Self-adaptive cable laying seabed in-situ monitoring equipment system

Abstract

The utility model discloses a self-adaptive cable laying seabed in-situ monitoring equipment system which comprises a frame structure, a penetration system, a damping winch, a hydraulic limiting wheel set and a probe rod body. The hydraulic limiting wheel sets comprise the upper hydraulic limiting wheel set arranged in the upper frame and the lower hydraulic limiting wheel set arranged in the lower frame. The penetration system comprises a penetration mechanism and a penetration clamping mechanism, the penetration mechanism is fixed to the lower frame, a penetration motor is arranged on the lower frame and drives the penetration mechanism to drive the penetration clamping mechanism to vertically move up and down, a damping winch is arranged on a buoyancy box, the bottom of the buoyancy box is connected with the upper frame through a separated electromagnet, and the upper frame is connected with the lower frame through a damping winch. The equipment system has the advantages of being simple in structure, high in stability, easy and convenient to operate and the like, stable release and separation of the probe rod body and the monitoring equipment main body component are achieved, and meanwhile the safety of the monitoring equipment main body in the lifting process can be guaranteed through the recovery method.

Description

Technical Field

[0001] The utility model relates to the field of submarine monitoring, in particular to a submarine in-situ monitoring equipment system with self-adaptive cable laying and a recovery method thereof. Background Art

[0002] In recent years, affected by global climate change, the frequency of extreme storm sea conditions with strong paroxysms, long durations, and wide coverage has increased significantly, and the intensity has repeatedly broken historical records. Extreme weather such as typhoons and cold snaps has caused local scouring of the seabed, soil liquefaction, and deformation sliding, resulting in the instability and capsizing of offshore platforms. At present, there is an urgent need to develop a set of equipment systems that can achieve long-term and real-time in-situ monitoring under extreme storm conditions for investigating and collecting data in the sea areas selected for ocean engineering.

[0003] At present, the existing marine geological in-situ monitoring technology mainly focuses on seabed static cone penetration testing. The monitoring probe rod is penetrated into the planned depth through a penetration mechanism, and physical and mechanical properties of submarine sediments are obtained long-term and in real-time by sensors such as the probe head of the probe rod. After the probe rod of the traditional submarine in-situ monitoring equipment system is penetrated, it remains on the seabed together with components such as the penetration mechanism. The stability of the bottom-mounted platform carrier under complex marine environmental conditions is often controlled by factors such as seabed hydrodynamic forces, erosion and deposition of seabed sediments, local liquefaction of soil, and shallow gas. When conducting in-situ monitoring work, it is necessary to keep the equipment stable and steady. To avoid the excessive influence of the complex seabed environment on the bottom stability of the equipment system, Chinese Patent CN 116558489 A also discloses a method of separating the probe rod from the equipment main body, and the cable is retracted and released during separation through an underwater cable winch. However, its cable winch adopts a numerical control design, and the cable retraction and release length is constant. When the probe rod is penetrated, a cable retraction and release stroke with high precision is required, and there is a design requirement for the collaborative operation ability of the probe rod penetration depth and the winch rotation. The overall control system has the obvious disadvantage of instability. In addition, when the equipment system is recovered, the cable is in a slack state and is extremely easy to float in the water with the fluid under strong hydrodynamic forces. It will not only entangle the internal components of the equipment system, but the cable is also prone to rust and damage, significantly reducing the service life of the cable.

[0004] At the same time, the equipment system recovery method disclosed in Chinese Patent CN 116558489 A needs to directly lift the overall frame to the sea surface by using a deck winch. However, it has strict environmental requirements for the sea conditions of the operation area. During the lifting process, the overall equipment system is easily affected by ocean currents and shakes in the sea water, posing a great threat to the safety of the equipment, especially being affected by wind and waves after being lifted to the sea surface.

[0005] In view of some drawbacks existing in the research and development of the above-mentioned in-situ seabed monitoring equipment system, the utility model proposes an in-situ seabed monitoring equipment system with self-adaptive cable laying and its recovery method. The equipment system has the characteristics of simple structure, strong stability, and convenient operation. While realizing the stable release and separation of the probe rod and the main component of the monitoring equipment, the recovery method can also ensure the safety of the main body of the monitoring equipment during the lifting process, effectively solving the above problems. Summary of the Utility Model

[0006] In order to solve the problems existing in the background technology, the utility model provides an in-situ seabed monitoring equipment system with self-adaptive cable laying.

