技术领域technical field
本发明涉及海洋探测设备的技术领域，尤其是涉及一种水下运载装置及海洋探测装置。The invention relates to the technical field of marine detection equipment, in particular to an underwater carrier device and a marine detection device.
背景技术Background technique
进行海洋观测，可获取关于海洋的各种自然现象的数据，有助于理解其科学原理和变化规律，指导海洋科学研究和对海洋资源的开发。海洋观测一般需进行剖面测量以获取不同深度层的数据，这就要把观测设备送至到海水中的不同深度。传统的投送观测设备的方式包括两种。一种是使用船载钢缆悬挂观测设备，通过钢缆来下放观测设备到设定深度以及完成后续回收，这种方式作业工序复杂，费时费力；一种是使用潜标或者浮标悬挂多套观测仪器，分别在不同水深进行特定水层的连续测量，这种方式需使用多套设备，投放和回收过程复杂，且设备易丢失，风险高，成本高。综上所述，对海洋的不同深度层进行观测，采用现有技术的投放设备的作业方法存在观测设备的投放和回收工序复杂，风险高，人力和设备成本高的技术问题。Ocean observation can obtain data about various natural phenomena in the ocean, which helps to understand its scientific principles and changing laws, and guide marine scientific research and the development of marine resources. Ocean observation generally requires profile measurements to obtain data at different depth layers, which requires sending observation equipment to different depths in seawater. There are two traditional methods of delivering observation equipment. One is to use ship-borne steel cables to suspend the observation equipment, and use the steel cables to lower the observation equipment to the set depth and complete the subsequent recovery. This method is complicated, time-consuming and laborious; the other is to use submersible buoys or buoys to suspend multiple sets of observation equipment. Instruments are used to carry out continuous measurement of specific water layers at different water depths. This method requires the use of multiple sets of equipment, the process of launching and recycling is complicated, and the equipment is easy to lose, with high risks and high costs. To sum up, when observing different depth layers of the ocean, using the prior art operation method of launching equipment has the technical problems of complicated launching and recovery procedures of observation equipment, high risk, and high manpower and equipment costs.
发明内容Contents of the invention
本发明的目的在于提供一种水下运载装置及海洋探测装置，以缓解采用现有技术中的探测设备对海洋的不同深度层进行观测的作业方法，所存在的观测设备的投放和回收工序复杂，风险高，人力和设备成本高的技术问题。The object of the present invention is to provide an underwater carrier and ocean detection device, so as to alleviate the operation method of observing different depth layers of the ocean by using the detection equipment in the prior art, and the existing observation equipment has complicated delivery and recovery procedures , technical issues with high risk and high manpower and equipment costs.
本发明第一方面提供一种水下运载装置，包括漂浮体、配重体、绳缆和运载单元；绳缆的一端固定于漂浮体上，另一端固定于配重体上，运载单元连接于绳缆上；水下运载装置在水中时，漂浮体对绳缆的拉力竖直向上，配重体对绳缆的拉力竖直向下；运载单元包括支架体、上浮体和至少两个第一滑动体；支架体上设置有第一通孔、第二通孔和聚拢凹槽，第一通孔和第二通孔沿支架体的长度方向延伸且与聚拢凹槽连通；沿支架体的长度方向，第一通孔和第二通孔分别位于聚拢凹槽的两端，并且聚拢凹槽的两侧壁之间的距离自靠近第二通孔的一端至靠近第一通孔的一端逐渐减小；上浮体滑动连接于支架体上，可相对支架体沿支架体的长度方向滑动；两个第一滑动体分别滑动连接于上浮体上；两个第一滑动体嵌入聚拢凹槽内，分别可沿聚拢凹槽的两侧壁滑动；绳缆穿过第一通孔和第二通孔，且位于两个第一滑动体之间；第一通孔位于第二通孔的上方；当上浮体相对支架体自聚拢凹槽的宽端向窄端运动时，两个第一滑动体可在聚拢凹槽的推动下向内靠近，将绳缆夹紧；在水中时，运载单元的重力和浮力的合力竖直向下，上浮体和第一滑动体作为一个整体的重力和浮力的合力竖直向上。The first aspect of the present invention provides an underwater carrier, including a floating body, a counterweight, a cable and a carrying unit; one end of the cable is fixed on the floating body, the other end is fixed on the counterweight, and the carrying unit is connected to the cable Above; when the underwater carrying device is in water, the pulling force of the floating body on the cable is vertically upward, and the pulling force of the counterweight on the cable is vertically downward; the carrying unit includes a support body, an upper floating body and at least two first sliding bodies; The bracket body is provided with a first through hole, a second through hole and a gathering groove, the first through hole and the second through hole extend along the length direction of the bracket body and communicate with the gathering groove; along the length direction of the bracket body, the second through hole A through hole and a second through hole are respectively located at the two ends of the gathering groove, and the distance between the two side walls of the gathering groove gradually decreases from an end close to the second through hole to an end close to the first through hole; The body is slidably connected to the support body, and can slide relative to the support body along the length direction of the support body; the two first sliding bodies are respectively slidably connected to the upper floating body; the two first sliding bodies are embedded in the gathering groove, and can be gathered together The two side walls of the groove slide; the cables pass through the first through hole and the second through hole, and are located between the two first sliding bodies; the first through hole is located above the second through hole; when the upper floating body is opposite to the support When the body moves from the wide end to the narrow end of the gathering groove, the two first sliding bodies can approach inwards under the push of the gathering groove to clamp the cable; when in water, the resultant force of gravity and buoyancy of the carrying unit Vertically downward, the resultant force of gravity and buoyancy of the upper floating body and the first sliding body as a whole goes vertically upward.
进一步的，绳缆上的靠近漂浮体的一端设置有第一终止挡块；绳缆上的靠近配重体的一端设置有第二终止挡块；支架体上设置有弹性触点，上浮体上设置有与弹性触点配合的换向凸起；换向凸起可在上浮体受到沿支架体的长度方向的作用力时从弹性触点的一侧越过到弹性触点的另一侧；当换向凸起位于弹性触点的靠近漂浮体的一侧时，上浮体的靠近漂浮体的一侧超出支架体；当换向凸起位于弹性触点的靠近配重体的一侧时，上浮体的靠近配重体的一侧超出支架体。Further, the end of the cable close to the floating body is provided with a first end stop; the end of the cable close to the counterweight is provided with a second end stop; the support body is provided with elastic contacts, and the upper floating body is provided with a There is a reversing protrusion matched with the elastic contact; the reversing protrusion can cross from one side of the elastic contact to the other side of the elastic contact when the upper floating body is subjected to a force along the length direction of the bracket body; When the reversing protrusion is located on the side of the elastic contact close to the floating body, the side of the upper floating body close to the floating body exceeds the support body; when the reversing protrusion is located on the side of the elastic contact close to the weight body, the side of the upper floating body The side close to the weight body exceeds the support body.
进一步的，运载单元包括两块压板；支架体上的设置聚拢凹槽的面上固定有四个支撑块，两个支撑块位于聚拢凹槽的一侧，另两个支撑块位于聚拢凹槽的另一侧；上浮体设置于两侧的支撑块的中间，可相对支架体沿支架体的长度方向移动；压板固定于同侧的两个支撑块上，且位于上浮体的远离支架体的一侧，可限制上浮体沿聚拢凹槽的深度方向移动。Further, the carrying unit includes two pressure plates; four support blocks are fixed on the surface of the bracket body where the gathering groove is set, two support blocks are located on one side of the gathering groove, and the other two support blocks are located on the side of the gathering groove. On the other side; the upper floating body is arranged in the middle of the support blocks on both sides, and can move relative to the support body along the length direction of the support body; side, which can restrict the movement of the upper floating body along the depth direction of the gathering groove.
进一步的，支架体上设置有第一滑槽，第一滑槽沿支架体的长度方向延伸；上浮体上连接有与第一滑槽配合的第二滑动体。Further, the bracket body is provided with a first sliding groove, and the first sliding groove extends along the length direction of the bracket body; the upper floating body is connected with a second sliding body matched with the first sliding groove.
