CN108974284A - A kind of matrix form profile observation system - Google Patents

Abstract

The invention discloses a matrix profile observation system, which includes a shore station system, a mother bomb system and several bullet systems. The shore station system is connected to the mother bomb system through an umbilical cable, and several bullet systems are carried by the mother bomb system before being released. ; The bomb system includes a bomb casing, a system control cabin is arranged on the upper part of the bomb casing, a shroud is provided at the bottom of the shroud, and a first measuring sensor is arranged at the shroud place, all bullets The system is evenly arranged along the circumference of the shell of the mother bomb, and a release device for controlling the synchronous release of all bullet systems is provided in the middle of the shell of the mother bomb. The window of the shell of the mother bomb. The invention provides a method and device for detecting the data of the deep space area of the whole sea, which effectively solves the uniformity and synchronization of the gestures of simultaneous release of multiple bullet systems, and improves the accuracy of the measurement data of the bullet systems.

Description

A Matrix Profile Observation System

technical field

The invention relates to the field of ocean observation, in particular to a full-sea depth matrix profile observation system.

Background technique

At present, the detection of the ocean is no longer a single system, especially the detection of the vertical profile of the ocean. Traditional profilers and other equipment detect ocean data in a single vertical plane, and the measured data cannot be compared and analyzed. There will be accidental data, which will cause large errors in subsequent data analysis. Therefore, more scientists or researchers want to get vertical planes. The data of the whole sea depth and the whole area of the profile at the same time, at this time, it is necessary for the parent body to carry the daughter body to form a matrix profile observation system for detection. Compared with the parent system, the daughter system is smaller in size, and the matrix-type downward throwing of the daughter system with complex sea conditions in the upper layer will cause the system to be unstable and the measured data to be inaccurate. Therefore, when the current matrix profile observation system conducts ocean observation, the upper layer mostly uses the parent system for observation. After diving below the upper layer, the daughter system is released synchronously, and the observation is continued through the daughter system.

However, most of the existing matrix profile observation systems have the following problems:

1. The release of the existing daughter system is mostly pushed out from the chamber of the parent system by the robotic arm. Although the structure of the robotic arm is relatively simple, this structure destroys the overall streamlined shape of the parent system, which will affect the stability of the parent system and is easy to release. It caused a series of problems such as inconsistent posture and out-of-synchronization of the sub-body system after being thrown, which in turn affected the accuracy of the measurement data, especially the time and space synchronization of the bullet measurement data.

2. After the sub-body system reaches the seabed, some segments at the bottom of the sub-body system will often be inserted into or sink into the sand. At this time, the heavy buoyancy adjustment by throwing heavy objects alone often cannot realize the floating of the equipment, so there are often sub-body systems The problem of not being able to effectively recycle.

3. The existing parent system often places CTD sensors and current meters on the top. The system has already affected the fluid in the sea area it passes through during the dive, so the data measured by the CTD sensor and current meter are not the data of the original sea area, that is to say The data measured by the parent system are inaccurate.

Contents of the invention

Based on the above technical problems, the present invention provides a matrix profile observation system.

The technical solution adopted in the present invention is:

A matrix profile observation system, including a shore station system, a mother bomb system and several bullet systems, the shore station system is connected to the mother missile system through an umbilical cable, and several bullet systems are carried by the mother missile system before being released;

The bomb system includes a bomb casing, a system control cabin is arranged on the top of the bomb casing, a shroud is arranged at the bottom of the shroud, and a first measuring sensor is arranged at the shroud, all bullet systems Evenly arranged along the circumference of the shell of the parent bomb, a release device for controlling the synchronous release of all bullet systems is provided in the middle of the shell of the shell, and a convenient bullet system is provided at the position where the bullet system is set on the shell of the shell. the window of the cartridge case;

The release device includes a release motor, a threaded connecting rod, a support rod, a multi-link combination mechanism and a bracket;

The rotating shaft of the release motor is transmission-connected with one end of the threaded connecting rod through a coupling, the other end of the threaded connecting rod is provided with a bearing, the bearing is fixed at one end of the support rod, and a traction tray is provided on the threaded connecting rod;

The support includes a top plate, a bottom plate and several vertical positioning rods connected between the top plate and the bottom plate, the other end of the support rod is fixedly connected with the bottom plate; the release motor is installed on the fixed tray, and the vertical positioning rods are sequentially pass through the fixed pallet and the traction pallet;

The multi-link combination mechanism includes several connecting rod groups, each connecting rod group corresponds to the release of a bullet system; the connecting rod group includes a connecting rod, a first parallel rod, a second parallel rod and a connecting rod. One end of the moving rod is hinged to the traction tray, the other end of the linkage rod is hinged to the middle position of the first parallel rod, one end of the first parallel rod is hinged to the electromagnetic cover, and the other end of the first parallel rod is hinged to the support rod. One end of the second parallel rod is hinged on the fixed ring, the other end of the second parallel rod is hinged on the support rod, the first parallel rod and the second parallel rod are arranged in parallel with each other, the bullet system passes through the fixed ring, and the bullet The top of the system is fixed to the electromagnetic cover, and the connecting rod is connected between the hinge point of the first parallel rod and the electromagnetic cover and the hinge point of the second parallel rod and the fixed ring;

