Multi-platform collaborative deep and far sea geophysical prospecting equipment rapid docking device and method thereof

Abstract

The invention relates to the technical field of deep and far sea geophysical prospecting equipment, in particular to a multi-platform collaborative deep and far sea geophysical prospecting equipment rapid docking device and method, which comprises a fixed seat, the fixed seat is mounted on a ship platform, a magnetic suction interface assembly is mounted on one side of the fixed seat, and the top of the fixed seat is connected with a clamping component through an adjusting arm; the clamping component is used for clamping the geophysical prospecting equipment and adjusting the posture of the geophysical prospecting equipment. According to the multi-platform collaborative deep and far sea geophysical prospecting equipment rapid docking device and method, preliminary pre-docking of the geophysical prospecting equipment is achieved through the permanent magnet adsorption part, the distance between the geophysical prospecting equipment and the docking device is rapidly shortened, and the docking preparation time is shortened; and the electromagnetic adsorption component is combined to further enhance the adsorption force, so that the connection stability is ensured, and the tedious operation of traditional complex mechanical connection is avoided. The adjusting arm is matched with the clamping component, clamping and posture adjusting of the geophysical prospecting equipment can be rapidly completed, the whole butt joint process is completed at a time, and the butt joint efficiency of the geophysical prospecting equipment and carriers such as a ship platform is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep-sea geophysical equipment, in particular to a multi-platform cooperative deep-sea geophysical equipment rapid docking device and method thereof. BACKGROUND

[0002] In marine geophysical operations, efficient docking of geophysical equipment with ship platforms or other carriers is crucial. With the continuous development of offshore geophysical technology, China has made significant achievements in geophysical ship construction, such as the ability to build and deliver three-dimensional high-performance multi-cable geophysical ships, and the development of geophysical equipment such as the SERI-ROSE high-resolution offshore streamer seismic data acquisition system and the "Haijing" system. However, there are still many challenges in the docking of geophysical equipment. Traditional geophysical equipment docking methods are often complex and inconvenient to operate. For example, some docking devices have complex structures, and in actual operations, workers need to spend a lot of time and effort on installation and adjustment, which not only reduces operational efficiency but also increases the time cost and risk of offshore operations. At the same time, some existing docking methods have poor stability in complex sea conditions, making it difficult to ensure accurate positioning and reliable connection of geophysical equipment during docking, thereby affecting the accuracy and stability of subsequent geophysical data acquisition. The ocean geophysical hanging point with application number 202010107821.0, to some extent, realizes the rapid hanging and separation of nodes, has a unique sleeve structure, including an entry end, a stop end, and a specific cavity design, cooperates with long circular hole A, long circular hole B, and lock tongue components, and is relatively simple to operate. However, this hanging point is mainly designed for specific node connection scenarios, and its versatility is insufficient for various types of geophysical equipment, especially large and complex geophysical equipment. In actual deep-sea geophysical operations, different shapes, sizes, and weights of geophysical equipment often need to be docked, and a single structure of the hanging point cannot meet the diverse docking needs. In addition, the current geophysical equipment docking method lacks an efficient and accurate adjustment mechanism in terms of attitude adjustment. When the geophysical equipment and the docking device have attitude deviations, it is difficult to quickly and accurately adjust them, resulting in low docking success rate and even damage to the geophysical equipment or the docking device. SUMMARY

[0003] The present application aims to provide a multi-platform cooperative deep-sea geophysical equipment rapid docking device and method thereof to solve the problem of complex docking device structure in the background art, which requires workers to spend a lot of time and effort on installation and adjustment in actual operations, thereby reducing operational efficiency and increasing the time cost and risk of offshore operations.

[0004] In order to achieve the above-mentioned purpose, the application provides a multi-platform cooperative deep sea geophysical equipment rapid docking device and method, which comprises a fixed seat installed on a ship platform, a magnetic attraction interface assembly installed on one side of the fixed seat, and a clamping component connected to the top of the fixed seat through an adjusting arm, wherein the clamping component is used for clamping and adjusting the posture of the geophysical equipment; the magnetic attraction interface assembly comprises a permanent magnet adsorption component and an electromagnetic adsorption component; the permanent magnet adsorption component is used for adsorbing the geophysical equipment to form a preliminary pre-docking state; and the electromagnetic adsorption component is used for further adsorbing the geophysical equipment after the posture adjustment to enhance the connection stability.

[0005] The fixed seat is provided as the basic support structure of the whole docking device and is installed on the ship platform to provide an installation carrier for other components. The permanent magnet adsorption component in the magnetic attraction interface assembly utilizes the magnetism of the permanent magnet to extend to adsorb the geophysical equipment when approaching the geophysical equipment, thereby realizing preliminary pre-docking. The electromagnetic adsorption component is energized after the posture adjustment of the geophysical equipment is completed to generate an electromagnetic force to further adsorb the geophysical equipment, thereby enhancing the connection stability. The adjusting arm realizes multi-degree-of-freedom movement under the driving of a servo motor through the combination of multiple rotating shafts and connecting arms, thereby driving the clamping component to move and adjust the posture. The clamping component drives the clamping plate to open and close through an internal screw rod transmission mechanism, thereby clamping the geophysical equipment. Meanwhile, the rollers in the inner wall of the clamping plate can drive the geophysical equipment to rotate, thereby realizing posture adjustment.

