Deep sea quasi-rigid profile observation device with six-degree-of-freedom constraint function

Abstract

The application discloses a deep-sea quasi-rigid profile observation device with six-degree-of-freedom constraint function and belongs to the technical field of marine environment monitoring. The seat bottom base is connected with a water surface buoy unit through two passive guide ropes. The underwater instrument cabin is slidably arranged on the passive guide ropes through guide sliding block groups, and the passive guide ropes are oppositely arranged on the two sides of the underwater instrument cabin. The traction driving mechanism is arranged on the water surface buoy unit and is used for driving the underwater instrument cabin to float up. The guide sliding block group comprises a rigid support, the rigid support is sleeved on the passive guide rope, and three spherical rollers in rolling contact with the passive guide rope are arranged on the rigid support in a circumferential array. The application adopts a rolling holding structure with three wheels and 120-degree uniform distribution, eliminates the matching gap, and realizes the precise guiding effect without the lateral shaking or tilting of the instrument cabin even under the impact of sea current.

Description

Technical Field

[0001] This invention belongs to the field of marine environmental monitoring technology, and in particular to a deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function. Background Technology

[0002] Currently, a monitoring device has been disclosed in marine environmental monitoring, with the publication number CN120195180A. However, it lacks an effective underwater guidance structure, and the instrument cabin swings violently like a pendulum under the action of ocean currents, resulting in data distortion.

[0003] Another existing technology, CN118439157A, proposes using a guide ring fitted onto a rope for guidance.

[0004] However, this type of interlocking ring structure has serious drawbacks in deep-sea precision observation:

[0005] 1. Insufficient freedom constraints: A large gap must be left between the guide ring and the rope for sliding, which causes the instrument cabin to collide, shake and tilt inside the ring under the impact of horizontal ocean currents, making it impossible to guarantee the vertical attitude of the sensor.

[0006] 2. High risk of wear: The hard friction between the rigid metal ring and the flexible steel cable can easily peel off the anti-corrosion layer of the cable, leading to corrosion and breakage.

[0007] 3. Poor resistance to deviation: The lack of a systematic mechanical matching design for the tension of the guide cable and the counterweight of the base leads to significant bow-shaped bending of the guide cable under strong current. Therefore, there is an urgent need for an observation device that can transform the flexible cable into a "virtual rigid guide rail" and achieve precise attitude control. Summary of the Invention

[0008] Purpose of the invention: To provide a deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function, so as to solve the above-mentioned problems existing in the prior art.

[0009] Technical solution: A deep-sea quasi-rigid profiling observation device with six degrees of freedom constraint function, comprising:

[0010] The base is connected to the surface buoy unit via two passive guide cables;

[0011] The underwater instrument compartment is slidably mounted on the passive guide cable via a guide slider assembly, and the passive guide cable is disposed opposite to each other on both sides of the underwater instrument compartment.

[0012] A traction drive mechanism is mounted on the surface buoy unit and is used to drive the underwater instrument compartment to float.

[0013] The guide slider assembly includes a rigid bracket, which is sleeved on the passive guide cable, and three spherical rollers arranged in a circumferential array on the rigid bracket to roll in contact with the passive guide cable.

[0014] Furthermore, the traction drive mechanism employs a winch, which is connected to the underwater instrument compartment via a dynamic transmission cable.

[0015] Furthermore, the spherical roller includes a roller bracket, which is mounted on the rigid bracket. An adjusting bolt is provided on the roller bracket, and a roller mounting block is provided at the output end of the adjusting bolt. A spherical roller is embedded in the roller mounting block.

[0016] Furthermore, the spherical roller includes a roller bracket, which is mounted on the rigid bracket. An adjustment column is provided on the roller bracket, and a roller mounting block is provided at the output end of the adjustment column. A spherical wheel is embedded in the roller mounting block, and a thrust spring is provided between the roller mounting block and the roller bracket.

[0017] Furthermore, the base of the seat adopts a cross-shaped or star-shaped extension structure.

[0018] Furthermore, the base is equipped with an anti-sinking plate at its end to increase the contact area with the seabed. The base is also equipped with counterweights to increase the overall weight, enhance anti-overturning and anti-displacement capabilities, and, in conjunction with the anti-sinking plate, ensure stable posture under the impact of ocean currents.