进一步的，第一滑动体为滑轮。Further, the first sliding body is a pulley.
进一步的，上浮体上设置有第二滑槽，第二滑槽在上浮体上沿垂直于支架体的长度的方向延伸；第一滑动体上转动连接有滑轮转轴，第一滑动体通过滑轮转轴滑动连接于第二滑槽内，滑轮转轴可在第二滑槽内转动。Further, the upper floating body is provided with a second chute, and the second chute extends on the upper floating body in a direction perpendicular to the length of the support body; the first sliding body is rotatably connected with a pulley shaft, and the first sliding body passes through the pulley shaft. Slidingly connected in the second chute, the pulley rotating shaft can rotate in the second chute.
进一步的，第一通孔内设置有转轮，转轮可在第一通孔内绕垂直于支架体的长度方向的轴转动；转轮的侧面上设置有容缆凹槽，绳缆设置于容缆凹槽内。Further, a runner is arranged in the first through hole, and the runner can rotate around an axis perpendicular to the length direction of the support body in the first through hole; grooves for holding cables are arranged on the side of the runner, and the cables are arranged on In the cable groove.
进一步的，聚拢凹槽的垂直其深度方向的截面包括第一底边、第二底边和两条腰边，第一底边靠近第一通孔，第二底边靠近第二通孔，腰边连接第一底边和第二底边的同一侧的一端，且两条腰边对称；腰边自第二底边至第一底边向内倾斜。Further, the section perpendicular to the depth direction of the gathering groove includes a first bottom edge, a second bottom edge and two waist edges, the first bottom edge is close to the first through hole, the second bottom edge is close to the second through hole, and the waist edge is close to the second through hole. The edge connects the first bottom edge and one end on the same side of the second bottom edge, and the two waist edges are symmetrical; the waist edge is inclined inwardly from the second bottom edge to the first bottom edge.
进一步的，聚拢凹槽包括两个独立的对称的凹槽；凹槽自靠近第二通孔的一端至靠近第一通孔的一端向内倾斜，两个凹槽关于第一通孔与第二通孔的连线对称；两个第一滑动体分别与两个凹槽连接，第一滑动体与凹槽的两侧壁均滑动连接；第一滑动体上设置有凸起，凸起超出凹槽顶面，绳缆位于两个第一滑动体上的凸起之间。Further, the gathering groove includes two independent symmetrical grooves; the groove is inclined inward from one end close to the second through hole to one end close to the first through hole, and the two grooves are about the first through hole and the second through hole. The connection line of the through hole is symmetrical; the two first sliding bodies are respectively connected with the two grooves, and the first sliding body is slidingly connected with both side walls of the groove; the first sliding body is provided with a protrusion, and the protrusion exceeds the concave On the top of the groove, the cable is located between the protrusions on the two first sliding bodies.
本发明提供的水下运载装置，涉及海洋探测设备的技术领域，包括漂浮体、配重体、绳缆和运载单元；绳缆的一端固定于漂浮体上，另一端固定于配重体上，运载单元连接于绳缆上；水下运载装置在水中时，漂浮体对绳缆的拉力竖直向上，配重体对绳缆的拉力竖直向下；运载单元包括支架体、上浮体和至少两个第一滑动体；支架体上设置有第一通孔、第二通孔和聚拢凹槽，第一通孔和第二通孔沿支架体的长度方向延伸且与聚拢凹槽连通；沿支架体的长度方向，第一通孔和第二通孔分别位于聚拢凹槽的两端，并且聚拢凹槽的两侧壁之间的距离自靠近第二通孔的一端至靠近第一通孔的一端逐渐减小；上浮体滑动连接于支架体上，可相对支架体沿支架体的长度方向滑动；两个第一滑动体分别滑动连接于上浮体上；两个第一滑动体嵌入聚拢凹槽内，分别可沿聚拢凹槽的两侧壁滑动；当上浮体相对支架体自聚拢凹槽的宽端向窄端运动时，两个第一滑动体可在聚拢凹槽的推动下向内靠近；绳缆穿过第一通孔和第二通孔，且位于两个第一滑动体之间；第一通孔位于第二通孔的上方；当两个第一滑动体滑动至聚拢凹槽的宽度较窄的一端时，可将绳缆夹紧；在水中时，运载单元的重力和浮力的合力竖直向下，上浮体和第一滑动体作为一个整体的重力和浮力的合力竖直向上。The underwater carrying device provided by the present invention relates to the technical field of marine detection equipment, including a floating body, a counterweight, a cable and a carrying unit; one end of the rope is fixed on the floating body, the other end is fixed on the counterweight, and the carrying unit connected to the cable; when the underwater carrier is in the water, the pulling force of the floating body on the cable is vertically upward, and the pulling force of the counterweight on the cable is vertically downward; the carrying unit includes a support body, an upper floating body and at least two second A sliding body; the bracket body is provided with a first through hole, a second through hole and a gathering groove, the first through hole and the second through hole extend along the length direction of the bracket body and communicate with the gathering groove; along the bracket body In the lengthwise direction, the first through hole and the second through hole are respectively located at the two ends of the gathering groove, and the distance between the two side walls of the gathering groove gradually increases from one end close to the second through hole to one end close to the first through hole. reduced; the upper floating body is slidably connected to the support body, and can slide relative to the support body along the length direction of the support body; the two first sliding bodies are respectively slidably connected to the upper floating body; the two first sliding bodies are embedded in the gathering groove, They can slide along the two side walls of the gathering groove respectively; when the upper floating body moves from the wide end to the narrow end of the gathering groove relative to the support body, the two first sliding bodies can approach inwardly under the push of the gathering groove; the rope The cable passes through the first through hole and the second through hole, and is located between the two first sliding bodies; the first through hole is located above the second through hole; when the two first sliding bodies slide to the width of the gathering groove When one end is narrower, the cable can be clamped; when in water, the resultant force of gravity and buoyancy of the carrying unit is vertically downward, and the resultant force of gravity and buoyancy of the upper floating body and the first sliding body as a whole is vertically upward.
将本发明提供的水下运载装置投放到水中，配重体沉入水中，漂浮体漂浮于水面，绳缆的两端分别被配重体向下拉和被漂浮体向上拉，绳缆自上往下依次穿过第一通孔、两个第一滑动体之间的缝隙和第二通孔；上浮体在水中向上移动，支架体在水中向下运动，则上浮体相对支架体向上运动，并且带动第一滑动体在聚拢凹槽内向上运动；聚拢凹槽的宽度自下往上逐渐减小，将两个第一滑动体向内推动，绳缆位于两个第一滑动体之间的缝隙内，两个第一滑动体向内挤压绳缆，第一滑动体与绳缆之间产生摩擦力，绳缆对第一滑动体的摩擦力沿绳缆指向上方，该摩擦力与运载单元在水中受到的重力和浮力之差平衡，运载单元被悬挂在绳缆上，相对绳缆静止。Put the underwater carrying device provided by the present invention into the water, the weight body sinks into the water, the floating body floats on the water surface, the two ends of the rope are respectively pulled down by the weight body and pulled up by the floating body, and the ropes are in order from top to bottom Pass through the first through hole, the gap between the two first sliding bodies and the second through hole; the upper floating body moves upward in the water, and the support body moves downward in the water, then the upper floating body moves upward relative to the support body, and drives the second A sliding body moves upward in the gathering groove; the width of the gathering groove gradually decreases from bottom to top, pushing the two first sliding bodies inward, and the cable is located in the gap between the two first sliding bodies, The two first sliding bodies press the cable inward, and friction is generated between the first sliding body and the cable. The friction force of the cable on the first sliding body points upward along the cable. The difference between gravity and buoyancy is balanced, and the carrying unit is suspended on the cable and remains stationary relative to the cable.
