CN104777042A - Deep-sea sediment soil mechanics in-situ tester capable of carrying submersible vehicle - Google Patents
Deep-sea sediment soil mechanics in-situ tester capable of carrying submersible vehicle Download PDFInfo
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- CN104777042A CN104777042A CN201510183957.9A CN201510183957A CN104777042A CN 104777042 A CN104777042 A CN 104777042A CN 201510183957 A CN201510183957 A CN 201510183957A CN 104777042 A CN104777042 A CN 104777042A
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Abstract
The invention discloses a deep-sea sediment soil mechanics in-situ tester capable of carrying a submersible vehicle. The tester comprises a shear strength testing mechanism and a penetration resistance testing mechanism, wherein the shear strength testing mechanism comprises a shear driving device, a shear rod, a cross plate, a high-pressure chamber, torque testers and a torque motor; the torque testers are arranged in the high-pressure chamber and are used for detecting the torque of the torque motor; one end of the shear rod is fixedly connected with the cross plate, and the other end of the shear rod stretches into the high-pressure chamber and is connected with the torque motor; the shear driving device is used for driving the shear rod to move up and down; the torque motor is used for driving the shear rod and the cross plate to rotate; the penetration resistance testing mechanism comprises a penetration driving device, a penetration rod and a displacement sensor; the penetration rod and the displacement sensor are arranged on the penetration driving device; the penetration rod is connected with the displacement sensor; and the penetration driving device is used for driving the penetration rod to move up and down. The in-situ tester disclosed by the invention has the advantages that the submersible vehicle is convenient to carry, the measuring operation time is reduced, the working efficiency is high and the like.
Description
Technical field
The present invention relates to a kind of marine bottom sediment Mechanics Performance Testing equipment, refer in particular to a kind of abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device.
Background technology
In the engineering of deep-sea, the shearing-resistance characteristic of marine bottom sediment and pressure-bearing characteristic are necessity foundations of seabed operation equipment Design, construction and operation.Therefore, the geotechnical mechanics characterisitic parameter obtaining marine bottom sediment is accurately and efficiently necessary.
At present, for the test of marine bottom sediment mechanical property, be generally present deep earth sampling, then complete test in the lab.But marine bottom sediment has, and load-bearing capacity is low, compressive deformation is large, highly sensitive, be subject to the features such as environmental interference, in sampling process, be subject to disturbance and change its natural structure; Simultaneously, when transporting, cutting sample and test, because environment is wayward, interference in various degree can be subject to, the soil mechanics characteristic deviation of the soil mechanics characteristic of gained sample and actual marine bottom sediment finally may be caused larger, cause result distortion, the sedimental mechanical characteristic of gained does not have actual application value.Adopt the mode of in-situ test can solve the problem of dtmf distortion DTMF of sampling and in measuring process well.
In prior art, the metering system of marine bottom sediment in-situ test instrument adopts pressure transducer.In deep-sea, the range of sensor should be greater than 60MPa, and the pressure range of actual measurement is 0 ~ 150KPa.Although utilize the principle of hydraulic system transfers pressure, adopt different cross section area piston, amplify pressure and improve precision, the measuring accuracy of existing measurement mechanism is still very limited, is difficult to the geotechnical mechanics parameter accurately measuring marine bottom sediment.
Summary of the invention
The technical problem to be solved in the present invention is just, for the technical matters that prior art exists, the invention provides a kind of abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device be convenient to latent device and carried, can reduce to measure the activity duration, improve operating efficiency.
For solving the problems of the technologies described above, the technical scheme that the present invention proposes is:
Carry an abyssal sediment geotechnical mechanics in-situ test instrument for latent device, comprising:
Shear resistance mechanism for testing, comprise and shear drive unit, shear rod, four-bladed vane, high-pressure chamber, torque tester and torque motor, described torque tester is all located in high-pressure chamber the moment of torsion being used for detecting torque motor, described shear rod one end and described four-bladed vane affixed, the other end stretches into high-pressure chamber and is connected with torque motor, described shearing drive unit is used for driving shear rod to move up and down, and described torque motor is used for driving shear rod and four-bladed vane to rotate;
Penetration resistance mechanism for testing, comprise injection drive unit, injection bar and displacement transducer, described injection bar and displacement transducer are all located on injection drive unit, and described injection bar connects with displacement transducer, and described injection drive unit is used for driving injection bar to move up and down.
