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CN112747724A - Vertical section ocean current observation device based on small-sized ship - Google Patents

Vertical section ocean current observation device based on small-sized ship Download PDF

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Publication number
CN112747724A
CN112747724A CN202110011121.6A CN202110011121A CN112747724A CN 112747724 A CN112747724 A CN 112747724A CN 202110011121 A CN202110011121 A CN 202110011121A CN 112747724 A CN112747724 A CN 112747724A
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CN
China
Prior art keywords
fastening clip
floating body
welding
device based
observation device
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Withdrawn
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CN202110011121.6A
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Chinese (zh)
Inventor
严立文
陈永华
刘艳霞
刘庆奎
姜斌
胡贺岗
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Institute of Oceanology of CAS
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Institute of Oceanology of CAS
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Application filed by Institute of Oceanology of CAS filed Critical Institute of Oceanology of CAS
Priority to CN202110011121.6A priority Critical patent/CN112747724A/en
Publication of CN112747724A publication Critical patent/CN112747724A/en
Withdrawn legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C13/00Surveying specially adapted to open water, e.g. sea, lake, river or canal
    • G01C13/002Measuring the movement of open water
    • G01C13/006Measuring the movement of open water horizontal movement
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/14Receivers specially adapted for specific applications

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

本发明属于海洋观测领域,具体地说是一种基于小型船只的垂直剖面海流观测装置,小型船只与浮体、浮体与支撑架体、支撑架体与重锤之间均采用缆绳连接;上支架和下支架通过连接法兰连接,下支架上安装有至少一个紧固夹,紧固夹包括焊接紧固夹及活动紧固夹,焊接紧固夹安装在下支架上,活动紧固夹与焊接紧固夹可拆卸地连接,声学多普勒海流剖面仪容置在焊接紧固夹与活动紧固夹围成的空间中,由焊接紧固夹与活动紧固夹夹紧固定。本发明的声学多普勒海流剖面仪吊装在浮体下部的中心位置,下部重锤进一步保证其竖直性,即便强海流作用下其倾斜的角度也较小,垂直剖面测流有较好的准确性;同时,本发明具有固定牢靠,结构简单,性价比高等优点。

Figure 202110011121

The invention belongs to the field of ocean observation, in particular to a vertical profile ocean current observation device based on a small vessel. The lower bracket is connected by a connecting flange, and at least one fastening clip is installed on the lower bracket. The fastening clip includes a welding fastening clip and a movable fastening clip. The welding fastening clip is installed on the lower bracket, and the movable fastening clip and the welding fastening clip are The clips are detachably connected, and the acoustic Doppler current profiler is accommodated in the space enclosed by the welding fastening clip and the movable fastening clip, and is clamped and fixed by the welding fastening clip and the movable fastening clip. The acoustic Doppler current profiler of the present invention is hoisted at the center of the lower part of the floating body, and the lower weight further ensures its verticality. Even under the action of strong ocean currents, its inclination angle is small, and the vertical profile current measurement has better accuracy At the same time, the invention has the advantages of firm fixation, simple structure and high cost performance.