当漂浮体在水面波浪的作用下向下运动时，绳缆随着向下运动，绳缆带动两个第一滑动体相对聚拢凹槽向下运动，由于聚拢凹槽的宽度自上往下逐渐增大，两个第一滑动体相对向外运动，与绳缆远离，运载单元受重力驱动向下运动。由于运载单元的向下运动是在自身重力和浮力之差的作用下发生的，运动的加速度较小；而绳缆是随波浪向下运动，运动的加速度较大，在较短时间内即可达到较大的速度；因此，运载单元向下运动的距离小于绳缆向下运动的距离，运载单元相对绳缆向上运动。When the floating body moves downward under the action of waves on the water surface, the cable moves downward, and the cable drives the two first sliding bodies to move downward relative to the gathering groove. Since the width of the gathering groove gradually When the size increases, the two first sliding bodies relatively move outward, away from the cable, and the carrying unit moves downward driven by gravity. Since the downward movement of the carrying unit occurs under the action of the difference between its own gravity and buoyancy, the acceleration of the movement is small; while the cable moves downward with the waves, the acceleration of the movement is relatively large, and it can be completed in a short period of time. A greater speed is achieved; therefore, the distance the carrier unit moves downward is less than the distance the cable moves downward, and the carrier unit moves upward relative to the cable.
当漂浮体再次随波浪向上运动时，带动绳缆一起向上运动，绳缆对第一滑动体的向上的摩擦力随之消失；运载单元中的支架体、上浮体和第一滑动体在自身重力和所受浮力的作用下，上浮体带动第一滑动体相对支架体向上运动，第一滑动体再次夹紧绳缆，运载单元随绳缆一起向上运动，在水中的深度随之减小。这样，在波浪的一个周期里，运载单元可向上运动一段距离；经历多个波浪周期后，运载单元可从绳缆的最下端运动到最上端，从而实现观测设备随着运载单元在水中自动上升，减少了观测设备的投放和回收工序，缓解了现有技术所存在的观测设备的投放和回收工序复杂，风险高，人力和设备成本高的技术问题。When the floating body moves upward with the waves again, it drives the cable to move upward together, and the upward friction force of the cable on the first sliding body disappears; Under the action of the buoyancy force, the upper floating body drives the first sliding body to move upward relative to the support body, the first sliding body clamps the cable again, the carrying unit moves upward together with the cable, and the depth in the water decreases accordingly. In this way, in one wave cycle, the carrying unit can move upward for a certain distance; after experiencing multiple wave cycles, the carrying unit can move from the bottom end of the cable to the top end, so that the observation equipment can automatically rise with the carrying unit in the water , reducing the placement and recycling process of observation equipment, and alleviating the technical problems of complex placement and recycling procedures of observation equipment, high risk, and high manpower and equipment costs in the prior art.
本发明第二方面提供一种海洋探测装置，包括检测设备和如上任一项所述的水下运载装置；检测设备固定于水下运载装置中的运载单元上。The second aspect of the present invention provides a marine detection device, including detection equipment and the underwater vehicle as described in any one of the above; the detection equipment is fixed on the carrying unit in the underwater vehicle.
所述的海洋探测装置与上述的水下运载装置相对于现有技术所具有的优势相同，在此不再赘述。The ocean detection device has the same advantages as the above-mentioned underwater carrier device over the prior art, and will not be repeated here.
为使本发明的上述目的、特征和优点能更明显易懂，下文特举本发明较佳实施例，并配合所附附图，做详细说明如下。In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments of the present invention will be described in detail below together with the accompanying drawings.
附图说明Description of drawings
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.
图1为本发明实施例提供的水下运输装置的结构示意图；Fig. 1 is the structural schematic diagram of the underwater transportation device provided by the embodiment of the present invention;
图2为本发明实施例提供的水下运输装置中的运载单元和绳缆的配合示意图；FIG. 2 is a schematic diagram of the cooperation of the carrying unit and the rope in the underwater transportation device provided by the embodiment of the present invention;
图3为本发明实施例提供的水下运输装置中支架体的结构示意图；Fig. 3 is a schematic structural view of the support body in the underwater transportation device provided by the embodiment of the present invention;
图4为本发明实施例提供的水下运输装置中上浮体和第一滑动体的第一种实施方式的结构示意图；Fig. 4 is a structural schematic diagram of a first embodiment of the floating body and the first sliding body in the underwater transportation device provided by the embodiment of the present invention;
图5为本发明实施例提供的水下运输装置中上浮体和第一滑动体的第二种实施方式的结构示意图。Fig. 5 is a schematic structural diagram of a second embodiment of the floating body and the first sliding body in the underwater transportation device provided by the embodiment of the present invention.
图标：01-漂浮体；02-配重体；03-绳缆；031-第一终止挡块；032-第二终止挡块；04-运载单元；041-支架体；0411-聚拢凹槽；0412-第一通孔；0413-第二通孔；0414-弹性触点；0415-支撑块；042-上浮体；0421-第二滑槽；0422-换向凸起；043-第一滑动体；044-滑轮转轴；045-压板。Icons: 01-floating body; 02-counterweight body; 03-rope; 031-first end block; 032-second end block; 04-carrying unit; 041-bracket body; 0411-gathering groove; 0412 -first through hole; 0413-second through hole; 0414-elastic contact; 0415-support block; 042-upper floating body; 0421-second chute; 0422-reversing protrusion; 044-pulley shaft; 045-press plate.
具体实施方式detailed description
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are part of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.
请参照图1和图2，本发明实施例第一方面提供一种水下运载装置，包括漂浮体01、配重体02、绳缆03和运载单元04；绳缆03的一端固定于漂浮体01上，另一端固定于配重体02上，运载单元04连接于绳缆03上；水下运载装置在水中时，漂浮体01对绳缆03的拉力竖直向上，配重体02对绳缆03的拉力竖直向下；运载单元04包括支架体041、上浮体042和至少两个第一滑动体043；支架体041上设置有第一通孔0412、第二通孔0413和聚拢凹槽0411，第一通孔0412和第二通孔0413沿支架体041的长度方向延伸且与聚拢凹槽0411连通；沿支架体041的长度方向，第一通孔0412和第二通孔0413分别位于聚拢凹槽0411的两端，并且聚拢凹槽0411的两侧壁之间的距离自靠近第二通孔0413的一端至靠近第一通孔0412的一端逐渐减小；上浮体042滑动连接于支架体041上，可相对支架体041沿支架体041的长度方向滑动；两个第一滑动体043分别滑动连接于上浮体042上；两个第一滑动体043嵌入聚拢凹槽0411内，分别可沿聚拢凹槽0411的两侧壁滑动；当上浮体042相对支架体041自聚拢凹槽0411的宽端向窄端运动时，两个第一滑动体043可在聚拢凹槽0411的推动下向内靠近；绳缆03穿过第一通孔0412和第二通孔0413，且位于两个第一滑动体043之间；第一通孔0412位于第二通孔0413的上方；当两个第一滑动体043滑动至聚拢凹槽0411的宽度较窄的一端时，可将绳缆03夹紧；在水中时，运载单元04的重力和浮力的合力竖直向下，上浮体042和第一滑动体043作为一个整体的重力和浮力的合力竖直向上。Please refer to Fig. 1 and Fig. 2, the first aspect of the embodiment of the present invention provides an underwater vehicle, including a floating body 01, a counterweight body 02, a cable 03 and a carrying unit 04; one end of the cable 03 is fixed to the floating body 01 the other end is fixed on the counterweight body 02, and the carrying unit 04 is connected to the rope 03; The pulling force is vertically downward; the carrier unit 04 includes a bracket body 041, an upper floating body 042 and at least two first sliding bodies 043; the bracket body 041 is provided with a first through hole 0412, a second through hole 0413 and a gathering groove 0411, The first through hole 0412 and the second through hole 0413 extend along the length direction of the bracket body 041 and communicate with the gathering groove 0411; along the length direction of the bracket body 041, the first through hole 0412 and the second through hole 0413 are respectively located The two ends of the groove 0411, and the distance between the two side walls of the groove 0411 is gradually reduced from the end close to the second through hole 0413 to the end close to the first through hole 0412; the upper floating body 042 is slidably connected to the bracket body 041 It can slide relative to the support body 041 along the length direction of the support body 041; the two first sliding bodies 043 are respectively slidably connected to the upper floating body 042; the two first sliding bodies 043 are embedded in the gathering groove 0411, and can respectively The two side walls of the groove 0411 slide; when the upper floating body 042 moves from the wide end to the narrow end of the gathering groove 0411 relative to the support body 041, the two first sliding bodies 043 can be pushed inwardly by the gathering groove 0411 The cable 03 passes through the first through hole 0412 and the second through hole 0413, and is located between the two first sliding bodies 043; the first through hole 0412 is located above the second through hole 0413; when the two first sliding When the body 043 slides to the narrower end of the gathering groove 0411, the rope 03 can be clamped; when in water, the resultant force of the gravity and buoyancy of the carrying unit 04 is vertically downward, and the upper floating body 042 and the first sliding body 043 As a whole, the resultant force of gravity and buoyancy is vertically upward.