[0007] The utility model adopts the following technical solutions:

[0008] An in-situ seabed monitoring equipment system with self-adaptive cable laying includes a frame structure, a penetration system, a damping winch, a hydraulic type limit wheel set and a probe rod body. The frame structure mainly includes an upper frame and a lower frame. The hydraulic type limit wheel set includes an upper hydraulic type limit wheel set arranged in the upper frame and a lower hydraulic type limit wheel set arranged in the lower frame; the penetration system includes a penetration mechanism and a penetration clamping mechanism. The penetration mechanism is fixed on the lower frame, and a penetration motor is arranged on the lower frame to drive the penetration mechanism to drive the penetration clamping mechanism to move vertically up and down. The damping winch is arranged in a buoyancy tank, and the bottom of the buoyancy tank is connected to the upper frame through a separable electromagnet.

[0009] The penetration mechanism includes a penetration lead screw, a lead screw support, a lead screw commutator and a steering gear. The lead screw commutator is connected to the bottom of the penetration lead screw, and the steering gear is connected to the lead screw commutator through a transmission shaft. The steering gear, the lead screw commutator and the lead screw support are all fixed on the lower frame.

[0010] There are two steering gears. The penetration motor drives the steering gears to transmit the torque force to the two lead screw commutators respectively through the transmission shaft, so that the penetration lead screw rotates clockwise or counterclockwise to drive the penetration clamping mechanism to move vertically up and down.

[0011] The penetration clamping mechanism includes a clamping lead screw, a clamping motor, a smooth shaft, a clamping plate and a clamping block. A circular hole for the probe rod body to pass through is arranged in the middle of the clamping plate. The two ends of the clamping lead screw are fixed on the bearing seats of the clamping plate. The two ends of the clamping block are respectively fixed on the clamping lead screw and the smooth shaft; the clamping motor makes the clamping lead screw rotate clockwise or counterclockwise through the transmission torque force. When the clamping lead screw rotates, the smooth shaft drives the clamping block to slide horizontally left and right, forming a movement of clamping or loosening the probe rod body.

[0012] The damping winch includes a cable storage reel, a damping brake shaft, a winch bracket, a guiding bearing, a cable arranging screw rod bearing, a support rod, a cable arranging screw rod, a guiding shaft, a cable arranger and a bearing baffle. There is a support rod on the front side of the winch bracket, and bearing baffles on both sides of the winch bracket. The cable storage reel is connected to the bearing baffle through the damping brake shaft. Both ends of the cable arranging screw rod are connected to the bearing baffle through the cable arranging screw rod bearings. Both ends of the guiding shaft are connected to the bearing baffle through the guiding bearings. The cable arranger is horizontally and slidably connected to the cable arranging screw rod.

[0013] The damping brake shaft includes a rotating shaft, a dynamic friction brake pad and a static friction brake pad. The rotating shaft is fixed at the center of the circle inside the cable storage reel and protrudes outward from the spoke plate of the cable storage reel. Dynamic friction brake pads are provided at both ends of the rotating shaft and can rotate around the shaft with the cable storage reel. The static friction brake pad is welded to the bearing baffle.

[0014] The lower hydraulic type limit wheel set includes a fixed rod, a hydraulic cylinder body, a hydraulic rod, a clamping wheel, a connecting piece, a connecting block, an end cover, an oil hole, a rear connecting block and a fixing hole. The fixed rod is connected to the hydraulic cylinder body through the rear connecting block with a fixing hole provided. There is an oil hole arranged on the hydraulic cylinder body. The end cover at the other end of the hydraulic cylinder body is connected to the hydraulic rod. The hydraulic rod is connected to the clamping wheel through the connecting piece and the connecting block. There is a groove provided on the outer ring of the clamping wheel, and a rubber sheet is padded inside the groove for anti-slip; the upper hydraulic type limit wheel set has the same structure as the lower hydraulic type limit wheel set.

[0015] A plurality of upper frame sand protection plates of the same size are provided around the upper frame. The bottom of the upper frame is an upper frame fixing plate, and symmetrically arranged upper frame supports are also provided between the upper frame and the upper frame fixing plate.