Figure 202110011121

Description

Vertical section ocean current observation device based on small-sized ship
Technical Field
The invention belongs to the field of ocean observation, and particularly relates to a vertical section ocean current observation device based on a small ship.
Background
The sea current parameter of the vertical section from the sea surface to the sea bottom in the sea has very strong guiding significance for the research of ocean science, mariculture and the like, is also the fundamental guarantee of military activities such as national defense construction, soil containment and the like, and is an important basis for the construction of marine environmental engineering. One of the important means to obtain ocean current parameters of offshore vertical profiles is based on ocean current observation by survey vessels. The traditional method is that a current meter is hung outside a ship board to observe the sea current of a vertical section; but the hull is met a current and is met a wave area great to receive the sea wind effect, the hull rocks easily, and small-size ship is particularly, causes the current meter to rock badly, and monitoring data quality is relatively poor. Based on this, it puts forward to let small-size ship as relying on, pulls a small-size body, and the better small-size body of steady heart is put as the hanging of current meter and is supported, can guarantee the steady heart of current meter to improve observation data quality.
Disclosure of Invention
The invention aims to provide a vertical section ocean current observation device based on a small ship. The vertical section ocean current observation device is not affected by the shaking of a ship, is automatically suspended on the water surface, is only moored on the ship, is laid, guarded and recovered by a small ship, is slightly inclined by the shaking of a floating body, and has better accuracy in vertical section current measurement.
The purpose of the invention is realized by the following technical scheme:
the small-sized ship-borne gravity flow acoustic Doppler current profiler comprises a small-sized ship, a floating body, a support frame body, an acoustic Doppler current profiler and a heavy hammer, wherein the floating body is respectively connected with the small-sized ship and one end of the support frame body through a cable; the center lines in the vertical direction are collinear after the floating body, the support frame body and the heavy hammer are connected through the cable.
Wherein: the floating body comprises a tower frame, a main floating body, a sealed cabin body and supporting legs, the main floating body is sleeved on the sealed cabin body, and a storage battery and a data acquisition and control system are respectively installed in the sealed cabin body; the tower is arranged on the upper surface of the main floating body, a GPS device and an anchor lamp are arranged on the tower, and the GPS device and the anchor lamp are respectively connected with the storage battery and the data acquisition and control system; the lower surface of the main floating body is provided with a plurality of supporting legs.
And a watertight wiring which extends out of the sealed cabin body is reserved in the storage battery and the data acquisition and control system which are arranged in the sealed cabin body, and the watertight wiring is connected with the GPS device and the anchor lamp.
The supporting frame body comprises an upper support and a lower support which are connected through a connecting flange, one end of the upper support is connected with the floating body through a cable, and the other end of the upper support is connected with one side of the connecting flange; one end of the lower support is connected with the heavy hammer through a cable, and the other end of the lower support is connected with the other side of the connecting flange; at least one fastening clamp is installed in the lower support, and the acoustic Doppler current profiler is clamped and fixed in the support frame body through the fastening clamp.
The upper support comprises a plurality of short folding rods, reinforcing ribs A and a pull nose A, one end of each short folding rod is welded on the pull nose A in a gathering and symmetrical mode, the other end of each short folding rod is connected with one side of the connecting flange, and the pull nose A is connected with the floating body through a cable; each short folding rod is connected inside through strengthening rib A support.
The lower support comprises a plurality of long folding rods, a fastening clamp, a reinforcing rib B and a pull nose B, one end of each long folding rod is welded on the pull nose B in a gathering and symmetrical mode, the other end of each long folding rod is connected with the other side of the connecting flange, and the pull nose B is connected with a heavy hammer through a cable; each long folding rod is connected with the inside of the long folding rod through a reinforcing rib B support, and the fastening clamp is fixedly connected between each long folding rod.