具体地，将本发明实施例提供的水下运载装置投放到水中，配重体02沉入水中，漂浮体01漂浮于水面，绳缆03的两端分别被配重体02向下拉和被漂浮体01向上拉，绳缆03自上往下依次穿过第一通孔0412、两个第一滑动体043之间的缝隙和第二通孔0413；在水中，上浮体042相对支架体041向上运动，并且带动第一滑动体043在聚拢凹槽0411内向上运动；聚拢凹槽0411的两侧壁之间的距离自下往上逐渐减小，将两个第一滑动体043向内推动；两个第一滑动体043又在上浮体042上的导向结构的作用下，向内移动，绳缆03位于两个第一滑动体043之间的缝隙内，两个第一滑动体043向内挤压绳缆03，第一滑动体043与绳缆03之间产生摩擦力，绳缆03对第一滑动体043的摩擦力沿绳缆03指向上方，该摩擦力与运载单元04在水中受到的重力和浮力之差平衡，运载单元04被悬挂在绳缆03上，相对绳缆03静止。Specifically, the underwater carrier device provided by the embodiment of the present invention is dropped into the water, the counterweight 02 sinks into the water, the floating body 01 floats on the water surface, and the two ends of the rope 03 are respectively pulled down by the counterweight 02 and by the floating body 01. Pull upward, and the cable 03 passes through the first through hole 0412, the gap between the two first sliding bodies 043 and the second through hole 0413 from top to bottom; in the water, the upper floating body 042 moves upward relative to the support body 041, And drive the first sliding body 043 to move upward in the gathering groove 0411; the distance between the two side walls of the gathering groove 0411 gradually decreases from bottom to top, pushing the two first sliding bodies 043 inward; The first sliding body 043 moves inwards under the action of the guide structure on the upper floating body 042, the rope 03 is located in the gap between the two first sliding bodies 043, and the two first sliding bodies 043 squeeze inwards The rope 03, the friction force generated between the first sliding body 043 and the rope 03, the friction force of the rope 03 on the first sliding body 043 points upward along the rope 03, and the friction force is consistent with the gravity of the carrying unit 04 in the water Balanced with the difference in buoyancy, the carrying unit 04 is suspended on the cable 03 and remains stationary relative to the cable 03 .
当漂浮体01在水面波浪的作用下向下运动时，绳缆03随着向下运动，绳缆03带动两个第一滑动体043相对聚拢凹槽0411向下运动，由于聚拢凹槽0411的两侧壁之间的距离自上往下逐渐增大，两个第一滑动体043相对向外运动，与绳缆03远离，运载单元04受重力驱动向下运动。由于运载单元04的向下运动是在自身重力和浮力之差的作用下发生的，运动的加速度较小；而绳缆03是随波浪向下运动，运动的加速度较大，在较短时间内即可达到较大的速度；因此，运载单元04向下运动的距离小于绳缆03向下运动的距离，运载单元04相对绳缆03向上运动。When the floating body 01 moves downward under the action of the waves on the water surface, the rope 03 moves downward, and the rope 03 drives the two first sliding bodies 043 to move downward relative to the gathering groove 0411, because the gathering groove 0411 The distance between the two side walls gradually increases from top to bottom, the two first sliding bodies 043 move relatively outwards, away from the cables 03, and the carrying unit 04 moves downwards driven by gravity. Since the downward movement of the carrying unit 04 occurs under the effect of the difference between its own gravity and buoyancy, the acceleration of the movement is small; while the cable 03 moves downward with the waves, the acceleration of the movement is relatively large, and in a short period of time A higher speed can be achieved; therefore, the distance that the carrying unit 04 moves downward is less than the distance that the cable 03 moves downward, and the carrying unit 04 moves upward relative to the cable 03 .
当漂浮体01带动绳缆03再次随波浪向上运动时，运载单元04中的第一滑动体043再次夹紧绳缆03，运载单元04随绳缆03一起向上运动，在水中的深度随之减小。When the floating body 01 drives the cable 03 to move upward again with the waves, the first sliding body 043 in the carrying unit 04 clamps the cable 03 again, and the carrying unit 04 moves upward together with the cable 03, and the depth in the water decreases accordingly. small.
这样，在波浪的一个周期里，运载单元04可向上运动一段距离；经历多个波浪周期后，运载单元04可从绳缆03的最下端运动到最上端。运载单元04上设置有载物结构用来安装检测设备，从而实现检测设备随着运载单元04在水中自动上升，对海洋的不同深度层进行观测；可使用一套仪器进行水体剖面连续测量，获取较丰富的观测数据，节约调查作业和仪器设备成本，减少了检测设备的投放和回收工序，缓解了现有技术所存在的观测设备的投放和回收工序复杂，风险高，人力和设备成本高的技术问题。In this way, in one wave cycle, the carrier unit 04 can move upward for a certain distance; after experiencing multiple wave cycles, the carrier unit 04 can move from the lowermost end of the cable 03 to the uppermost end. The carrying unit 04 is provided with a loading structure for installing detection equipment, so that the detection equipment can automatically rise with the carrying unit 04 in the water, and observe different depth layers of the ocean; a set of instruments can be used for continuous measurement of water body profiles, and obtain Abundant observation data saves survey operations and equipment costs, reduces the placement and recovery process of testing equipment, and alleviates the problems of complex placement and recovery procedures of observation equipment, high risk, and high manpower and equipment costs in the existing technology. technical problem.
请参照图5，作为另一种实施方式，上浮体042上可滑动连接两对第一滑动体043，两对第一滑动体043均与聚拢凹槽0411的侧壁滑动连接，并且沿支架体041的长度方向上下分布，并且位于下方的第一滑动体043的垂直于绳缆03的宽度大于位于上方的第一滑动体043的垂直于绳缆03的宽度。当滑动至聚拢凹槽0411的窄端时，位于下方的一对第一滑动体043和位于上方的一对第一滑动体043，均同时将绳缆03夹紧。Please refer to Fig. 5, as another embodiment, two pairs of first sliding bodies 043 can be slidably connected to the upper floating body 042, and the two pairs of first sliding bodies 043 are all slidably connected to the side walls of the gathering groove 0411, and along the bracket body The length direction of 041 is distributed up and down, and the width of the lower first sliding body 043 perpendicular to the cable 03 is greater than the width of the upper first sliding body 043 perpendicular to the cable 03 . When sliding to the narrow end of the gathering groove 0411, the pair of first sliding bodies 043 located below and the pair of first sliding bodies 043 located above both clamp the cable 03 at the same time.
上浮体042上还可以滑动连接多对第一滑动体043，多对第一滑动体043的连接方式与两对第一滑动体043的连接方式相同。Multiple pairs of first sliding bodies 043 can also be slidably connected to the upper floating body 042 , and the connection method of multiple pairs of first sliding bodies 043 is the same as that of two pairs of first sliding bodies 043 .