[0006] As a preferred scheme of the present application, the side of the fixed seat away from the permanent magnet adsorption component is connected and fixed to the ship platform through a mounting plate.

[0007] The side of the fixed seat away from the permanent magnet adsorption component is connected to the ship platform through the mounting plate, which plays a role in transition and strengthening fixation. The fixed seat is firmly installed on the ship platform through connecting members such as bolts, thereby ensuring that the whole docking device remains stable during the sailing and operation of the ship.

[0008] As a preferred scheme of the present application, the permanent magnet adsorption component comprises a permanent magnet, which is driven to extend and retract by a telescopic cylinder. After approaching the geophysical equipment, the permanent magnet is driven to extend by the telescopic cylinder to realize preliminary pre-docking.

[0009] The permanent magnet in the permanent magnet adsorption component is driven by the telescopic cylinder. During the docking preparation stage, the telescopic cylinder is in a retracted state, so that the permanent magnet is hidden inside the device. When the docking device approaches the geophysical equipment, the control system controls the telescopic cylinder to extend, thereby driving the permanent magnet to extend. The permanent magnet utilizes its magnetism to attract the geophysical equipment, so that the geophysical equipment approaches the docking device to form a preliminary pre-docking state.

[0010] As a preferred scheme of the present application, the electromagnetic adsorption component comprises an interface component, the outer side of the interface component is installed with an electromagnetic coil, and the inner wall of the interface component is installed with a gasket.

[0011] The interface part outside the electromagnetic adsorption part is provided with an electromagnetic coil, and when the electromagnetic coil is energized, a magnetic field is generated according to the principle of electromagnetic induction, forming an electromagnetic force to adsorb the geophysical prospecting equipment; the gasket on the inner wall of the interface part can fill the small gap between the interface part and the geophysical prospecting equipment, increase the contact area, and improve the tightness and stability of adsorption, and also play a buffering and protection role to prevent the surface of the geophysical prospecting equipment from being scratched.

[0012] As a preferred scheme of the method, the adjusting arm comprises a rotating seat, a first connecting arm connected to the top of the rotating seat through a rotating shaft, a second connecting arm connected to the top end of the first connecting arm through a rotating shaft, and a clamping part connected to the outer end of the second connecting arm.

[0013] The adjusting arm is composed of the rotating seat, the first connecting arm and the second connecting arm connected in sequence through rotating shafts. The servo motor at the bottom of the rotating seat drives the rotating seat to rotate around its axis, realizing the rotation of the adjusting arm in the horizontal direction. The servo motors at the connecting positions of the rotating seat, the first connecting arm and the second connecting arm respectively drive the corresponding rotating shafts to rotate, enabling each connecting arm to rotate in a vertical plane, thereby realizing the multi-degree-of-freedom movement of the adjusting arm in space. The outer end of the second connecting arm is connected to the clamping part, driving the clamping part to reach the designated position and adjust the posture.

[0014] As a preferred scheme of the method, the bottom of the rotating seat is driven to rotate by a servo motor, the rotating shafts at the connecting positions of the rotating seat, the first connecting arm and the second connecting arm are all driven to rotate by servo motors, a rotating motor is installed at the end of the second connecting arm, the output shaft of the rotating motor is connected and fixed with the clamping part, and an infrared sensor is installed at the outer end of the second connecting arm.

[0015] The servo motor at the bottom of the rotating seat precisely controls the rotation angle and speed of the rotating seat, realizing the adjustment of the orientation of the adjusting arm. The servo motors at the connecting positions respectively drive the rotating shafts to rotate, enabling the adjusting arm to adjust the angle in different directions, thereby realizing the precise control of the spatial position and posture of the clamping part. The rotating motor at the end of the second connecting arm drives the clamping part to rotate around its axis, further adjusting the posture of the geophysical prospecting equipment. The infrared sensor at the outer end of the second connecting arm detects the position and posture information of the geophysical prospecting equipment in real time and transmits the data to the control system. The control system controls the operation of each servo motor and rotating motor according to the preset parameters, realizing precise adjustment.

[0016] As a preferred scheme of the method, the clamping part comprises a clamping driving part, two semicircular clamping plates are symmetrically installed on the clamping driving part, and the clamping driving part drives the clamping plates to clamp and fix the geophysical prospecting equipment.

[0017] The screw rod motor drives the rotation of the screw rod, and the two opposite screw thread structures on the screw rod make the screw rod sliders move in opposite directions, the screw rod sliders are fixed with the clamping plates through the connecting pieces, so that the rotation movement of the screw rod is converted into the linear opening and closing movement of the clamping plates, and the screw rod transmission has the characteristics of high transmission precision, compact structure, strong carrying capacity and the like, and can accurately control the moving distance and clamping force of the clamping plates.