[0016] The frame body of the lower frame has a structure with a lower square shape and an upper trapezoidal shape. An H-shaped steel cross brace is provided on the upper part of the lower square structure of the frame body. Two lower hydraulic type limit wheel set support plates are also provided at the lower part of the lower frame. Four lifting rings are provided at the four corner points of the top of the frame body.

[0017] Furthermore, a recovery method for a seabed in-situ monitoring equipment system based on adaptive cable release includes the following steps:

[0018] Step 1: Preparation of the equipment system deck: Install the damping winch on the top of the upper protection frame by enabling the electromagnet device. Start the clamping motor to clamp the rod body of the probe and keep the clamping force constant. Use the penetration mechanism to drive the tip of the probe to the bottom of the lower frame and reset it flush with the frame. Then start the hydraulic cylinders in the upper and lower hydraulic type limit wheel sets.

[0019] Step 2: Installation of the power / data cable: Start the damping winch to release the power / data cable, pull the cable vertically straight to the rod body of the probe, and connect it with a watertight connector.

[0020] Step 3: Hoisting Cable Installation: Pass the hoisting cable of the shipborne / platform crane through the sling on the lower frame, merge the ends of the hoisting cables into one and install it on the crane hook. Finally, lift the in-situ monitoring equipment to the water surface through the A-frame / shelter deck / pontoon and wait for lowering;

[0021] Step 4: Equipment System Lowering and Seabed Landing: Lower the equipment to the seabed at a uniform speed through the hoisting cable until the operating conditions are met;

[0022] Step 5: Probe Rod Penetration and Winch Adaptive Cable Paying-out: After the equipment lands on the seabed, start the penetration motor and drive the penetration lead screw to rotate clockwise synchronously with the commutator and steering gear, driving the clamping mechanism that has clamped the probe rod body to move downward with the rotation of the lead screw for penetration. When the clamping mechanism moves downward to above the lower hydraulic limit wheel set, drive the clamping motor to release the probe rod body, drive the penetration lead screw to rotate counterclockwise synchronously to move the clamping mechanism upward to the reset position, and drive the clamping motor to clamp the probe rod body, and repeat the above operation to finally complete the penetration of the probe rod body;

[0023] Step 6: Damping Winch Release and Recovery: When the penetration of the probe rod body is completed, activate the split electromagnet between the damping winch and the upper frame to separate the damping winch from the upper frame. The damping winch completes the adaptive cable paying-out operation until it floats to the sea surface and stops the cable paying-out movement;

[0024] Step 7: Recovery of the Monitoring Equipment Frame Structure: When the damping winch floats to the sea surface, go to the platform / ship deck and fix it. By lifting the hoisting cable passing through the sling upward, the equipment frame is recovered upward along the cable through the limit design of the limit wheel set;

[0025] Step 8: Seabed In-situ Monitoring: Disconnect the cable from the recovered damping winch and connect the cable to a stable power interface and data receiving port for long-term in-situ monitoring.

[0026] An in-situ seabed monitoring equipment system with adaptive cable paying-out and its recovery method provided by the present utility model:

[0027] (1) It overcomes the problem that it is difficult to accurately release the power or data transmission cable during the probe penetration or the recovery of the equipment system of the in-situ seabed monitoring equipment system. By using the damping braking principle, the present device designs a damping cable paying-out mechanism to realize the adaptive release of the cable in the equipment system while avoiding the reduction of work efficiency caused by inaccurate cable release length;

[0028] (2) It solves the problems of bottom - sitting stability such as settlement and capsizing of in - situ monitoring equipment on the seabed caused by factors such as self - weight or strong hydrodynamic forces. For traditional in - situ monitoring equipment on the seabed, after the probe rod penetrates into the seabed, components such as the penetration mechanism and the winch mechanism still remain on the seabed. Under the action of strong hydrodynamic forces, it is difficult to obtain monitoring data due to factors such as self - weight. The utility model designs the winch mechanism as a release - type structure, connects it to the main structure of the monitoring equipment in the form of an electromagnet, and proposes a method for recovering the equipment system after the probe rod penetration is completed.