As a further improvement on the present invention: one end that described shear rod stretches into high-pressure chamber is also connected with magnetic element, described magnetic element is magnetic shaft coupling.
As a further improvement on the present invention: described injection bar is connected with displacement transducer by flexible member.
As a further improvement on the present invention: described shearing drive unit comprises to be sheared drive motor, shearing driving gear set, shearing drive lead screw and shears hoistable platform, described shearing hoistable platform is threaded connection with shearing drive lead screw, described high-pressure chamber is located at and is sheared on hoistable platform, described shearing drive motor drives shearing drive lead screw to rotate by shearing driving gear set, and drives described shearing hoistable platform and high-pressure chamber to move up and down.
As a further improvement on the present invention: described shearing hoistable platform is provided with shearing guide pole, described shearing guide pole is provided with three, and shape triangular in shape distribution is located in around shear rod.
As a further improvement on the present invention: in described high-pressure chamber, be installed with dividing plate, described high-pressure chamber is divided into Shang Cang and Xia Cang by described dividing plate, described magnetic element is divided into internals and outer member by described dividing plate, described shear rod is connected with the outer member of described magnetic element, and described torque motor drives the outer member of shear rod and magnetic element to rotate.
As a further improvement on the present invention: described injection drive unit comprises injection drive motor, injection driving gear set, injection drive lead screw and injection hoistable platform, described injection hoistable platform and injection drive lead screw are threaded connection, described injection bar is located on injection hoistable platform, institute's displacement sensors is fixedly arranged on injection hoistable platform, described injection drive motor drives injection drive lead screw to rotate by injection driving gear set, and drives described injection hoistable platform and injection bar to move up and down.
As a further improvement on the present invention: described injection hoistable platform is provided with injection guide pole, described injection guide pole is provided with three, and shape triangular in shape distribution is located in around injection bar.
As a further improvement on the present invention: be arranged with injection guide pin bushing outside described injection bar, described injection guide pin bushing is fixed in the lower end of described injection hoistable platform, and described injection bar is provided with the confined planes preventing injection bar from departing from described injection guide pin bushing.
Compared with prior art, the invention has the advantages that:
1, the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device of the present invention, adopt the mode of in-situ test, under the condition of sediment not consolidation not draining, directly measure sedimental shearing-resistance characteristic and bearing capacity, substantially increase precision and the reliability of data.This tester compact conformation, volume are little, lightweight, be convenient to latent device and carry, and the test of shearing-resistance characteristic and bearing capacity independently can complete, and saves the activity duration, substantially increases operating efficiency.
2, the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device of the present invention, the shear rod of shear resistance mechanism for testing is that semi-girder is arranged, decrease the error that cantilever end adopts bearing, axle sleeve etc. to cause, its one end is connected with torque tester by the mode of non-direct contact, the cantilever end of the other end installs four-bladed vane, avoid and adopt in Contact Transmission scheme the factor such as to rub on the impact of measuring accuracy, tester of the present invention is convenient to sealing and pressure compensation.
3, the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device of the present invention, the mode that penetration resistance mechanism for testing adopts flexible member and displacement transducer to combine is measured, metering system is directly simple, decrease the error that modes such as adopting pressure conversion causes, substantially increase measuring accuracy.
Accompanying drawing explanation
Fig. 1 is structural principle schematic diagram of the present invention.
Fig. 2 is the structural principle schematic diagram under another visual angle of the present invention.
Fig. 3 is A-A step profile structural principle schematic diagram of the present invention.
Fig. 4 is B-B step profile structural principle schematic diagram of the present invention.
Marginal data:
1, shear rod; 2, four-bladed vane; 3, high-pressure chamber; 4, magnetic element; 5, torque tester; 6, torque motor; 7, injection bar; 8, flexible member; 9, displacement transducer; 10, drive motor is sheared; 11, driving gear set is sheared; 12, drive lead screw is sheared; 13, hoistable platform is sheared; 14, injection drive motor; 15, injection driving gear set; 16, injection drive lead screw; 17, injection hoistable platform; 18, dividing plate; 19, guide pole is sheared; 20, injection guide pole; 21, injection guide pin bushing; 22, shear motor storehouse; 23, injection motor bin; 24, top board; 25, base plate; 26, screw rod bushing is sheared; 27, injection screw rod bushing.
