Deep-sea submersible bottom-sitting device with seabed topography and geology self-adaptive capability

Abstract

This invention relates to the field of submersible device technology, specifically to a deep-sea submersible landing device with adaptive seabed topography and geology capabilities. The invention employs a parallelogram linkage mechanism design, coupled with built-in hydraulic cylinders in each support leg, enabling it to support large-tonnage deep-sea submersibles on the seabed. Furthermore, by using conformal cover plates as support feet, the contact area between the landing device and seabed sediments is greatly increased, reducing the shear force exerted by the submersible on the sediments and improving the landing device's seabed geology adaptability. A retraction mechanism allows the device to fold down and retract into the submersible's profile when not in use, effectively reducing drag and noise during navigation. The retractable support cylinder structure allows for adjustable support height, enabling the height of each support leg to be adjusted arbitrarily when facing uneven seabed terrain or small-angle slopes, ensuring the submersible's landing posture remains stable and adaptable to different seabed topography.

Description

Technical Field

[0001] This invention relates to the field of submersible device technology, and specifically to a deep-sea submersible bottom-sitting device with adaptive seabed topography and geology capabilities. Background Technology

[0002] Extensive research has been conducted both domestically and internationally on deep-sea submersible landing technology. However, for large-tonnage, large-size deep-sea submersible landing devices, there is currently no mature and reliable solution. Existing deep-sea submersible landing devices mainly suffer from the following shortcomings:

[0003] 1) Existing bottom-landing devices only support submersibles with negative buoyancy in the kilogram range, which greatly limits bottom-landing and makes it difficult to support bottom-landing operations for large-tonnage deep-sea submersibles, resulting in fewer tasks that the submersible can perform after bottoming.

[0004] 2) Most existing landing devices are external fixed frame structures, which cannot be retracted into the surface of the submarine when not in operation. This disrupts the streamlined structure of the submarine during navigation, increases the flow resistance and noise during navigation, and increases the energy consumption and reduces the endurance of the submarine.

[0005] 3) The external fixed frame structure of the bottom-sitting device has poor adaptability to different seabed geological conditions. The frame structure results in a small contact area between the bottom-sitting device and the seabed, which leads to greater shear stress on the seabed sediments. It also results in a greater sinking depth for soft seabed sediments and higher requirements for the seabed topography and geological conditions of the operating area.

[0006] 4) After the external fixed frame structure bottom-sitting device sits on the seabed, it provides limited working space for the submersible. Due to the fixed structural design, the support height of the bottom-sitting device is too small, and the height of the submersible's lower surface from the seabed is small, which is not conducive to subsequent operations. In addition, the support height is not adjustable, which limits the submersible's subsequent operational capabilities and makes it less adaptable to different seabed topographic conditions. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a deep-sea submersible landing device with seabed topographic and geological adaptive capabilities. It has high stability, strong geological adaptability, can support large-tonnage deep-sea submersibles to land on the seabed, and can effectively reduce the flow resistance of the submersible.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0009] A deep-sea submersible bottom-sitting device with seabed topographic and geological adaptive capabilities is provided. The bottom-sitting device is symmetrically arranged on both sides of the bow and stern of the submersible. The bottom-sitting device specifically includes: a parallelogram support mechanism, a telescopic adjustment mechanism, a retraction mechanism, and a bottom-sitting control system.

[0010] The parallelogram support mechanism includes a guide sleeve I base 2 and a guide sleeve II base 5 fixedly installed on the pressure hull 1 of the submersible. The guide sleeve I base 2 and the guide sleeve II base 5 are respectively connected to the guide sleeve I 8 and the guide sleeve II 13 arranged in parallel, and a thrust rod 9 is connected between the guide sleeve I 8 and the guide sleeve II 13.

