CN111913233A - Self-adjusting hydrostatic force injection device and method suitable for land and slope area - Google Patents
Self-adjusting hydrostatic force injection device and method suitable for land and slope area Download PDFInfo
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
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Abstract
The invention relates to the field of deep sea sediment detection and sampling, in particular to a self-adjusting hydrostatic penetration device and method suitable for a land slope area. Including the adjustable injection platform in upper portion and the adjustable supporting platform in lower part, the adjustable injection platform in upper portion is connected with the upper surface fixed connection of the adjustable supporting platform in lower part, and the adjustable injection platform in upper portion includes frame, control cabin, injection mechanism, hydraulic pressure station, counter weight and jack I, and control cabin, injection mechanism, hydraulic pressure station, counter weight and jack I all set up in the frame, and four jack I are installed to steel framework's bottom, and jack I is fixed on the adjustable supporting platform in lower part. The device has simple structure, convenient use and low cost, can ensure that the whole gravity center of the device is always inconvenient or slightly changed as much as possible to the maximum extent, and avoids the unilateral sinking or the whole overturning of the device caused by downward movement or uneven stress of the gravity center in the injection process.
Description
Technical Field
The invention relates to the field of deep sea sediment detection and sampling, in particular to a self-adjusting hydrostatic penetration device and method suitable for a land slope area.
Background
Human beings cannot live in the ocean, and therefore, the understanding and understanding of the ocean needs to depend on the improvement of ocean exploration and monitoring technology and exploration equipment industrialized by the technology to a great extent. Through the effort of nearly half a century, the research and development of ocean science, ocean technology and ocean equipment in China have been developed greatly. Particularly, in recent years, with the implementation of the 'ocean Enhance' strategy, China develops ocean equipment with multiple independent intellectual property rights in the ocean field, and a group of influential and top-class results in the world are formed. The equipment and the results provide advanced technical means for the research of ocean science and ocean engineering, promote the vigorous development of ocean exploration and monitoring technology in China, and ensure the safety guarantee of ocean engineering construction such as offshore wind power, submarine tunnels and the like. At present, immeasurable new power is provided for the innovation of ocean science in China on the steaming day of the development of ocean exploration and monitoring technology and equipment in China.
For marine detection and monitoring, different disciplines target different objects. For marine engineering, in addition to the conventional objects of sea waves, tides, currents, etc., the engineering properties of seafloor sediments are the most important objects to detect and monitor. The best and most common method for measuring the engineering mechanical properties of the submarine sediments at present is a penetration method. Various types of probe rods are penetrated into the submarine sediments in a static or dynamic mode, and various parameters of the sediments are obtained.
In order to realize long-term in-situ observation of the submarine sediments by adopting a penetration probe, the current main technical means comprise four modes of gravity penetration, piling penetration, drilling penetration and static force penetration.
The gravity penetration is a method for controlling the penetration body to enter the sediment by controlling the lowering speed of the mooring rope or accurately calculating the shape, the floating weight and the gravity center position of the penetration body and by a method similar to a free falling body. The equipment is simple to manufacture, but the equipment processing precision, calculation errors and the influence of the field environment are required to realize the penetration process of the specified depth and posture as expected, and the equipment safety is ensured, so that the difficulty is very high.
The piling penetration is usually that firstly the gravity penetration method is used to make the penetration body enter the soil body primarily, and then the penetration body reaches the designated depth through the built-in or external piling equipment and the repeated piling mode. Compared with gravity penetration, the method greatly reduces the requirements on calculation and equipment form, but the posture of a penetration body in the piling process is difficult to effectively control, and vibration generated in the piling process can generate huge disturbance on surrounding sediments.
Drilling penetration is used for reference of the traditional drilling method, after hole forming, a penetration body is distributed into seabed sediment through a drilling pipe, and then 'penetration' is carried out through backfilling. The method is stable and reliable, but has high cost and long time, and the fit between the penetration probe and the sediment is very poor, which often leads to invalid observation.