[0019] Furthermore, the surface buoy unit includes a control compartment for housing the electrical control box and battery pack, and a power compartment for housing the traction drive mechanism.

[0020] Furthermore, the surface buoy unit is equipped with an electrical control box and a battery pack, and the outer wall of the surface buoy unit is equipped with a solar panel and an antenna.

[0021] Furthermore, it also includes an end-effector mechanical buffer device, which includes a conical spring buffer mounted on the base and a high-damping rubber block mounted on the lower end face of the guide slider assembly to absorb the impact energy when the underwater instrument compartment touches the bottom or top when the electronic limit fails.

[0022] Furthermore, it also includes an adaptive cleaning component, which is a conical mud scraper ring or a hard brush disposed in the underwater instrument compartment or on a rigid support.

[0023] Beneficial effects:

[0024] This invention employs a rolling clamping structure with three wheels evenly distributed at 120° intervals, eliminating fit gaps. Even under the impact of ocean currents, the instrument compartment will not sway or tilt, achieving a precise guiding effect.

[0025] This invention establishes a coupled system of "high-tension cable + heavy-duty pull-out resistant base" by converting hydrodynamic formulas into hardware configuration parameters. The weight of the base is determined by reverse calculation based on the tension requirements of the guide cable, which physically resists the impact of ocean currents and controls the horizontal deviation of the flexible cable within an extremely low range.

[0026] The adaptive cleaning component added in this invention solves the problem of jamming caused by marine organisms attaching after long-term deployment; the mechanical buffer device provides a last line of physical protection for the expensive instrument. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the surface buoy unit structure of the present invention;

[0029] Figure 3 This is a schematic diagram showing the connection between the underwater instrument compartment and the passive guide cable of the present invention;

[0030] Figure 4 This is a schematic diagram of the guide slider assembly structure of the present invention;

[0031] Figure 5 This is a schematic diagram of the base structure of the present invention;

[0032] Figure 6 This is a schematic diagram of the guide slider assembly structure of the present invention;

[0033] Figure 7 This is a schematic diagram of the spherical roller structure of the present invention.

[0034] The attached diagram is labeled as follows: 1. Surface buoy unit; 2. Underwater instrument compartment; 3. Base; 4. Dynamic transmission cable; 5. Passive guide cable; 6. Solar panel; 7. Antenna; 8. Guide slider assembly; 81. Rigid bracket; 82. Spherical roller; 821. Roller bracket; 822. Adjusting bolt; 823. Roller mounting block; 824. Spherical wheel; 825. Adjusting column; 826. Thrust spring; 9. Electrical control box; 10. Battery pack; 11. Traction drive mechanism; 12. Anti-sinking plate; 13. Counterweight; 14. Anchor point. Detailed Implementation

[0035] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid obscuring the invention.

[0036] A deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function includes: a base 3, which is connected to a surface buoy unit 1 via two passive guide cables 5; an underwater instrument compartment 2, which is slidably mounted on the passive guide cables 5 via a guide slider assembly 8, with the passive guide cables 5 positioned opposite each other on both sides of the underwater instrument compartment 2; and a traction drive mechanism 11, which is mounted on the surface buoy unit 1 and used to drive the underwater instrument compartment 2 to float. The guide slider assembly 8 includes a rigid support 81, which is sleeved on the passive guide cables 5, and has three spherical rollers 82 arranged in a circumferential array on the rigid support 81 that roll in contact with the passive guide cables 5. The traction drive mechanism 11 is a winch connected to the underwater instrument compartment 2 via a dynamic transmission cable 4. The spherical roller 82 includes a roller bracket 821, which is mounted on the rigid bracket 81. An adjusting bolt 822 is provided on the roller bracket 821, and a roller mounting block 823 is provided at the output end of the adjusting bolt 822. A spherical wheel 824 is embedded in the roller mounting block 823. The spherical roller 82 also includes a roller bracket 821, which is mounted on the rigid bracket 81. An adjusting column 825 is provided on the roller bracket 821, and a roller mounting block 823 is provided at the output end of the adjusting column 825. A spherical wheel 824 is embedded in the roller mounting block 823. A thrust spring 826 is provided between the roller mounting block 823 and the roller bracket 821. The spherical wheel 824 is covered with an elastomer layer. The base 3 adopts a cross-shaped or star-shaped extension structure. An anti-sinking plate 12 is provided at the end of the base 3 to increase the contact area with the seabed. The base 3 is equipped with a counterweight 13 to increase the total weight, enhance anti-overturning and anti-displacement capabilities, and work with the anti-sinking plate 12 to ensure stable posture under ocean current impact. The surface buoy unit 1 includes a control compartment for housing the electrical control box 9 and the battery pack 10, and a power compartment for housing the traction drive mechanism 11. The electrical control box 9 and the battery pack 10 are housed inside the surface buoy unit 1, and a solar panel 6 and an antenna 7 are installed on the outer wall of the surface buoy unit 1. It also includes an end-effector mechanical buffer device, which includes a conical spring buffer mounted on the base 3 and a high-damping rubber block mounted on the lower end face of the guide slider assembly 8 to absorb the impact energy when the underwater instrument compartment 2 touches the bottom or top when the electronic limit fails. It also includes an adaptive cleaning component, which is a conical mud scraper ring or a hard brush mounted on the underwater instrument compartment 2 or on the rigid support 81.