The first measurement sensor, electromagnetic cover and release motor are all connected to the control cabin;

The bullet system includes a bullet casing, an observation system main body section is arranged in the middle and upper part of the bullet casing, and a multi-stage dumping section is arranged in the lower part of the bullet casing;

The multi-stage load dumping section includes a primary load dumping bracket, a secondary load dumping segment body and a load dumping motor, and the primary load dumping bracket includes a first circular plate body, and the bottom periphery of the first circular plate body Connecting rods are arranged at intervals, all connecting rods are radial, a fixed ring is connected to the end of all connecting rods, positioning pins are arranged on both sides of the top of the first circular plate, and a center of the first circular plate is provided with first threaded hole;

The secondary ejection section includes a first circular outer cylinder, a second circular plate is arranged at the bottom of the first circular outer cylinder, the second circular plate is concentrically arranged with the first circular plate, A second threaded hole is provided at the center of the second circular plate body, and a first positioning hole matched with a positioning pin is also provided on the second circular plate, and the positioning pin is inserted into the first positioning hole; The inside of the first circular outer cylinder is provided with a square flat fixed block, and a circular sleeve is arranged on both sides of the square flat fixed block, and a second measuring sensor is arranged in the circular sleeve, and in the center of the square flat fixed block A first shaft hole is provided, and a second positioning hole is provided at both ends of the top of the square flat fixed block;

The dumping motor includes a motor body and a motor shaft, a positioning disk is arranged below the motor body, a third positioning hole is arranged on the positioning disk and facing the second positioning hole, and the second positioning hole A positioning pin shaft is inserted into the third positioning hole, and a second shaft hole is provided at the center of the positioning disc and facing the first shaft hole; the motor shaft and the transmission sleeve are connected by splines, and the transmission sleeve includes an extension shaft, the extension shaft passes through the second shaft hole and the first shaft hole in turn, and an external thread is arranged at the bottom end of the extension shaft, and the extension shaft is inserted into the second threaded hole and the first threaded hole, respectively connected with the second circular plate body It is threadedly connected with the first circular plate body; a tray is arranged on the top of the extension shaft, and a buffer spring is arranged between the motor body and the tray;

The dumping motor is arranged at the bottom of the main section of the observation system, and the main section of the observation system is provided with a communication pressure-resistant cabin, a storage control cabin, a floating body, a damping brush and an antenna, and the second measurement sensor is connected to the storage control cabin through an optical fiber , the storage control cabin is connected to the communication pressure-resistant cabin and the dumping motor respectively, the communication pressure-resistant cabin is connected to the antenna, the floating body is wrapped outside the communication pressure-resistant cabin and the storage control cabin, and the damping brush is arranged on the upper part of the floating body;

The communication pressure chamber is wirelessly connected to the shore station system;

Both the first measurement sensor and the second measurement sensor include a CTD sensor, a MEMS sensor and a sea current meter.

Preferably, the electromagnetic cover is set in the shape of a groove cover, electromagnetic coils are arranged inside the electromagnetic cover, perforations are provided in the center of the electromagnetic cover, antennas are provided on the top of the bullet system, and the top of the bullet system is inserted into the electromagnetic cover, and the antenna is connected from the Piercing through the hole, the top of the bullet system is also provided with a metal segment that matches the electromagnetic cover.

Preferably, there are four bullet systems in total, and the multi-link combination mechanism includes four linkage groups, the four linkage linkages correspond to the release of the four bullet systems, and the linkage rods included in the four linkage linkages One end of each is connected to the traction pallet, and one end of the first parallel rod and the second parallel rod included in the four connecting rod groups is connected to the support rod.

Preferably, the section of the motor shaft is D-shaped, and the center of the transmission sleeve is provided with a D-shaped groove matching with the motor shaft, and the motor shaft is inserted into the D-shaped groove.

Preferably, a second circular outer cylinder is provided outside the dump motor, the communication pressure-resistant cabin and the storage control cabin, and the outer diameter of the second circular outer cylinder is equal to that of the first circular outer cylinder.

Preferably, a depth sensor is further arranged on the second circular outer cylinder, and the depth sensor is connected with the storage control cabin.

Preferably, a pull lock is provided at the tail of the bomb system, and a rubber cable is connected between the umbilical cord and the pull lock.

The beneficial technical effect of the present invention is:

(1) The parent bullet system of the present invention adopts the umbrella skeleton model principle to form a parallelogram connecting rod, which can ensure that the bullet system does not shake left and right during the release process; four groups of parallelograms are fixed on the same traction pallet, and the up and down movement of the traction pallet drives The four groups of parallel rod structures perform the same stretching and contraction movements to ensure the synchronization of release; effectively solve the uniformity and synchronization of the simultaneous release of multiple bullet systems, and improve the accuracy of the measurement data of the bullet system.

