CN108717011B - Non-contact deep sea sediment intensity in-situ measurement device based on manned submersible - Google Patents
Non-contact deep sea sediment intensity in-situ measurement device based on manned submersible Download PDFInfo
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- CN108717011B CN108717011B CN201810413087.3A CN201810413087A CN108717011B CN 108717011 B CN108717011 B CN 108717011B CN 201810413087 A CN201810413087 A CN 201810413087A CN 108717011 B CN108717011 B CN 108717011B
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- 239000013049 sediment Substances 0.000 title claims abstract description 32
- 238000012625 in-situ measurement Methods 0.000 title claims abstract description 9
- 230000005291 magnetic effect Effects 0.000 claims abstract description 34
- 239000000523 sample Substances 0.000 claims abstract description 26
- 230000001681 protective effect Effects 0.000 claims abstract description 14
- 238000007789 sealing Methods 0.000 claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 6
- 239000002131 composite material Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 12
- 238000005259 measurement Methods 0.000 abstract description 12
- 238000013461 design Methods 0.000 abstract description 6
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- 239000013535 sea water Substances 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
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- 238000011084 recovery Methods 0.000 abstract description 3
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000011065 in-situ storage Methods 0.000 description 9
- 238000005070 sampling Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 238000012360 testing method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 108010066057 cabin-1 Proteins 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/24—Investigating strength properties of solid materials by application of mechanical stress by applying steady shearing forces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0025—Shearing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- General Health & Medical Sciences (AREA)
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Abstract
The application provides a non-contact deep sea sediment intensity in-situ measurement device based on a manned submersible, which comprises an upper pressure-resistant control cabin module and a lower pressure-resistant magnetic triggering and measuring module, wherein a protective cover is sleeved outside the lower pressure-resistant magnetic triggering and measuring module, a T-shaped mechanical handle perpendicular to the protective cover is arranged on the protective cover, and the lower pressure-resistant magnetic triggering and measuring module is innovatively designed based on deep sea measurement characteristics: the first strong magnet, the strain crankshaft and the second strong magnet are respectively packaged in an upper containing cavity and a lower containing cavity of the radial pressure-resistant shell, the upper containing cavity is in a pressure-resistant sealing state, the lower containing cavity is communicated with seawater, and the second strong magnet and the probe rod are designed to be in a zero-buoyancy mode, so that the problem of sediment resistance measurement of high-precision micro force under the influence of huge underwater pressure is solved; the device adopts a miniaturized and lightweight design, does not need a stranded cable recovery system, saves the manufacturing cost, is clamped by the dragon number manipulator, improves the working efficiency, reduces the equipment maintenance difficulty and the operation risk, and has important significance for promoting the development of deep-seated scientific detection technology.
Description
Technical Field
The application belongs to the field of mechanical property testing of submarine sediments, and particularly relates to a non-contact type in-situ measuring device for the strength of deep sea sediments based on a manned submersible.
Background
In recent years, with the increasing development of mineral resources such as offshore facilities, offshore oil and gas, and the like, research on the mechanical properties of submarine sediment engineering has been urgent. If the petroleum exploitation equipment takes the seabed as a foundation, the components of the seabed and the bearing capacity of the seabed must be known in advance; when deep sea submarines such as 'dragon' deep sea manned submersible and nuclear submarines in China need to be fixed on a seabed for sampling and the like, the shearing strength of deep sea seabed shallow sediment needs to be studied in advance in order to ensure safe landing; the prior development work of ocean such as the laying of submarine cables and oil pipelines, and the like, in order to ensure the low-cost and rapid completion of the laying, the shear strength of deep-sea submarine shallow sediment needs to be known; the mechanical strength of the sediment can help scientists to better understand the structural configuration of the seabed and the type of the seabed sediment to a certain extent.