The static force injection uses the seabed static force penetration technology for reference, adopts a bottom-sitting type injection platform, is driven by a motor or a hydraulic press and the like, and utilizes a mechanical arm to send an injection body to a designated position in the sediment. The method is stable and reliable, is easy to realize posture and depth control, and is a relatively safer and more accurate penetration mode. Static force penetration is also the most common mode of the current probe rod, and the penetration device is stably supported on the surface of the sea bed, and the probe is directly and continuously penetrated into the sea bottom to obtain data to be measured. The matched probe rod can be any one of in-situ detection probe rods suitable for soil body in-situ test, and various sensors are installed on the conical head.
However, since the static force penetration requires the penetration device to be placed on the surface of the sea bed, once the surface of the sea bed is a slope, the device is caused to assume an inclined state on the surface of the sea bed. Because the gravity center shifts towards the downhill direction, the downward-sloping supporting legs of the attention device bear larger force, and the downward-sloping supporting legs are easy to be sunk into sediments, so that the penetration device presents the condition of not being parallel to a slope or a horizontal plane. The penetration platform can only ensure that the probe rod is perpendicular to the bottom surface of the penetration device to perform penetration in the penetration process, so that the probe rod can not ensure that a sediment stratum is vertically penetrated in the penetration process, and can not ensure that a vertical slope penetrates into the stratum. The probe obtains data which is not a change value of the stratum in the vertical direction nor a change value in the direction vertical to the stratum, so that the post data processing becomes very complicated, and the data result is difficult to be directly used on ocean engineering.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a self-adjusting hydrostatic penetration device and a method suitable for a land slope area, which have the advantages of simple structure, convenient use and low cost, can ensure that the integral gravity center of the device is always inconvenient or slightly changed as much as possible to the greatest extent, and avoid the unilateral sinking or the integral overturning of the device caused by downward movement of the gravity center or uneven stress in the penetration process.
The technical scheme of the invention is as follows: a self-adjusting hydrostatic penetration device suitable for a land slope area comprises an upper adjustable penetration platform and a lower adjustable supporting platform, wherein the upper adjustable penetration platform is fixedly connected with the upper surface of the lower adjustable supporting platform and comprises a rack, a control cabin, a penetration mechanism, a hydraulic station, a balance weight and jacks I;
the injection mechanism comprises a support frame, a plurality of groups of pulleys, a probe rod, a movable mechanical gripper, a fixed mechanical gripper and an oil cylinder, wherein the plurality of groups of pulleys, the probe rod, the movable mechanical gripper, the fixed mechanical gripper and the oil cylinder are all arranged on the support frame;
the adjustable supporting platform of lower part includes casing and jack II, and the middle part of casing is equipped with the hole 1 that supplies the probe rod to pass, and the four corners department of casing bottom sets up jack II respectively, is equipped with gyroscope II in the adjustable supporting platform of lower part.
According to the invention, the rack comprises a steel structure frame and a semi-open guard plate, the top of the steel structure frame is provided with a bearing hook, the semi-open guard plate is positioned on four sides of the steel structure frame, the semi-open guard plate is made of perforated steel plates, and the upper part and the lower part of the semi-open guard plate are reinforced by adopting cross beams, so that the stability of the whole structure is ensured. The semi-open guard plate is used for ensuring that the internal structure does not fall off and has a certain weakening effect on submarine undercurrent.
The control cabin adopts a high-pressure-resistant sealed cabin body, and a battery, a signal transmission mechanism and a control mechanism are arranged in the control cabin body and are mainly used for power supply, data storage, data transmission, attitude control and the like.
The hydraulic station comprises a hydraulic pump, a driving motor, an oil tank, a directional valve, a throttle valve and an overflow valve, and the hydraulic station is connected with the control mechanism through an oil pipe. The hydraulic mechanism can realize various specified actions according to the flow direction, pressure and flow rate of the control mechanism.
The probe rod can be replaced by a sediment sampler, so that the integrated functions of detection, detection and sampling of the sediment at the bottom of the sea are realized, and the cost waste of various devices is avoided.