(2) The bullet system of the present invention uses a motor to realize two-stage load dumping. When there is sediment in the water, the system is designed to prevent the system from falling into the sediment and the second-stage load dumping is designed. Under normal circumstances, the system dumps heavy objects (first-stage load dumping bracket) It can float up, and when the system sinks into the sand, it can control the secondary dumping, which effectively solves the reliability and ease of implementation of the dumping, and ensures that all released bullets can be effectively recovered by the system to prevent data loss.

(3) The present invention deploys the bullet system in the abdominal cavity of the parent bomb system, and places a current meter and a turbulence sensor at the lower end of the parent bomb system, so as to realize both upper layer data observation and matrix ocean data below the upper layer Observation, and solve the system's own disturbance problem, the observation data is more real and reliable.

(4) The present invention adopts the electromagnetic control method, and the electromagnetic coil is placed inside the groove-shaped electromagnetic cover to absorb the bullet system, and the same electromagnetic switch controls four electromagnetic coils to ensure synchronous release; the threaded connecting rod is used to control the pallet to move up and down, and the bearing outer ring Fixed on the support rod, the inner ring fixes the threaded connecting rod, the motor is connected to the other end of the threaded connecting rod, the motor drives the threaded connecting rod to rotate the tray, which is equivalent to the nut rotating clockwise and counterclockwise with the motor, the control tray can move up and down, and the bearing acts It can ensure that the threaded connecting rod does not shake left and right.

(5) In the bullet system of the present invention, the motor shaft and the drive shaft sleeve are connected by splines and a buffer spring is added to ensure that the motor shaft will not be stressed due to bottoming out during the dive.

(6) In the bullet system of the present invention, the first-stage throwing part adopts an inverted trapezoidal cylindrical cover as a throwing load, and the diving equipment prevents the equipment from sinking into the sand as much as possible when diving under the action of gravity.

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment the present invention will be further described:

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a state diagram of the mother bomb system when diving in the upper layer in the present invention, in which the bullet system is not fully opened;

Fig. 3 is a schematic diagram of the structure and principle of the release device of the parent bomb system in the present invention;

Fig. 4 is a schematic diagram of the principle of the axonometric structure of the release device of the parent bomb system in the present invention;

Fig. 5 is a schematic diagram of part of the structure of the release device of the bomb system, which mainly shows the structure of the connecting rod group;

Fig. 6 is a schematic diagram of part of the structure of the release device of the bomb system, which mainly shows the structure of the threaded connecting rod;

Fig. 7 is a structural schematic diagram of the electromagnetic cover in the release device of the mother bomb system;

Fig. 8 is a schematic diagram of the structural principle of the bullet system of the present invention;

Fig. 9 is a schematic structural view of the bullet system of the present invention after omitting parts such as the first circular outer cylinder and the second circular outer cylinder;

Fig. 10 is a schematic structural view of the first-stage throwing support in the bullet system of the present invention;

Fig. 11 is a schematic structural view of the transmission sleeve in the bullet system of the present invention;

Fig. 12 is a schematic diagram of the connection between the transmission sleeve and the first-stage dumping bracket in the bullet system of the present invention;

Fig. 13 is a schematic diagram of the positioning of the positioning disk and the square flat fixing block in the bullet system of the present invention.

Detailed ways

In conjunction with the accompanying drawings, a matrix profile observation system includes a shore station system 3, a mother bomb system 2 and several bullet systems 1, the shore station system 3 is connected to the mother missile system 2 through an umbilical cable 4, and several bullet systems 1 are in Carried by mother bomb system 2 before release.

Described bomb system 2 comprises bomb casing 5, is provided with system control compartment 201 on the top of bomb casing 5, is provided with shroud 6 at the bottom of shroud casing, and is provided with first shroud 6 place. Measuring sensors 7, all the bullet systems 1 are evenly arranged along the circumference of the shell shell 5, and a release device for controlling the synchronous release of all bullet systems is arranged in the middle of the shell shell. A window 11 for the bullet system to extend out of the shell of the shell is provided at the position where the bullet system is correspondingly arranged on the shell of the shell.

The release device includes a release motor 202, a threaded connecting rod 203, a support rod 204, a multi-link combination mechanism and a bracket. The rotating shaft of the release motor 202 is connected to one end of the threaded connecting rod 203 through a coupling 205. The other end of the threaded connecting rod 203 is provided with a bearing 206, and the bearing 206 is fixed on the top of the support rod 207. There is a traction tray 208 . The support includes a top board 209 , a bottom board 2010 and several vertical positioning rods 2011 connected between the top board and the bottom board, and the bottom ends of the support rods are fixedly connected with the bottom board 2010 . The motor 202 is installed on the fixed tray 2012, the system control cabin 201 is installed between the fixed tray and the top plate, and the vertical positioning rod passes through the fixed tray and the traction tray in turn.