[0029] (3) It overcomes the difficulty that the cable is wound around the equipment system structure under the action of water flow during the recovery of the equipment system. The hydraulic type limit wheel set of the utility model ensures the stability of the cable in water by limiting the cable of the equipment system after the probe rod penetration guiding operation is completed. Description of the Drawings

[0030] Figure 1 : Three - dimensional structure diagram of the overall structure of the utility model;

[0031] Figure 2 : Front view of the overall structure of the utility model;

[0032] Figure 3 : Side view of the overall structure of the utility model;

[0033] Figure 4 : Schematic diagram of the three - dimensional structure of the damping winch of the utility model;

[0034] Figure 5 : Schematic diagram of the damping brake cross - section structure of the damping winch of the utility model;

[0035] Figure 6 : Schematic diagram of the structure of the hydraulic type limit wheel set of the utility model;

[0036] Figure 7 : Schematic diagram of the recovery method of the utility model;

[0037] The serial numbers marked in the figure are successively represented as follows: 1: buoyancy tank, 101: buoyancy tank leg support, 102: buoyancy tank bottom support frame, 2: damping winch, 201: cable storage reel, 2011: spoke plate, 2012: cable storage compartment, 202: damping brake shaft, 2021: rotating shaft, 2022: dynamic friction brake pad, 2023: static friction brake pad, 203: winch support, 204: guiding bearing, 205: cable arranging lead screw bearing, 206: support rod, 207: cable arranging lead screw, 208: guiding shaft, 209: cable arranging device, 2091: cable arranging guide post, 210: bearing baffle, 3: upper frame, 301: upper frame sand guard plate, 302: upper frame support, 303: upper frame fixing plate, 4: probe rod body, 5: upper hydraulic type limit wheel set, 6: lower hydraulic type limit wheel set, 601: fixing rod, 602: hydraulic cylinder body, 603: hydraulic rod, 604: clamping wheel, 605: connecting piece, 606: connecting block, 607: end cover, 608: oil hole, 609: rear connecting block, 610: fixing hole, 7: lower frame, 701: frame cross brace, 702: frame main body, 703: lower hydraulic type limit wheel set support plate, 8: penetration mechanism, 801: penetration lead screw, 802: lead screw support, 803: lead screw commutator, 804: commutator, 9: penetration clamping mechanism, 901: clamping lead screw, 902: clamping motor, 903: optical axis, 904: clamping plate, 905: clamping block, 10: penetration motor, 11: split electromagnet, 12: lifting ring. Detailed implementation manners

[0038] The present utility model will be further described in detail below in conjunction with the accompanying drawings and the detailed implementation manners.

[0039] Referring to the accompanying drawings, an in-situ monitoring equipment system for the seabed with self-adaptive cable laying is characterized by comprising a frame structure, a penetration system, a damping winch 2, a hydraulic type limit wheel set and a probe rod body 4. The frame structure mainly includes an upper frame 3 and a lower frame 7. The hydraulic type limit wheel set includes an upper hydraulic type limit wheel set 5 arranged in the upper frame 3 and a lower hydraulic type limit wheel set 6 arranged in the lower frame 7. The penetration system includes a penetration mechanism 8 and a penetration clamping mechanism 9. The penetration mechanism 8 is fixed on the lower frame 7, and a penetration motor 10 is arranged on the lower frame 7 to drive the penetration mechanism 8 to drive the penetration clamping mechanism 9 to move vertically up and down. The damping winch 2 is arranged on the buoyancy tank 1, and the buoyancy tank 1 is connected to the upper frame 3 through a split electromagnet 11 at the bottom.

[0040] The damping winch 2 is arranged on the buoyancy tank bottom support frame 102 made of H-shaped steel. The buoyancy tank 1 is connected to the buoyancy tank bottom support frame 102 through the buoyancy tank leg support 101 to form an integral structure. The bottom of the flat plate of the buoyancy tank bottom support frame 102 is connected to the upper frame 3 through split electromagnets 11 located at four corner points.

[0041] The upper frame 3 is used for the support structure of the damping winch 2 and the protection structure of the probe rod body 4. It is welded by H-shaped stainless steel and has the characteristics of light weight and high strength. A plurality of upper frame sand guards 301 of the same size are fixed around the upper frame 3 to prevent foreign objects such as large particles of sediment, organisms, and fishing nets from entering the inside of the penetration system. At the bottom of the upper frame 3, two upper frame fixing plates 303 made of H-shaped steel are welded to carry the upper frame 3 and are connected to the lower frame 7. Symmetrically arranged H-shaped steel upper frame brackets 302 are also welded between the upper frame 3 and the upper frame fixing plates 303 to ensure the structural stability of the upper frame 3. Inside the upper frame 3, there is also a set of upper hydraulic limit wheel groups 5 for clamping the probe rod body 4.