At present, the technical means for measuring the strength of the deep-sea submarine sediment at home and abroad are very limited, and due to special external environment conditions and ingredient diversity, the mode of firstly utilizing special submarine sediment sampling equipment to sample the sediment under the cooperation of a manned submersible and returning to a land laboratory to measure the mechanical property after the sampling is finished is generally adopted. However, the method cannot eliminate the influences of stress release during sampling, collision during sample transportation, disturbance during sample preparation and the like, the original properties are difficult to ensure, and the reliability of the measured data is seriously influenced; the used submarine sediment sampling equipment is complex and huge in structure, has the mass of hundreds of kilograms and even up to several tons, is high in cost and difficult to operate and maintain, requires a special large winch and crane to be arranged during arrangement, and has low operation efficiency and high risk. Therefore, it is necessary to provide a deep sea seabed in-situ testing device to solve the problem of measuring the seabed at a large depth and ensure the original state of the sediment to the maximum extent.
Disclosure of Invention
The application aims to solve the technical problems of complex structure, high cost, low efficiency, difficult operation and maintenance and the like of an original measuring device in the prior art for in-situ measurement of the geomechanical strength of a large-depth submarine sediment, and provides a non-contact type in-situ detection device for the deep-sea sediment based on a manned submersible.
The application is realized by adopting the following technical scheme: the non-contact deep sea sediment intensity in-situ measurement device based on the manned submersible is matched with the dragon-type manned submersible, and comprises an upper pressure-resistant control cabin module and a lower pressure-resistant magnetic triggering and measuring module, wherein a protective cover is sleeved outside the lower pressure-resistant magnetic triggering and measuring module, a T-shaped mechanical handle perpendicular to the protective cover is arranged on the protective cover, the protective cover is used for ensuring that deformation is not influenced by external factors in the submarine operation process, and meanwhile, an internal measurement system can be protected from being damaged by a mechanical arm or other substances, and the T-shaped mechanical handle is mainly used for clamping the underwater operation by the mechanical arm;
the upper pressure-resistant control cabin module comprises a control cabin shell, a magnetic switch and a communication antenna are arranged on the control cabin shell, a main control unit, a battery unit, a sensor unit and a data acquisition unit are arranged in the control cabin shell, the magnetic switch, the communication antenna, the battery unit, the sensor unit and the data acquisition unit are all electrically connected with the main control unit, and the magnetic switch is used for triggering the main control unit to work;
the lower pressure-resistant magnetic triggering and measuring unit comprises a radial pressure-resistant shell, and the radial pressure-resistant shell comprises an upper accommodating cavity and a lower accommodating cavity; the upper accommodating cavity is internally provided with a strain crankshaft, the strain crankshaft is connected with the upper pressure-resistant control cabin through a connecting piece, the connecting piece is in sealing connection with the radial pressure-resistant shell, a plurality of sealing rings can be arranged between the connecting piece and the radial pressure-resistant shell to ensure the sealing effect, the radial surface of the strain crankshaft is provided with a strain gauge, the strain gauge is electrically connected with the data acquisition unit, and the lower part of the strain crankshaft is connected with a first strong magnet; the lower accommodating cavity is internally provided with a second strong magnet, the same polarity of the second strong magnet and the same polarity of the first strong magnet are oppositely arranged, a probe rod is arranged below the second strong magnet, the lower end of the radial pressure-resistant shell is provided with a spring bottom cover, the probe rod penetrates through the spring bottom cover and can move up and down in the lower accommodating cavity, when the probe rod moves up due to penetrating sediment, the second strong magnet synchronously moves up, the first strong magnet and the second strong magnet repel each other due to the same polarity to generate an equivalent repulsive force effect, so that deformation of a strain crankshaft is caused, deformation data are transmitted to a data acquisition unit through a strain gauge, and then the strain force is measured.
Furthermore, the probe rod is of a solid structure made of composite materials, and the gravity of the probe rod and the second strong magnet is equal to the buoyancy of the probe rod and the second strong magnet under water, so that the influence of gravity is eliminated, and the detection precision is improved.