The multi-link combination mechanism includes several link groups, and each link group corresponds to the release of a bullet system 2013 . Described connecting rod group comprises linkage rod 2014, first parallel rod 2015, second parallel rod 2016 and connecting rod 2017, and one end of linkage rod 2014 is hinged with traction tray 208, and the other end of linkage rod is connected with first parallel rod Hinged at the middle position of the first parallel rod, one end of the first parallel rod is hinged on the electromagnetic cover 2019, the other end of the first parallel rod is hinged on the upper part of the support rod, one end of the second parallel rod is hinged on the fixed ring 2020, the second parallel rod The other end is hinged at the middle of the support rod, and the first parallel rod 2015 and the second parallel rod 2016 are arranged parallel to each other. The bullet system 2013 passes through the fixed ring 20, the top of the bullet system is fixed with the electromagnetic cover 2019, and the connecting rod is connected between the hinge point of the first parallel rod and the electromagnetic cover and the hinge point of the second parallel rod and the fixed ring . Both the electromagnetic cover 2019 and the release motor 202 are connected to the system control cabin 201 .

The first measurement sensor 7 , the electromagnetic cover 2019 and the release motor 202 are all connected to the system control cabin 201 .

The bullet system 1 includes a bullet casing, an observation system main body section is arranged in the middle and upper part of the bullet casing, and a multi-stage ejection section is arranged in the lower part of the bullet casing.

The multi-stage load dump section includes a primary load dump bracket 101, a secondary load dump segment body 102 and a load dump motor 103, and the primary load dump bracket 101 includes a first circular plate body 1101. The bottom periphery of the plate body 1101 is provided with connecting rods 1102 at intervals, and all connecting rods are radial, and a fixed ring 1103 is connected at the ends of all connecting rods, and positioning pins 1104 are arranged on both sides of the top of the first circular plate body. A first threaded hole 1105 is provided in the center of a circular plate.

The second-stage ejection segment body 102 includes a first circular outer cylinder 1201, and a second circular plate body 1202 is arranged at the bottom of the first circular outer cylinder 1201, and the second circular plate body 1202 is connected to the first circular plate body. The plate body is concentrically arranged, and a second threaded hole is arranged in the center of the second circular plate body, and a first positioning hole matched with a positioning pin is also provided on the second circular plate, and the positioning pin is inserted into the first in the positioning hole. A square flat fixed block 1203 is arranged inside the first circular outer cylinder, a circular sleeve 1204 is arranged on both sides of the square flat fixed block, and a second measuring sensor 8 is arranged in the circular sleeve, and a square flat The center of the fixed block is provided with a first shaft hole, and the two ends of the top of the square flat fixed block are provided with second positioning holes.

The dumping motor 103 includes a motor main body and a motor shaft. A positioning disc 104 is arranged below the motor main body. A third positioning hole is arranged on the positioning disc and at a position facing the second positioning hole. A positioning pin shaft 105 is inserted into the positioning hole and the third positioning hole, and a second shaft hole is provided at the center of the positioning disk and facing the first shaft hole. The shaft of the motor is splined to the transmission sleeve 106, the transmission sleeve 106 includes an extension shaft 1601, the extension shaft 1601 passes through the second shaft hole and the first shaft hole in turn, and an external thread 1602 is arranged at the bottom end of the extension shaft. The extension shaft is inserted into the second threaded hole and the first threaded hole, and is threadedly connected with the second circular plate body 1202 and the first circular plate body 1101 respectively. A tray 1603 is arranged at the top of the extension shaft, and a buffer spring 107 is arranged between the motor body and the tray.

The dumping motor 103 is arranged at the bottom of the main section of the observation system, and the main section of the observation system is provided with a communication pressure-resistant cabin 108, a storage control cabin 109, a floating body 1010, a damping brush 1011 and an antenna 1012. Connect the storage control cabin, the storage control cabin is respectively connected with the communication pressure cabin and the dump motor, and the communication pressure cabin is connected with the antenna. The floating body is wrapped on the outside of the communication pressure-resistant cabin and the storage control cabin, and the damping brush is arranged on the upper part of the floating body.

The communication pressure chamber 108 is wirelessly connected with the shore station system 3 . Both the first measurement sensor 7 and the second measurement sensor 8 include CTD sensors, MEMS sensors, sea current meters and the like.

As a further design of the present invention, the electromagnetic cover 2019 is set in the shape of a groove cover, electromagnetic coils are arranged inside the electromagnetic cover, a perforation 2021 is provided in the center of the electromagnetic cover, an antenna 2022 is provided on the top of the bullet system, and an antenna 2022 is provided on the top of the bullet system. Inserted into the electromagnetic cover, the antenna passes through the perforation, and a metal segment matching with the electromagnetic cover is also arranged on the top of the bullet system. The metal segment can be a piece of metal casing that wraps around the top of the bullet system.