[0042] The lower frame 7 is mainly used to place the penetration mechanism 8. The lower frame 7 and the upper frame 3 are also made of H-shaped stainless steel. The frame body 702 of the lower frame 7 has a structure with a lower square shape and an upper trapezoidal shape. An H-shaped steel cross brace 701 is provided on the upper part of the lower square structure of the frame body 702 to ensure the structural stability of the seabed monitoring platform. At the lower part of the lower frame 7, there are also two lower hydraulic limit wheel group support plates 703 for supporting the lower hydraulic limit wheel group 6. At the same time, four lifting rings 12 are welded at the four corner points of the top of the frame body 702 for the hoisting of the monitoring equipment.

[0043] The penetration mechanism 8 includes a penetration lead screw 801, a lead screw support 802, a lead screw commutator 803, a steering gear 804, and a penetration motor 10. The top of the penetration lead screw 801 is connected to the lead screw support 802. The lead screw support 802 is welded to the H-shaped stainless steel on the top of the lower frame 7 for the top positioning of the penetration lead screw 801. The lead screw commutator 803 is connected to the bottom of the penetration lead screw 801. The lead screw commutator 803 is welded to the H-shaped stainless steel at the bottom of the lower frame 7 for the bottom positioning and structural support of the penetration lead screw 801. The steering gear 804 is connected to the lead screw commutator 803 through a transmission shaft for adjusting the transmission direction of the penetration motor 10. The two-way gear 804 is also welded to the H-shaped stainless steel at the bottom of the lower frame 7.

[0044] The penetration motor 10 drives the two steering gears 804 to generate the same torque force, and then transmits the torque force to the two lead screw commutators 803 through the transmission shaft respectively, so that the penetration lead screw 801 rotates clockwise or counterclockwise to drive the penetration clamping mechanism 9 to move up and down vertically.

[0045] The main purpose of the penetration clamping mechanism 9 is to stably clamp the probe rod body 4 and perform vertical movement up and down, including a clamping screw 901, a clamping motor 902, an optical axis 903, a clamping plate 904 and a clamping block 905. A circular hole is provided in the middle of the clamping plate 904 for the probe rod body 4 to pass through. The two ends of the clamping screw 901 are spliced and fixed on the bearing seat of the clamping plate 904. The clamping motor 902 rotates the clamping screw 901 clockwise or counterclockwise through the transmission torque force. The two ends of the two clamping blocks 905 are respectively spliced with the clamping screw 901 and the optical axis 903, wherein the optical axis 903 is mainly used for guiding the movement of the clamping block 905. When the clamping screw 901 rotates, the optical axis 903 drives the clamping block 905 to slide horizontally left and right, thereby clamping or releasing the probe rod body 4.

[0046] The damping winch 2 is mainly used for storing and releasing the cables of the monitoring equipment system, including a cable storage drum 201, a damping brake shaft 202, a winch bracket 203, a guide bearing 204, a cable arrangement screw rod bearing 205, a support rod 206, a cable arrangement screw rod 207, a guide shaft 208, a cable arrangement device 209 and a bearing baffle 210. The damping winch 2 is supported by a winch bracket 203 formed by a square tube as a basic support. A support is provided on the front side of the winch bracket 203. Rod 206 is used to prevent the bracket from becoming unstable. Bearing baffles 210 are provided on both sides of winch bracket 203 to support damping brake shaft 202, guide bearing 204 and cable arrangement screw rod bearing 205. Cable storage drum 201 is connected to bearing baffle 210 through damping brake shaft 202. Both ends of cable arrangement screw rod 207 are connected to bearing baffle 210 through cable arrangement screw rod bearing 205. Both ends of guide shaft 208 are connected to bearing baffle 210 through guide bearing 204. Cable arrangement device 209 is horizontally connected to left and right slidingly on cable arrangement screw rod 207, and cooperates with cable arrangement guide column 2091 to achieve the purpose of orderly cable arrangement.

