CN112962562B

CN112962562B - Double-penetration-mode submarine static sounding equipment

Info

Publication number: CN112962562B
Application number: CN202110197990.2A
Authority: CN
Inventors: 陈家旺; 阮东瑞; 任自强; 洪义; 王立忠; 何开
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2021-02-22
Filing date: 2021-02-22
Publication date: 2022-06-14
Anticipated expiration: 2041-02-22
Also published as: CN112962562A

Abstract

The invention relates to the field of ocean engineering technical equipment, in particular to a double-penetration-mode submarine static sounding device. The automatic probe rod storage device comprises an integral frame, wherein a probe rod frame for storing a probe rod is arranged in the integral frame, and a hydraulic injection mechanism, a lead screw injection mechanism and an electric control system are arranged at the bottom of the integral frame. The lead screw penetrating mechanism comprises a guide rail and a lead screw, and a plurality of moving blocks are arranged on the guide rail; each moving block is provided with a manipulator, and the manipulator is used for butting or disassembling the probe rod; the static sounding probe is arranged at the front end of a first probe rod penetrating into the soil body; the hydraulic injection mechanism comprises two hydraulic oil cylinders, telescopic rods of the two hydraulic oil cylinders are respectively connected with two ends of a supporting plate, and the middle part of the supporting plate is provided with a holding oil cylinder; a bottom holding oil cylinder is arranged on the bottom surface of the integral frame right below the holding oil cylinder. The invention adopts a dual-mode injection mode to effectively improve the injection accuracy, and the dual-injection mode is switched under different working states. Meanwhile, the segmented probe rod is in butt joint with good stability, and the problem of radial instability is solved.

Description

Double-penetration-mode submarine static sounding equipment

Technical Field

The invention relates to the field of ocean engineering technical equipment, in particular to double-penetration-mode submarine static sounding equipment.

Background

In recent years, the pace of ocean resource development is increasing, the ocean engineering construction is increasing, and the research and research on the properties of the seabed soil body are an essential important part for the ocean engineering construction. The research on the properties of sediments within a few meters to tens of meters below the sea bottom has important significance in aspects of marine environment investigation, sea bottom resource exploration, marine development and utilization and the like. The safe and economic ocean engineering structure basic design mainly depends on the efficient exploration and scientific analysis of the mechanical characteristics of the seabed stratum.

The sea static sounding method is a seabed soil body in-situ measurement method which is simple to operate, economic, efficient and reliable in measurement data, has wide application prospects in the aspects of sea engineering investigation, geological disaster research and the like, and has incomparable superiority in the field of engineering geology. As an in-situ detection technology, the submarine static sounding technology can obtain more real soil properties by testing in the actual environment of a submarine soil body. The static sounding technology has the characteristics of high testing speed, high efficiency and the like, and the advantage is more obvious when the submarine soil body is tested in a large range, such as the route survey of submarine cables and oil pipelines. The static sounding probe can be stayed in the soil body to be observed for a long time, particularly the physical and mechanical property change of the soil body under the action of test waves, but the long-term observation result can not be achieved by operations such as drilling, sampling and the like.

At present, most of static sounding technical equipment adopts a straight rigid probe rod with the whole length to directly press a probe into the surface of a seabed, so that the problems of radial instability and the like can be caused, and the static sounding technical equipment is not suitable for surveying deep seabed sediments. In addition, the mode of manually butting the segmented probe rods has larger operation labor requirements, and the detection method is only limited to a shallow water operation environment and is not suitable for deeper sea areas. Meanwhile, static sounding technical equipment has a requirement on the penetration process of the probe rod at a constant speed, different soil body properties need to change the magnitude of the penetration force, the conventional penetration mode mainly adopts a hydraulic technical means, and the speed of the single hydraulic penetration mode can fluctuate under the condition of the change of the penetration force.

Therefore, the double-penetration-mode submarine static sounding equipment is designed, the requirement of accurate surveying technical equipment aiming at the properties of the submarine soil body is met, the level of marine geotechnical engineering in-situ surveying equipment in China can be further improved, and the double-penetration-mode submarine static sounding equipment has certain universality and popularization prospect.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the defects in the prior art and provides a dual-penetration-mode submarine static sounding device.

In order to solve the technical problem, the technical scheme adopted by the invention is as follows:

The utility model provides a two penetration mode seabed static sounding equips, includes vertical whole frame, and the center is equipped with the probe pole frame in the whole frame, and the bottom is equipped with hydraulic pressure injection mechanism, lead screw injection mechanism and electrical system.