Embodiment
Below in conjunction with Figure of description and specific embodiment, the invention will be further described.
As shown in Figure 1 to 4, be a kind of embodiment of carrying the abyssal sediment geotechnical mechanics in-situ test instrument of latent device of the present invention.The present invention includes the shear resistance mechanism for testing and penetration resistance mechanism for testing that comprise frame and be arranged in frame.Wherein, shear resistance mechanism for testing comprise shear drive unit, shear rod 1, four-bladed vane 2, high-pressure chamber 3(is as titanium high-pressure chamber), magnetic element 4, torque tester 5 and torque motor 6, magnetic element 4 and torque tester 5 are all located in titanium high-pressure chamber 3, shear rod 1 one end and four-bladed vane 2 affixed, the other end stretches in high-pressure chamber 3 and is connected with magnetic element 4, torque tester 5 is positioned at the output terminal of torque motor 6, shearing drive unit drives shear rod 1 and high-pressure chamber 3 to move up and down, and torque motor 6 drives shear rod 1 and four-bladed vane 2 relatively high pressure storehouse 3 to rotate.Penetration resistance mechanism for testing comprises injection drive unit, injection bar 7, flexible member 8 and displacement transducer 9, injection bar 7 is connected with displacement transducer 9 by flexible member 8, injection bar 7 and displacement transducer 9 are all installed on injection drive unit, and are moved up and down by the drive of injection drive unit.Tester of the present invention, adopt the mode of in-situ test, sedimental shearing-resistance characteristic and bearing capacity is directly measured under the condition of sediment not consolidation not draining, the test of shearing-resistance characteristic and bearing capacity simultaneously can independently complete, substantially increase precision and the reliability of data, measured sediment mechanics parameters is true and reliable, this tester compact conformation, volume are little, lightweight, be convenient to latent device carry, and the test of shearing-resistance characteristic and bearing capacity can independently complete, save the activity duration, substantially increase operating efficiency.The shear rod 1 of shear resistance mechanism for testing of the present invention is arranged in semi-girder, decrease the error that cantilever end adopts bearing, axle sleeve etc. to cause, its one end is connected with torque tester 5 by the mode of non-direct contact, the cantilever end of the other end installs four-bladed vane 2, avoid and adopt in Contact Transmission scheme the factor such as to rub on the impact of measuring accuracy, tester of the present invention is convenient to sealing and pressure compensation.
In the present embodiment, shear drive unit to comprise shear motor storehouse 22, shear drive motor 10, shear driving gear set 11, shear drive lead screw 12 and shear hoistable platform 13, shear motor storehouse 22 is fixed on the top board 24 of frame, oil-filled in shear motor storehouse 22, the pressure compensation in deep water situation can be realized.Shear drive motor 10 and shear driving gear set 11 and be positioned at shear motor storehouse 22, shear drive lead screw 12 and be located between the top board 24 of frame and base plate 25.Shear hoistable platform 13 to be spirally connected with shearing drive lead screw 12 by a shearing screw rod bushing 26, high-pressure chamber 3 is fixed on to be sheared on hoistable platform 13.Shear hoistable platform 13 and be provided with three shearing guide poles 19, shear guide pole 19 and be fixed between the top board 24 of frame and base plate 25, three shearing guide pole 19 distributions triangular in shape and be located in shear rod 1 around.Shearing drive motor 10 drives shearing drive lead screw 12 to rotate by shearing driving gear set 11, drive shearing hoistable platform 13 to move up and down along three shearing guide poles 19, high-pressure chamber 3, magnetic element 4, torque tester 5, torque motor 6 and shear rod 1 are all moved with shearing hoistable platform 13.