Further, the connection mode between the electromagnetic cover 2019 and the bullet system 2013 is that when the electromagnetic cover is powered off, the electromagnetic cover is attracted to the metal segment on the bullet system, and when the electromagnetic cover is powered on, the electromagnetic cover and the bullet system are The metal segments repel each other to realize the release of the bullet system.

Further, the multi-link combination mechanism includes four link groups, the four link groups correspond to the release of the four bullet systems, one end of the linkage rod included in the four link groups is connected to the traction tray, One ends of the first parallel rods and the second parallel rods included in the four connecting rod groups are connected to the supporting rods. Of course, the number of connecting rod groups can also be increased or decreased correspondingly according to the needs of ocean observation.

Further, the bearing includes an outer ring and an inner ring, the end of the threaded connecting rod is inserted into the inner ring of the bearing, and the outer ring of the bearing and the support rod are fixed together.

Further, the section of the shaft of the dumping motor is D-shaped, and the center of the transmission sleeve 106 is provided with a D-shaped groove 1604 matching with the motor shaft, and the motor shaft is inserted into the D-shaped groove 1604, but not inserted into the The bottom of the D-shaped groove. This structure not only ensures that the motor shaft can drive the transmission shaft sleeve 106 to rotate, but also enables the transmission shaft sleeve 106 to move back and forth in the axial direction relative to the motor shaft.

Furthermore, a second circular outer cylinder 1014 is provided outside the dump motor, the communication pressure-resistant cabin and the storage control cabin, and the outer diameter of the second circular outer cylinder 1014 is equal to that of the first circular outer cylinder 1201 . This structure makes the outer diameter of the main part of the system the same as that of the dumping part, that is, adopts an integrated design with good streamlines. At the same time, with the design of the center of gravity on the bottom and the center of buoyancy on the top, the observation system can dive vertically stably.

Further, a depth sensor is also arranged on the second circular outer cylinder, and the depth sensor is connected with the storage control cabin. The depth sensor can be used to monitor the depth of the system in real time, which ensures that when the equipment touches the bottom and the measuring sensor is damaged, the depth of the equipment can still be monitored, so as to transmit relevant signals to the dump motor to control its stop or operation , that is, according to the monitored depth change, determine whether to execute the second-level load dump, and transmit a signal to the motor.

Further, a circular hole 1015 is opened at the position facing the circular sleeve on the first circular plate body and the second circular plate body, and the measuring probe of the measuring sensor passes through the circular hole and is placed in the In the inner space of the first-level throwing bracket. The first-level dumping bracket also serves as a protection for the measuring probe.

The above-mentioned dump motor 103 is connected with a watertight plug 1016 .

Furthermore, the tail of the bomb system 2 is provided with a pull lock 9 , and a rubber cable 10 is connected between the umbilical cable 4 and the pull lock 9 .

The above-mentioned shore station system will receive the data collected by the mother bomb system in real time. The power supply in the shore station system provides energy to the mother bomb system. The shore station system communicates with the mother bomb system through the umbilical cable and provides energy to the mother bomb. The pull lock is used to hang on the hook during the lowering of the bomb system. One end of the rubber cable is fixed on the umbilical cable and the other end is fixed on the lifting lock. This design is to stop the mother bomb system when it is lowered to a water depth of 500 meters. If nothing is done, the mother bomb system will be pulled up by the umbilical cable When stopping, a large reaction force will be generated. After adding the rubber cable, the reaction force will first act on the rubber cable to make the mother bomb system stop stably, so that the end of the umbilical cable connected to the shore station system will not be subjected to a large force. .

The upper layer (above the water depth of 500 meters) is observed by the mother bomb system, and the upper layer is observed by multiple bullet systems simultaneously. The release process of the bullet system is roughly as follows:

After diving below the upper upper layer, the bullet system needs to be released for observation. At this time, the control cabin 201 transmits a release signal to the release motor 202, the motor rotates forward, and the threaded connecting rod 203 is driven by the coupling to rotate. During the rotation process of the threaded connecting rod 203, the threaded connecting rod 203 drives the traction tray 206 to move downward through the positioning rod 2011 at the same time, and at the same time drives the connecting rod 2014 to move downward, and supports the first parallel rod 2015. open. After the first parallel rod 2015 and the second parallel rod 2016 are fully stretched, the control cabin 201 controls the electromagnetic cover to be energized. At this time, the electromagnetic cover 2019 is repelled by the metal segment on the subsystem, and the subsystem 2013 is released to dive under the action of gravity. .