[0018] As a preferred scheme of the method, the clamping driving component comprises a shell, a screw rod is arranged in the shell, the screw rod comprises two opposite screw thread structures, screw rod sliders are arranged on the two opposite screw thread structures, and the end of the screw rod is driven to rotate by a screw rod motor.

[0019] The rotation of the screw rod motor drives the rotation of the screw rod, and the two opposite screw thread structures on the screw rod make the screw rod sliders move in opposite directions, the screw rod sliders are fixed with the clamping plates through the connecting pieces, so that the rotation movement of the screw rod is converted into the linear opening and closing movement of the clamping plates, and the screw rod transmission has the characteristics of high transmission precision, compact structure, strong carrying capacity and the like, and can accurately control the moving distance and clamping force of the clamping plates.

[0020] As a preferred scheme of the method, the clamping driving component comprises a shell, a screw rod is arranged in the shell, the screw rod comprises two opposite screw thread structures, screw rod sliders are arranged on the two opposite screw thread structures, and the end of the screw rod is driven to rotate by a screw rod motor.

[0021] The rotation of the screw rod motor drives the rotation of the screw rod, and the two opposite screw thread structures on the screw rod make the screw rod sliders move in opposite directions, the screw rod sliders are fixed with the clamping plates through the connecting pieces, so that the rotation movement of the screw rod is converted into the linear opening and closing movement of the clamping plates, and the screw rod transmission has the characteristics of high transmission precision, compact structure, strong carrying capacity and the like, and can accurately control the moving distance and clamping force of the clamping plates.

[0022] The application also provides a multi-platform cooperative deep sea exploration equipment rapid docking method and device. S1, pre-docking preparation: the fixed seat is installed on the ship platform through the mounting plate, the power systems of the components of the device are started, the servo motor, the screw rod motor, the roller driving motor and the like are ensured to be in a standby state, and the infrared sensor is started at the same time; S2, preliminary adsorption pre-docking: the permanent magnet of the permanent magnet adsorption component is driven to extend by the telescopic cylinder, the permanent magnet is used for adsorbing the exploration equipment, the exploration equipment and the device form a preliminary pre-docking state, and the preliminary positioning of the exploration equipment is realized; S3, attitude detection and adjustment preparation: the position and attitude information of the geophysical equipment is detected by the infrared sensor at the outer end of the second connecting arm, and the data is transmitted to the control system; the control system calculates the angle and direction that the geophysical equipment needs to adjust according to the preset docking attitude parameters; S4, attitude adjustment: the servo motor at the bottom of the rotating seat drives the rotating seat to rotate, adjusts the orientation of the whole adjusting arm, and aligns the clamping part with the position where the geophysical equipment needs to be clamped; the servo motors at the connecting positions of the rotating seat, the first connecting arm and the second connecting arm drive the rotating shafts to rotate, respectively, and adjust the spatial angle of the clamping part, so that the clamping part approaches the geophysical equipment; the lead screw motor of the clamping driving part drives the lead screw to rotate, and the opposite thread structures of the two sections of the lead screw drive the lead screw slide block to move towards or away from each other, so as to drive the clamping plate to clamp and fix the geophysical equipment; the roller driving motor drives the rollers on the inner wall of the clamping plate to rotate through the belt, the rollers contact the surface of the geophysical equipment to generate friction force, drive the geophysical equipment to rotate, realize the accurate adjustment of the attitude of the geophysical equipment, and make it reach the preset docking attitude; S5, further adsorption and fixation: after the attitude adjustment of the geophysical equipment is completed, the electromagnetic adsorption part is started, the electromagnetic coil on the outer side of the interface part is electrified to generate electromagnetic force, the geophysical equipment is further adsorbed, and the stability of the connection is enhanced, and the permanent magnet of the permanent magnet adsorption part can be retracted as needed; S6, docking completion and detection: after the electromagnetic adsorption is completed, the connection state of the geophysical equipment and the device is detected, the adsorption force of the magnetic adsorption interface assembly and the clamping force of the clamping part are confirmed to meet the requirements, the stable connection of the geophysical equipment is ensured, and the rapid docking process is completed.