进一步的，绳缆03上的靠近漂浮体01的一端设置有第一终止挡块031；绳缆03上的靠近配重体02的一端设置有第二终止挡块032；支架体041上设置有弹性触点0414，上浮体042上设置有与弹性触点0414配合的换向凸起0422；换向凸起0422可在上浮体042受到沿支架体041的长度方向的作用力时从弹性触点0414的一侧越过到弹性触点0414的另一侧；当换向凸起0422位于弹性触点0414的靠近漂浮体01的一侧时，上浮体042的靠近漂浮体01的一侧超出支架体041；当换向凸起0422位于弹性触点0414的靠近配重体02的一侧时，上浮体042的靠近配重体02的一侧超出支架体041。Further, one end of the cable 03 close to the floating body 01 is provided with a first end stop 031; one end of the cable 03 close to the counterweight 02 is provided with a second end stop 032; the support body 041 is provided with an elastic Contact 0414, the upper floating body 042 is provided with a reversing protrusion 0422 that cooperates with the elastic contact 0414; the reversing protrusion 0422 can move from the elastic contact 0414 One side of the upper floating body 042 goes beyond the other side of the elastic contact 0414; when the reversing protrusion 0422 is located on the side of the elastic contact 0414 close to the floating body 01, the side of the upper floating body 042 close to the floating body 01 exceeds the support body 041 ; When the reversing protrusion 0422 is located on the side of the elastic contact 0414 close to the counterweight 02 , the side of the upper floating body 042 close to the counterweight 02 exceeds the bracket body 041 .
具体地，请参照图3，弹性触点0414包括弹性折弯片，弹性折弯片的一端连接于支架体041上，中段折弯且指向绳缆03凸起，另一端指向支架体041的外侧，换向凸起0422与弹性折弯片抵接。Specifically, please refer to FIG. 3 , the elastic contact 0414 includes an elastic bending piece, one end of the elastic bending piece is connected to the support body 041 , the middle section is bent and protrudes toward the cable 03 , and the other end points to the outside of the support body 041 , the reversing protrusion 0422 abuts against the elastic bending piece.
作为另一种实施方式，弹性触点0414包括导向管、球形触点和螺旋弹簧，导向管固定在支架体041上，沿垂直于支架体041的长度方向的方向延伸，螺旋弹簧和球形触点设置于导向管内，螺旋弹簧的一端与支架体041固定连接，另一端与球形触点固定连接，螺旋弹簧可沿垂直于支架体041的长度方向的方向伸缩，球形触点可在导向管的导向作用下沿垂直于支架体041的长度方向的方向移动，换向凸起0422与球形触点抵接。当换向凸起0422位于球形触点的上方，并且运载单元04远离第一终止挡块031和第二终止挡块032时，球形触点可使换向凸起0422保持在球形触点的上方，上浮体042相对支架体041位于上位，在波浪的驱动下，运载单元04逐步沿绳缆03向上运动。As another embodiment, the elastic contact 0414 includes a guide tube, a spherical contact and a coil spring. The guide tube is fixed on the bracket body 041 and extends in a direction perpendicular to the length direction of the bracket body 041. The coil spring and the spherical contact Set in the guide tube, one end of the helical spring is fixedly connected to the bracket body 041, and the other end is fixedly connected to the spherical contact. Under the action, it moves along the direction perpendicular to the length direction of the bracket body 041 , and the reversing protrusion 0422 abuts against the spherical contact. When the reversing protrusion 0422 is located above the ball contact and the carrying unit 04 is away from the first end stop 031 and the second end stop 032, the ball contact can keep the reversing protrusion 0422 above the ball contact , the upper floating body 042 is located at an upper position relative to the support body 041 , and driven by waves, the carrying unit 04 moves upwards gradually along the cables 03 .
当运载单元04逐渐靠近第一终止挡块031，在支架体041接触第一终止挡块031前，上浮体042先撞击到第一终止挡块031，上浮体042受到向下的冲击力，带动换向凸起0422将弹性触点0414中的球形触点向外侧推动，螺旋弹簧收缩，换向凸起0422随之越过球形触点，换向凸起0422运动到球形触点的下方；然后，球形触点在螺旋弹簧的弹力的推动下向内侧移动，阻挡换向凸起0422向上越过球形触点，使换向凸起0422保持在球形触点的下方。此时，上浮体042相对支架体041位于下位，并且上浮体042带动第一滑动体043向下运动到聚拢凹槽0411的宽端，同一对中的两个第一滑动体043相对向外侧运动，远离绳缆03；由于运载单元04的重力和浮力的合力竖直向下，运载单元04随之绳缆03向下滑动。When the carrying unit 04 gradually approaches the first end block 031, before the support body 041 touches the first end block 031, the upper floating body 042 first hits the first end block 031, and the upper floating body 042 is subjected to a downward impact force, driving The reversing protrusion 0422 pushes the spherical contact in the elastic contact 0414 to the outside, the coil spring contracts, and the reversing protrusion 0422 then passes over the spherical contact, and the reversing protrusion 0422 moves to the bottom of the spherical contact; then, The spherical contact moves inwardly under the push of the elastic force of the coil spring, blocking the reversing protrusion 0422 from going over the spherical contact upwards, so that the reversing protrusion 0422 remains under the spherical contact. At this time, the upper floating body 042 is located at a lower position relative to the bracket body 041, and the upper floating body 042 drives the first sliding body 043 to move downward to the wide end of the gathering groove 0411, and the two first sliding bodies 043 in the same pair move relatively outward , away from the cable 03 ; due to the resultant force of gravity and buoyancy of the carrying unit 04 vertically downward, the carrying unit 04 slides downward along with the cable 03 .
当运载单元04向下运动逐渐靠近第二终止挡块032，在支架体041接触第二终止挡块032前，上浮体042先撞击到第二终止挡块032，上浮体042受到向上的冲击力，带动换向凸起0422将弹性触点0414中的球形触点向外侧推动，螺旋弹簧收缩，换向凸起0422随之越过球形触点，换向凸起0422运动到球形触点的上方；然后，球形触点在螺旋弹簧的弹力的推动下向内侧移动，阻挡换向凸起0422向上越过球形触点，使换向凸起0422保持在球形触点的上方。此时，上浮体042相对支架体041位于上位，在重力和浮力的作用下，第一滑动体043重新夹紧绳缆03，并且在波浪的驱动下，运载单元04沿绳缆03逐步向上运动，直至上浮体042撞击到第一终止挡块031。When the carrying unit 04 moves downwards and gradually approaches the second end block 032, before the support body 041 touches the second end block 032, the upper floating body 042 hits the second end block 032 first, and the upper floating body 042 receives an upward impact force , driving the reversing protrusion 0422 to push the spherical contact in the elastic contact 0414 to the outside, the coil spring shrinks, the reversing protrusion 0422 then passes over the spherical contact, and the reversing protrusion 0422 moves to the top of the spherical contact; Then, the spherical contact moves inwardly under the push of the elastic force of the coil spring, blocking the reversing protrusion 0422 from going over the spherical contact upwards, so that the reversing protrusion 0422 remains above the spherical contact. At this time, the upper floating body 042 is located at the upper position relative to the support body 041. Under the action of gravity and buoyancy, the first sliding body 043 re-clamps the cable 03, and driven by the waves, the carrier unit 04 moves upward gradually along the cable 03 , until the upper floating body 042 hits the first end block 031 .
按上述的运动规避循环，检测设备随着运载单元04，在水里沿着绳缆03在第一终止挡块031和第二终止挡块032之间，自动地往复上下运动，对海洋的不同深度层进行观测，实现了一套仪器进行水体剖面连续测量，获取更加丰富的观测数据。According to the above-mentioned motion avoidance cycle, the detection device automatically reciprocates up and down along the cable 03 in the water with the carrying unit 04 between the first end block 031 and the second end block 032, and it is different for the sea. Observation in the depth layer has realized a set of instruments for continuous measurement of water body profiles, and obtained more abundant observation data.