Further supplementary instructions are as follows:

The release device is used for underwater release of the matrix bullet system, the control cabin 201 is used to place circuit components such as control unit and power supply, and the positioning rod 2011 is used for the force generated by the threaded connecting rod 203 during the rotation to prevent the traction tray 208 from leveling direction of rotation. The fixed tray 2012 is used to fix the release motor 202 and the control cabin 201. The release motor 202 is used to generate torque to drive the threaded connecting rod 203 to rotate. The coupling is used to connect the motor shaft and the threaded connecting rod 203. There are four traction trays 208 below The hinge, when the traction tray 208 moves up and down, can drive the linkage rod 2014 to pull the parallelogram formed by the parallel connecting rod and the connecting rod 2017 to expand and contract, so that the subsystem can be stretched into a matrix form, and the outer ring of the bearing 206 and the support The rods 207 are fixed together without relative movement. The threaded connecting rod 203 is inserted into the inner diameter of the bearing. This design can not only allow the threaded connecting rod to rotate but also form an integral bracket with the fixed rod. The electromagnetic cover 2019 is designed in the shape of a groove cover. It can ensure that the subsystem does not slide in the horizontal direction. The fixing ring 2020 is to ensure that the subsystem does not swing greatly to make the system unstable. The fixing ring 2020 does not generate friction in the vertical direction. The connecting rod 2017 is to form a parallelogram If this structure is not added, the parallelogram structure produced by simply using the subsystem as one side of the parallel structure is not standard, and it is difficult to achieve the control effect. When the electromagnetic cover 2019 releases the subsystem, it is likely that the electromagnetic cover will be separated. The system snaps onto the retaining ring 2020.

When the system reaches the release condition, the motor controls the threaded connecting rod to rotate clockwise, and the connecting part of the traction tray and the threaded connecting rod is equivalent to a nut. At this time, the downward movement of the traction tray drives the first parallel rod and the second parallel rod to flatten, and the system unfolds. The rear electromagnetic switch controls the release subsystem of the electromagnetic cover. After the release is completed, the motor drives the threaded connecting rod to rotate counterclockwise, and the traction tray moves upward to retract the parallel rod.

After multiple bullet systems are released from the abdominal cavity of the parent bomb system, ocean observation is carried out synchronously. When they reach the bottom of the ocean, they need to perform multi-stage dumping, and then float to the water surface to collect and transmit measurement information with the shore station system. The dumping process is roughly as follows:

A dumping motor is used to realize two-stage load dumping. When there is sediment under the water, the system is designed to prevent the system from falling into the sediment. The secondary load dumping is designed. Under normal circumstances, the system can float heavy objects (first-stage load dumping bracket) and float when the system When stuck in the sand, the secondary load dump is controlled, which effectively solves the reliability and ease of load dumping. In addition, in the present invention, the shaft of the dumping motor and the transmission shaft sleeve are connected by splines, and buffer springs are added to ensure that the equipment will not be stressed by the motor shaft due to bottoming out during the dive.

The method for dumping a load by using the above-mentioned underwater multi-stage load dumping device specifically includes the following steps:

(1) When the multi-stage dumping device and the main part of the observation system are dropped into the seawater, they dive vertically under the action of gravity, and the measurement sensors measure the seawater data synchronously during the dive, and transmit the data to the storage control cabin 109 through the optical fiber storage.

(2) When the measuring sensor detects that the depth of the multi-stage load dumping device and the main section of the observation system no longer changes, it is judged that the multi-stage load dumping device and the main section of the observation system have reached the seabed, and at this time, a load dumping signal is sent to the dumping motor 103 .

(3) The load-dumping motor drives the transmission shaft sleeve 106 to reverse through the motor shaft. Due to the positioning effect of the positioning pin, the first-stage load-dumping bracket 101 does not rotate accordingly, and the external thread at the bottom of the transmission sleeve gradually moves from the first circular plate The first threaded hole of the body is unscrewed, and when it is fully unscrewed, the first-stage load dump bracket is separated from the second-stage load dump section to realize the first-stage load dump.

(4) After the dumping of the first-level dumping support is completed, if the second-level dumping section and the main section of the observation system float up, the measurement sensor detects that the depth of the second-level dumping section and the main section of the observation system has changed, and the storage The control cabin and/or the depth sensor output a stop signal to the load dump motor, the load dump motor stops rotating, and no secondary load dump is performed.

(5) After the dumping of the first-level dumping support is completed, if the second-level dumping section body 102 and the main section of the observation system still do not float up, the measurement sensor monitors and finds that the depth of the second-level dumping section body and the main section of the observation system does not occur. change, at this moment, the storage control cabin outputs a signal to the load dump motor, and the load dump motor continues to rotate, and the load dump motor drives the drive shaft sleeve through the motor shaft to continue to reverse. Due to the positioning effect of the positioning pin shaft, the second-stage dumping section does not rotate as a whole, and the external thread at the bottom of the transmission sleeve is gradually unscrewed from the second threaded hole of the second circular plate body. When it is fully unscrewed, the second The first-level dumping section is separated from the main section of the observation system to realize the second-level dumping.

(6) After the secondary load dumping is completed, the main section of the observation system rises rapidly under the action of the buoyancy of the buoyant body, and the optical fiber connecting the measurement sensor and the storage control cabin 109 is torn off. When the main section of the observation system floats to the sea surface, the communication withstand pressure The cabin 108 sends position information through the antenna 1012, and the main section of the observation system is recovered.

