on the resistance plate 207 upward force, driven link 205 push the second sliding block 206 in the slide groove of support main rod 203 sliding, and then make support side rod 202 hinge open around the connecting frame 217, form a three pyramid riveting structure.

[0035] The first spring 208 is stretched, support main rod 203 on the barb 204 embedded in the soil, enhance the horizontal stability.

[0036] (2) half-spherical support cover 201 soil sealing Rudder 216 drive cam 215 counterclockwise rotation 90°, open sliding baffle 213, half-spherical support cover 201 inside and outside communication.

[0037] Support main rod 203 into the cover, the sea water from the communication channel discharge, soil into. When the support cover top with seabed flush, sliding ring 210 in the weight block 211 gravity rises to the cover inside the top, the sound board 212 and sound wave emitter 209 distance is 0, at this time cover inside filled with soil.

[0038] Cam 215 reset, sliding baffle 213 under the action of the second spring 214 block passageway, form airtight space.

[0039] When the semi-spherical support cover 201 is filled with soil, the control sleeve drives the support main rod 203 and the semi-spherical support cover 201 to move upwards by a certain distance at this time, a certain vacuum is formed in the cover, the adsorption force is formed through the pressure difference between the inside and outside, and the soil at the bottom will provide support force to the support cover, so that the adsorption force and the bearing capacity can be measured in real time through the acoustic ranging, and dynamic adjustment is realized.

[0040] After the completion of the description of the tide cycle multi-element monitoring and the displacement operation of the device, in order to further clarify the technical principle of the support mechanism to realize stable landing, the mechanical model of the semi-spherical support cover needs to be theoretically derived. Based on the theories of fluid mechanics and soil mechanics, the stress model of the semi-spherical support cover under different working conditions is derived to determine the relationship between the adjustment height range and the stability of the device, and to provide a theoretical basis for parameter adjustment in actual monitoring; the theoretical derivation and calculation of the semi-spherical support cover are as follows: When the monitoring device moves to the specified position for multi-element monitoring in the region, the rudder 216 in the cover body controls the cam to rotate clockwise by 90°, and the cam will push the sliding baffle upwards by a certain distance, at which time the inside and outside of the cover remain connected, and then the support main rod is pushed downwards to gradually penetrate into the seabed. During the penetration process, due to the incompressibility of the liquid, the seawater in the cover body is discharged from the communication passage until the top end of the support cover is flush with the seabed surface, and the radius of the semi-spherical support cover is , then the depth of the support cover penetrating into the seabed is , then the cover body is filled with soil, and then the cam rotates clockwise by 90°, and the sliding baffle is re-sealed by the spring, and the cover body forms a sealed state. At this time, it is the initial state, and the following calculates the range of the limit adsorption force and the limit bearing capacity when the control support rod moves upwards by a certain distance , and accordingly, under the condition of meeting the required adsorption force and bearing capacity, the adjustment height range of the semi-spherical support cover .

[0041] 1. The adjustment height range of the semi-spherical support cover to meet the required adsorption force is calculated by the fluid mechanics adsorption force model : (1) The pressure inside and outside the semi-spherical support cover is equal in the initial state: wherein, and are the seawater density and gravitational acceleration of the intertidal zone respectively, is the depth of seawater from the intertidal zone sea surface to the seabed, which is the depth from the sea surface to the top of the support cover at this time, is the standard atmospheric pressure.

[0042] When the control support rod moves upwards by a certain distance At the same time, the semi-spherical support cover also moves upward a certain distance , assuming that the seawater has no seepage, at this time the upper part of the cover is in a vacuum state, then a vacuum negative pressure is generated, and at this time the pressure in the cover is: The static water pressure outside the cover is: The difference between the static water pressures inside and outside the cover is : The static water adsorption force can be calculated by Pascal's principle: wherein is the radius of the semi-spherical support cover, is the projected area of the semi-spherical support cover.

[0043] Due to the large wave impact and fast water flow in the intertidal zone, the dynamic water adsorption force generated by the wave is considered, which can be expressed by the Morison equation as: wherein is the drag coefficient, is the vertical water particle velocity caused by the wave.

[0044] Then the total adsorption force can be expressed as: If when , at this time is the maximum adsorption force, which can be expressed as: At this time, the uplift height of the semi-spherical support cover, i.e. the adjustment height of the semi-spherical support cover needs to meet the lower limit: And when , the maximum adsorption force can be obtained .