In the present embodiment, be installed with dividing plate 18 in high-pressure chamber 3, high-pressure chamber 3 is divided into Shang Cang and Xia Cang by dividing plate 18, and magnetic element 4 is divided into internals and outer member by dividing plate 18, and shear rod 1 is connected with the outer member of magnetic element 4, and is provided with bearing.Torque motor 6 drives shear rod 1 to rotate with the outer member relatively high pressure storehouse 3 of magnetic element 4.In the present embodiment, magnetic element 4 can adopt magnetic shaft coupling according to actual needs.
In the present embodiment, injection drive unit comprises injection motor bin 23, injection drive motor 14, injection driving gear set 15, injection drive lead screw 16 and injection hoistable platform 17, injection motor bin 23 is fixed on the top board 24 of frame, oil-filled in injection motor bin 23, the pressure compensation in deep water situation can be realized.Injection drive motor 14 and injection driving gear set 15 are positioned at injection motor bin 23, and injection drive lead screw 16 is located between the top board 24 of frame and base plate 25.Injection hoistable platform 17 is spirally connected with injection drive lead screw 16 by an injection screw rod bushing 27.Displacement transducer 9 is fixed on the center of injection hoistable platform 17.Be arranged with injection guide pin bushing 21 outside injection bar 7, injection guide pin bushing 21 is fixed in the lower end of injection hoistable platform 17, and injection bar 7 is provided with confined planes, and injection guide pin bushing 21 is provided with the boss coordinated with confined planes, departs from injection guide pin bushing 21 for preventing injection bar 7.Flexible member 8 is located in injection guide pin bushing 21, and injection bar 7 upper end is to the lower end being located at flexible member 8, and the lower end of displacement transducer 9 is to the upper end being located at flexible member 8.In the present embodiment, flexible member 8 is spring.Injection hoistable platform 17 is provided with three injection guide poles 20, and injection guide pole 20 is fixed between the top board 24 of frame and base plate 25, three injection guide pole 20 distributions triangular in shape and be located in injection bar 7 around.Injection drive motor 14 drives injection drive lead screw 16 to rotate by injection driving gear set 15, drive injection hoistable platform 17 to move up and down along three injection guide poles 20, injection bar 7, flexible member 8 all move with injection hoistable platform 17 with displacement transducer 9.Under external force, injection bar 7 relative displacement transducer 9 moves up, simultaneously compression elastic element 8, and records change in displacement by displacement transducer 9.The mode that penetration resistance mechanism for testing adopts flexible member 8, displacement transducer 9 combines is measured, and metering system is directly simple, reduces the error that modes such as adopting pressure conversion causes, greatly improves measuring accuracy.
Principle of work: first latent device is steadily placed on the thalassogenic sedimentation object area needing to measure, then carries out the work of sedimental geotechnical mechanics in-situ test.
In shear resistance test, shearing drive motor 10 drives shearing hoistable platform 13 to move downward along three shearing guide poles 19, and high-pressure chamber 3, magnetic element 4, torque tester 5, torque motor 6 and shear rod 1 steadily move down with shearing hoistable platform 13.After the degree of depth that four-bladed vane 2 injection being downwards positioned at shear rod 1 lower end is certain, shear drive motor 10 to stop operating, torque motor 6 is started working, the outer member of magnetic element 4, shear rod 1 and four-bladed vane 2 rotate, four-bladed vane 2 shears sediment, torque tester 5 just can record the torque value of this depth of penetration, and the four-bladed vane 2 that just can obtain under this degree of depth shears sedimental torque value.
In penetration resistance test, injection drive motor 14 is opened, and injection hoistable platform 17 moves downward along three injection guide poles 20, and injection bar 7, flexible member 8 all move downward with injection hoistable platform 17 with displacement transducer 9.Injection bar 7 is injection sediment downwards, under sedimental effect, injection bar 7 is subject to the effect of power upwards, compression elastic element 8, displacement transducer 9 records the displacement that injection hoistable platform 17 moves down, and namely injection bar 7 be not subject to the displacement under sediment resistance effect.By demarcating the value measured by displacement transducer 9, the penetration resistance value that sediment under a certain degree of depth is corresponding just can be obtained, i.e. the sedimental load-bearing capacity of different depth.In certain depth range, injection bar 7, with in the downward injection sediment of certain speed, by recording corresponding penetration resistance situation, just can obtain the sediment penetration-resistance curve within the scope of certain depth, obtaining sedimental bearer properties.