The feeler lever frame comprises a vertical central lever, a horizontal protection disc and a chuck are arranged on the central lever, and the bottom end of the central lever is connected with a servo motor. Notches are arranged on the outer edges of the protection disc and the chuck, and the connecting rod can be clamped on the notches on the outer edges of the protection disc and the chuck; the two ends of the probe rod are provided with butt joint mechanisms, and a plurality of probe rods can be connected in series through the butt joint mechanisms to form a whole rigid probe rod;

the lead screw penetrating mechanism is arranged beside the probe rod frame and comprises a guide rail and a lead screw which are vertically arranged, the two ends of the guide rail and the lead screw are fixedly arranged on the limiting blocks, the limiting block at the bottom side is fixedly arranged on the inner bottom surface of the integral frame, and the bottom end of the lead screw is connected with the servo motor; the guide rail is provided with a plurality of moving blocks, the moving blocks are provided with external threads, the moving blocks are connected with the lead screw through threads, and the moving blocks are connected through connecting rods; each moving block is provided with a manipulator, and the manipulator is used for butting or disassembling the probe rod; the static sounding probe is arranged at the front end of a first probe rod penetrating into the soil body;

the hydraulic injection mechanism comprises two hydraulic oil cylinders which are vertically arranged, the bottom ends of the hydraulic oil cylinders are fixedly arranged on the same connecting plate, the connecting plate is fixedly arranged at the inner top of the whole frame, telescopic rods of the two hydraulic oil cylinders are respectively connected with two ends of a supporting plate, and the middle part of the supporting plate is provided with a holding oil cylinder; a bottom holding oil cylinder is arranged on the bottom surface of the integral frame right below the holding oil cylinder;

The electric control system comprises an underwater electronic cabin and an underwater motor, wherein the underwater electronic cabin is connected with the underwater motor, the underwater motor is connected with a hydraulic valve box, and the hydraulic valve box is connected with a hydraulic penetration mechanism.

As an improvement, the butt joint mechanism is a male head and a female head which are respectively arranged at two ends of the probe rod.

As an improvement, the integral frame is a cubic frame.

As an improvement, the top of the integral frame is arranged on a ring for hoisting.

As an improvement, the elastic sheet is arranged on the center rod between the protection disc and the chuck and provides elastic force for limiting the probe rod.

Compared with the prior art, the invention has the beneficial effects that:

the segmented probe rod is automatically jointed underwater with better stability, the problem of radial instability is prevented, and meanwhile, the manual rod replacement is not needed, so that the segmented probe rod is suitable for deep sea operation.

Adopt the accurate nature of dual mode injection mode effective promotion injection, lead screw injection mode and hydraulic pressure injection mode can switch under the operating condition of difference, and lead screw injection mode has better speed control, and hydraulic pressure injection mode can provide bigger injection force.

Drawings

Fig. 1 is an overall schematic diagram of a dual penetration mode subsea static sounding apparatus provided by the present invention.

Fig. 2 is a schematic structural view of a probe holder provided by the present invention.

Fig. 3 is a schematic structural view of the penetration mechanism provided by the present invention.

Fig. 4 is a schematic structural view of the lead screw penetration mechanism provided by the present invention.

FIG. 5 is a schematic structural view of a hydraulic penetration mechanism provided in the present invention.

Fig. 6 is a schematic structural diagram of the probe butt joint provided by the invention.

Fig. 7 is a schematic view of the external structure of the male head provided by the present invention.

Fig. 8 is a schematic view of the internal structure of the male head provided by the present invention.

Fig. 9 is a schematic structural view of a gear provided by the present invention.

Fig. 10 is a schematic structural view of the female head provided by the present invention.

In the figure: 1-integral frame; 2-a feeler lever stand; 2-1-center rod; 2-connecting rod; 2-3-protection disc; 2-4-shrapnel; 2-5-chuck; 2-6-lower limiting plate; 2-7-servo motor; 3-a lead screw penetration mechanism; 3-1-a limiting block; 3-2-lead screw; 3-moving block; 3-4-moving block connecting rod; 3-5-a manipulator; 3-6-guide rail; 3-7-servo motor; 4-underwater motor; 5-hydraulic valve box; 6-probe rod; 6-1-probe rod body; 6-2-protective cover; 6-3-female head plug; 6-4-male plug; 6-4-1-male plug end cap; 6-4-2-fixed column; 6-4-3-jaw; 6-4-clamp spring; 6-5-gear; 7, a hydraulic injection mechanism; 7-1-connecting plate; 7-2-hydraulic cylinder; 7-3-holding the oil cylinder tightly; 7-4-support plate; 8-static cone penetration probe; 9, tightly holding the oil cylinder at the bottom; 10-underwater electronic cabin.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings and the embodiment. The following examples are presented to enable those skilled in the art to more fully understand the present invention and are not intended to limit the invention in any way.