进一步的，运载单元04包括两块压板045；支架体041上的设置聚拢凹槽0411的面上固定有四个支撑块0415，两个支撑块0415位于聚拢凹槽0411的一侧，另两个支撑块0415位于聚拢凹槽0411的另一侧；上浮体042设置于两侧的支撑块0415的中间，可相对支架体041沿支架体041的长度方向移动；压板045固定于同侧的两个支撑块0415上，且位于上浮体042的远离支架体041的一侧，可限制上浮体042沿聚拢凹槽0411的深度方向移动。Further, the carrying unit 04 includes two pressing plates 045; four support blocks 0415 are fixed on the surface of the bracket body 041 where the gathering groove 0411 is arranged, two support blocks 0415 are located on one side of the gathering groove 0411, and the other two The support block 0415 is located on the other side of the gathering groove 0411; the upper floating body 042 is arranged in the middle of the support blocks 0415 on both sides, and can move relative to the support body 041 along the length direction of the support body 041; the pressure plate 045 is fixed on two On the supporting block 0415, and located on the side of the upper floating body 042 away from the support body 041, the upper floating body 042 can be restricted from moving along the depth direction of the gathering groove 0411.
具体地，请参照图2，压板045和支架体041将上浮体042夹在中间，上浮体042可沿支架体041的长度方向移动。按照这种结构连接支架体041和上浮体042，拆下压板045即可将上浮体042从支架体041上卸下，便于支架体041和上浮体042的组装和拆卸，有利于后期的维护。Specifically, please refer to FIG. 2 , the upper floating body 042 is sandwiched between the pressing plate 045 and the bracket body 041 , and the upper floating body 042 can move along the length direction of the bracket body 041 . According to this structure, the bracket body 041 and the upper floating body 042 are connected, and the upper floating body 042 can be removed from the bracket body 041 by removing the pressing plate 045, which is convenient for the assembly and disassembly of the bracket body 041 and the upper floating body 042, and is conducive to later maintenance.
作为另一种实施方式，支架体041上设置有第一滑槽，第一滑槽沿支架体041的长度方向延伸；上浮体042上连接有与第一滑槽配合的第二滑动体。As another embodiment, the bracket body 041 is provided with a first sliding groove, and the first sliding groove extends along the length direction of the bracket body 041 ; the upper floating body 042 is connected with a second sliding body matched with the first sliding groove.
具体地，通过第二滑动体与第一滑槽之间的配合，上浮体042与支架体041之间实现滑动连接，上浮体042可相对支架体041沿支架体041的长度方向移动。Specifically, through the cooperation between the second sliding body and the first chute, the upper floating body 042 and the support body 041 are slidably connected, and the upper floating body 042 can move relative to the support body 041 along the length direction of the support body 041 .
第一滑槽为T形槽，第二滑动体为T形滑块，T形滑块与T形槽之间滑动配合。The first sliding groove is a T-shaped groove, the second sliding body is a T-shaped sliding block, and the T-shaped sliding block is slidingly matched with the T-shaped groove.
优选地，第一滑槽为T形槽，第二滑动体为与之配合的滑轮，滑轮通过转动轴转动连接于上浮体042上，该转动轴的轴线与上浮体042的与支架体041相对的端面垂直，滑轮与T形槽之间滚动配合，该滑轮的圆周面与T行槽的两个相对的侧壁接触。该种连接方式可减小上浮体042相对支架体041移动的摩擦力，使运动更顺畅。Preferably, the first chute is a T-shaped slot, and the second sliding body is a pulley matched therewith, and the pulley is rotatably connected to the upper floating body 042 through a rotating shaft whose axis is opposite to the support body 041 of the upper floating body 042 The end face of the pulley is vertical, the pulley is rollingly fitted with the T-shaped groove, and the circumferential surface of the pulley is in contact with two opposite side walls of the T-shaped groove. This type of connection can reduce the frictional force of the movement of the upper floating body 042 relative to the support body 041 and make the movement smoother.
作为另一种实施方式，支架体041与上浮体042之间还可以通过导轨与滑轮的配合来实现滑动连接。As another implementation manner, the sliding connection between the bracket body 041 and the upper floating body 042 can also be realized through cooperation of guide rails and pulleys.
进一步的，第一滑动体043为滑轮。Further, the first sliding body 043 is a pulley.
请参照图2和图4，第一滑动体043与聚拢凹槽0411的两侧壁滚动连接，在上浮体042带动第一滑动体043在聚拢凹槽0411内沿支架体041的长度方向移动时，第一滑动体043同时绕连接轴转动，第一滑动体043在聚拢凹槽0411的侧壁上的移动方式为滚动，减小了运动的摩擦力，使第一滑动体043沿聚拢凹槽0411之间的运动更顺畅，有利于两个第一滑动体043相对向内侧运动，将绳缆03夹紧。Please refer to Figure 2 and Figure 4, the first sliding body 043 is rollingly connected with the two side walls of the gathering groove 0411, when the upper floating body 042 drives the first sliding body 043 to move along the length direction of the bracket body 041 in the gathering groove 0411 , the first sliding body 043 rotates around the connecting shaft at the same time, and the moving mode of the first sliding body 043 on the side wall of the gathering groove 0411 is rolling, which reduces the frictional force of the movement and makes the first sliding body 043 move along the gathering groove. The movement between 0411 is smoother, which is conducive to the relatively inward movement of the two first sliding bodies 043 to clamp the rope 03.
作为另一种实施方式，第一滑动体043还可以是滑块，滑块与聚拢凹槽0411的侧壁滑动连接，滑块上设置有连接轴，该连接轴垂直于上浮体042的与支架体041相对的端面，滑块通过该连接轴与上浮体042滑动连接。As another embodiment, the first sliding body 043 can also be a slider, which is slidably connected to the side wall of the gathering groove 0411, and a connecting shaft is arranged on the sliding block, and the connecting shaft is perpendicular to the upper floating body 042 and the bracket. On the opposite end surface of the body 041, the slider is slidably connected with the upper floating body 042 through the connecting shaft.
进一步的，上浮体042上设置有第二滑槽0421，第二滑槽0421在上浮体042上沿垂直于支架体041的长度的方向延伸；第一滑动体043上转动连接有滑轮转轴044，第一滑动体043通过滑轮转轴044滑动连接于第二滑槽0421内，滑轮转轴044可在第二滑槽0421内转动。Further, the upper floating body 042 is provided with a second chute 0421, and the second chute 0421 extends on the upper floating body 042 in a direction perpendicular to the length of the bracket body 041; the first sliding body 043 is rotatably connected with a pulley shaft 044, The first sliding body 043 is slidably connected in the second sliding slot 0421 through the pulley rotating shaft 044 , and the pulley rotating shaft 044 can rotate in the second sliding slot 0421 .
请参照图4，滑轮转轴044与第一滑动体043之间转动连接，第一滑动体043可相对滑轮转轴044转动；滑轮转轴044滚动连接于第二滑槽0421内，可在第二滑槽0421内滚动和移动。第二滑槽0421为第一滑动体043相对上浮体042的运动导向，上浮体042上的第二滑槽0421沿垂直于支架体041的长度的方向延伸，使第一滑动体043相对上浮体042只能沿垂直于支架体041的长度的方向移动，在上浮体042相对支架体041向上运动时，带动第一滑动体043同时相对聚拢凹槽0411向上运动，聚拢凹槽0411自下端至上端，两侧壁之间的距离逐渐减小，两个第一滑动体043则被推向内侧运动，即沿着第二滑槽0421向内侧运动。Please refer to Fig. 4, the rotation connection between the pulley shaft 044 and the first sliding body 043, the first sliding body 043 can rotate relative to the pulley shaft 044; 0421 Scroll and move within. The second chute 0421 is the movement guide of the first sliding body 043 relative to the upper floating body 042. The second chute 0421 on the upper floating body 042 extends along the direction perpendicular to the length of the bracket body 041, so that the first sliding body 043 is relatively on the upper floating body. 042 can only move along the direction perpendicular to the length of the support body 041. When the upper floating body 042 moves upward relative to the support body 041, it drives the first sliding body 043 to move upward relative to the gathering groove 0411, and the gathering groove 0411 is from the lower end to the upper end , the distance between the two side walls decreases gradually, and the two first sliding bodies 043 are pushed to move inwardly, that is, move inwardly along the second sliding groove 0421 .