Above-mentioned is the situation of testing shear resistance and penetration resistance respectively, generally needs to test shear resistance and penetration resistance to abyssal sediment geotechnical mechanics simultaneously.
Shearing drive motor 10 and injection drive motor 14 are opened simultaneously, and in a depth of penetration district, the corresponding degree of depth recorded by displacement transducer 9, and torque tester 5 records corresponding torque value, and then carry out the sediment test of next degree of depth.
So repeatedly, the deposit shear torque value under different depth can just be recorded.After recording the torque value of different depth, by certain demarcation and process, the shearing-resistance characteristic of sediment under different depth can be obtained.
Under rational automatically controlled design function, after geotechnical mechanics tester of the present invention is placed on measured zone, can autonomous action, complete shearing strength and the load-bearing capacity test of marine bottom sediment, and record data, simultaneously through demarcating and after process, the geotechnical mechanics characteristic of marine bottom sediment can being shown in visual pattern ground on computers, for oceanographic engineering or Underwater Engineering, particularly underwater operation equipment, construction and operation provide accurate reliable basis.
Although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention.Any those of ordinary skill in the art, when not departing from technical solution of the present invention scope, can utilize the technology contents of above-mentioned announcement to make many possible variations and modification to technical solution of the present invention, or being revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to the technology of the present invention essence to any simple modification made for any of the above embodiments, equivalent variations and modification, all should drop in the scope of technical solution of the present invention protection.
Claims (9)
1. can carry an abyssal sediment geotechnical mechanics in-situ test instrument for latent device, it is characterized in that, comprising:
Shear resistance mechanism for testing, comprise shearing drive unit, shear rod (1), four-bladed vane (2), high-pressure chamber (3), torque tester (5) and torque motor (6), described torque tester (5) is all located in high-pressure chamber (3) moment of torsion being used for detecting torque motor (6), described shear rod (1) one end and described four-bladed vane (2) affixed, the other end stretches into high-pressure chamber (3) and is connected with torque motor (6), described shearing drive unit is used for driving shear rod (1) to move up and down, described torque motor (6) is used for driving shear rod (1) and four-bladed vane (2) to rotate,
Penetration resistance mechanism for testing, comprise injection drive unit, injection bar (7) and displacement transducer (9), described injection bar (7) and displacement transducer (9) are all located on injection drive unit, described injection bar (7) connects with displacement transducer (9), and described injection drive unit is used for driving injection bar (7) to move up and down.
2. the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device according to claim 1, it is characterized in that: one end that described shear rod (1) stretches into high-pressure chamber (3) is also connected with magnetic element (4), and described magnetic element (4) is magnetic shaft coupling.
3. the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device according to claim 3, is characterized in that: described injection bar (7) is connected with displacement transducer (9) by flexible member (8).
4. the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device according to Claims 2 or 3, it is characterized in that: described shearing drive unit comprises shears drive motor (10), shear driving gear set (11), shear drive lead screw (12) and shear hoistable platform (13), described shearing hoistable platform (13) is threaded connection with shearing drive lead screw (12), described high-pressure chamber (3) is located at and is sheared on hoistable platform (13), described shearing drive motor (10) drives shearing drive lead screw (12) to rotate by shearing driving gear set (11), and drive described shearing hoistable platform (13) and high-pressure chamber (3) to move up and down.
5. the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device according to claim 4, it is characterized in that: described shearing hoistable platform (13) is provided with shears guide pole (19), described shearing guide pole (19) is provided with three, and shape triangular in shape distribution is located in shear rod (1) around.
6. the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device according to Claims 2 or 3, it is characterized in that: in described high-pressure chamber (3), be installed with dividing plate (18), described high-pressure chamber (3) is divided into Shang Cang and Xia Cang by described dividing plate (18), described magnetic element (4) is divided into internals and outer member by described dividing plate (18), described shear rod (1) is connected with the outer member of described magnetic element (4), and described torque motor (6) drives shear rod (1) to rotate with the outer member of magnetic element (4).