[0023] Compared with the prior art, the beneficial effects of the present application are: 1. In the multi-platform cooperative deep-sea geophysical equipment rapid docking device and method, the preliminary pre-docking of the geophysical equipment is realized by the permanent magnet adsorption part, the distance between the geophysical equipment and the docking device is quickly shortened, and the docking preparation time is reduced; the adsorption force is further enhanced by combining the electromagnetic adsorption part, the connection is stable, and the cumbersome operation of traditional complex mechanical connection is avoided. The adjusting arm and the clamping part cooperate to quickly complete the clamping and attitude adjustment of the geophysical equipment, the whole docking process is completed in one go, the docking efficiency of the geophysical equipment and the carrier such as the ship platform is greatly improved, the time cost of offshore operation is effectively reduced, and the timeliness of geophysical operation is improved. 2、The multi-platform cooperative deep sea geophysical equipment rapid docking device and method, the infrared sensor detects the geophysical equipment position and attitude information in real time, combined with the adjusting arm driven by the multi-servo motor, can realize high-precision adjustment of the geophysical equipment attitude, ensure that the geophysical equipment completes the docking with accurate attitude. The electromagnetic adsorption component and the clamping component double guarantee the connection stability, even in complex sea conditions, can resist external interference such as sea waves and sea currents, ensure the positioning accuracy and reliable connection of the geophysical equipment in the docking process, and lay a solid foundation for the accuracy and stability of subsequent geophysical data acquisition. 3、The multi-platform cooperative deep sea geophysical equipment rapid docking device and method, the docking device can adapt to various geophysical equipment of different shapes, sizes and weights through the adjustable clamping component. Whether it is a small and precise geophysical instrument or a large and complex geophysical equipment, stable clamping and docking can be realized by adjusting the distance between the clamping plates and adjusting the attitude of the adjusting arm, which greatly widens the application range and meets the diversified docking needs in deep sea geophysical operation. The whole docking process is automatically controlled by the control system according to the preset parameters, from pre-docking preparation, attitude detection and adjustment to final adsorption fixation, without too much manual intervention, reducing the risk of human operation error, improving the intelligentization and automation level of the docking process, reducing the labor intensity of the workers, and also improving the safety of the docking operation. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The whole structure of the present application is shown in the figure; Figure 2 The structure of the electromagnetic adsorption component in the present application is shown in the figure; Figure 3 The structure of the adjusting arm in the present application is shown in the figure; Figure 4 The structure of the clamping component in the present application is shown in the figure; Figure 5 The structure of the clamping driving component in the present application is shown in the figure; The meanings of the various numbers in the figure are as follows: 1, fixed seat; 11, mounting plate; 2, permanent magnet adsorption component; 3, electromagnetic adsorption component; 31, interface component; 32, electromagnetic coil; 33, gasket; 4, adjusting arm; 41, rotating seat; 42, first connecting arm; 43, second connecting arm; 44, rotating motor; 45, infrared sensor; 5, clamping component; 51, clamping driving component; 511, shell; 512, screw rod; 513, screw rod sliding block; 514, screw rod motor; 52, clamping plate; 53, roller; 54, roller driving motor. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0026] The present application provides a multi-platform cooperative deep-sea geophysical equipment rapid docking device and method, as shown in Figure 1 The present application provides a multi-platform cooperative deep-sea geophysical equipment rapid docking device and method, as shown in

[0027] The fixed seat 1 is the basic support structure of the entire docking device and is installed on the ship platform to provide a mounting carrier for other components. The permanent magnet adsorption component 2 in the magnetic attraction interface assembly uses the magnetism of a permanent magnet to extend and adsorb the geophysical equipment when it is close to the geophysical equipment, thereby achieving preliminary pre-docking. The electromagnetic adsorption component 3 is energized after the attitude adjustment of the geophysical equipment is completed to generate an electromagnetic force to further adsorb the geophysical equipment and enhance the connection stability. The adjustment arm 4 realizes multi-degree-of-freedom motion under the driving of a servo motor through the combination of multiple rotating shafts and connecting arms such as the rotating seat 41, the first connecting arm 42 and the second connecting arm 43 to drive the clamping component 5 to move and adjust the attitude. The clamping component 5 drives the clamping plate 52 to open and close through the internal screw rod 512 transmission mechanism to clamp the geophysical equipment, and the rollers 53 in the inner wall of the clamping plate 52 can drive the geophysical equipment to rotate to achieve attitude adjustment. Through the cooperation of the permanent magnet adsorption component 2 and the electromagnetic adsorption component 3, the adsorption and stable connection of the geophysical equipment are realized in stages to improve the docking efficiency and stability. The design of the adjustment arm 4 and the clamping component 5 enables the device to flexibly adjust the position and attitude of the geophysical equipment, adapt to different docking requirements, ensure the docking accuracy, and be suitable for the rapid docking of various geophysical equipment with the ship platform in a deep-sea environment.

[0028] In this embodiment, as shown in Figure 1 The side of the fixed seat 1 away from the permanent magnet adsorption component 2 is connected and fixed with the ship platform through the mounting plate 11.

[0029] The side of the fixed seat 1 away from the permanent magnetic adsorption component 2 is connected with the ship platform through a mounting plate 11, which plays a role of transition and reinforcement fixation. The fixed seat 1 is firmly installed on the ship platform through bolts and other connecting components, so as to ensure that the whole docking device remains stable during the ship sailing and operation process. The docking device is reliably connected with the ship platform, the installation stability of the device is enhanced, various forces during the ship swinging in deep sea complex sea conditions and the process of the geophysical equipment docking can be borne, the safety and reliability of the docking device during use are ensured, the device is prevented from loosening or even falling off due to loose connection, and the geophysical operation is affected.

[0030] Specifically, as shown in Figure 1 , the permanent magnetic adsorption component 2 includes a permanent magnet, which is driven to stretch and retract by a telescopic cylinder. After approaching the geophysical equipment, the permanent magnet is driven to stretch out by the telescopic cylinder to preliminarily pre-dock.