The acoustic Doppler current profiler is accommodated in a space defined by the welding fastening clamp and the movable fastening clamp and is clamped and fixed by the welding fastening clamp and the movable fastening clamp.
The part for clamping the acoustic Doppler current profiler between the welding fastening clamp and the movable fastening clamp is arc-shaped, and the two ends of the welding fastening clamp and the two ends of the movable fastening clamp are detachably fastened and connected through fixing screws respectively; the acoustic Doppler current profiler is fixed in the circular accommodating space formed by the welding fastening clamp and the movable fastening clamp after the rubber pad is added.
The invention has the advantages and positive effects that:
1. the system is stable and reliable, the acoustic Doppler current profiler is fixed in the support frame body, the upper end of the support frame body is connected with a floating body floating on the sea surface, and the lower end of the support frame body is provided with a heavy hammer.
2. The acoustic Doppler current profiler has good vertical performance, small inclination angle caused by the shaking of the floating body and high accuracy.
3. The structure is simple, the cost performance is high, the support frame body is split, and the acoustic Doppler current profiler is easy to mount; the components of the invention are made of stainless steel materials, and have stronger seawater corrosion resistance; the system is convenient to connect and fix and easy to realize.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the floating body of FIG. 1;
FIG. 3 is a schematic structural view of the support frame of FIG. 1;
FIG. 4 is a schematic structural view of the upper bracket of FIG. 3;
FIG. 5 is a schematic structural view of the lower bracket of FIG. 3;
FIG. 6 is a schematic view of the connecting flange of FIG. 3;
FIG. 7 is a schematic view of the structure of the fastening clip of FIG. 5;
wherein: 1 is a small ship, and 2 is a cable A;
3 is a floating body, 301 is a tower, 302 is a main floating body, 303 is a sealed cabin body, and 304 is a supporting leg;
4 is a cable B, and the cable B,
5 is a support frame body, 501 is an upper bracket, 50101 is a short folding rod, 50102 is a reinforcing rib A, 50103 is a pull nose A, 502 is a connecting flange, 503 is a lower bracket, 50301 is a long folding rod, 50302 is a fastening clip, 50303 is a reinforcing rib B, and 50304 is a pull nose B;
6 is acoustic Doppler current profiler;
7 is a cable C;
and 8 is a weight.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention comprises a small-sized ship 1, a floating body 3, a support frame 5, an acoustic doppler current profiler 6 and a weight 8, wherein the acoustic doppler current profiler 6 is installed inside the support frame 5, the small-sized ship 1 and the floating body 3 are connected by a cable a2, the floating body 3 is connected with one end of the support frame 5 by a cable B4, and the other end of the support frame 5 is connected with the weight 8 by a cable C7; after the floating body 3, the support frame body 5 and the heavy hammer 8 are connected through the cable B4 and the cable C7, the vertical center lines are collinear.
As shown in fig. 2, the floating body 3 of the present embodiment includes a tower 301, a main floating body 302, a sealed cabin 303 and support legs 304, the main floating body 302 is sleeved on the sealed cabin 303, a storage battery and a data acquisition and control system are respectively installed in the sealed cabin 303, and watertight connections extending to the outside of the sealed cabin 303 are reserved in the storage battery and the data acquisition and control system; the tower 301 is arranged on the upper surface of the main floating body 302, a GPS device and an anchor lamp are arranged on the tower 301 and used for positioning and warning, and the GPS device and the anchor lamp are respectively connected with a storage battery and a data acquisition and control system; the storage battery can supply power for the GPS device and the anchor lamp on the tower 301, and the data acquisition and control system can control, acquire and store information of the GPS device and the anchor lamp. A plurality of (four in this embodiment) legs 304 are mounted to the lower surface of the main float 302. In practical application, the storage battery and the data acquisition and control system are installed in the sealed cabin 303, and watertight connections extending to the outside of the sealed cabin 303 are reserved; then the main floating body 302 is sleeved and fixed on the sealed cabin 303, the upper tower 301 is installed and fixed on the main floating body 302, the GPS device and the anchor lamp are fixed on the upper tower 301, the watertight connection (namely, a power supply and a control cable) extending out of the sealed cabin 303 is connected with the GPS device and the anchor lamp, and finally four support legs 304 are installed at the lower part of the main floating body 302.