The plurality of groups of pulleys comprise an upper fixed pulley block, a lower fixed pulley and a movable pulley block, the upper fixed pulley block is positioned at the upper part of the support frame, the lower fixed pulley block is positioned at the lower part of the support frame, and the movable pulley block is positioned at the middle part of the support frame. The movable pulley block, the lower fixed pulley block and the upper fixed pulley block are all used for sliding of the steel wire in the process of penetration or recovery and assisting in laying and recovery of the feeler lever.
The invention also comprises a penetration method using the self-adjusting hydrostatic penetration device suitable for the land and slope area, wherein the method comprises the following steps:
the device is thrown into seawater through a cable and falls on the surface of the sea bed, and the gyroscope II transmits the posture condition of the device on the surface of the sea bed to obtain the angle of the seabed slope;
when the probe rod is required to penetrate into the stratum in the vertical direction, the height required to be lifted by the four jacks II is respectively calculated according to the angle of the seabed slope obtained in the step 1, so that the lower adjustable supporting platform is ensured to be horizontal,
the angle of the seabed slope is alpha, and the height of the lower adjustable supporting platform is h1The length is a, and the height of the upper part of the adjustable penetration platform is h2And the length is b, when the lower adjustable supporting platform is in a horizontal state, the two jacks II positioned at the lower part are lifted
When the angle of the probe rod perpendicular to the surface of the sea bed is required to penetrate into the stratum, the two jacks II positioned at the lower part are lifted
After the lower adjustable adjusting platform is adjusted to be horizontal, the lower adjustable adjusting platform faces to the high part of the sea bed surfaceTwo jacks I lift
The angle of the upper adjustable penetration platform is adjusted, and the gyroscope I feeds back information to ensure that the upper adjustable penetration platform is parallel to the surface of the sea bed;
and 4, recovering the probe rod.
In the step 1, the probe rod sequentially penetrates through the probe rod guide, the movable mechanical clamping hand and the fixed mechanical clamping hand, the lower end of the probe rod penetrates through a hole of the probe rod guide, and the fixed mechanical clamping hand and the movable mechanical clamping hand clamp the probe rod at the same time.
The step 3 specifically comprises the following steps:
and 3.1, clamping the probe rod by the movable mechanical gripper, loosening the probe rod by the fixed mechanical gripper, providing power by the hydraulic station and the oil cylinder, connecting the steel wire to the movable mechanical gripper through the upper fixed pulley block, the movable pulley block and the lower fixed pulley block, moving the movable mechanical gripper downwards on the slide rail, enabling the probe rod to move downwards at a constant speed under the guiding action of the probe rod guide sleeve, and finally enabling the probe rod to penetrate into the stratum vertically downwards or vertical to the surface of the sea bed through the hole.
Step 3.2, after the movable mechanical gripper travels a stroke, the fixed mechanical gripper clamps the probe rod, and the movable mechanical gripper releases the probe rod and moves upwards along the slide rail to reach the starting point of the distribution stroke;
and repeating the step 3.1 and the step 3.2 until the probe penetrates into the sediment stratum to a specified depth.
And 4, clamping the probe rod by the movable mechanical gripper, loosening the probe rod by the fixed mechanical gripper, enabling the movable mechanical gripper to move upwards at a constant speed along the sliding rail, after a stroke is completed, clamping the probe rod by the fixed mechanical gripper, loosening the probe rod by the movable mechanical gripper, moving downwards to the starting point of the recovery stroke, and repeating the actions until the recovery of the probe rod is completed.