[0031] The permanent magnet in the permanent magnetic adsorption component 2 is driven by the telescopic cylinder. In the docking preparation stage, the telescopic cylinder is in the retracted state, so that the permanent magnet is hidden inside the device. When the docking device approaches the geophysical equipment, the control system controls the telescopic cylinder to extend, drives the permanent magnet to stretch out, and uses the magnetism of the permanent magnet to attract the geophysical equipment, so that the geophysical equipment approaches the docking device to form a preliminary pre-docking state. The stretching and retraction of the permanent magnet is controlled by the telescopic cylinder, so that the adsorption operation can be performed at the appropriate time, the interference caused by the premature adsorption of the permanent magnet during the movement of the device is avoided, the rapid preliminary positioning of the geophysical equipment is realized, the foundation for the subsequent accurate docking and attitude adjustment is laid, the docking process is simplified, and the docking efficiency is improved.

[0032] Further, as shown in Figure 2 , the electromagnetic adsorption component 3 includes an interface component 31, an electromagnetic coil 32 is installed on the outer side of the interface component 31, and a gasket 33 is installed on the inner wall of the interface component 31.

[0033] The electromagnetic coil 32 on the outer side of the interface component 31 of the electromagnetic adsorption component 3 generates a magnetic field according to the principle of electromagnetic induction after being electrified, forms electromagnetic force, and adsorbs the geophysical equipment. The gasket 33 on the inner wall of the interface component 31 can fill the small gap between the interface component 31 and the geophysical equipment, increase the contact area, and improve the tightness and stability of adsorption. At the same time, it plays a buffering and protection role, and prevents the surface of the geophysical equipment from being scratched. The electromagnetic adsorption component 3 provides strong and stable adsorption force, ensures that the geophysical equipment is firmly connected with the docking device after adjusting the attitude, adapts to the complex environmental conditions in deep sea, and further enhances the reliability and safety of the connection. The gasket 33 further enhances the reliability and safety of the connection, protects the geophysical equipment from being damaged, prolongs the service life of the geophysical equipment, and ensures the smooth progress of the geophysical operation.

[0034] Further, as shown in Figure 3As shown, the adjusting arm 4 comprises a rotating base 41, the top of the rotating base 41 is connected with a first connecting arm 42 through a rotating shaft, the top end of the first connecting arm 42 is connected with a second connecting arm 43 through a rotating shaft, and the outer end of the second connecting arm 43 is connected with the clamping component 5.

[0035] The adjusting arm 4 is composed of the rotating base 41, the first connecting arm 42 and the second connecting arm 43 connected in sequence through rotating shafts. The servo motor at the bottom of the rotating base 41 drives the rotating base 41 to rotate around its axis, realizing the rotation of the adjusting arm 4 in the horizontal direction. The servo motors at the connecting positions of the rotating base 41, the first connecting arm 42 and the second connecting arm 43 respectively drive the corresponding rotating shafts to rotate, making each connecting arm rotate in the vertical plane, thereby realizing the multi-degree-of-freedom motion of the adjusting arm 4 in space. The outer end of the second connecting arm 43 is connected with the clamping component 5, driving the clamping component 5 to reach the designated position and adjust the posture. The multi-joint structure of the adjusting arm 4 and the servo motor driving mode enable it to flexibly adjust the position and posture in three-dimensional space, accurately control the clamping component 5 to approach the geophysical prospecting equipment, and adjust the geophysical prospecting equipment to the appropriate docking posture, improving the accuracy and flexibility of docking, and being able to adapt to the docking requirements of geophysical prospecting equipment in different positions and postures.

[0036] Further, as shown in the figure, Figure 3 the bottom of the rotating base 41 is driven to rotate by a servo motor, the rotating shafts at the connecting positions of the rotating base 41, the first connecting arm 42 and the second connecting arm 43 are driven to rotate by servo motors, a rotating motor 44 is installed at the end of the second connecting arm 43, the output shaft of the rotating motor 44 is connected and fixed with the clamping component 5, and an infrared sensor 45 is installed at the outer end of the second connecting arm 43.

[0037] The servo motor at the bottom of the rotating base 41 accurately controls the rotation angle and speed of the rotating base 41, realizing the adjustment of the orientation of the adjusting arm 4. The servo motors at the connecting positions of the rotating base 41, the first connecting arm 42 and the second connecting arm 43 respectively drive the rotating shafts to rotate, making the adjusting arm 4 adjust the angle in different directions, realizing the accurate control of the spatial position and posture of the clamping component 5. The rotating motor 44 at the end of the second connecting arm 43 drives the clamping component 5 to rotate around its axis, further adjusting the posture of the geophysical prospecting equipment. The infrared sensor 45 at the outer end of the second connecting arm 43 detects the position and posture information of the geophysical prospecting equipment in real time, and transmits the data to the control system. The control system controls the work of each servo motor and the rotating motor 44 according to the preset parameters, realizing accurate adjustment. Through the cooperative work of multiple servo motors and rotating motors 44, combined with the real-time feedback of the infrared sensor 45, high-precision and automatic adjustment of the posture of the geophysical prospecting equipment is realized, improving the accuracy and success rate of docking. It can quickly respond to the changes of the posture of the geophysical prospecting equipment, adjust in time, adapt to the complex and changeable environment of the deep sea, and ensure the stability and reliability of the docking process.