[0011] The telescopic adjustment mechanism includes two supporting hydraulic cylinders 16 respectively disposed in the guide sleeve I8 and the guide sleeve II13, and the two supporting hydraulic cylinders 16 are respectively connected to one end of the telescopic support cylinder I7 and the telescopic support cylinder II10, and the other end of the telescopic support cylinder I7 and the telescopic support cylinder II10 is connected to a conformal support cover plate 6.

[0012] The retraction and deployment mechanism includes a crank arm base 3 and a retraction and deployment hydraulic cylinder base 4 fixedly installed on the pressure hull 1 of the submersible. A crank arm 12 and a retraction and deployment hydraulic cylinder 14 are respectively connected to the crank arm base 3 and the retraction and deployment hydraulic cylinder base 4. The output end of the retraction and deployment hydraulic cylinder 14 is connected to one end of the crank arm 12, and the other end of the crank arm 12 is connected to the guide sleeve I8 through the connecting rod 11.

[0013] Both the support hydraulic cylinder 16 and the retraction hydraulic cylinder 14 are electrically connected to the bottom control system.

[0014] Preferably, the guide sleeve I 8 and guide sleeve II 13 are respectively connected to the guide sleeve I base 2 and guide sleeve II base 5 by means of a pin; one end of the thrust rod 9 is connected to the guide sleeve I 8 by means of a pin, and the other end is connected to the guide sleeve II 13 by means of a pin and a grooved hole.

[0015] Preferably, both the telescopic support cylinder I7 and the telescopic support cylinder II10 are connected to the conformal support cover plate 6 via ball joints.

[0016] Preferably, the crank arm 12 and the retractable hydraulic cylinder 14 are respectively hinged to the crank arm base 3 and the retractable hydraulic cylinder base 4, and the output end of the retractable hydraulic cylinder 14 is hinged to the crank arm 12.

[0017] Preferably, both guide sleeve I8 and guide sleeve II13 are provided with parallel sliding tracks, and the telescopic support cylinder I7 and telescopic support cylinder II10 are slidably and telescopically connected to the guide sleeve I8 and guide sleeve II13 through corresponding sliding tracks.

[0018] Preferably, one end of the telescopic support cylinder I7 and the telescopic support cylinder II10 are respectively connected to the corresponding support hydraulic cylinder 16 inside the guide sleeve I8 and the guide sleeve II13, and the other end is connected to the conformal support cover plate 6 through a ball joint support.

[0019] Preferably, the arc shape of the conformal support cover 6 is adapted to the water-permeable lightweight shell 15 installed at the bottom of the submersible pressure shell 1.

[0020] Preferably, the submersible landing control process includes:

[0021] 1) Sealing device deployment: The output rod of the hydraulic cylinder for control of retraction and extension extends, driving the guide sleeve I to rotate counterclockwise around the base of guide sleeve I through the crank arm and connecting rod. At the same time, the thrust rod drives the guide sleeve II to move counterclockwise around the base of guide sleeve II, thereby separating the conformal support cover from the water-permeable lightweight shell at the bottom of the submersible and putting it into a working state.

[0022] 2) Terrain adaptive adjustment: Based on the seabed slope, the telescopic support cylinder I and telescopic support cylinder II are adjusted by two support hydraulic cylinders respectively, so that the tilt angle of the conformal support cover plate is adapted to the terrain slope when the device sits on the bottom.

[0023] 3) Workspace adjustment: Determine the required bottom workspace height of the submersible according to the type of operation task, and adjust the extension of the telescopic support cylinder I and telescopic support cylinder II synchronously according to the workspace height;

[0024] 4) Retraction of the bottom device: After the task is completed, first retract the telescopic support cylinder I and telescopic support cylinder II to the minimum stroke position, then control the output rod of the retraction hydraulic cylinder to retract, thereby driving the guide sleeve I and guide sleeve II to rotate clockwise synchronously so that the conformal support cover plate is retracted into the profile of the water-permeable lightweight shell.

[0025] Preferably, both the supporting hydraulic cylinder and the retracting hydraulic cylinder have a self-locking function.