7. the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device according to Claims 2 or 3, it is characterized in that: described injection drive unit comprises injection drive motor (14), injection driving gear set (15), injection drive lead screw (16) and injection hoistable platform (17), described injection hoistable platform (17) and injection drive lead screw (16) are threaded connection, described injection bar (7) is located on injection hoistable platform (17), institute's displacement sensors (9) is fixedly arranged on injection hoistable platform (17), described injection drive motor (14) drives injection drive lead screw (16) to rotate by injection driving gear set (15), and drive described injection hoistable platform (17) and injection bar (7) to move up and down.
8. the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device according to claim 7, it is characterized in that: described injection hoistable platform (17) is provided with injection guide pole (20), described injection guide pole (20) is provided with three, and shape triangular in shape distribution is located in injection bar (7) around.
9. the abyssal sediment geotechnical mechanics in-situ test instrument carrying latent device according to claim 7, it is characterized in that: outside described injection bar (7), be arranged with injection guide pin bushing (21), described injection guide pin bushing (21) is fixed in the lower end of described injection hoistable platform (17), and described injection bar (7) is provided with the confined planes preventing injection bar (7) from departing from described injection guide pin bushing (21).
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| CN201510183957.9A CN104777042B (en) | 2015-04-17 | 2015-04-17 | The halmeic deposit geotechnical mechanics in-situ test instrument of latent device can be carried |
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| CN201510183957.9A CN104777042B (en) | 2015-04-17 | 2015-04-17 | The halmeic deposit geotechnical mechanics in-situ test instrument of latent device can be carried |
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| CN110455616A (en) * | 2019-09-06 | 2019-11-15 | 中国科学院深海科学与工程研究所 | A kind of shearing test device of cross plate |
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| CN105424506A (en) * | 2015-11-29 | 2016-03-23 | 中南大学 | Seabed soil texture shearing and bearing strength mechanical property measuring system |
| CN105548368A (en) * | 2016-02-06 | 2016-05-04 | 国家海洋局第一海洋研究所 | Ballast injection type in-situ measurement device for acoustic characteristics of bottom sediments |
| CN105548368B (en) * | 2016-02-06 | 2018-11-13 | 国家海洋局第一海洋研究所 | Ballast penetration type bottom sediment acoustic property in-site measuring device |
| CN105910598B (en) * | 2016-04-05 | 2018-07-24 | 广东工业大学 | Layering acoustic measurement sampler detecting system in situ |
| CN105910598A (en) * | 2016-04-05 | 2016-08-31 | 广东工业大学 | In-situ layered acoustic measuring sampler detection system |
| CN106802132A (en) * | 2017-01-18 | 2017-06-06 | 青岛海洋地质研究所 | A kind of penetration type Multifunction fishing bottom sediment in-situ observation feeler lever |
| CN108318350A (en) * | 2017-10-20 | 2018-07-24 | 同济大学 | A kind of shield soil storehouse fluid slag soil nature shape intelligence assessment method and device |
| CN108318350B (en) * | 2017-10-20 | 2024-02-02 | 同济大学 | Intelligent evaluation method and device for flowing slag soil characteristics of shield soil bin |
| CN108020646A (en) * | 2018-02-05 | 2018-05-11 | 中央民族大学 | In site measurement sea-sediment interface position and the device and method of mechanical characteristic |
| CN108362611A (en) * | 2018-04-02 | 2018-08-03 | 中国海洋大学 | Rheological behavior in-situ measurement device after a kind of liquefaction of bottom sediment |
| CN109238877A (en) * | 2018-09-20 | 2019-01-18 | 中南大学 | The complete deep cross plate shearing instrument in sea |
| CN109946149A (en) * | 2019-03-12 | 2019-06-28 | 中国人民解放军92859部队 | A kind of deposit on marine-bottom surface mechanical characteristic analysis measuring system |
| CN110455616A (en) * | 2019-09-06 | 2019-11-15 | 中国科学院深海科学与工程研究所 | A kind of shearing test device of cross plate |
| CN112730224A (en) * | 2021-03-16 | 2021-04-30 | 矿冶科技集团有限公司 | Device and method for measuring friction coefficient of geotextile bag |
| CN113720704A (en) * | 2021-07-12 | 2021-11-30 | 浙江大学 | Multi-depth shear strength measuring and sampling device for deep sea surface sediments |
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