[0038] Further, as shown in the figure,Figure 4 As shown, the clamping component 5 includes a clamping driving component 51, two semicircular clamping plates 52 are symmetrically installed on the clamping driving component 51, and the clamping driving component 51 drives the clamping plates 52 to clamp and fix the geophysical equipment.

[0039] The lead screw motor 514 in the clamping driving component 51 of the clamping component 5 drives the rotation of the lead screw 512. Since the lead screw 512 has two segments with opposite screw directions, when the lead screw 512 rotates, the lead screw sliders 513 on the two segments of the lead screw 512 move towards or away from each other along the axis direction of the lead screw 512, thereby driving the clamping plates 52 connected with the lead screw sliders 513 to open and close, realizing the clamping and loosening of the geophysical equipment; the clamping plates 52 are semicircular, which can better fit the outer surface of the geophysical equipment and provide uniform clamping force. The precise opening and closing control of the clamping plates 52 is realized by using the lead screw 512 transmission mechanism, which can stably clamp geophysical equipment of different shapes and sizes, provide reliable clamping force, and ensure that the geophysical equipment will not loosen or fall off during the docking process; the design of the semicircular clamping plates 52 improves the fitting degree and stability of clamping, enhances the adaptability of the device to the geophysical equipment, and ensures the smooth progress of the docking process.

[0040] Further, as shown in Figure 5 The clamping driving component 51 includes a housing 511, the inside of the housing 511 is installed with a lead screw 512, the lead screw 512 includes two segments with opposite screw directions, the two segments are installed with lead screw sliders 513, the end of the lead screw 512 is driven to rotate by a lead screw motor 514, and the outside of the lead screw slider 513 is connected and fixed with a clamping plate 52.

[0041] When the lead screw motor 514 rotates, it drives the rotation of the lead screw 512, the two opposite screw structures on the lead screw 512 cause the lead screw sliders 513 to produce opposite linear motion, the lead screw sliders 513 are fixed with the clamping plates 52 through connecting pieces, so as to convert the rotary motion of the lead screw 512 into the linear opening and closing motion of the clamping plates 52; the lead screw 512 transmission has the characteristics of high transmission precision, compact structure, and strong carrying capacity, and can accurately control the moving distance and clamping force of the clamping plates 52. The lead screw 512 transmission mechanism ensures the high precision and stable operation of the clamping component 5, can accurately adjust the distance between the clamping plates 52 according to the size of the geophysical equipment, and realizes the reliable clamping of different geophysical equipment; at the same time, it can withstand a large clamping force, and ensures that the geophysical equipment is firmly clamped during the docking process, improving the reliability and practicality of the docking device.

[0042] Further, as shown in Figure 5As shown, the inner wall of the clamping plate 52 is rotatably installed with a plurality of rollers 53 by pin shafts, one of the rollers 53 is driven to rotate by a roller driving motor 54, the output shaft of the roller driving motor 54 is drivingly connected to the axial center of the roller 53 by a belt, so as to drive the roller 53 to rotate, and the geophysical prospecting equipment is rotated to realize the attitude adjustment of the geophysical prospecting equipment.

[0043] The roller driving motor 54 drives one of the rollers 53 on the inner wall of the clamping plate 52 to rotate by a belt, the roller 53 is in contact with the surface of the geophysical prospecting equipment, and the geophysical prospecting equipment is driven to rotate around its axis by the friction force; the other rollers 53 play a supporting and auxiliary rotating role, so as to ensure the stability of the rotating process of the geophysical prospecting equipment; by controlling the rotating speed and direction of the roller driving motor 54, the rotating angle and attitude of the geophysical prospecting equipment can be accurately adjusted. The roller driving mode can realize the rapid and accurate attitude adjustment of the geophysical prospecting equipment, and is more flexible and efficient than the traditional mechanical adjustment mode; the geophysical prospecting equipment is driven to rotate by the friction force, so as to avoid the hard damage to the surface of the geophysical prospecting equipment, and the setting of the plurality of rollers 53 ensures the stability of the rotating process, improves the accuracy and reliability of the attitude adjustment, and meets the high-precision requirement of the attitude adjustment in the docking process of the deep-sea geophysical prospecting equipment.