Further, be provided with the multilayer mounting panel in the control cabin casing, the mounting panel stacks up from top to bottom and sets up for installing master control unit, sensor unit and data acquisition unit etc. respectively, and the mounting panel passes through the lead screw to be connected and fix in the control cabin casing.
Further, the control cabin shell is of a cylindrical structure, the height of the control cabin shell is 200mm-400mm, the inner diameter of the control cabin shell is 80mm-120mm, the outer diameter of the control cabin shell is 120mm-160mm, and the upper end and the lower end of the control cabin shell are fixed by end covers and sealed by sealing rings.
Further, the radial pressure-resistant shell is of a cylindrical structure and is made of 316 high-strength stainless steel, the height of the radial pressure-resistant shell is 100mm-150mm, the inner diameter of the radial pressure-resistant shell is 16mm-20mm, the outer diameter of the radial pressure-resistant shell is 20mm-26mm, and the maximum pressure resistance is 80mpa.
Compared with the prior art, the application has the advantages and positive effects that:
the sediment intensity in-situ detection device provided by the application is creatively matched with a dragon-shaped manned submersible and comprises an upper pressure-resistant control cabin module and a lower pressure-resistant magnetic triggering and measuring module, wherein a protective cover is sleeved outside the lower pressure-resistant magnetic triggering and measuring module, a T-shaped mechanical handle perpendicular to the protective cover is arranged on the protective cover, and the lower pressure-resistant magnetic triggering and measuring module is creatively designed based on the deep sea measurement characteristics: the first strong magnet, the strain crankshaft and the second strong magnet are respectively packaged in an upper containing cavity and a lower containing cavity of the radial pressure-resistant shell, the upper containing cavity is in a pressure-resistant sealing state, the lower containing cavity is communicated with seawater, and the second strong magnet and the probe rod are designed to be in a zero-buoyancy mode, so that the problem of sediment resistance measurement of high-precision micro force under the influence of huge underwater pressure is solved;
the in-situ detection device is designed in a miniaturized and lightweight way, the total weight of the whole set of device is below 20Kg, the whole set of device is arranged on the dragon number body and is submerged along with the dragon number, the universality is high, a cable recovery system is not needed, the whole set of device can be disassembled and assembled at sea, and mass processing can be realized. The dragon number manipulator clamps the operation, so that unnecessary manpower and equipment waste are reduced, the working efficiency is improved, and the equipment maintenance difficulty and the operation risk are reduced; in addition, the requirement of the tightness of the equipment is considered, a magnetic switch starting mode is adopted, a submarine operator operates the manipulator to trigger underwater, meanwhile, a wireless communication transmission mode is adopted, the maintainability of the equipment is greatly improved, the safety of offshore operation is improved, and the method has important significance in promoting the development of deep-seated scientific detection technology.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an in situ detection device according to the present application;
FIG. 2 is a schematic view of the upper pressure control cabin module of FIG. 1;
FIG. 3 is a schematic diagram of the lower pressure resistant magnetic triggering and measuring module in FIG. 1;
fig. 4 is a schematic view of the radial pressure housing of fig. 3.
Detailed Description
In order that the above objects, features and advantages of the application will be more readily understood, a further description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be noted that the "upper" and "lower" positional relationships described in this embodiment are based on the directions shown in fig. 1, and the embodiments of the present application and the features in the embodiments may be combined with each other without conflict.
Examples: the utility model provides a non-contact deep sea sediment intensity normal position measuring device based on manned submersible, uses with the cooperation of flood dragon number manned submersible, as shown in fig. 1, including upper portion withstand voltage control cabin module 1, lower part withstand voltage magnetism trigger and measurement module 2 overcoat is equipped with safety cover 3, is provided with rather than vertically T shape mechanical handle 4 on the safety cover 3, safety cover 3 is used for guaranteeing deformation and does not receive external factor influence in seabed operation process, also can protect inside measurement module not damaged by flood dragon number manipulator or other substances simultaneously, and mechanical handle 4 designs to the T shape, makes things convenient for manned submersible manipulator centre gripping.