[0037] Among them, the base 3 is the seabed fixed foundation of the device, providing a stable seabed anchor support for the entire observation device. It is the lower fixed carrier of the passive guide cable 5, ensuring that the passive guide cable 5 can maintain the preset preload state. Its cross-shaped or star-shaped extension structure can effectively disperse the pressure on the seabed, improve the stability of the base on the seabed, and avoid displacement or overturning due to the impact of ocean currents and the reaction force of the underwater instrument cabin 2 rising and falling, thus laying the foundation for the quasi-rigid guidance system of the device.

[0038] The passive guide cable 5, as the core guiding carrier for the vertical movement of the underwater instrument compartment 2, is symmetrically arranged on both sides of the underwater instrument compartment 2, providing trajectory constraints for the lifting and lowering of the underwater instrument compartment 2. By applying a preset preload, the flexible cable can be transformed into a "virtual rigid guide rail", which greatly reduces the horizontal deviation under the impact of ocean currents. Together with the guide slider group 8, it realizes multi-degree-of-freedom constraints on the underwater instrument compartment 2, and at the same time provides a rolling support surface for the guide slider group 8, ensuring the smoothness and stability of the vertical movement of the underwater instrument compartment 2.

[0039] The surface buoy unit 1 is the core of the device's surface support, control, and power. As the upper fixed carrier of the passive guide cable 5, it provides a tension support point for the passive guide cable 5 and works with the base 3 to maintain the pre-tension of the guide cable. Its internal functional compartments provide installation space for various control and power equipment, and the supporting equipment mounted on the outer wall can realize functions such as energy replenishment and data transmission. Overall, it provides comprehensive surface protection for the automated and unattended operation of the device.

[0040] The underwater instrument compartment 2 is the core carrier for marine environmental data acquisition in the device. It can carry various marine observation sensors to accurately collect key marine parameters such as suspended sediment concentration, temperature, salinity, and depth. Through the sliding and rolling contact between the guide slider group 8 and the passive guide cable 5, it can perform vertical reciprocating motion along the guide cable to complete full-depth profile observation from the sea surface to the seabed, achieving high-density and continuous vertical data sampling, solving the problem of insufficient vertical resolution in traditional observations. When not being towed up, the underwater instrument compartment 2 maintains a dynamic downward trend, thus cooperating with the traction drive mechanism 11 to achieve reciprocating motion. The compartment provides dedicated installation space for various marine observation sensors, and can carry core observation instruments such as the OBS optical backscattering turbidimeter and the CTD temperature, salinity, and depth meter, enabling direct and high-precision measurement of key marine environmental parameters such as suspended sediment concentration, temperature, salinity, water depth, and pressure. The sensor sampling frequency can reach 1Hz, capturing subtle changes in the marine environment and meeting the parameter requirements for scientific research and engineering monitoring such as sediment dynamics and marine hydrology.