The invention has the beneficial effects that:
the device adopts double-layer design, can carry out angle modulation twice on the seabed slope, in order to guarantee the injection gesture of probe rod, realize that the probe rod penetrates along vertical direction or perpendicular to stratum and penetrate, acquire the data that can reflect the real stratum condition, in order to guarantee that the probe rod acquires data can reflect the real stratum condition or directly serve ocean engineering not through the complicated angular adjustment of later stage, can guarantee to the at utmost that the whole focus of device is inconvenient all the time or little change as far as possible, avoid because the device unilateral sinking or the whole toppling that leads to because the focus moves down or the atress is uneven in the process of penetrating, make the data that the probe rod acquireed can directly serve all kinds of ocean engineering, guarantee engineering safety, promote the further development of ocean exploration and monitoring technology.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of an upper adjustable penetration platform;
FIG. 3 is a schematic structural view of a lower adjustable support platform;
FIG. 4 is a schematic view of the probe and penetration mechanism;
FIG. 5 is a schematic structural view of the penetration mechanism;
FIG. 6 is a schematic view of a first operating state of the present invention;
FIG. 7 is a schematic view of a second operating state of the present invention;
FIG. 8 is a schematic view of the device being placed on a surface of a sea bed;
FIG. 9 is a schematic diagram of the apparatus penetrating vertically into a formation;
FIG. 10 is a schematic view of the device in a configuration for vertical penetration into a formation.
In the figure: 1, an adjustable penetration platform at the upper part; 2 lower adjustable support platform; 3 weighing a lifting hook; 4, a steel structure frame; 5, semi-open guard board; 6 a hydraulic station; 7, a jack I; 8, a control cabin; 9, a penetration mechanism; 10, a gyroscope I; 11, balancing weight; 12, a gyroscope II; 13 holes; 14 a jack II; 15, a probe rod; 16 movable mechanical gripper; 18, fixing a movable pulley block; 20 fixing a mechanical clamping hand; 21, a probe rod guide sleeve; 22 slide rails; 23 oil cylinders; 24 lower fixed pulley block; 25 upper fixed pulley.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
As shown in FIG. 1, the self-adjusting hydrostatic penetration apparatus for use in a landslide area according to the present invention comprises an upper adjustable penetration platform 1 and a lower adjustable support platform 2, wherein the upper adjustable penetration platform 1 is fixed to the lower adjustable support platform 2. As shown in fig. 2, the upper adjustable penetration platform 1 is a main part of the device, and comprises a frame, a control cabin 8, a penetration mechanism 9, a hydraulic station 6, a counterweight 11 and a jack i 7, wherein the control cabin 8, the penetration mechanism 9, the hydraulic station 6, the counterweight 11 and the jack i 7 are all arranged on the frame, the frame comprises a steel structure frame 4 and a semi-open guard plate 5, a bearing hook 3 is arranged at the top of the steel structure frame 4, the bearing hook 3 is mainly used for connecting the device with a cable when the device is distributed to a seabed or recovered to a deck, and the device is guaranteed to be stable and not lost in the distribution and recovery process. The semi-open guard plates 5 are positioned on four sides of the steel structure frame 4, the semi-open guard plates 5 are made of perforated steel plates, the upper portions and the lower portions of the semi-open guard plates 5 are reinforced by adopting cross beams, the stability of the whole structure is guaranteed, the semi-open guard plates 5 are used for guaranteeing that the internal structure does not fall off, and the submarine undercurrent is weakened to a certain degree. Four jacks I7 are installed to steel structural framework 4's bottom, and jack I7 adopts electric motor drive, but the height of each jack I7 of single regulation or whole regulation. Through adjusting four jack I7, can adjust the inclination that upper portion was adjustable penetrates platform 1, realize that the probe rod is perpendicular to the stratum or with the stratum between be the penetration in the deposit at certain inclination, jack I7 is fixed on lower part is adjustable supporting platform 2. The top of counter weight 11 is fixed with gyroscope I10, and gyroscope I10 provides accurate position, level, position, speed and acceleration etc. signal as sensing element to detection jack I7 can reach predetermined settlement height, and guarantees that the adjustable penetration platform 1 level in upper portion, perhaps reaches predetermined angle.
The control cabin 8 adopts a high-pressure-resistant sealed cabin body, and a battery, a signal transmission mechanism and a control mechanism are arranged in the sealed cabin body and are mainly used for power supply, data storage, data transmission, attitude control and the like.
The hydraulic station 6 is a hydraulic source device or a hydraulic mechanism including a control valve, and comprises a hydraulic pump, a driving motor, an oil tank, a directional valve, a throttle valve and an overflow valve, the hydraulic station and the control mechanism are connected through an oil pipe, oil is supplied according to the flow direction, pressure and flow quantity required by the control mechanism, and the hydraulic mechanism can realize various specified actions.