Referring to fig. 2, the upper pressure-resistant control cabin module 1 includes a control cabin shell 11, a magnetic switch 12 and a communication antenna 13 are disposed on the control cabin shell 11, a main control unit, a battery unit 14, a sensor unit and a data acquisition unit (not shown in the drawing) are disposed in the control cabin shell 11, the magnetic switch 12, the communication antenna 13, the battery unit 14, the sensor unit and the data acquisition unit are all electrically connected with the main control unit, the magnetic switch is used for triggering the main control unit to work, the requirement of the sealing performance of equipment is considered, a magnetic switch starting mode is adopted, the underwater triggering of a manipulator is controlled by a diver, and meanwhile, the maintainability of the equipment is greatly improved, and the safety of offshore operation is improved.
Be provided with multilayer mounting panel 15 in the control cabin casing 11, the range upon range of setting from top to bottom of mounting panel 15 is used for installing master control unit, sensor unit and data acquisition unit etc. respectively, and mounting panel 15 passes through lead screw 16 to be connected and fix at control cabin casing 11, and the quantity of lead screw 16 is optional many, sensor unit includes attitude sensor and acceleration sensor, and this structural design and form not only can effectively practice thrift control cabin casing inner space, provides technical support for the research extension experiment is surveyed to the later stage seabed moreover. As can be seen from fig. 2, the control cabin housing 11 has a cylindrical structure with a height of 200mm to 400mm, an inner diameter of 80mm to 120mm, an outer diameter of 120mm to 160mm, preferably a height of 200mm, an inner diameter of 80mm, and an outer diameter of 120mm, and the upper and lower ends of the control cabin housing 11 are fixed by end caps 17 and sealed by seal rings 18.
As shown in fig. 3 and 4, the lower pressure resistant magnetic triggering and measuring unit 2 includes a radial pressure housing 21, and the radial pressure housing 21 includes an upper accommodating cavity 211 and a lower accommodating cavity 212; the upper accommodating cavity 211 is internally provided with a strain crankshaft 22, the strain crankshaft 22 is connected with the upper pressure-resistant control cabin 1 through a connecting piece 23, the connecting piece 23 is in sealing connection with the radial pressure-resistant shell 21, a plurality of sealing rings 24 can be arranged between the connecting piece 23 and the radial pressure-resistant shell 21 to ensure the sealing effect, the radial surface of the strain crankshaft 22 is provided with a strain gauge 221, the strain gauge 221 is electrically connected with a data acquisition unit through an electric wire, therefore, a through hole 231 can be formed on the connecting piece 23 so as to be convenient for circuit installation, and the lower part of the strain crankshaft 22 is connected with a first strong magnet 25; the lower accommodating cavity 212 is internally provided with a second strong magnet 26, the same polarity of the second strong magnet 26 and the same polarity of the first strong magnet 25 are oppositely arranged, a probe rod 5 is arranged below the second strong magnet 26, the lower end of the radial pressure-resistant shell 21 is provided with a spring bottom cover 27, the probe rod 5 penetrates through the spring bottom cover 27, the top of the second strong magnet and the top of the lower accommodating cavity 212 are provided with a space 28, seawater is filled during internal detection, when the probe rod 5 moves upwards due to penetrating sediment, the second strong magnet 26 moves upwards synchronously, the first strong magnet 25 and the second strong magnet 26 generate equivalent repulsive force due to the same polarity, so that deformation of the strain crankshaft 22 is caused, deformation data are transmitted to a data acquisition unit through a strain gauge 221, and then the strain force is measured. Similarly, the lower pressure resistant magnetic triggering and measuring unit adopts a miniaturized and lightweight design, the radial pressure resistant housing 21 is of a cylindrical structure and is made of 316 high-strength stainless steel, the height of the radial pressure resistant housing is 100mm-150mm, the inner diameter of the radial pressure resistant housing is 16mm-20mm, the outer diameter of the radial pressure resistant housing is 20mm-26mm, the height of the radial pressure resistant housing is 100mm, the inner diameter of the radial pressure resistant housing is 16mm, the outer diameter of the radial pressure resistant housing is 22mm, and the maximum pressure resistance of the radial pressure resistant housing is 80mpa.