[0041] The guide slider assembly 8 is the core connecting component between the underwater instrument compartment 2 and the passive guide cable 5, enabling the underwater instrument compartment 2 to roll and slide along the passive guide cable 5, significantly reducing frictional resistance during the ascent and descent process. Through its unique structural design, it achieves precise six-degree-of-freedom constraint on the underwater instrument compartment 2, locking the horizontal displacement and unnecessary rotational degrees of freedom in the horizontal plane, retaining only the translational degree of freedom along the Z-axis, ensuring that the underwater instrument compartment 2 does not sway or tilt under the impact of ocean currents, and guaranteeing the vertical attitude of the sensor and the accuracy of the observation data. It also serves as the mounting carrier for the adaptive cleaning component and related components of the end-effector mechanical buffer device.

[0042] The rigid bracket 81 is the basic structural component of the guide slider assembly 8. It is fitted onto the passive guide cable 5 and provides a stable installation and support foundation for the spherical roller 82, ensuring that the spherical roller 82 is arranged in the preset position. Its rigid structure can withstand the lateral force brought by the impact of the ocean current, prevent the slider assembly itself from deforming, ensure the slight interference fit between the spherical roller 82 and the passive guide cable 5, and provide installation points for auxiliary components such as the adaptive cleaning component.

[0043] The spherical rollers 82 are the core rolling components of the guide slider assembly 8. Three spherical rollers 82 are arranged in a circumferential array on the rigid support 81 and roll in close contact with the passive guide cable 5. The three-point circle principle is used to achieve a wrapping fit with the passive guide cable 5. The sliding friction between the underwater instrument compartment 2 and the guide cable is converted into rolling friction, which significantly reduces the resistance of the underwater instrument compartment 2 in raising and lowering and ensures smooth movement. The elastic layer covering it can buffer the contact stress, avoid hard friction damage to the anti-corrosion layer of the guide cable, and compensate for processing and assembly errors, ensuring a slight interference fit with the guide cable and improving the degree of freedom constraint effect.

[0044] The roller bracket 821 is a secondary support structure for the spherical roller 82. It is installed on the rigid bracket 81 and provides precise installation positioning for the adjusting bolt 822 and the roller mounting block 823, ensuring that the arrangement angle and spacing of each spherical roller 82 meet the design requirements. Its fixing structure can withstand the reaction force when the roller rolls, preventing the spherical roller 82 from shifting position and ensuring the stability of the three-point wrapping fit.

[0045] The adjusting bolt 822 is a clearance adjustment component for the spherical roller 82. It is set on the roller bracket 821. By turning it, the position of the roller mounting block 823 can be adjusted, thereby adjusting the fit clearance between the spherical roller 824 and the passive guide cable 5. This allows for precise control of the clearance within ±1mm, and even a micro-interference fit. It can compensate for machining and assembly errors as well as structural deformation in marine environments, ensuring that the spherical roller 824 always maintains close rolling contact with the passive guide cable 5, thus guaranteeing the effectiveness of freedom constraint and rolling guidance.

[0046] The roller mounting block 823 is the direct mounting carrier for the spherical wheel 824. It is connected to the output end of the adjusting bolt 822 and moves in position as the adjusting bolt 822 is adjusted, providing stable rotational support for the spherical wheel 824. Its structural design is adapted to the installation requirements of the spherical wheel 824, ensuring that the rotation axis of the spherical wheel 824 meets the design requirements and ensuring smooth rolling.

[0047] The spherical wheel 824 is the core rotating part of the spherical roller 82. It is embedded in the roller mounting block 823 and directly contacts the passive guide cable 5 to roll, realizing the vertical movement of the underwater instrument compartment 2 along the guide cable. Its outer elastic layer has a suitable hardness, which can not only ensure close rolling contact with the guide cable to achieve effective constraint, but also reduce contact wear during the rolling process, improve the service life of the cable and the roller, and buffer the instantaneous impact of the ocean current to improve the anti-interference ability of the device.

[0048] The thrust spring 826 enables the rollers to automatically compensate for the slight shrinkage of the cable diameter caused by the high pressure in the deep sea, ensuring zero gaps throughout the entire process.

[0049] The traction drive mechanism 11 adopts the form of a winch and is the power source for the vertical movement of the underwater instrument compartment 2. It is located in the power compartment of the surface buoy unit 1 and is connected to the underwater instrument compartment 2 through the dynamic transmission cable 4. The lifting speed, position and start and stop of the underwater instrument compartment 2 can be precisely controlled by raising and lowering the dynamic transmission cable 4, so as to achieve precise control of lifting accuracy and complete the profile scanning observation from the sea surface to the seabed. This replaces the traditional method of manually lowering the instrument and realizes the automation of the observation process.