[0044] The application also provides a multi-platform cooperative deep-sea geophysical prospecting equipment rapid docking method, which is used for the multi-platform cooperative deep-sea geophysical prospecting equipment rapid docking device and includes the following steps: S1, pre-docking preparation: the fixed seat 1 is installed on the ship platform through the mounting plate 11, the power systems of the components of the device are started, the servo motor, the lead screw motor 514 and the roller driving motor 54 are ensured to be in the standby state, and the infrared sensor 45 is turned on; S2, preliminary adsorption pre-docking: the permanent magnet of the permanent magnet adsorption component 2 is driven to extend by the telescopic cylinder, the geophysical prospecting equipment is adsorbed by the magnetism of the permanent magnet, the geophysical prospecting equipment and the device form a preliminary pre-docking state, and the preliminary positioning of the geophysical prospecting equipment is realized; S3, attitude detection and adjustment preparation: the position and attitude information of the geophysical prospecting equipment are detected by the infrared sensor 45 at the outer end of the second connecting arm 43, and the data are transmitted to the control system; the control system calculates the angle and direction that need to be adjusted according to the preset docking attitude parameters; S4, attitude adjustment: the servo motor at the bottom of the rotating seat 41 drives the rotating seat 41 to rotate, adjusts the position of the whole adjusting arm 4, and makes the clamping part 5 align with the position where the geophysical prospecting equipment needs to be clamped; the servo motors at the connection positions of the rotating seat 41, the first connecting arm 42 and the second connecting arm 43 respectively drive the rotating shafts to rotate, and the space angle of the clamping part 5 is adjusted, so that the clamping part 5 approaches the geophysical prospecting equipment; the screw motor 514 of the clamping driving part 51 drives the screw rod 512 to rotate, and the screw rod 512 drives the screw rod slider 513 to move towards or away from each other through the opposite thread structure of the two sections, so as to drive the clamping plate 52 to clamp and fix the geophysical prospecting equipment; The roller driving motor 54 drives the rollers 53 on the inner wall of the clamping plate 52 to rotate through the belt, the rollers 53 contact the surface of the geophysical prospecting equipment to generate friction force, drive the geophysical prospecting equipment to rotate, realize accurate adjustment of the attitude of the geophysical prospecting equipment, and make it reach the preset docking attitude; S5, further adsorption and fixation: when the attitude adjustment of the geophysical prospecting equipment is completed, the electromagnetic adsorption part 3 is started, the electromagnetic coil 32 on the outer side of the interface part 31 is electrified to generate electromagnetic force, the geophysical prospecting equipment is further adsorbed, and the stability of the connection is enhanced, and the permanent magnet of the permanent magnet adsorption part 2 can be retracted as needed; S6, docking completion and detection: after the electromagnetic adsorption is completed, the connection state of the geophysical prospecting equipment and the device is detected, it is confirmed that the adsorption force of the magnetic adsorption interface assembly and the clamping force of the clamping part 5 meet the requirements, the stable connection of the geophysical prospecting equipment is ensured, and the rapid docking process is completed.

[0045] Finally, it should be noted that the infrared sensor 45 in the embodiment and the electronic components in the above-mentioned components are all general standard components or components known to those skilled in the art, the structure and principle thereof can be known by those skilled in the art through technical manuals or through conventional experimental methods, all the electrical components are respectively connected through wires at the idle place of the device, and the specific connection means should be completed according to the working order of the electrical components in the above-mentioned working principle, which are all the commonly known technologies in the art.

[0046] The basic principles, main features and advantages of the present application are shown and described. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, the above-mentioned embodiments and descriptions in the specification are only preferred examples of the present application, and are not used to limit the present application, various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A multi-platform cooperative deep-ocean geophysical equipment rapid docking device, comprising a fixed seat (1), characterized in that: The fixed seat (1) is installed on the ship platform, one side of the fixed seat (1) is provided with a magnetic interface assembly, the top of the fixed seat (1) is connected with a clamping part (5) through an adjusting arm (4), the clamping part (5) is used for clamping and adjusting the posture of the geophysical equipment, the magnetic interface assembly comprises a permanent magnetic adsorption part (2) and an electromagnetic adsorption part (3), the permanent magnetic adsorption part (2) is used for adsorbing the geophysical equipment to form a preliminary pre-docking state, and the electromagnetic adsorption part (3) is used for further adsorbing the geophysical equipment after the posture is adjusted to enhance the connection stability.

2. The multi-platform coordinated deep offshore geophysical equipment rapid docking device according to claim 1, characterized in that: The side, away from the permanent magnetic adsorption part (2), of the fixed seat (1) is connected and fixed with the ship platform through a mounting plate (11).

3. The multi-platform coordinated deep offshore geophysical equipment rapid docking device according to claim 1, characterized in that: The permanent magnetic adsorption part (2) comprises a permanent magnet, the permanent magnet is driven to stretch out through a telescopic cylinder, and after approaching the geophysical equipment, the permanent magnet is driven to stretch out through the telescopic cylinder to preliminarily dock.

4. The multi-platform coordinated deep offshore geophysical equipment rapid docking device according to claim 1, characterized in that: The electromagnetic adsorption part (3) comprises an interface part (31), an electromagnetic coil (32) is installed on the outer side of the interface part (31), and a gasket (33) is installed on the inner wall of the interface part (31).