The present invention is supplemented below:

The invention includes a shore station system, a mother bomb system and a bullet system, wherein the mother bomb system carries four bullet systems to realize matrix profile observation, and can observe the data of the entire three-dimensional space of the ocean, including ocean currents and turbulence, etc., and the sea conditions in the upper ocean are more complicated The area in the area is observed by the mother bomb system. The mother bomb system is relatively large and relatively stable in the upper layer, and the observed data is more real and reliable. Below the upper layer, four bullet systems are used for synchronous observation of matrix ocean data.

In the present invention, before the shore station is released, the umbilical cable is inserted into the upper part of the mother bomb system through the watertight plug, and the optical cable plug is fixed in the mother bomb system through the watertight plug fixing cover, so that the cable is not separated from the mother bomb system during recovery and towing. The present invention can make the four bullet systems slightly open to form the empennage through the self-check operation before throwing into the water, as shown in Figure 2. The data collected by the sea current meter, MEMS sensor, and CTD sensor are transmitted to the mother bomb system cabin, and then transmitted back through the umbilical cable. shore station system. When the system dives to the upper layer, the release motor controls the release mechanism to extend to form a matrix structure, and controls the synchronous matrix release of bullets. After the release, the bullet system matrix dives to collect data. When it reaches the seabed, it first throws the first-level throwing bracket. If the MEMS sensor or CTD sensor is inserted into the seabed, it will continue to throw the second-level throwing section. The second-level throwing section and the observation The main part of the system transmits data through optical fiber, which can be broken by gravity.

The layout of the present invention is divided into upper, middle and lower. The upper part is equipped with a mother bomb control system for controlling the release of bullets. The middle part is equipped with four bullet systems for releasing and detecting matrix turbulence and ocean current data below the upper layer. The four bullet systems It is placed in the abdomen of the mother bomb system before dumping to ensure the streamlined shape of the overall system. The current meter, MEMS sensor and CTD sensor are placed under the mother bomb, and the detection sensor is placed at the end to ensure that the detection data is true and effective. to currents and turbulence.

Data recovery adopts long-distance maritime wireless communication. The sea and sea conditions are more complicated, and the bullet system is relatively small. To prevent the problem that the bullet system is difficult to find, the wireless data transmission method is preferred to transmit the data to the shore station system. The wave-action bullet system will move above and below the sea surface. When it is below the sea surface, there is no wireless signal and cannot be transmitted. The method of continuous transmission after disconnecting the network can ensure that the transmission data continues to be transmitted at the disconnected position, preventing data duplication and data loss.

When diving in the upper layer, the four bullet systems are slightly opened and protrude from the window of the shell of the mother bomb, as the tail fin of the mother bomb system, similar to the arrow wings in the bow and arrow, as shown in Figure 2, it will be more stable during the dive , the four bullet systems can be stored in the abdomen of the parent bomb system (inside the shell of the parent bomb), which will be safer and more convenient during transportation.

Parts not mentioned in the above methods can be realized by adopting or referring to existing technologies.

It should be noted that the above-mentioned embodiments are only for illustrating the technical idea and characteristics of the present invention, and its purpose is to enable technicians to understand the content and methods of the present invention and implement them smoothly, and do not limit the scope of protection of the present invention. All equivalent changes or modifications made according to the contents of the present invention fall within the protection scope of the present invention.

Claims (7)

1. a kind of matrix form profile observation system, it is characterised in that: including bank station system, female bullet system and several bullet systems System, bank station system are connect by umbilical cables with female bullet system, several bullet systems are before releasing as entrained by female bullet system；

Mother's bullet system includes female bullet shell, female top for playing shell is provided with system control cabinet, at female bottom for playing shell Portion is provided with pod, and the first measurement sensor is provided at pod, and all bullet systems are along female border for playing shell It is evenly arranged, female intermediate position for playing shell is provided with the release device for controlling all bullet system synchronous releases, Mother, which plays to be correspondingly arranged to offer at the position of bullet system on shell, facilitates bullet system to stretch out female window for playing shell；

The release device includes release motor, threaded rod, support rod, multi link combined mechanism and bracket；

The shaft for discharging motor is sequentially connected by one end of shaft coupling and threaded rod, and the other end of threaded rod is provided with axis It holds, the bearing is fixed on one end of support rod, and traction pallet is provided in threaded rod；

The bracket includes top plate and bottom plate and several the vertically oriented bars being connected between top plate and bottom plate, the support rod The other end be fixedly connected with bottom plate；The release motor is mounted on fixed tray, and vertically oriented bar is successively from fixed tray It is passed through in traction pallet；