当上浮体042上滑动连接有两对第一滑动体043时，两对第一滑动体043分别连接于两个对应上下设置的第二滑槽0421内。When two pairs of first sliding bodies 043 are slidably connected to the upper floating body 042 , the two pairs of first sliding bodies 043 are respectively connected in two second slide grooves 0421 correspondingly arranged up and down.
作为另一种实施方式，第二滑槽0421包括两段滑槽，同一对中的两个第一滑动体043分别连接于两段滑槽内。两段滑槽的延伸方向可以相同，均垂直于支架体041的长度的方向；滑槽还可以自下端至上端向内倾斜，且倾斜角度与聚拢凹槽0411的侧壁的倾斜角度不相等，两段滑槽对称设置。第二滑槽0421包括两段对称的自下端至上端向内倾斜的滑槽，可使在上浮体042相对支架体041向下运动时，第一滑动体043在自身重力的作用下向外侧运动远离绳缆03。As another implementation manner, the second chute 0421 includes two sections of chute, and the two first sliding bodies 043 in the same pair are respectively connected in the two sections of chute. The extension direction of the two sections of the chute can be the same, all perpendicular to the direction of the length of the bracket body 041; the chute can also be inclined inwardly from the lower end to the upper end, and the inclination angle is not equal to the inclination angle of the side wall of the gathering groove 0411, The two sections of chute are arranged symmetrically. The second chute 0421 includes two symmetrical chute sections inclined inwardly from the lower end to the upper end, so that when the upper floating body 042 moves downward relative to the bracket body 041, the first sliding body 043 moves outward under the action of its own gravity Stay away from the rope 03.
进一步的，第一通孔0412内设置有转轮，转轮可在第一通孔0412内绕垂直于支架体041的长度方向的轴转动；转轮的侧面上设置有容缆凹槽，绳缆03设置于容缆凹槽内。Further, a running wheel is arranged in the first through hole 0412, and the running wheel can rotate around an axis perpendicular to the length direction of the bracket body 041 in the first through hole 0412; The cable 03 is arranged in the cable-accommodating groove.
具体地，第一通孔0412内相对设置有两个转轮，绳缆03从两个转轮之间的容缆凹槽内通过，在运载单元04沿绳缆03上下运动时，绳缆03可带动转轮转动，减小绳缆03与第一通孔0412之间的摩擦。一方面可减小运载单元04相对绳缆03运动的阻力，使运载单元04更易于沿绳缆03向上运动；另一方面可减小对绳缆03的磨损，提高本发明实施例提供的水下运载装置的使用寿命。Specifically, two runners are oppositely arranged in the first through hole 0412, and the cable 03 passes through the cable accommodation groove between the two runners. When the carrying unit 04 moves up and down along the cable 03, the cable 03 The running wheel can be driven to rotate, reducing the friction between the cable 03 and the first through hole 0412. On the one hand, it can reduce the resistance of the carrying unit 04 moving relative to the cable 03, making it easier for the carrying unit 04 to move upward along the cable 03; service life of the carrier.
优选地，第二通孔0413内设置有同样的转轮，绳缆03自上向下通过第一通孔0412和第二通孔0413上的转轮的容缆凹槽。Preferably, the second through hole 0413 is provided with the same runner, and the cable 03 passes through the cable accommodation grooves of the runners on the first through hole 0412 and the second through hole 0413 from top to bottom.
进一步的，聚拢凹槽0411的垂直其深度方向的截面包括第一底边、第二底边和两条腰边，第一底边靠近第一通孔0412，第二底边靠近第二通孔0413，腰边连接第一底边和第二底边的同一侧的一端，且两条腰边对称；腰边自第二底边至第一底边向内倾斜。Further, the section perpendicular to the depth direction of the converging groove 0411 includes a first bottom edge, a second bottom edge and two waist edges, the first bottom edge is close to the first through hole 0412, and the second bottom edge is close to the second through hole 0413, the waist is connected to one end on the same side of the first base and the second base, and the two waists are symmetrical; the waist is inclined inward from the second base to the first base.
具体地，聚拢凹槽0411的垂直其深度方向的截面呈等腰梯形，在腰边与第一底边的连接处和腰边与第二底边的连接处圆角过渡；第一通孔0412与第一底边连接，第二通孔0413与第二底边连接；绳缆03的两侧的第一滑动体043分别与两条腰边滑动连接。Specifically, the section perpendicular to the depth direction of the gathering groove 0411 is an isosceles trapezoid, with rounded transitions at the connection between the waist and the first bottom and the connection between the waist and the second bottom; the first through hole 0412 It is connected with the first bottom edge, and the second through hole 0413 is connected with the second bottom edge; the first sliding bodies 043 on both sides of the cable 03 are respectively slidably connected with the two waist edges.
作为另一种实施方式，聚拢凹槽0411的垂直其深度方向的截面还可以呈直角梯形，包括第一底边、第二底边、第一腰边和第二腰边，第一通孔0412沿支架体041的长度方向延伸至第一底边，第二通孔0413沿支架体041的长度方向延伸至第二底边，第一通孔0412和第二通孔0413均与聚拢凹槽0411连通；其中，第一腰边垂直于第一底边和第二底边，第二腰边的两端分别与第一底边和第二底边连接，第二腰边自第二底边至第一底边向内倾斜；绳缆03的一侧的第一滑动体043与第一腰边滑动连接，绳缆03的另一侧的第一滑动体043与第二腰边滑动连接。As another embodiment, the cross-section perpendicular to the depth direction of the gathering groove 0411 can also be a right-angled trapezoid, including the first bottom edge, the second bottom edge, the first waist edge and the second waist edge, and the first through hole 0412 Extend along the length direction of the bracket body 041 to the first bottom edge, the second through hole 0413 extends to the second bottom edge along the length direction of the bracket body 041, the first through hole 0412 and the second through hole 0413 are connected with the gathering groove 0411 Connected; wherein, the first waist is perpendicular to the first bottom and the second bottom, the two ends of the second waist are respectively connected with the first bottom and the second bottom, and the second waist is from the second bottom to the second bottom. The first bottom edge is inclined inward; the first sliding body 043 on one side of the cable 03 is slidably connected to the first waist, and the first sliding body 043 on the other side of the cable 03 is slidably connected to the second waist.
作为另一种实施方式，聚拢凹槽0411的垂直其深度方向的截面的两侧边还可以分别是自靠近第二通孔0413的一端至靠近第一通孔0412的一端向内倾斜的弧线。As another embodiment, the two sides of the section perpendicular to the depth direction of the converging groove 0411 can also be arcs inclined inward from one end close to the second through hole 0413 to one end close to the first through hole 0412 .
进一步的，聚拢凹槽0411包括两个独立的对称的凹槽；凹槽自靠近第二通孔0413的一端至靠近第一通孔0412的一端向内倾斜，两个凹槽关于第一通孔0412与第二通孔0413的连线对称；两个第一滑动体043分别嵌入两个凹槽内，第一滑动体043与凹槽的两侧壁均滑动连接；第一滑动体043上设置有凸起，凸起超出凹槽顶面，绳缆03位于两个第一滑动体043上的凸起之间。Further, the gathering groove 0411 includes two independent symmetrical grooves; the grooves are inclined inward from one end close to the second through hole 0413 to one end close to the first through hole 0412, and the two grooves are about the first through hole The connecting line between 0412 and the second through hole 0413 is symmetrical; the two first sliding bodies 043 are respectively embedded in the two grooves, and the first sliding body 043 is slidingly connected to both side walls of the groove; the first sliding body 043 is provided with There is a protrusion, and the protrusion exceeds the top surface of the groove, and the cable 03 is located between the protrusions on the two first sliding bodies 043 .