The balance weight 11 is mainly used for increasing the weight of the device, balancing the center of gravity of the device, avoiding the eccentric load generated on the lower part of the device, and simultaneously increasing the injection force, and ensuring that the whole device cannot be propped up due to counter force in the injection process.
As shown in fig. 4 and 5, the penetration mechanism 9 includes a support frame, a plurality of sets of pulleys, a probe rod 15, a movable mechanical gripper 16, a fixed mechanical gripper 20, and an oil cylinder 23, and the plurality of sets of pulleys, the probe rod 15, the movable mechanical gripper 16, the fixed mechanical gripper 20, and the oil cylinder 23 are all disposed on the support frame. The fixed mechanical clamping hand 20 is fixed on the lower portion of the support frame, the movable mechanical clamping hand 16 is located above the fixed mechanical clamping hand 20, the two sides of the movable mechanical clamping hand 16 are both provided with a sliding rail 22 in the vertical direction, the sliding rail 22 is fixed on the support frame, the movable mechanical clamping hand 16 is connected with a steel wire, and under the pulling action of the steel wire, the movable mechanical clamping hand 16 can move up and down along the sliding rail 22. Diesel oil is filled in the oil cylinder 23, fuel power is used in the motion process of the feeler lever, and the motion of the steel wire is controlled through the oil cylinder 23, so that the lifting of the mechanical gripper is guided. Namely, the movable mechanical gripper 16 is connected with the oil cylinder 23 through a steel wire, and when the oil cylinder 23 acts, the movable mechanical gripper 16 is driven to move up and down through the steel wire.
The bottom of the support frame is provided with a probe rod guide sleeve 21, the probe rod 15 sequentially penetrates through the probe rod guide sleeve 21, the fixed mechanical clamping hand 20 and the movable mechanical clamping hand 16, the posture of the probe rod 15 is ensured by the probe rod guide sleeve 21, and a guide effect is achieved on the probe rod 15. The probe rod 15 in this embodiment is mainly made of a steel structure, and may be a CPT probe rod, a pore pressure probe rod, a resistivity probe rod, or any other sensor capable of being used as a probe rod for detection or monitoring, which is a main detection tool of the present apparatus.
In the probe rod penetrating and recovering process, the movable mechanical clamping hand 16 clamps the fixed probe rod 15, at this time, the fixed mechanical clamping hand 20 is in a loose state, and the movable mechanical clamping hand 16 drives the fixed probe rod 15 to move up and down in the process of moving up and down along the slide rail 22. When the movable mechanical clamping hand 16 releases the probe rod, the fixed mechanical clamping hand 20 clamps the fixed probe rod 15 to prevent the probe rod from falling off.
In this embodiment, the plurality of sets of pulleys includes an upper fixed pulley block 25, a lower fixed pulley block 24 and a movable pulley block 18, the upper fixed pulley block 25 is located at the upper portion of the support frame, the lower fixed pulley block 24 is located at the lower portion of the support frame, and the movable pulley block 18 is located at the middle portion of the support frame. The movable pulley block 18, the lower fixed pulley block 24 and the upper fixed pulley block 25 are all used for sliding of the steel wire in the process of penetration or recovery and assisting in laying and recovery of the probe rod.
As shown in fig. 3, the lower adjustable supporting platform 2 includes a housing and two jacks ii 14, a hole 13 is formed in the middle of the housing to provide a sufficient space for the probe to penetrate, so that the probe can penetrate through the hole and penetrate into the seabed sediment at any angle, the two jacks ii 14 are respectively arranged at four corners of the bottom of the housing, and the heights of the two jacks ii 14 can be singly adjusted or integrally adjusted, so that the lower adjustable supporting platform 2 is ensured to be always kept in a horizontal state on any seabed slope. And a gyroscope II 12 is arranged in the lower adjustable supporting platform 2, and the gyroscope II 12 is used for detecting whether the jack II 14 reaches a preset set height or not and ensuring that the lower adjustable supporting platform 2 is horizontal or reaches a preset angle. The lower adjustable support platform 2 serves to ensure that the center of gravity does not shift significantly during the penetration process while providing sufficient support.