In the practical research and development process, the main technical problem of how to realize high-precision and tiny sediment resistance test under the influence of huge underwater pressure is faced, as is well known, the traditional miniature penetrometer usually adopts a spring deformation force form, the resistance is inverted through a fixed algorithm by utilizing the spring deformation, the force can be easily detected because the influence of huge underwater water pressure does not exist on land, the resistance of the underwater sediment is usually extremely tiny (about 3N), the measured force is in the order of magnitude of 3N, but the measurement of the force is extremely difficult for the huge underwater pressure of 70 mpa. Because the resistance measured is extremely small (around 3N), the second ferromagnetic 26 and the weight of the feeler lever 5 will affect the complete and effective transmission of force, for which purpose the lower detecting portion is made in the form of zero buoyancy: the probe rod 5 is made of a composite material into a solid structure, the gravity of the probe rod and the second strong magnet is equal to the buoyancy of the probe rod under water, the probe rod and the second strong magnet have certain buoyancy in water, and the gravity of the probe rod and the second strong magnet are equal to the buoyancy of the probe rod, so that the probe rod has a zero-buoyancy state under water, and the influence of gravity is eliminated.
The in-situ detection device provided by the application creatively adopts a strong magnetic conduction non-contact mode to solve the technical problems of deep sea pressure resistance and strain gauge deformation conduction, and effectively solves the problems by skillfully utilizing the principle of magnetic force conduction and combining with the pressure resistance structure design. Because the working environment is the deep sea area of 7000 m under water, the device is under water and needs to bear the high-strength pressure of 70mpa, the problems of high-depth underwater sealing and pressure resistance are needed to be considered, in the embodiment, the radial pressure-resistant shell of the lower pressure-resistant magnetic triggering and measuring unit is divided into two parts (an upper accommodating cavity and a lower accommodating cavity), the upper accommodating cavity is a pressure-resistant sealing cavity, the strain crankshaft and the first strong magnetic are independently encapsulated in the upper accommodating cavity, the influence of external water pressure on the strain gauge and the corrosion of sea water on the strain crankshaft and the like are effectively eliminated, the unification of the measurement accuracy and the safety is realized, the whole device adopts a miniaturized and portable design, the measurement is carried out by clamping the sea bottom at the high depth by the manned submersible, the working range is greatly increased, and the device can be widely applied to the sampling research of deep-in deep-ocean scientific detection such as deep-ocean-seas and Ma Liya-nanometer seas, and the like, and the development of the deep-science detection technology is greatly promoted.
For a clearer understanding of the in-situ apparatus for detecting the intensity of a deposit according to the present application, the following description is provided in detail with reference to a specific workflow thereof:
before launching, the assembly work of the strong magnetic isolation non-contact deep sea sediment intensity in-situ measuring device of the manned submersible is carried out, and the upper pressure-resistant control cabin module, the lower pressure-resistant magnetic triggering and measuring module, the T-shaped mechanical handle and the protective cover are assembled. Then, system detection is carried out, the electric quantity of a battery is kept sufficient, acquisition parameters are designed, data communication test is completed, the whole set of device is arranged on a dragon number sampling basket, a T-shaped handle faces upwards, a magnetic switch carries out on-off test, and after the completion, the device is prepared to carry out submergence operation along with a dragon number;
the method comprises the steps of in the operation process, after a dragon number is submerged to a designated sea area, carrying out accurate operation by sitting on the bottom, operating a manipulator by a diver to grasp a T-shaped handle of a sediment intensity in-situ measurement device, taking out the device from a sampling basket, adjusting the angle of the manipulator to enable the device to keep vertical, starting a measurement system of the device by utilizing a magnetic switch, slowly inserting the device into sediment after the system is started, and standing for 5 minutes to finish measurement;
and in the recovery process, the manipulator is operated to pull out the device, the device is placed at the installation position of the sampling basket of the dragon number, the device is recovered to the deck along with the dragon number, after the device is discharged, the device is cleaned by clean water, corrosion is avoided, wireless communication is opened, data are read and transferred, data such as instrument posture, longitude and latitude, water depth and the like are recorded, and the collected data are processed, tested and researched.