[0047] The damping brake shaft 202 is based on the principle of damping brake, and includes a rotating shaft 2021, a dynamic friction brake pad 2022 and a static friction brake pad 2023. The rotating shaft 2021 is welded to the inner center of the cable storage drum 201 and protrudes outward from the spoke plate 2011 of the cable storage drum 201. Dynamic friction brake pads 2022 are provided at both ends of the rotating shaft 2021 and can rotate around the axis with the cable storage drum 201. The static friction brake pad 2023 is welded to the bearing baffle 210. The dynamic friction brake pad 2022 and the static friction brake pad 2023 are in close contact in space, and sufficient friction is maintained in the non-operation penetration and recovery stages to ensure that the cable storage drum 201 does not rotate freely.

[0048] The upper hydraulic limit wheel set 5 and the lower hydraulic limit wheel set 6 respectively placed on the upper frame 3 and the lower frame 7 have the same structure, including a fixed rod 601, a hydraulic cylinder body 602, a hydraulic rod 603, a clamping wheel 604, a connecting piece 605, a connecting block 606, an end cover 607, an oil hole 608, a rear connecting block 609 and a fixing hole 610. The fixed rod 601 is a fixing structure between the limit wheel set and the support plate 703 of the lower hydraulic limit wheel set or the upper frame 3. The fixed rod 601 is connected to the hydraulic cylinder body 602 through the rear connecting block 609 provided with the fixing hole 610. The oil hole 608 arranged on the hydraulic cylinder body 602 is used for even infusion of engine oil to achieve hydraulic movement. The end cover 607 at the other end of the hydraulic cylinder body 602 is connected to the hydraulic rod 603. The hydraulic rod 603 is connected to the clamping wheel 604 through the connecting piece 605 and the connecting block 606. The outer ring of the clamping wheel 604 is provided with a groove for clamping the probe rod body 4 and restricting the cable. A rubber sheet is padded inside the groove for anti-slip. During the penetration stage, the two clamping wheels 604 move horizontally inward in opposite directions under the action of the hydraulic rod 603 to clamp the probe rod body 4 and maintain the clamping force. When the probe rod body 4 moves vertically downward beyond the clamping wheel 604, the two clamping wheels 604 can move horizontally inward in opposite directions again under the action of the hydraulic rod 603 and fit together to play the role of cable limit.

[0049] As Figure 7 shown, a method for recovering the equipment system after the probe rod penetration is completed includes the following steps:

[0050] Step 1: Preparation of the equipment system deck: Enable the electromagnet device to install the damping winch on the top of the upper protection frame. Start the clamping motor to clamp the probe rod body and keep the clamping force constant. Use the penetration mechanism to drive the probe tip to the bottom of the lower frame and reset it to be flush with the frame. Then start the hydraulic cylinders in the upper and lower hydraulic limit wheel sets so that the upper and lower hydraulic limit wheel sets clamp the probe rod body and keep the clamping force constant.

[0051] Step 2: Installation of the power / data cable: Start the damping winch to release the power / data cable, pull the cable vertically to the position of the probe rod body, and connect it with a watertight connector. Due to the influence of the damping winch, at this time, the moving friction plate and the static friction plate are relatively stationary, and the cable is affected by the frictional force and remains in a vertically stressed tension state.

[0052] Step 3: Installation of the lifting cable: Pass the lifting cable of the shipborne / platform crane through the 4 lifting rings on the lower frame, and merge the ends of the 4 lifting cables into one and install it on the crane hook. Finally, lift the in-situ monitoring equipment to the water surface through the A-frame / shelter deck / moonpool and wait for lowering.

[0053] Step 4: Lowering and bottom sitting of the equipment system: According to the previous geophysical exploration results, lower the equipment evenly to the seabed through the lifting cable ( Figure 7In (a), when the established depth is reached, the lowering of the hoisting cable stops, and the bottom - sitting stability is judged by combining the equipment attitude. If the attitude meets the operating conditions, proceed to the next step.