As shown in fig. 3 to 7, the support frame 5 of the present embodiment includes an upper support 501 and a lower support 503 connected by a connecting flange 502, wherein one end of the upper support 501 is connected to the floating body 3 by a cable B4, and the other end is connected to one side of the connecting flange 502; one end of the lower bracket 503 is connected to the weight 8 through a cable C7, and the other end is connected to the other side of the connecting flange 502; at least one fastening clip 50302 is installed in the lower bracket 503, and the acoustic doppler current profiler 6 is fastened inside the support frame body 5 by the fastening clip 50302.
The upper bracket 501 of this embodiment includes a plurality of short folding bars 50101 (four in this embodiment), a reinforcing rib a50102 and a pull tab a50103, one end of each short folding bar 50101 is welded symmetrically to the pull tab a50103, the other end is connected to one side of the connecting flange 502, and the pull tab a50103 is connected to the floating body 3 through a cable B4; the insides of the short folding rods 50101 are supported and connected through two reinforcing ribs A50102.
The lower bracket 503 of this embodiment comprises a plurality of long folding rods 50301 (four in this embodiment), fastening clips 50302, reinforcing ribs B50303 and pull noses B50304, wherein one end of each long folding rod 50301 is welded to the pull nose B50304 in a converging and symmetrical manner, and the other end is connected to the other side of the connecting flange 502, and the pull nose B50304 is connected to the heavy hammer 8 through a cable C7; the insides of the long folding rods 50301 are supported and connected by two reinforcing ribs B50303, and the fastening clips 50302 are fixedly connected among the long folding rods 50301.
The fastening clip 50302 of the present embodiment includes a welding fastening clip and a movable fastening clip, the welding fastening clip is mounted on the two long folding rods 50301 of the lower bracket 503, the movable fastening clip is detachably connected to the welding fastening clip, and the acoustic doppler current profiler 6 is accommodated in a space surrounded by the welding fastening clip and the movable fastening clip, and is clamped and fixed by the welding fastening clip and the movable fastening clip. The part for clamping the acoustic Doppler current profiler 6 between the welding fastening clamp and the movable fastening clamp is arc-shaped, and the two ends of the welding fastening clamp and the two ends of the movable fastening clamp are detachably fastened and connected through fixing screws respectively; the welding fastening clamp and the movable fastening clamp enclose a circular accommodating space, a rubber pad is additionally arranged in the circular accommodating space, and the acoustic Doppler current profiler 6 is fixed in the circular accommodating space enclosed by the welding fastening clamp and the movable fastening clamp after the rubber pad is added and is positioned at the center position below the floating body 3.
The acoustic Doppler current profiler 6 of the present invention is a commercially available product, available from Teledyne RD instruments, USA, model number 300 KADCP.
The small boat 1 of the present invention is a boat which discharges water in an amount of less than 100 t.
The method for realizing section ocean current observation by applying the vertical section ocean current observation device comprises the following steps:
firstly, the acoustic Doppler current profiler 6 is installed in a lower bracket 503 through a fastening clamp 50302, and an upper bracket 501 and the lower bracket 503 are connected into a whole through a connecting flange 502 by using a nut to form a vertical section current observation device; then the floating body 3 is connected with the support frame body 5 provided with the acoustic Doppler current profiler 6 by a cable B4, and the heavy hammer 8 is connected with the support frame body 5 provided with the acoustic Doppler current profiler 6 by a cable C7; the upper end of the floating body 3 is connected with the small-sized ship 1 through a cable A2; the weight 8, the support frame 5 and the floating body 3 are thrown into water in sequence, so that the water floats away from the small ship 1 by a set distance and starts to be observed.