[0045] If the device meets the stable condition and is not pulled out by the wave impact, the minimum adsorption force required is , then the minimum adsorption force required to be met by each semi-spherical support cover is: At this time can be calculated by the following formula: The adjustment height of the semi-spherical support cover The upper limit needs to be met: So from the above, the range of the height adjustment of the hemispherical support cover when the device meets the required adsorption force is : 2. The intertidal zone is mostly sandy soil, with soft texture. In order to prevent subsidence, the self-stable base also provides this bearing capacity. The range of the height adjustment of the hemispherical support cover when the required bearing capacity is met is calculated by the bearing capacity model of soil mechanics: : Regarding the hemispherical support cover as being composed of an infinite number of horizontal ring elements with varying diameters, the total bearing capacity can be regarded as the integral contribution of each layer. Then the diameter of the ring element at a depth of in the cover from top to bottom is: From the Terzaghi shallow foundation bearing capacity theory, and here it is extended to the ring element, the bearing capacity of each layer of ring element can be calculated by the following formula: where is the soil cohesion, is the effective gravity of the soil, and the bearing capacity coefficient , , can be calculated by the following formula respectively: where is the internal friction angle of the soil.

[0046] Similar to the adsorption force model, when the hemispherical support cover moves upward by a certain distance , the bearing height at this time, which is the bearing capacity generated by the interaction between the cover and the soil upward, is : The total bearing capacity can be calculated by the following formula: Substituting into the integral of the above formula gives: So it is known that when the initial state, i.e. is 0, the bearing capacity obtained is the maximum, and the bearing height at this time is: : The maximum bearing capacity can be calculated by the following formula: The height of the spherical support cover adjustment The lower limit needs to be met: If the device meets the stability condition without sinking as a whole, the minimum bearing capacity required is , then the minimum bearing capacity required to be met by the average distribution to each hemispherical support cover is: The height of the hemispherical support cover adjustment The minimum value of the bearing height can be calculated , then the value when is the maximum can be calculated: The height of the hemispherical support cover adjustment The upper limit needs to be met: Then from the above, the hemispherical support cover adjustment height range when the device meets the required bearing capacity is: 3. The hemispherical support cover adjustment height range under the condition of meeting the required adsorption force and bearing capacity is selected by combining the above two models: From the above derivation process, the hemispherical support cover adjustment height range and under the condition of meeting the required adsorption force and bearing capacity of the device, respectively. Then if both force conditions are met, the adjustment height range should be: Among them: That is, the smaller adjustment height range of the two is selected, and within this height range the appropriate hemispherical support cover pull-up height value can be selected according to the tidal changes of the monitoring area in the intertidal zone and real-time adjustment is made, so that the device will not be affected by wave impact and will not sink into the intertidal zone soil, and the stable beach monitoring function can be realized, and the dynamic balance of the force on the device can be realized: wherein V is the volume of seawater displaced by the device, G is the gravity of the device.

[0047] (Three) ebb phase: mechanism reset and movement vacuum release and support main rod 203 retraction When the tide recedes, the steering engine 216 drives the cam 215 to push open the sliding baffle 213, and the inside and outside of the hemispherical support cover 201 are connected, seawater enters the cover body, causing the inside and outside pressure difference to balance, and the vacuum adsorption force disappears.

[0048] When the support main rod 203 is retracted upward, the soil generates a downward component force on the resistance plate 207, the first spring 208 resets to drive the support side rod 202 to close, and the barb 204 is separated from the soil, and the device moves through the foot 6.

[0049] The hollow pipe 3 and the micro float 2 can control the monitoring unit 9 to be retracted and released to monitor the tide level: when the tide rises, the micro float 2 drives the cable 8 to rise, and the multiple sensors on the monitoring unit 9 can monitor the change of the tide level.

[0050] The sediment sampling pipe 7 cooperates with the underwater camera 4 to collect environmental data. The above-mentioned embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-essential changes and replacements made by those skilled in the art on the basis of the present application shall be within the scope of protection of the present application.

Claims

1. A seabed-based self-stabilizing mechanism based on rapid tensioning and anchoring and dynamic vacuum adsorption, comprising a main body (1), characterized in that, A support mechanism (200) is fixedly connected to the lower part of the main body (1). The support mechanism (200) includes a tensioning and anchoring component, a vacuum adsorption component, and a dynamic adjustment component. The main support rod (203) in the support mechanism (200) is slidably connected to the sleeve and extends and retracts downward along the sleeve; the main support rod (203) is designed as a cylinder with a conical structure at the bottom and a groove in the middle, which fits into the connecting frame (217); the hemispherical support cover (201) is positioned above the main support rod (203) with its opening facing downward; three sets of support side rods (202) are provided; the connecting frame (217) is hinged to the three support side rods (202); one end of the support side rod (202) is a hinge structure, and the other end is designed as a cone; the middle of the support side rod (202) is hinged to the connecting rod (205); both ends of the connecting rod (205) are hinge structures. The other end of the connecting rod (205) is hinged to the second slider (206). The main support rod (203) has a groove that fits into the structure of the second slider (206). The second slider (206) can slide in the groove, forming a slider-connecting mechanism.