The present application is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present application without departing from the technical content of the present application still belong to the protection scope of the technical solution of the present application.
Claims (3)
1. The non-contact deep sea sediment intensity in-situ measurement device based on the manned submersible is matched with the dragon-shaped manned submersible for use, and is characterized by comprising an upper pressure-resistant control cabin module and a lower pressure-resistant magnetic triggering and measuring module, wherein a protective cover is sleeved outside the lower pressure-resistant magnetic triggering and measuring module, and a T-shaped mechanical handle perpendicular to the protective cover is arranged on the protective cover;
the upper pressure-resistant control cabin module comprises a control cabin shell, a magnetic switch and a communication antenna are arranged on the control cabin shell, a main control unit, a battery unit, a sensor unit and a data acquisition unit are arranged in the control cabin shell, the magnetic switch, the communication antenna, the battery unit, the sensor unit and the data acquisition unit are all electrically connected with the main control unit, and the magnetic switch is used for triggering the main control unit to work; a plurality of layers of mounting plates are arranged in the control cabin shell, the mounting plates are arranged in a vertically stacked way, is respectively used for installing a main control unit, a sensor unit and a data acquisition unit, the mounting plate is fixedly connected in the control cabin shell through a screw rod;
the lower pressure-resistant magnetic triggering and measuring unit comprises a radial pressure-resistant shell, and the radial pressure-resistant shell comprises an upper accommodating cavity and a lower accommodating cavity; the strain crankshaft is arranged in the upper accommodating cavity and connected with the upper pressure-resistant control cabin through a connecting piece, the connecting piece is connected with the radial pressure-resistant shell in a sealing way, a strain gauge is arranged along the radial surface of the strain crankshaft and is electrically connected with the data acquisition unit, and a first strong magnet is connected below the strain crankshaft; the lower accommodating cavity is internally provided with a second strong magnet, the same polarity of the second strong magnet and the first strong magnet are oppositely arranged, the lower part of the second strong magnet is provided with a probe rod, the lower end of the radial pressure-resistant shell is provided with a spring bottom cover, the probe rod penetrates through the spring bottom cover and can move up and down in the lower accommodating cavity, the probe rod is of a solid structure made of a composite material, and the gravity of the probe rod and the second strong magnet is equal to the buoyancy of the probe rod and the second strong magnet under water.
2. The unmanned submersible-based non-contact deep sea sediment intensity in-situ measurement device of claim 1, wherein: the control cabin shell is of a cylindrical structure, the height of the control cabin shell is 200-400 mm, the inner diameter of the control cabin shell is 80-120 mm, the outer diameter of the control cabin shell is 120-160 mm, and the upper end and the lower end of the control cabin shell are fixed by end covers and sealed by sealing rings.
3. The unmanned submersible-based non-contact deep sea sediment intensity in-situ measurement device of claim 1, wherein: the radial pressure-resistant shell is of a cylindrical structure, the height of the radial pressure-resistant shell is 100mm-150mm, the inner diameter of the radial pressure-resistant shell is 16mm-20mm, and the outer diameter of the radial pressure-resistant shell is 20mm-26mm.
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