Claims (8)

1.一种基于小型船只的垂直剖面海流观测装置,其特征在于:包括小型船只(1)、浮体(3)、支撑架体(5)、声学多普勒海流剖面仪(6)及重锤(8),其中浮体(3)分别通过缆绳与小型船只(1)及支撑架体(5)的一端连接,所述支撑架体(5)的另一端通过缆绳与重锤(8)相连,所述声学多普勒海流剖面仪(6)安装于支撑架体(5)的内部;所述浮体(3)、支撑架体(5)与重锤(8)通过缆绳连接后,竖直方向的中心线共线。1. a vertical profile ocean current observation device based on a small vessel, is characterized in that: comprising a small vessel (1), a floating body (3), a support frame body (5), an acoustic Doppler current profiler (6) and a heavy hammer (8), wherein the floating body (3) is connected to the small vessel (1) and one end of the supporting frame body (5) through cables respectively, and the other end of the supporting frame body (5) is connected to the weight (8) through cables, The acoustic Doppler current profiler (6) is installed inside the support frame body (5); after the floating body (3), the support frame body (5) and the weight (8) are connected by cables, the vertical direction The centerlines are collinear. 2.根据权利要求1所述基于小型船只的垂直剖面海流观测装置,其特征在于:所述浮体(3)包括塔架(301)、主浮体(302)、密封舱体(303)及支腿(304),该密封舱体(303)上套接有所述主浮体(302),所述密封舱体(303)内分别安装有蓄电池及数据采集与控制系统;所述塔架(301)安装于主浮体(302)的上表面,该塔架(301)上安装有GPS装置和锚灯,所述GPS装置和锚灯分别与蓄电池、数据采集与控制系统相连;所述主浮体(302)的下表面安装有多条支腿(304)。2. The vertical profile ocean current observation device based on a small vessel according to claim 1, wherein the floating body (3) comprises a tower (301), a main floating body (302), a sealed cabin (303) and outriggers (304), the main floating body (302) is sleeved on the sealed cabin (303), and a battery and a data acquisition and control system are respectively installed in the sealed cabin (303); the tower (301) Installed on the upper surface of the main floating body (302), a GPS device and an anchor light are installed on the tower (301), and the GPS device and the anchor light are respectively connected with a battery, a data acquisition and a control system; the main floating body (302) ) has a plurality of legs (304) mounted on the lower surface. 3.根据权利要求2所述基于小型船只的垂直剖面海流观测装置,其特征在于:安装于所述密封舱体(303)内的蓄电池及数据采集与控制系统预留有延伸至密封舱体(303)外的水密接线,该水密接线与所述GPS装置和锚灯相连。3. The vertical profile ocean current observation device based on a small vessel according to claim 2, wherein the battery and the data acquisition and control system installed in the sealed cabin (303) are reserved for extending to the sealed cabin (303). 303) outside the watertight wiring, the watertight wiring is connected to the GPS device and the anchor light. 4.根据权利要求1所述基于小型船只的垂直剖面海流观测装置,其特征在于:所述支撑架体(5)包括通过连接法兰(502)相连的上支架(501)及下支架(503),该上支架(501)的一端通过缆绳与所述浮体(3)连接,另一端与所述连接法兰(502)的一侧相连;所述下支架(503)的一端通过缆绳与重锤(8)连接,另一端与所述连接法兰(502)的另一侧相连;所述下支架(503)内安装有至少一个紧固夹(50302),所述声学多普勒海流剖面仪(6)通过紧固夹(50302)夹紧固定在支撑架体(5)的内部。4. The vertical profile ocean current observation device based on a small vessel according to claim 1, characterized in that: the support frame body (5) comprises an upper bracket (501) and a lower bracket (503) connected by a connecting flange (502) ), one end of the upper bracket (501) is connected to the floating body (3) through a cable, and the other end is connected to one side of the connecting flange (502); one end of the lower bracket (503) is connected to the weight through a cable The hammer (8) is connected, and the other end is connected with the other side of the connecting flange (502); at least one fastening clip (50302) is installed in the lower bracket (503), and the acoustic Doppler current profile The instrument (6) is clamped and fixed inside the support frame body (5) by the clamping clip (50302). 5.根据权利要求4所述基于小型船只的垂直剖面海流观测装置,其特征在于:所述上支架(501)包括短折杆(50101)、加强筋A(50102)及拉鼻A(50103),该短折杆(50101)为多根,各根所述短折杆(50101)的一端汇集对称地焊接在所述拉鼻A(50103)上,另一端分别与所述连接法兰(502)的一侧相连,所述拉鼻A(50103)通过缆绳与浮体(3)连接;各根所述短折杆(50101)内部通过加强筋A(50102)支撑连接。