The multi link combined mechanism includes several connection rod sets, the release of the corresponding bullet system of each connection rod set；It is described Connection rod set includes interlocking lever, the first parallel bar, the second parallel bar and connecting rod, and one end of interlocking lever and traction pallet are hinged, even The other end of lever and the middle position of the first parallel bar are hinged, and one end of the first parallel bar is hinged on electromagnetic shield, and first is flat The other end of row bar is hinged on support rod, and one end of the second parallel bar is hinged in fixed ring, the other end of the second parallel bar It being hinged on support rod, the first parallel bar and the second parallel bar are arranged in parallel between each other, and bullet system is passed through from fixed ring, The top of bullet system is fixed with electromagnetic shield, and the connecting rod is connected to the hinge joint of the first parallel bar and electromagnetic shield and second flat Between row bar and the hinge joint of fixed ring；

First measurement sensor, electromagnetic shield and release motor are connect with control cabinet；

The bullet system includes bullet shell body, the middle and upper part of bullet shell body is provided with observation system main paragraph, in cartridge case The lower part of body is provided with multistage throw and carries section；

The multistage load section of throwing includes that level-one throwing carries bracket, second level throws and carries segment body and throwing load motor, and the level-one, which is thrown, carries bracket packet The first round plate body is included, is arranged at intervals with connecting rod in the bottom periphery of the first round plate body, all connecting rods are radial, The end of all connecting rods connects a fixed ring, the top both sides of the first round plate body is provided with positioning pin column, in the first circle Shape plate body is provided centrally with the first threaded hole；

It includes the first circular outer cylinder that the second level, which throws and carries segment body, and the bottom of the first circular outer cylinder is provided with the second round plate body, Second round plate body is arranged concentrically with the first round plate body, is provided centrally with the second threaded hole in the second circle plate body, the It is additionally provided with the first positioning hole matched with positioning pin column on two round plate bodys, positioning pin column is inserted into first positioning hole；? First circular outer cylinder is internally provided with quad flat fixed block, and the two sides of quad flat fixed block are provided with circular sleeve, It is provided with the second measurement sensor in circular sleeve, first shaft hole is provided centrally in quad flat fixed block, rectangular The top both ends of flat fixed block are provided with second location hole；

It includes motor body and machine shaft that the throwing, which carries motor, and positioning disc is provided with below motor body, is being positioned It is provided with third location hole on disk and at the position of face second location hole, is inserted into second location hole and third location hole There is alignment pin, is provided with the second axis hole at the center of positioning disc and face first shaft hole；Machine shaft and driving sleeve It is connected by spline, driving sleeve includes an extension shaft, and extension shaft sequentially passes through the second axis hole and first shaft hole, in extension shaft Bottom end is provided with external screw thread, and extension shaft is inserted into the second threaded hole and the first threaded hole, respectively with the second round plate body and first Round plate body is threadedly coupled；The top of extension shaft is provided with pallet, buffer spring is provided between motor body and pallet；

Described throw carries the bottom that observation system main paragraph is arranged in motor, and communication pressure resistance is provided on observation system main paragraph Cabin, storage control cabinet, floating body, damper brushes and antenna, second measurement sensor connect storage control cabinet, storage by optical fiber Control cabinet carries motor with communication pressure-resistant cabin and throwing respectively and connect, and communication pressure-resistant cabin connects antenna, and it is resistance to that the floating body is wrapped in communication The top of floating body is arranged in the outside of ballasting and storage control cabinet, damper brushes；

The communication pressure-resistant cabin and bank station system wireless communication connection；

First measurement sensor and the second measurement sensor include CTD sensor, MEMS sensor and current meter.

2. a kind of matrix form profile observation system according to claim 1, it is characterised in that: the electromagnetic shield is set as recessed Slot hood shape, the inside of electromagnetic shield are laid with electromagnetic coil, and electromagnetic shield is provided centrally with perforation, the top setting of bullet system Have an antenna, in the top insertion electromagnetic shield of bullet system, antenna is pierced by from perforation, be additionally provided at the top of bullet system with The metal segment body that electromagnetic shield matches.

3. a kind of matrix form profile observation system according to claim 1, it is characterised in that: the bullet system is arranged altogether Four, the multi link combined mechanism includes four connection rod sets, the release of the corresponding four bullet systems of four connection rod sets, four companies One end of interlocking lever included by bar group is both connected on traction pallet, the first parallel bar and second included by four connection rod sets Wherein one end of parallel bar is both connected on support rod.

4. a kind of matrix form profile observation system according to claim 1, it is characterised in that: the section of the machine shaft In D font, the driving sleeve is provided centrally with the D-shaped slot matched with machine shaft, and machine shaft is inserted into D-shaped slot.

5. a kind of matrix form profile observation system according to claim 1, it is characterised in that: resistance in throwing load motor, communication The outside of ballasting and storage control cabinet is provided with the second circular outer cylinder, the outer diameter phase of the second circular outer cylinder and the first circular outer cylinder Deng.

6. a kind of matrix form profile observation system according to claim 5, it is characterised in that: on the second circular outer cylinder also It is provided with depth transducer, depth transducer is connect with storage control cabinet.

7. a kind of matrix form profile observation system according to claim 1, it is characterised in that: the tail portion of mother's bullet system It is provided with lifting lock, is connected with rubber cable between umbilical cables and lifting lock.