The invention also comprises a penetration method using the self-adjusting hydrostatic penetration device suitable for the land and slope area, which comprises the following steps:
in the first step, the device is dropped into seawater to drop on the surface of the seawater bed.
The probe rod 15 sequentially passes through the probe rod guide 21, the movable mechanical clamping hand 16 and the fixed mechanical clamping hand 20, the lower end of the probe rod 15 passes through a hole of the probe rod guide 21, and the fixed mechanical clamping hand 20 and the movable mechanical clamping hand 16 simultaneously clamp the probe rod 15.
The device is thrown into the sea water through the cable and falls on the sea bed surface, as shown in fig. 8, the gyroscope II 12 transmits the posture condition of the device on the sea bed surface, and the angle of the seabed slope is calculated.
And secondly, adjusting the heights of the jack I7 and the jack II 14 to enable the probe rod 15 to penetrate into the stratum in the vertical direction or at an angle vertical to the surface of the sea bed.
Firstly, the heights of the four jacks II 14 to be lifted are respectively calculated according to the angle of the seabed slope obtained in the first step, so that the lower adjustable supporting platform 2 is ensured to be horizontal, and the upper adjustable penetration platform 1 can also be kept in a horizontal state. Whether angle adjustment needs to be carried out on the upper portion adjustable penetration platform or not is determined according to scientific needs, if the research needs that the probe rod vertically penetrates into the stratum, the state of the upper portion adjustable penetration platform 1 is shown in figure 6, and the device enters the working state of the probe rod.
Assuming that the angle of the seafloor slope is α, the height of the lower adjustable support platform 2 is h1The length is a, and the height of the upper part of the adjustable penetration platform 1 is h2And length b. As shown in FIG. 8, assuming that the initial coordinates of point A are (0,0), the coordinates of point B are
When the lower adjustable supporting platform 2 is in a horizontal state, the coordinates of the point A' (acos alpha-a, asin alpha), namely the jack at the position A needs to be lifted
When the device is to be driven vertically into the ground, as shown in figure 9, it is only necessary to raise the jack at a, i.e. jack ii 14
And (4) finishing.
If the research requires that the probe rod penetrates into the stratum at an angle vertical to the sea bed surface, after the lower adjustable adjusting platform 2 is adjusted to be in a horizontal state, the upper adjustable penetrating platform 1 also needs to be subjected to angle adjustment. The heights of the four jacks I7 are respectively adjusted, the gyroscope I10 feeds back information, the upper adjustable penetration platform 1 is guaranteed to be parallel to the surface of the sea bed, and the working state of the device is shown in figure 7.
When the upper adjustable penetration platform 1 is parallel to the seabed surface, the coordinates of the point B' are obtained
I.e. the jack I7 at the B position needs to be lifted
Therefore, when the device is required to be vertically penetrated into the stratum without shifting the center of gravity, the jack at A, namely the jack II 14, needs to be lifted
The jack at B, namely the jack I7 needs to be lifted
And thirdly, enabling the probe to penetrate into the sediment stratum.
Firstly, the movable mechanical clamping hand 16 clamps the probe rod 15, the fixed mechanical clamping hand 20 loosens the probe rod 15, the hydraulic station 6 and the oil cylinder 23 provide power, the steel wire is connected to the movable mechanical clamping hand 16 through the upper fixed pulley block 25, the movable pulley block 18 and the lower fixed pulley block 24, the movable mechanical clamping hand 16 moves downwards on the slide rail 22, the probe rod 15 moves downwards at a constant speed under the guiding action of the probe rod guide sleeve 21, and the probe rod finally penetrates into the stratum vertically downwards or vertical to the sea bed surface through the hole 13.
Then, after the movable mechanical gripper 16 has traveled a stroke, the fixed mechanical gripper 20 clamps the probe rod 15, and the movable mechanical gripper 16 releases the probe rod 15 and moves upward along the slide rail 2 to reach the starting point of the dispensing stroke.