5. The vertical profile ocean current observation device based on a small vessel according to claim 4, wherein the upper bracket (501) comprises a short folding rod (50101), a reinforcing rib A (50102) and a nose puller A (50103) , the short folding rods (50101) are multiple, one end of each short folding rod (50101) is assembled and symmetrically welded on the pulling nose A (50103), and the other ends are respectively connected with the connecting flange (502) ) is connected to one side of the pull nose A (50103) is connected to the floating body (3) through a cable; each of the short folding rods (50101) is supported and connected by a reinforcing rib A (50102). 6.根据权利要求4所述基于小型船只的垂直剖面海流观测装置,其特征在于:所述下支架(503)包括长折杆(50301)、紧固夹(50302)、加强筋B(50303)及拉鼻B(50304),该长折杆(50301)为多根,各根所述长折杆(50301)的一端汇集对称地焊接在所述拉鼻B(50304)上,另一端分别与所述连接法兰(502)的另一侧相连,所述拉鼻B(50304)通过缆绳与重锤(8)连接;各根所述长折杆(50301)内部通过加强筋B(50303)支撑连接,所述紧固夹(50302)固接于各根长折杆(50301)之间。6. The vertical profile ocean current observation device based on a small vessel according to claim 4, wherein the lower bracket (503) comprises a long folding rod (50301), a fastening clip (50302), and a reinforcing rib B (50303) And pull nose B (50304), the long folding rod (50301) is multiple, one end of each long folding rod (50301) is assembled and symmetrically welded on the pull nose B (50304), and the other ends are respectively connected with The other side of the connecting flange (502) is connected, the pulling nose B (50304) is connected with the weight (8) through a cable; the inside of each long folding rod (50301) is connected by a reinforcing rib B (50303) In the support connection, the fastening clips (50302) are fixed between the long folding rods (50301). 7.根据权利要求6所述基于小型船只的垂直剖面海流观测装置,其特征在于:所述紧固夹(50302)包括焊接紧固夹及活动紧固夹,该焊接紧固夹安装在下支架(503)的长折杆(50301)上,所述活动紧固夹与焊接紧固夹可拆卸地连接,所述声学多普勒海流剖面仪(6)容置在所述焊接紧固夹与活动紧固夹围成的空间中,由所述焊接紧固夹与活动紧固夹予以夹紧固定。7. The vertical profile ocean current observation device based on a small vessel according to claim 6, wherein the fastening clip (50302) comprises a welding fastening clip and a movable fastening clip, and the welding fastening clip is mounted on the lower bracket (50302). 503) on the long folding rod (50301), the movable fastening clip and the welding fastening clip are detachably connected, and the acoustic Doppler current profiler (6) is accommodated in the welding fastening clip and the movable fastening clip. In the space enclosed by the fastening clips, the welding fastening clips and the movable fastening clips are clamped and fixed. 8.根据权利要求7所述基于小型船只的垂直剖面海流观测装置,其特征在于:所述焊接紧固夹与活动紧固夹中间夹紧声学多普勒海流剖面仪(6)的部分均为弧形,该焊接紧固夹与活动紧固夹的两端分别通过固定螺丝可拆卸地紧固连接;所述焊接紧固夹与活动紧固夹围成一个圆形的容置空间,并在该圆形容置空间中加设有胶皮垫,所述声学多普勒海流剖面仪(6)通过添加胶皮垫后固定在所述焊接紧固夹与活动紧固夹围成的圆形容置空间中。8. The vertical profile ocean current observation device based on a small vessel according to claim 7, characterized in that: the part between the welded fastening clip and the movable fastening clip that clamps the acoustic Doppler current profiler (6) is both. Arc-shaped, the two ends of the welding clamp and the movable clamp are detachably connected by fixing screws respectively; the welding clamp and the movable clamp enclose a circular accommodating space, and the A rubber pad is added to the circular accommodating space, and the acoustic Doppler current profiler (6) is fixed in the circular accommodating space enclosed by the welding fastening clip and the movable fastening clip after adding the rubber pad. .
CN202110011121.6A 2021-01-06 2021-01-06 Vertical section ocean current observation device based on small-sized ship Withdrawn CN112747724A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114184350A (en) * 2021-11-17 2022-03-15 西安近代化学研究所 Self-righting and separating device for marine test recovery body

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114184350A (en) * 2021-11-17 2022-03-15 西安近代化学研究所 Self-righting and separating device for marine test recovery body
CN114184350B (en) * 2021-11-17 2024-05-28 西安近代化学研究所 Self-righting disengaging device of offshore test recovery body

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Application publication date: 20210504