[0050] The dynamic transmission cable 4 is a component for transmitting traction driving force. It connects the traction drive mechanism 11 and the underwater instrument compartment 2, converting the winding power of the traction drive mechanism 11 into the vertical motion power of the underwater instrument compartment 2. It has sufficient tensile strength and wear resistance, can adapt to the harsh marine environment and repeated winding and bending cycles, ensuring the reliability of power transmission. At the same time, it works with the traction drive mechanism 11 to achieve precise control of the lifting and lowering of the underwater instrument compartment 2.

[0051] The anti-sinking plate 12 is set at the end of the base 3, which can greatly increase the contact area between the base 3 and the seabed, significantly reduce the pressure of the base on the seabed, and effectively prevent the base from sinking in soft seabeds such as silty mud seabeds; ensure that the base 3 always maintains a horizontal and stable posture, provide a stable lower end fixing point for the passive guide cable 5, ensure the stability of the guide cable pretension force, and maintain the quasi-rigid mechanical system of the device.

[0052] The counterweight 13 is installed on the base 3 to significantly increase the total weight of the base 3, thereby greatly improving the base's resistance to overturning, displacement, and uplift. Its total weight is configured according to design requirements, which can balance the preload of the passive guide cable 5 and the maximum uplift buoyancy of the base, ensuring that the base will not be pulled up or displaced under the impact of strong ocean currents. Together with the anti-sinking plate 12, it further enhances the stability of the base and ensures that the passive guide cable 5 is always in a highly tensioned quasi-rigid state.

[0053] The electrical control box 9 is located in the control cabin of the surface buoy unit 1. It is the control center of the entire device and is responsible for receiving sensor data collected by the underwater instrument cabin 2, issuing various control commands, coordinating the collaborative work of various components such as the traction drive mechanism 11, sensors, and communication modules. At the same time, it processes data transmission logic to realize automated control of the observation process without manual intervention, providing core control guarantee for the unattended operation of the device.

[0054] The battery pack 10 is installed in the control cabin of the surface buoy unit 1. It is the energy storage and power supply component of the device, providing stable and continuous power support for all electrical equipment such as the electrical control box 9, traction drive mechanism 11, solar panel 6 supporting equipment, and sensors in the underwater instrument cabin 2. Together with the solar panel 6, it achieves energy self-sufficiency, stores excess solar power, and ensures that the device can still operate normally during periods without sunlight, thus guaranteeing long-term continuous ocean observation.

[0055] The solar panel 6 is installed on the outer wall of the surface buoy unit 1. It is a clean energy supply component of the device and can convert solar energy into electrical energy, which is then used to charge the battery pack 10 through a dedicated controller. This enables the device to be energy self-sufficient, eliminating the need for frequent battery replenishment at sea. It supports the device to operate unattended for a long time in the marine environment, while also achieving low-carbon operation with zero fossil fuel consumption, reducing operation and maintenance costs and difficulties.

[0056] Antenna 7 is installed on the outer wall of the surface buoy unit 1 and is the wireless communication signal transmission component of the device. As the signal carrier of communication modules such as 4G / BeiDou, it is responsible for transmitting the marine observation data collected by the underwater instrument cabin 2 to the shore-based receiver in real time. At the same time, it can receive remote control commands from the shore-based receiver. It breaks the limitation of traditional observation data requiring manual retrieval, greatly shortens data latency, meets the data timeliness requirements of scenarios such as disaster prevention and early warning, and realizes remote monitoring and control of the device.

[0057] The end-effector is a safety protection component of the device, consisting of a conical spring buffer on the base 3 and a high-damping rubber block on the lower end of the guide slider group 8. It serves as a physical protection line after the electronic limit fails. In the event of an accidental bottoming or top contact with the underwater instrument compartment 2, it can quickly absorb the impact energy, buffer the collision force, and prevent damage to the underwater instrument compartment 2 and its expensive precision sensors due to hard collisions, thus greatly improving the operational reliability and equipment safety of the device.