As shown in figure 1, the overall structure of the double-penetration-mode submarine static sounding equipment mainly comprises an overall frame 1, and a feeler lever frame 2, a lead screw penetration mechanism 3, a hydraulic penetration mechanism and an electric control system are all arranged inside the overall frame 1.

As shown in fig. 2, the probe rod is erected at the center of the bottom in the whole frame 1, and the structure comprises: 2-1 parts of a center rod, 2-2 parts of a connecting rod, 2-3 parts of a protection disc, 2-4 parts of an elastic sheet and 2-5 parts of a chuck. The servo motor 2-7 is arranged at the lower end of the central rod 2-1, the servo motor 2-7 is coaxially connected with the central rod 2-1, and the servo motor 2-7 can drive the central rod to rotate. The central rod 2-1 is sequentially provided with a lower limiting plate 2-6, a chuck 2-5, an elastic sheet 2-4 and a chuck 2-5 from bottom to top. The lower limiting plate 2-6, the chuck 2-5, the spring plate 2-4 and the chuck 2-5 can rotate along with the central rod 2-1. The outer part of the upper chuck 2-5 is provided with a protective disc 2-3, and the protective disc 2-3 is fixed with the integral frame 1 through a connecting rod 2-2. The probe rod rack 2 is used for storing probe rods.

As shown in fig. 3, the structure of the penetration mechanism includes a screw penetration mechanism 3, a hydraulic penetration mechanism 7, and a bottom hugging cylinder 9. The bottom holding oil cylinder 9 can clamp the probe rod 6, and the injection mechanism is used for injecting the probe rod.

As shown in figure 4, the screw rod penetrating mechanism is arranged in an integral frame 1 beside the probe rod frame and consists of a screw rod module and a mechanical arm 3-5, the screw rod module comprises a support frame, the support frame consists of two vertically arranged limiting blocks 3-1, and two ends of a screw rod 3-2 and two ends of a guide rail 3-6 are respectively connected with the two limiting blocks 3-1. The servo motor 3-7 is connected with the bottom end of the lead screw 3-2 and can drive the lead screw to rotate, the plurality of moving blocks 3-3 are arranged on the guide rail and are connected with the lead screw 3-2 through threads, the plurality of moving blocks 3-3 are connected through moving block connecting rods 3-4, and the moving block connecting rods 3-4 are used for synchronous movement of the moving blocks 3-3. The manipulator 3-5 is mounted on the moving block and can move along with the moving block 3-3. The lead screw penetration mechanism can be used for butt joint of the probe rod and can perform penetration of the probe rod at the same time.

As shown in fig. 5, the hydraulic injection mechanism comprises two hydraulic cylinders 7-2, the two hydraulic cylinders 7-2 are vertically arranged, bases of the two hydraulic cylinders 7-2 are fixedly arranged at two ends of a connecting plate 7-1, the connecting plate 7-1 is fixedly arranged at the inner top of the integral frame 1, telescopic rods are respectively connected with two ends of a supporting plate 7-4, a holding cylinder 7-3 is arranged on the supporting plate 7-4, the holding cylinder 7-3 can clamp the probe rod 6, and the hydraulic injection mechanism is used for injection of the probe rod. The electric control system comprises an underwater electronic cabin 10 and an underwater motor 4, wherein the underwater electronic cabin 10 is connected with the underwater motor 4, the underwater motor 4 is connected with a hydraulic valve box 5, the hydraulic valve box 5 is connected with a hydraulic injection mechanism, and the hydraulic valve box 5 can supply energy to a hydraulic oil cylinder 7-2