Next, the above two steps are repeated until the probe 15 penetrates to a specified depth of the sediment formation.
And fourthly, recovering the probe rod.
In the process of recycling the probe rod, the movable mechanical gripper 16 clamps the probe rod 15, the fixed mechanical gripper 20 releases the probe rod 15, the movable mechanical gripper 16 moves upwards at a constant speed along the slide rail 22, after a stroke is completed, the fixed mechanical gripper 20 clamps the probe rod 15, and the movable mechanical gripper 16 releases the probe rod and moves downwards to the starting point of the recycling stroke. The above-described operation is repeated until the recovery of the probe 15 is completed.
And repeating the third step and the fourth step to finish the arrangement and recovery work of the vertical stratum of the probe rod.
In the above steps, the probe 15 can be replaced by a sampler, and the above steps can be performed by using the sampler, so that the static sampling of the sediment column sample of the seabed sediment in the vertical direction or the vertical stratum direction can be realized.
The self-adjusting hydrostatic penetration device and method suitable for the land and slope area provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a self-interacting hydrostatic penetration device suitable for land and slope district which characterized in that: the adjustable injection platform comprises an upper adjustable injection platform (1) and a lower adjustable supporting platform (2), wherein the upper adjustable injection platform (1) is fixed on the lower adjustable supporting platform (2), the upper adjustable injection platform (1) comprises a rack, a control cabin (8), an injection mechanism (9), a hydraulic station (6), a balance weight (11) and a jack I (7), the control cabin (8), the injection mechanism (9), the hydraulic station (6), the balance weight (11) and the jack I (7) are all arranged on the rack, four jacks I (7) are installed at the bottom of a steel structure frame (4), and the jacks I (7) are fixed on the lower adjustable supporting platform (2);
the injection mechanism (9) comprises a support frame, a plurality of groups of pulleys, a probe rod (15), a movable mechanical gripper (16), a fixed mechanical gripper (20) and an oil cylinder (23), a plurality of groups of pulleys, the probe rod (15), the movable mechanical gripper (16), the fixed mechanical gripper (20) and the oil cylinder (23) are arranged on the support frame, the fixed mechanical gripper (20) is fixed on the lower portion of the support frame, the movable mechanical gripper (16) is located above the fixed mechanical gripper (20), sliding rails (22) in the vertical direction are arranged on two sides of the movable mechanical gripper (16), the sliding rails (22) are fixed on the support frame, the movable mechanical gripper (16) is connected with the oil cylinder (23) through a steel wire, the movable mechanical gripper (16) moves up and down along the sliding rails (22), a probe rod guide sleeve (21) is arranged at the bottom of the support frame, and the probe rod (15) sequentially passes through the probe rod guide sleeve (21), The top of the counterweight (11) is fixed with a gyroscope I (10);
the lower adjustable supporting platform (2) comprises a shell and II jacks (14), holes (13) for the probe rods to penetrate through are formed in the middle of the shell, the II jacks (14) are arranged at four corners of the bottom of the shell respectively, and the gyroscope II (12) is arranged in the lower adjustable supporting platform (2).
2. The self-adjusting hydrostatic penetration device for use in landslide areas of claim 1, wherein: the frame includes steel structural framework (4) and semi-open backplate (5), and the top of steel structural framework (4) is equipped with bearing lifting hook (3), and semi-open backplate (5) are located the four sides of steel structural framework (4), and semi-open backplate (5) adopt the steel sheet that punches, and the upper portion and the lower part of semi-open backplate (5) all adopt the crossbeam to consolidate.
3. The self-adjusting hydrostatic penetration device for use in landslide areas of claim 1, wherein: the control cabin (8) adopts a high-pressure-resistant sealed cabin body, and a battery, a signal transmission mechanism and a control mechanism are arranged in the control cabin.
4. The self-adjusting hydrostatic penetration device for use in landslide areas of claim 3, wherein: the hydraulic station (6) comprises a hydraulic pump, a driving motor, an oil tank, a directional valve, a throttle valve and an overflow valve, and the hydraulic station is connected with the control mechanism through an oil pipe.