2. The seabed-based self-stabilizing mechanism based on rapid tensioning anchoring and dynamic vacuum adsorption as described in claim 1, characterized in that, The tensioning and anchoring assembly includes a barb (204), a first spring (208), and a resistance plate (207). The barb (204) is located on the main support rod (203). One end of the first spring (208) is connected to the second slider (206), and the other end is fixed to the base. The resistance plate (207) is located in the middle of the connecting rod (205).

3. The seabed-based self-stabilizing mechanism based on rapid tensioning and anchoring and dynamic vacuum adsorption as described in claim 1, characterized in that, The vacuum adsorption assembly includes a sliding baffle (213), a second spring (214), and a cam (215). The sliding baffle (213) can slide on the inner and outer connecting channels of the hemispherical support cover (201), and its upper end is connected to the second spring (214). The cam (215) is driven by a servo motor (216).

4. The seabed self-stabilizing mechanism based on rapid tensioning anchoring and dynamic vacuum adsorption as described in claim 1, characterized in that, The dynamic adjustment component includes a sound wave emitter (209), a reflector plate (212), and a slip ring (210). The sound wave emitter (209) is provided on one side of the upper part of the hemispherical support cover (201). The slip ring (210) is slidably connected to the support rod (203). The weight block (211) is fixedly connected to the slip ring (210). The reflector plate (212) is fixedly connected to the weight block (211).

5. The seabed-based self-stabilizing mechanism based on rapid tensioning and anchoring and dynamic vacuum adsorption as described in claim 3, characterized in that, The middle plate of the sliding baffle (213) can slide on the inner and outer connecting channels of the hemispherical support cover (201). The upper baffle of the sliding baffle (213) is connected to the second spring (214) and can block the inner and outer connecting channels.

6. The seabed self-stabilizing mechanism based on rapid tensioning anchoring and dynamic vacuum adsorption as described in claim 4, characterized in that, The reflector plate (212) is perpendicular to the sound wave emitted by the sound wave emitter (209), and the servo motor (216) is mounted on the connecting frame (217). The servo motor (216) can control the rotation angle of the cam (215).

7. The seabed-based self-stabilizing mechanism based on rapid tensioning and anchoring and dynamic vacuum adsorption as described in claim 6, characterized in that, The reflector plate (212) is perpendicular to the sound wave emitted by the sound wave emitter (209), and the servo motor (216) is mounted on the connecting frame (217). The servo motor (216) can control the rotation angle of the cam (215).

8. The seabed-based self-stabilizing mechanism based on rapid tensioning anchoring and dynamic vacuum adsorption as described in claim 1, characterized in that, The supporting side rod (202) is provided in three sets, which form a triangular pyramid riveting structure when opened, and the barbs (204) are used to enhance the friction between the supporting main rod (203) and the soil.

9. The seabed-based self-stabilizing mechanism based on rapid tensioning anchoring and dynamic vacuum adsorption as described in claim 1, characterized in that, The main body (1) also includes a hollow tube (3). The number of hollow tubes (3) is set to four and each has the same structure. The hollow tubes (3) are installed above the main body (1) and distributed at the four corners. One end of the hollow tube (3) is open and the other end is connected to an independent compartment inside the main body (1). A micro float (2) is provided above the opening end of the hollow tube (3) for sealing its opening. The micro float (2) is a floating structure with buoyancy. One end of the micro float (2) is connected to the cable (8), and the other end passes through the tube of the hollow tube (3) and is wrapped around the cable reel installed in the independent compartment. A monitoring unit (9) is sleeved on the surface of the cable (8).

10. The seabed-based self-stabilizing mechanism based on rapid tensioning anchoring and dynamic vacuum adsorption as described in claim 1, characterized in that, An underwater camera (4) is fixedly installed at the front center position of the main body (1), and four lights (5) are installed on the outer surface of the underwater camera (4). The two sides of the main body (1) are connected to the legs (6) by rotating servo motors. The feet of the legs (6) are set in the shape of a frustum. A sediment sampling tube (7) is provided below the main body (1). There are multiple sediment sampling tubes (7).

Images