[0054] Step Five: Penetration of the probe rod body and adaptive cable release of the winch: After the equipment sits on the bottom, start the penetration motor and drive the two penetration lead screws to rotate clockwise synchronously through the commutator and the steering gear, driving the clamping mechanism that has clamped the probe rod body to move downward with the rotation of the lead screws for penetration. When the clamping mechanism moves downward to a certain distance above the lower hydraulic limit wheel set, drive the clamping motor to loosen the probe rod body, drive the penetration motor to drive the penetration lead screws to rotate counterclockwise to move the clamping mechanism upward to the reset position, and drive the clamping motor to clamp the probe rod body, and repeat the above operations to finally complete the penetration of the probe rod body. During the process of the probe rod body being penetrated under force, the cable will be affected by the vertical downward tension, and the damping brake shaft rotates in the drum accordingly. At this time, the penetration force will offset the friction force between the dynamic friction plate and the static friction plate, and the damping winch completes the adaptive cable release operation. During this process, when the probe rod body leaves the upper and lower hydraulic limit wheel sets, immediately start its hydraulic cylinder to drive the two clamping wheels to move inward and fit together ( Figure 7 In (b), at this time, the sliding grooves of the two clamping wheels become the limit guide rails for the cable. When the probe rod body penetrates to the designed depth, the penetration motor stops moving, thus completing the entire process of the penetration of the probe rod body.

[0055] Step Six: Release and recovery of the damping winch: When the penetration of the probe rod body is completed, activate the split electromagnet between the damping winch and the upper frame to separate the damping winch from the upper frame ( Figure 7 In (c), due to the existence of the buoyancy box on the upper part of the damping winch, the damping winch will be affected by the upward buoyancy force and finally float to the sea surface. During the process of the damping winch floating, the cable will be affected by the vertical upward tension. At this time, the upward buoyancy will offset the friction force between the dynamic friction plate and the static friction plate, and the damping winch completes the adaptive cable release operation until it floats to the sea surface. The friction force between the dynamic friction plate and the static friction plate will re - dominate the force on the damping brake shaft and stop the cable release movement.

[0056] Step Seven: Recovery of the monitoring equipment frame structure: When the damping winch floats to the sea surface, it is salvaged manually to the platform / ship deck and fixed, while maintaining the tightness of the cable. At this time, the combination of the upper limit wheel set and the lower limit wheel set inside the equipment system firmly restricts the cable from floating under the action of hydrodynamic forces such as ocean currents underwater. By lifting the hoisting cable passing through the four lifting rings upward, the equipment frame is recovered upward along the cable through the limit design of the limit wheel set ( Figure 7 In (d), which also avoids the shaking caused by the lack of a limiting device during the equipment recovery.

[0057] Step Eight: In-situ Seafloor Monitoring: Unwind the cable from the retrieved damping winch, and then connect the cable to a stable power supply interface and data receiving port to provide power and data transmission for the probe rod placed in the seabed, thereby achieving the function of long-term in-situ monitoring.

[0058] Note that the above is only the preferred embodiment of the present utility model and the technical principles applied. Those skilled in the art will understand that the present utility model is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present utility model. Therefore, although the present utility model has been described in detail through the above embodiments, the present utility model is not limited to the above embodiments. Without departing from the concept of the present utility model, more other equivalent embodiments can be included, and the scope of the present utility model is determined by the scope of the appended claims.

Claims

1. An in-situ monitoring device system for submarine cable laying adaptively, characterized in that, The invention comprises a frame structure, a penetration system, a damping winch (2), a hydraulic limiting wheel group and a probe rod body (4); the frame structure mainly comprises an upper frame (3) and a lower frame (7); the hydraulic limiting wheel group comprises an upper hydraulic limiting wheel group (5) arranged in the upper frame (3) and a lower hydraulic limiting wheel group (6) arranged in the lower frame (7); the penetration system comprises a penetration mechanism (8) and a penetration clamping mechanism (9); the penetration mechanism (8) is fixed on the lower frame (7); a penetration motor (10) is arranged on the lower frame (7) and drives the penetration mechanism (8) to drive the penetration clamping mechanism (9) to move vertically up and down; the damping winch (2) is arranged on the buoyancy box (1); the bottom of the buoyancy box (1) is connected to the upper frame (3) through a separate electromagnet (11).

2. The in-situ monitoring equipment system for submarine with self-adaptive cable laying according to claim 1, characterized in that The penetration mechanism (8) comprises a penetration screw (801), a screw support (802), a screw commutator (803) and a steering gear (804); the screw commutator (803) is connected to the bottom of the penetration screw (801); the steering gear (804) is connected to the screw commutator (803) via a transmission shaft; the steering gear (804), the screw commutator (803) and the screw support (802) are all fixed on the lower frame (7).