具体地，第一滑动体043的靠近绳缆03的侧面和远离绳缆03的侧面均与凹槽的侧壁滑动连接。这样，当上浮体042带动第一滑动体043相对支架体041向上运动时，第一滑动体043受到凹槽的远离绳缆03的侧面施加的指向绳缆03的推力，第一滑动体043靠近绳缆03；当上浮体042带动第一滑动体043相对支架体041向下运动时，第一滑动体043受到凹槽的靠近绳缆03的侧面施加的背向绳缆03的推力，第一滑动体043远离绳缆03，有利于运载单元04与绳缆03分开，相对绳缆03移动。Specifically, the side of the first sliding body 043 close to the cable 03 and the side away from the cable 03 are both slidably connected to the side wall of the groove. In this way, when the upper floating body 042 drives the first sliding body 043 to move upward relative to the support body 041, the first sliding body 043 is subjected to the thrust directed towards the cable 03 applied by the side of the groove away from the cable 03, and the first sliding body 043 approaches The rope 03; when the upper floating body 042 drives the first sliding body 043 to move downward relative to the bracket body 041, the first sliding body 043 is subjected to the thrust from the side of the groove close to the rope 03, which is applied against the rope 03, and the first The sliding body 043 is far away from the cable 03 , which is beneficial for the carrying unit 04 to separate from the cable 03 and move relative to the cable 03 .
本发明实施例第二方面提供一种海洋探测装置，包括检测设备和如上任一项所述的水下运载装置；检测设备固定于水下运载装置中的运载单元04上。The second aspect of the embodiment of the present invention provides a marine detection device, including detection equipment and the underwater vehicle described in any one of the above; the detection equipment is fixed on the carrying unit 04 in the underwater vehicle.
具体地，运载单元04上设置有载物结构，检测设备通过载物结构固定于运载单元04上，检测设备随着运载单元04，在水里沿着水下运载装置中的绳缆03在第一终止挡块031和第二终止挡块032之间，自动地往复上下运动，对海洋的不同深度层进行观测，获取观测数据。Specifically, the carrying unit 04 is provided with a load-carrying structure, and the detection equipment is fixed on the carrying unit 04 through the load-carrying structure. The detection equipment follows the carrying unit 04 in the water along the cables 03 in the underwater carrying device. Between the first end block 031 and the second end block 032, it automatically reciprocates up and down to observe different depth layers of the ocean and obtain observation data.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710870107.5ACN107490367B (en) | 2017-09-22 | 2017-09-22 | Underwater vehicles and marine detection devices |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710870107.5ACN107490367B (en) | 2017-09-22 | 2017-09-22 | Underwater vehicles and marine detection devices |
| Publication Number | Publication Date |
|---|---|
| CN107490367Atrue CN107490367A (en) | 2017-12-19 |
| CN107490367B CN107490367B (en) | 2023-04-25 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710870107.5AExpired - Fee RelatedCN107490367B (en) | 2017-09-22 | 2017-09-22 | Underwater vehicles and marine detection devices |
| Country | Link |
|---|---|
| CN (1) | CN107490367B (en) |
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| CN108375781A (en)* | 2018-02-09 | 2018-08-07 | 杭州仁牧科技有限公司 | Underwater target detection system |
| CN109398618A (en)* | 2018-12-04 | 2019-03-01 | 中国海洋大学 | A kind of wirerope single-direction and dual-direction control device and buoy platform applied to wave energy profile buoy |
| CN109572936A (en)* | 2018-12-04 | 2019-04-05 | 中国海洋大学 | A kind of Multifunction Wave energy profile buoy system |
| CN112729256A (en)* | 2020-12-31 | 2021-04-30 | 清华大学深圳国际研究生院 | Section observation equipment based on wave energy |
| CN112793726A (en)* | 2020-12-30 | 2021-05-14 | 山东省科学院海洋仪器仪表研究所 | An underwater patrol chain mobile observation platform |
| CN113501091A (en)* | 2021-04-22 | 2021-10-15 | 浙江大学 | Ice-based profiler release device and data acquisition system |
| CN117722477A (en)* | 2024-02-18 | 2024-03-19 | 中国科学院地质与地球物理研究所 | Step-by-step transmission pawl for seabed measurement platform |
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| CN102452456A (en)* | 2010-10-26 | 2012-05-16 | 茅菁 | Mechanical device with automatic opening and locking functions |
| US20140348593A1 (en)* | 2011-09-16 | 2014-11-27 | Nigk Corporation | Underwater rising/falling device |
| CN106988983A (en)* | 2017-04-20 | 2017-07-28 | 中国海洋大学 | A kind of wave floater-type deep ocean water lifting device |
| CN207317799U (en)* | 2017-09-22 | 2018-05-04 | 杭州楠溪仪器设备有限公司 | Underwater toter and marine exploration device |
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| CN101318541A (en)* | 2007-06-06 | 2008-12-10 | 中国科学院海洋研究所 | A self-sustaining marine environment monitoring system |
| CN102452456A (en)* | 2010-10-26 | 2012-05-16 | 茅菁 | Mechanical device with automatic opening and locking functions |
| US20140348593A1 (en)* | 2011-09-16 | 2014-11-27 | Nigk Corporation | Underwater rising/falling device |
| CN106988983A (en)* | 2017-04-20 | 2017-07-28 | 中国海洋大学 | A kind of wave floater-type deep ocean water lifting device |
| CN207317799U (en)* | 2017-09-22 | 2018-05-04 | 杭州楠溪仪器设备有限公司 | Underwater toter and marine exploration device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108375781A (en)* | 2018-02-09 | 2018-08-07 | 杭州仁牧科技有限公司 | Underwater target detection system |
| CN108375781B (en)* | 2018-02-09 | 2019-07-09 | 杭州仁牧科技有限公司 | Underwater Target Detection system |
| CN109398618A (en)* | 2018-12-04 | 2019-03-01 | 中国海洋大学 | A kind of wirerope single-direction and dual-direction control device and buoy platform applied to wave energy profile buoy |
| CN109572936A (en)* | 2018-12-04 | 2019-04-05 | 中国海洋大学 | A kind of Multifunction Wave energy profile buoy system |
| CN109572936B (en)* | 2018-12-04 | 2023-09-12 | 中国海洋大学 | A multifunctional wave energy profile buoy system |
| CN112793726A (en)* | 2020-12-30 | 2021-05-14 | 山东省科学院海洋仪器仪表研究所 | An underwater patrol chain mobile observation platform |
| CN112729256A (en)* | 2020-12-31 | 2021-04-30 | 清华大学深圳国际研究生院 | Section observation equipment based on wave energy |
| WO2022142127A1 (en)* | 2020-12-31 | 2022-07-07 | 清华大学深圳国际研究生院 | Wave energy-based profiling observation device |
| CN113501091A (en)* | 2021-04-22 | 2021-10-15 | 浙江大学 | Ice-based profiler release device and data acquisition system |
| CN117722477A (en)* | 2024-02-18 | 2024-03-19 | 中国科学院地质与地球物理研究所 | Step-by-step transmission pawl for seabed measurement platform |
| CN117722477B (en)* | 2024-02-18 | 2024-05-14 | 中国科学院地质与地球物理研究所 | Step-by-step transmission pawl for seabed measurement platform |
| Publication number | Publication date |
|---|---|
| CN107490367B (en) | 2023-04-25 |
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| TA01 | Transfer of patent application right | Effective date of registration:20230407 Address after:Room 1702, No. 11, Baichuan Road, Lincheng Street, Zhoushan Marine Science City, Dinghai District, Zhoushan City, Zhejiang Province, 316000 (Station 16, Talent Enclave) Applicant after:Zhoushan Shuiquan Technology Co.,Ltd. Applicant after:Hangzhou sea slug Ecological Technology Co.,Ltd. Address before:310000 Room 1246, Floor 12, Building A, No. 1338, Wenyi West Road, Cangqian Street, Yuhang District, Hangzhou, Zhejiang Applicant before:HANGZHOU NANXI INSTRUMENT EQUIPMENT CO.,LTD. | |
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| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20230425 |