5. The self-adjusting hydrostatic penetration device for use in landslide areas of claim 1, wherein: the probe is replaced by a sediment sampler.
6. The self-adjusting hydrostatic penetration device for use in landslide areas of claim 1, wherein: the plurality of groups of pulleys comprise an upper fixed pulley block (25), a lower fixed pulley (24) and a movable pulley block (18), the upper fixed pulley block (25) is positioned at the upper part of the support frame, the lower fixed pulley (24) is positioned at the lower part of the support frame, and the movable pulley block (18) is positioned at the middle part of the support frame.
7. A penetration method using the above self-adjusting hydrostatic penetration apparatus for use in a land and slope area, comprising the steps of:
step 1, putting the device into seawater to make the device fall on a sea bed surface:
the device is thrown into seawater through a cable and falls on the surface of the sea bed, and the gyroscope II transmits the posture condition of the device on the surface of the sea bed to obtain the angle of the seabed slope;
step 2, adjusting the heights of the jack I and the jack II to enable the probe rod to penetrate into the stratum in the vertical direction or at an angle vertical to the surface of the sea bed:
when the probe rod is required to penetrate into the stratum in the vertical direction, the height required to be lifted by the four jacks II is respectively calculated according to the angle of the seabed slope obtained in the step 1, so that the lower adjustable supporting platform is ensured to be horizontal,
the angle of the seabed slope is alpha, and the height of the lower adjustable supporting platform is h1The length is a, and the height of the upper part of the adjustable penetration platform is h2And the length is b, when the lower adjustable supporting platform is in a horizontal state, the two jacks II positioned at the lower part are lifted
When the probe rod is required to penetrate into the stratum at an angle vertical to the surface of the sea bed, the two jacks II at the lower part are lifted firstly
After the lower adjustable adjusting platform is adjusted to be in a horizontal state, the two jacks I facing to the high position of the surface of the sea bed are lifted
The angle of the upper adjustable penetration platform is adjusted, and the gyroscope I feeds back information to ensure that the upper adjustable penetration platform is parallel to the surface of the sea bed;
step 3, enabling the probe to penetrate into a sediment stratum;
and 4, recovering the probe rod.
8. The method of claim 7, wherein: in the step 1, the probe rod sequentially penetrates through the probe rod guide, the movable mechanical clamping hand and the fixed mechanical clamping hand, the lower end of the probe rod penetrates through a hole of the probe rod guide, and the fixed mechanical clamping hand and the movable mechanical clamping hand clamp the probe rod at the same time.
9. The method of claim 7, wherein: the step 3 specifically comprises the following steps:
3.1, clamping the probe rod by a movable mechanical gripper, loosening the probe rod by a fixed mechanical gripper, providing power by a hydraulic station and an oil cylinder, connecting a steel wire to the movable mechanical gripper through an upper fixed pulley block, a movable pulley block and a lower fixed pulley block, moving the movable mechanical gripper downwards on a slide rail, enabling the probe rod to move downwards at a constant speed under the guiding action of a probe rod guide sleeve, and finally enabling the probe rod to vertically downwards penetrate into the stratum through a hole or vertical to the surface of the sea bed;
step 3.2, after the movable mechanical gripper travels a stroke, the fixed mechanical gripper clamps the probe rod, and the movable mechanical gripper releases the probe rod and moves upwards along the slide rail to reach the starting point of the distribution stroke;
and repeating the step 3.1 and the step 3.2 until the probe penetrates into the sediment stratum to a specified depth.
10. The method of claim 7, wherein: and 4, clamping the probe rod by the movable mechanical gripper, loosening the probe rod by the fixed mechanical gripper, enabling the movable mechanical gripper to move upwards at a constant speed along the sliding rail, after a stroke is completed, clamping the probe rod by the fixed mechanical gripper, loosening the probe rod by the movable mechanical gripper, moving downwards to the starting point of the recovery stroke, and repeating the actions until the recovery of the probe rod is completed.
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