3. The in-situ monitoring equipment system for submarine with self-adaptive cable laying according to claim 2, characterized in that, Two steering gears (804) are provided, and the penetration motor (10) drives the steering gear (804) to transmit torque force to two screw commutators (803) via the transmission shaft, so that the penetration screw (801) rotates clockwise or counterclockwise, thereby driving the penetration clamping mechanism (9) to move vertically up and down.

4. The in-situ monitoring equipment system for submarine with self-adaptive cable laying according to claim 1, characterized in that, The penetration clamping mechanism (9) comprises a clamping screw (901), a clamping motor (902), an optical axis (903), a clamping plate (904) and a clamping block (905); a circular hole for the probe rod body (4) to pass through is provided in the middle of the clamping plate (904); two ends of the clamping screw (901) are fixed on a bearing seat of the clamping plate (904); two ends of the clamping block (905) respectively fix the clamping screw (901) and the optical axis (903); the clamping motor (902) causes the clamping screw (901) to rotate clockwise or counterclockwise by transmitting torque force; when the clamping screw (901) rotates, the optical axis (903) links the clamping block (905) to slide horizontally left and right, thereby forming a movement of clamping or releasing the probe rod body (4).

5. An in-situ monitoring device system for submarine cable laying adaptively according to claim 1, characterized in that, The damping winch (2) includes a cable storage reel (201), a damping brake shaft (202), a winch support (203), a guide bearing (204), a cable arranging screw bearing (205), a support rod (206), a cable arranging screw (207), a guide shaft (208), a cable arranger (209) and a bearing baffle (210). A support rod (206) is provided on the front side of the winch support (203), and bearing baffles (210) are provided on both sides of the winch support (203). The cable storage reel (201) is connected to the bearing baffle (210) through the damping brake shaft (202). Both ends of the cable arranging screw (207) are connected to the bearing baffle (210) through the cable arranging screw bearing (205). Both ends of the guide shaft (208) are connected to the bearing baffle (210) through the guide bearing (204). The cable arranger (209) is horizontally and slidably connected to the cable arranging screw (207).

6. The in-situ monitoring equipment system for submarine with self-adaptive cable laying according to claim 5, characterized in that The damping brake shaft (202) includes a rotating shaft (2021), a dynamic friction brake pad (2022) and a static friction brake pad (2023). The rotating shaft (2021) is fixed at the inner center of the cable storage reel (201) and protrudes outward from the spoke plate (2011) of the cable storage reel (201). Dynamic friction brake pads (2022) are provided at both ends of the rotating shaft (2021) and can rotate around the axis with the cable storage reel (201). The static friction brake pad (2023) is welded to the bearing baffle (210).

7. An in-situ monitoring device system for seabed with self-adaptive cable laying, according to claim 1, characterized in that, The lower hydraulic type limit wheel set (6) includes a fixed rod (601), a hydraulic cylinder body (602), a hydraulic rod (603), a clamping wheel (604), a connecting piece (605), a connecting block (606), an end cover (607), an oil hole (608), a rear connecting block (609) and a fixing hole (610). The fixed rod (601) is connected to the hydraulic cylinder body (602) through the rear connecting block (609) provided with the fixing hole (610). An oil hole (608) is arranged on the hydraulic cylinder body (602). The end cover (607) at the other end of the hydraulic cylinder body (602) is connected to the hydraulic rod (603). The hydraulic rod (603) is connected to the clamping wheel (604) through the connecting piece (605) and the connecting block (606). A groove is provided on the outer ring of the clamping wheel (604), and a rubber sheet is padded inside the groove for anti-slip. The upper hydraulic type limit wheel set (5) has the same structure as the lower hydraulic type limit wheel set (6).

8. The in-situ monitoring equipment system for submarine with self-adaptive cable laying according to claim 1, characterized in that A plurality of upper frame sand guards (301) of the same size are provided around the upper frame (3). The bottom of the upper frame (3) is an upper frame fixing plate (303). Symmetrically arranged upper frame supports (302) are further provided between the upper frame (3) and the upper frame fixing plate (303).

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