[0058] The adaptive cleaning component is a conical mud scraper ring or a hard brush, which is set on the underwater instrument compartment 2 or the rigid support 81 and moves synchronously with the lifting and lowering of the underwater instrument compartment 2. During the movement, it can automatically remove marine organisms, mud and other sediments attached to the surface of the passive guide cable 5 through mechanical shearing force, prevent foreign objects from entering the gap between the rollers and the guide cable of the guide slider group 8, avoid problems such as jamming and accelerated wear, ensure the smooth lifting and lowering of the underwater instrument compartment 2, and improve the long-term maintenance-free capability and operational stability of the device.

[0059] Anchor points 14 are provided on the top of the base 3. There are two anchor points 14 arranged in a straight line and symmetrically. The distance between the two anchor points 14 is adapted to the distance between the two passive guide cables 5. The lower ends of the two passive guide cables 5 are fixedly connected to the two anchor points 14 respectively. The anchor points 14 provide a stable seabed connection end for the passive guide cables 5, ensuring the symmetrical arrangement and tension of the passive guide cables 5. This provides a structural foundation for the symmetrical force and stable lifting of the underwater instrument compartment 2, while ensuring the effective transmission of the pre-tension force of the passive guide cables 5. Together with the counterweight 13 and the anti-sinking plate 12, it maintains the overall mechanical stability of the base 3 and the passive guide cables 5.

[0060] This application achieves precise six-degree-of-freedom constraints, completely eliminating lateral swaying and tilting of the instrument cabin and ensuring the accuracy of observation data. This effect is primarily achieved through the proprietary structural design of the guide slider group 8. Unlike the traditional ring guide structure with gap fit, this design eliminates the fit gap at the structural level, achieving precise attitude constraint on the underwater instrument cabin 2. The guide slider group 8 is symmetrically arranged on both sides of the underwater instrument cabin 2. Each group of sliders contains three spherical rollers 82 evenly distributed at 120° around the circumference of the passive guide cable 5. Through the principle of three-point circle fixation, they form a wrapping fit with the passive guide cable 5. The spherical rollers 824 are covered with an elastic layer with a hardness of 85A-95A. The fit gap is controlled within ±1mm, providing reverse support force from all directions, forcibly locking the horizontal displacement of the underwater instrument cabin 2 along the X and Y axes in the horizontal plane, and preventing lateral swaying under the impact of ocean currents. The underwater instrument compartment 2 has a set of guide sliders 8 arranged on each side, top and bottom. These two sets of sliders form a stabilizing couple, effectively resisting the overturning torque caused by ocean currents and constraining the roll angle of the underwater instrument compartment 2 around the X-axis and the pitch angle around the Y-axis, strictly limiting the tilt angle to within 2°. This ensures that the sensors inside the compartment always maintain a vertical attitude, avoiding data distortion caused by tilting. The rolling structure design of the spherical rollers 82 transforms the sliding friction between the underwater instrument compartment 2 and the passive guide cable 5 into rolling friction. While achieving multi-degree-of-freedom constraints, it retains only the translational degree of freedom along the Z-axis, significantly reducing lifting friction resistance and ensuring smooth vertical movement of the instrument compartment without affecting the continuity of profile observations. The guide slider sets 8 allow the underwater instrument compartment 2 to rotate freely to a limited extent around the axis of the passive guide cable 5, releasing torsional stress under cable tension and preventing torque transmission to the instrument compartment body, which could damage the sensors and further ensure observation accuracy.