5. The multi-platform coordinated deep offshore geophysical equipment rapid docking device according to claim 1, characterized in that: The adjusting arm (4) comprises a rotating seat (41), the top of the rotating seat (41) is connected with a first connecting arm (42) through a rotating shaft, the top end of the first connecting arm (42) is connected with a second connecting arm (43) through a rotating shaft, and the outer end of the second connecting arm (43) is connected with the clamping part (5).

6. The multi-platform coordinated deep offshore geophysical equipment rapid docking device according to claim 5, characterized in that: The bottom of the rotating seat (41) is driven to rotate through a servo motor, the rotating shafts at the connecting positions of the rotating seat (41), the first connecting arm (42) and the second connecting arm (43) are all driven to rotate through servo motors, the end of the second connecting arm (43) is provided with a rotating motor (44), the output shaft of the rotating motor (44) is connected and fixed with the clamping part (5), and the outer end of the second connecting arm (43) is provided with an infrared sensor (45).

7. The multi-platform coordinated deep offshore geophysical equipment rapid docking device according to claim 1, characterized in that: The clamping part (5) comprises a clamping driving part (51), two semicircular clamping plates (52) are symmetrically installed on the clamping driving part (51), and the clamping driving part (51) drives the clamping plates (52) to clamp and fix the geophysical equipment.

8. The multi-platform coordinated deep offshore geophysical equipment rapid docking device according to claim 7, characterized in that: The clamping driving part (51) comprises an outer shell (511), a lead screw (512) is installed in the outer shell (511), the lead screw (512) comprises two segments with opposite screw directions, lead screw sliders (513) are installed on the two segments, the end of the lead screw (512) is driven to rotate through a lead screw motor (514), and the outer side of the lead screw slider (513) is connected and fixed with the clamping plate (52).

9. The multi-platform coordinated deep offshore geophysical equipment rapid docking device according to claim 8, characterized in that: A plurality of rollers (53) are rotatably installed on the inner wall of the clamping plate (52) through pin shafts, one of the rollers (53) is driven to rotate through a roller driving motor (54), the output shaft of the roller driving motor (54) is transmissionally connected with the shaft center of the roller (53) through a belt to drive the roller (53) to rotate, the geophysical equipment is driven to rotate, and the posture of the geophysical equipment is adjusted.

10. A method for rapid docking of deep offshore geophysical equipment of multi-platform cooperation, used for the rapid docking device of deep offshore geophysical equipment of multi-platform cooperation in any one of claims 1-9, characterized in that: The method comprises the following steps: S1, pre-docking preparation: the fixed seat (1) is installed on the ship platform through the mounting plate (11), the power system of each part of the starting device is started, and the servo motor, the screw motor (514), the roller driving motor (54) and the like are in standby state, and the infrared sensor (45) is turned on; S2, preliminary adsorption pre-docking: the permanent magnet of the telescopic cylinder driven permanent magnet adsorption component (2) is extended, the permanent magnet is used to adsorb the geophysical equipment, the geophysical equipment is in the initial docking state with the device, and the initial positioning of the geophysical equipment is realized; S3, attitude detection and adjustment preparation: the position and attitude information of the geophysical equipment is detected through the infrared sensor (45) at the outer end of the second connecting arm (43), and the data is transmitted to the control system; the control system calculates the angle and direction which need to be adjusted according to the preset docking attitude parameters; S4, attitude adjustment: the servo motor at the bottom of the rotating seat (41) drives the rotating seat (41) to rotate, adjusts the position of the whole adjusting arm (4), and makes the clamping component (5) align with the position which needs to be clamped by the geophysical equipment; the servo motor at the connecting place of the rotating seat (41), the first connecting arm (42) and the second connecting arm (43) drives the rotating shaft to rotate, adjusts the space angle of the clamping component (5), and makes the clamping component (5) close to the geophysical equipment; the screw rod motor (514) of the clamping driving component (51) drives the screw rod (512) to rotate, the screw rod (512) drives the screw rod slider (513) to move towards or away from each other through the opposite screw thread structure of the two sections, so as to drive the clamping plate (52) to clamp and fix the geophysical equipment; the roller driving motor (54) drives the roller (53) on the inner wall of the clamping plate (52) to rotate through the belt, the roller (53) contacts with the surface of the geophysical equipment to generate friction force, drives the geophysical equipment to rotate, realizes the accurate adjustment of the attitude of the geophysical equipment, and makes it reach the preset docking attitude; S5, further adsorption and fixation: after the attitude adjustment of the geophysical equipment is completed, the electromagnetic adsorption component (3) is started, the electromagnetic coil (32) outside the interface component (31) is electrified to generate electromagnetic force, the geophysical equipment is further adsorbed, the stability of the connection is enhanced, and the permanent magnet of the permanent magnet adsorption component (2) can be retracted as needed; S6, docking completion and detection: after the electromagnetic adsorption is completed, the connection state of the geophysical equipment and the device is detected, it is confirmed that the adsorption force of the magnetic adsorption interface assembly and the clamping force of the clamping component (5) meet the requirements, the stable connection of the geophysical equipment is ensured, and the rapid docking process is completed.

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