As shown in fig. 6, 7, 8, 9 and 10, which are schematic views of a butt structure of the probe rod, the probe rod 6 is a straight rigid probe rod, and butt mechanisms are disposed on two sides of the probe rod. The butt joint mechanism consists of a probe rod body 6-1, a protective cover 6-2, a female plug 6-3, a male plug 6-4 and a gear 6-5. The male plug 6-4 comprises a male plug body arranged at one end of the probe rod, threads are arranged on the outer wall of the male plug body, a gear 6-5 is sleeved outside the male plug, and a gradient guide groove is formed in the inner wall of the gear 6-5. The male head plug is characterized in that three clamping jaws 6-4-3 are arranged inside the male head plug body, one ends of the clamping jaws 6-4-3 are connected through a clamping spring 6-4-4, the other ends of the clamping jaws 6-4-3 are fixedly arranged on the male head plug body through T-shaped fixing columns 6-4-2, holes are formed in the side wall of the male head plug body, and tail ends of the fixing columns 6-4-2 extend out of the holes. The clamping jaws 6-4-3 are arranged at the head ends of the fixing columns 6-4-2 and can rotate around the shaft, the end part of the male head plug body is also provided with a male head plug end cover, a plurality of grooves are formed in the end cover, the end parts of the clamping jaws 6-4-3 protrude out of the grooves, the head parts of the female head plugs 6-3 can be clamped in the clamping jaws 6-4-3, the outer parts of the male head plugs 6-4 are also provided with a protective cover 6-2 for protecting the butting device, the mechanical arms 3-5 can rotate the gears 6-5 during butting, and the gradient guide grooves in the gears 6-5 can open the clamping jaws 6-4-3 during the rotation of the gears 6-5 along the threads, so that the male head and the female head are butted. When the device is disassembled, the mechanical arm 3-5 rotates the gear 6-5, the clamping spring 6-4-4 contracts the clamping jaw 6-4-3, and the rod bodies 6-1 of the probe rod are separated.

The working process of the invention is as follows:

the probe rods 6 can be connected in series through the docking mechanism to form a long and straight rigid probe rod, the adjacent probe rods 6 are connected through the mechanical arms 3-5, and the probe rods 6 are stored in the probe rod rack 2. The servo motor 2-7 can drive the central rod 2-1 to rotate, so that the chuck 2-5 is driven to rotate, and the probe rod 6 is moved to a specified position to wait for butt joint. And the manipulator 3-5 moves to the position of the probe 6 to grab the probe 6, the probe 6 is taken down from the chuck 2-5, and the manipulator 3-5 moves to move the probe 6 to the butt joint position for butt joint.

During butt joint, the manipulator 3-5 can rotate the gear 6-5, and in the process that the gear 6-5 rotates along the threads, the gradient guide groove in the gear 6-5 can open the clamping jaw 6-4-3, so that the male head is in butt joint with the female head. When the device is disassembled, the mechanical arm 3-5 rotates the gear 6-5, the clamping spring 6-4-4 contracts the clamping jaw 6-4-3, and the rod bodies 6-1 of the probe rod are separated.

In the process of penetration of the static sounding probe 8, the mechanical arm 3-5 grabs the probe rod 6 in a penetration mode of the lead screw, and the lead screw 3-2 drives the mechanical arm 3-5 to move downwards to a lower limit position so as to stably penetrate the probe rod 6 into a soil body at a constant speed. After the one-time injection process is finished, the bottom holding oil cylinder 9 clamps the probe rod 6, and the manipulator 3-5 loosens the probe rod 6 for resetting. After resetting, the mechanical arms 3-5 perform grabbing and butt joint of the feeler lever 6 again, the bottom holding oil cylinder 9 is loosened, and a stage continuous feeler lever injection process is performed. The static sounding probe 8 is used for acquiring in-situ multi-parameters such as cone tip resistance, side wall friction, pore water pressure, resistivity and the like in the filling process.

Under the hydraulic injection mode, the holding oil cylinder 7-3 clamps the probe rod 6, the hydraulic oil cylinder 7-2 moves downwards to the lower limit position, and the probe rod 6 is stably injected into the soil body at a constant speed. After the primary injection process is finished, the clamping oil cylinder 7-3 loosens the probe rod 6, the bottom clamping oil cylinder 9 clamps the probe rod 6, and the hydraulic oil cylinder 7-2 drives the clamping oil cylinder 7-3 to recover to the upper limit. And the mechanical arm 3-5 moves the subsequent feeler lever 6 to a butt joint position for butt joint, the clasping oil cylinder 7-3 clamps, the bottom clasping oil cylinder 9 loosens the feeler lever 6, and the hydraulic oil cylinder 7-2 performs injection operation. The static sounding probe 8 is used for acquiring in-situ multi-parameters such as cone tip resistance, side wall friction, pore water pressure, resistivity and the like in the filling process.

When the static sounding probe 8 is pulled out of a tested soil body, the hydraulic oil cylinder 7-2 moves to the lower limit, the clamping oil cylinder 7-3 clamps the probe rod, the hydraulic oil cylinder 7-2 moves upwards to drive the probe rod 6 to move upwards to the upper limit, the clamping oil cylinder 7-3 loosens the probe rod 6, and the clamping oil cylinder 9 at the bottom clamps the probe rod for clamping. The manipulator 3-5 disassembles the adjacent probe rods 6 into two ends, the manipulator 3-5 clamps the probe rods 6, and the probe rods 9 are moved to the probe rod rack 2 for storage. After one operation is finished, the hydraulic oil cylinder 7-2 moves downwards to the lower limit position, and the subsequent probe rod 6 exits from the process.

Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.

Claims

1. The double-penetration-mode submarine static sounding equipment is characterized by comprising an integral frame, wherein a sounding rod frame is arranged in the center of the integral frame, and a hydraulic penetration mechanism, a lead screw penetration mechanism and an electric control system are arranged at the bottom of the integral frame;

the probe rod frame comprises a vertical central rod, a horizontal protection disc and a chuck are arranged on the central rod from top to bottom, and the bottom end of the central rod is connected with a servo motor; notches are arranged on the outer edges of the protection disc and the chuck, and the connecting rod can be clamped on the notches on the outer edges of the protection disc and the chuck;

the lead screw penetrating mechanism is arranged in the integral frame beside the probe rod frame and comprises a guide rail and a lead screw which are vertically arranged, the two ends of the guide rail and the lead screw are fixedly arranged on limiting blocks, the limiting blocks at the bottom side are fixedly arranged on the inner bottom surface of the integral frame, and the bottom end of the lead screw is connected with the servo motor; the guide rail is provided with a plurality of moving blocks, the moving blocks are provided with external threads, the moving blocks are connected with the lead screw through threads, and the moving blocks are connected through connecting rods; each moving block is provided with a manipulator, and the manipulator is used for butting or disassembling the probe rod; the static sounding probe is arranged at the front end of a first probe rod penetrating into the soil body;

The hydraulic injection mechanism comprises two hydraulic oil cylinders which are vertically arranged, the bottom ends of the hydraulic oil cylinders are fixedly arranged on the same connecting plate, the connecting plate is fixedly arranged at the top in the integral frame, two telescopic rods of the hydraulic oil cylinders are respectively connected with two ends of a supporting plate, and the middle part of the supporting plate is provided with a holding oil cylinder; a bottom holding oil cylinder is arranged on the bottom surface of the integral frame right below the holding oil cylinder;

the electric control system comprises an underwater electronic cabin and an underwater motor, the underwater electronic cabin is connected with the underwater motor, the underwater motor is connected with a hydraulic valve box, and the hydraulic valve box is connected with a hydraulic penetration mechanism;

the two ends of the probe rod are provided with docking mechanisms, and a plurality of probe rods can be connected in series through the docking mechanisms to form a whole rigid probe rod; the probe rod is a straight rigid probe rod, and two sides of the probe rod are provided with butting mechanisms; the butt joint mechanism consists of a probe rod body, a protective cover, a female head plug, a male head plug and a gear; the male plug comprises a male plug body arranged at one end of the probe rod, the outer wall of the male plug body is provided with threads, a gear is sleeved outside the male plug, and the inner wall of the gear is provided with a gradient guide groove; the male head plug comprises a male head plug body, wherein three clamping jaws are arranged inside the male head plug body, one ends of the clamping jaws are connected through clamping springs, the other ends of the clamping jaws are fixedly arranged on the male head plug body through T-shaped fixing columns, holes are formed in the side wall of the male head plug body, and the tail ends of the fixing columns extend out of the holes; the clamping jaw is arranged at the head end of the fixed column and can rotate by taking the clamping jaw as an axis, the end part of the male plug body is also provided with a male plug end cover, a plurality of grooves are formed in the end cover, the end part of the clamping jaw protrudes out of the grooves, the head part of the female plug can be clamped in the clamping jaw, and a protective cover is arranged outside the male plug and used for protecting the butting device; during butt joint, the manipulator can rotate the gear, and in the process that the gear rotates along the threads, the gradient guide groove in the gear opens the clamping jaw, so that the male head is in butt joint with the female head; when the probe rod is detached, the mechanical arm rotates the gear, the clamping spring contracts the clamping jaw, and the probe rod body is separated.

2. The dual penetration mode seafloor static sounding rig of claim 1, wherein the unitary frame is a cubic frame.

3. The dual penetration mode seafloor static sounding apparatus of claim 1, wherein the top of the integral frame is provided with a ring for lifting.

4. The dual-penetration mode submarine static sounding equipment according to claim 1, wherein a spring plate is arranged on a center rod between the protection disk and the chuck, and the spring plate provides an elastic force for limiting the probe rod.

5. The dual penetration mode seafloor static sounding equipment of claim 1, wherein the center rod below the chuck is further provided with a lower limit plate for limiting.