[0061] This application constructs a quasi-rigid mechanical system, transforming the flexible cable into a "virtual rigid guide rail" to resist the effects of strong ocean currents. This effect is achieved through the coupled design of the preload configuration of the passive guide cable 5 and the heavy-duty anchoring structure of the base 3, converting fluid dynamics formulas into hardware structural parameters to physically resist ocean current impacts and solve the problems of bow-shaped bending and poor anti-deviation capability of guide cables in traditional systems. The passive guide cable 5 consists of two 316L stainless steel wire ropes arranged opposite each other, with a galvanized and plastic-coated surface. Based on the ocean current velocity in the target sea area, the formula δ≈L²×F is used. drag / 2×T reverse thrust and preload T, so that the cable body is subjected to horizontal drag force F in the preset ocean current. dragUnder the action of the current, the maximum horizontal offset δ is controlled within a preset threshold, such as 54.5 mm under a 2-knot current. The pre-tension force counteracts the ductility of the steel cable, giving the flexible cable the anti-offset characteristics of a rigid guide rail, forming a "virtual rigid guide rail". The base 3 adopts a cross-shaped / star-shaped extension structure, which can effectively disperse the pressure of the base on the seabed and prevent the base from shifting or overturning. Its end is equipped with an anti-sinking plate 12, which greatly increases the contact area with the seabed, prevents the base from sinking in soft seabed, and ensures the stability of the base attitude. A counterweight 13 is installed on the base, and its total weight is strictly configured to be greater than the sum of the total preload of the two passive guide cables 5 and the maximum upward buoyancy force on the base. For example, a 1.5-ton concrete counterweight is used to fundamentally balance the upward force brought by the cable preload, ensuring that the base is not pulled up or slips, providing a stable fixed end for the passive guide cable 5, and ensuring that the cable is always in a highly tensioned quasi-rigid state. Even under the impact of an extreme ocean current of 4 knots, the cable offset can still be controlled within the system's allowable threshold.

[0062] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and all such equivalent transformations fall within the protection scope of the present invention.

Claims

1. A deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function, characterized in that, include: The base (3) is connected to the surface buoy unit (1) by two passive guide cables (5); The underwater instrument compartment (2) is slidably mounted on the passive guide cable (5) via a guide slider assembly (8), and the passive guide cable (5) is disposed opposite to each other on both sides of the underwater instrument compartment (2). A traction drive mechanism (11) is provided on the surface buoy unit (1) and is used to drive the underwater instrument compartment (2) to float upward. The guide slider group (8) includes a rigid bracket (81), which is sleeved on the passive guide cable (5). The rigid bracket (81) has three spherical rollers (82) arranged in a circumferential array on the rigid bracket (81) that roll in contact with the passive guide cable (5).

2. The deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function according to claim 1, characterized in that, The traction drive mechanism (11) is a winch and is connected to the underwater instrument compartment (2) via a dynamic transmission cable (4).

3. The deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function according to claim 1, characterized in that, The spherical roller (82) includes a roller bracket (821), which is mounted on the rigid bracket (81). An adjusting bolt (822) is provided on the roller bracket (821), and a roller mounting block (823) is provided at the output end of the adjusting bolt (822). A spherical wheel (824) is embedded in the roller mounting block (823).

4. The deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function according to claim 1, characterized in that, The spherical roller (82) includes a roller bracket (821), which is mounted on the rigid bracket (81). An adjusting column (825) is provided on the roller bracket (821), and a roller mounting block (823) is provided at the output end of the adjusting column (825). A spherical wheel (824) is embedded in the roller mounting block (823), and a thrust spring (826) is provided between the roller mounting block (823) and the roller bracket (821).

5. The deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function according to claim 1, characterized in that, The base (3) of the seat adopts a cross-shaped or star-shaped extension structure.

6. The deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function according to claim 5, characterized in that, The base (3) is provided with an anti-sinking plate (12) at the end to increase the contact area with the seabed. The base (3) is provided with a counterweight (13) to increase the total weight, improve the anti-overturning and anti-displacement capabilities, and work with the anti-sinking plate (12) to ensure a stable posture under the impact of ocean currents.

7. The deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function according to claim 1, characterized in that, The surface buoy unit (1) includes a control compartment for housing the electrical control box (9) and the battery pack (10) and a power compartment for housing the traction drive mechanism (11).

8. The deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function according to claim 1, characterized in that, The surface buoy unit (1) is equipped with an electrical control box (9) and a battery pack (10), and the outer wall of the surface buoy unit (1) is equipped with a solar panel (6) and an antenna (7).

9. The deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function according to claim 1, characterized in that, It also includes an end mechanical buffer device, which includes a conical spring buffer set on the base (3) and a high-damping rubber block set on the lower end face of the guide slider group (8) to absorb the impact energy when the underwater instrument compartment (2) touches the bottom or top when the electronic limit fails.

10. The deep-sea quasi-rigid profile observation device with six degrees of freedom constraint function according to claim 1, characterized in that, It also includes an adaptive cleaning component, which is a conical mud scraper ring or a hard brush mounted on the underwater instrument compartment (2) or on a rigid support (81).

Images