[0026] A deep-sea submersible comprising a deep-sea submersible landing device as described above.

[0027] Compared with the prior art, the present invention has the following main advantages:

[0028] 1. The bottom-sitting device of the present invention adopts a parallelogram linkage mechanism design, and with the built-in support hydraulic cylinders of each support leg, it has the ability to support large-tonnage deep-sea submersibles to sit on the bottom; and by setting a conformal cover plate as the support foot of the device, the contact area between the bottom-sitting device and the seabed sediment is greatly increased, the shearing force of the submersible on the sediment is reduced, and the seabed geological self-adaptation capability of the bottom-sitting device is improved.

[0029] 2. This invention, by setting up a retraction mechanism, allows the submersible to be folded down and retracted into its interior when not in use. Combined with the design of the conformal support cover, this effectively reduces flow resistance and noise during submersible navigation. Furthermore, the retractable support cylinder structure allows for adjustable support height, enabling the adjustment of the height of each support leg when facing uneven seabed terrain or small-angle slopes. This ensures that the submersible's bottoming posture remains stable, adapting to different seabed terrains and providing a larger bottom working space. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall installation of the deep-sea submersible landing device in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the bottom-sitting device in the retracted state in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the submersible in the retracted state of the bottom-sitting device in an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of the base device in the deployed state in an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the submersible in the deployed state of the bottom-sitting device in an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the structure of the base device in the extended state in an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the submersible in the extended state of the bottom-sitting device in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the telescopic support mechanism of the bottom-sitting device in an embodiment of the present invention.

[0038] In the diagram: 1-Pressure-resistant shell; 2-Guide sleeve I base; 3-Crank arm base; 4-Retracting hydraulic cylinder base; 5-Guide sleeve II base; 6-Conformal support cover plate; 7-Telescopic support cylinder I; 8-Guide sleeve I; 9-Thrust rod; 10-Telescopic support cylinder II; 11-Connecting rod; 12-Crank arm; 13-Guide sleeve II; 14-Retracting hydraulic cylinder; 15-Water-permeable lightweight shell; 16-Support hydraulic cylinder. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0040] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0041] In this invention, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0042] Example 1: This example provides a deep-sea submersible landing device with adaptive seabed topography and geology capabilities, such as... Figures 1-8 As shown, it mainly includes: a parallelogram support mechanism, a telescopic adjustment mechanism, a retraction mechanism, and a bottom control system;

[0043] The parallelogram support mechanism includes a guide sleeve I base 2 and a guide sleeve II base 5 fixedly installed on the pressure hull 1 of the submersible. The guide sleeve I base 2 and the guide sleeve II base 5 are respectively connected to the guide sleeve I 8 and the guide sleeve II 13 arranged in parallel, and a thrust rod 9 is connected between the guide sleeve I 8 and the guide sleeve II 13.

[0044] The telescopic adjustment mechanism includes two supporting hydraulic cylinders 16 respectively disposed in the guide sleeve I8 and the guide sleeve II13, and the two supporting hydraulic cylinders 16 are respectively connected to one end of the telescopic support cylinder I7 and the telescopic support cylinder II10, and the other end of the telescopic support cylinder I7 and the telescopic support cylinder II10 is connected to a conformal support cover plate 6.

[0045] The retraction and deployment mechanism includes a crank arm base 3 and a retraction and deployment hydraulic cylinder base 4 fixedly installed on the pressure hull 1 of the submersible. A crank arm 12 and a retraction and deployment hydraulic cylinder 14 are respectively connected to the crank arm base 3 and the retraction and deployment hydraulic cylinder base 4. The output end of the retraction and deployment hydraulic cylinder 14 is connected to one end of the crank arm 12, and the other end of the crank arm 12 is connected to the guide sleeve I8 through the connecting rod 11.

[0046] Both the support hydraulic cylinder 16 and the retraction hydraulic cylinder 14 are electrically connected to the bottom control system.

[0047] Furthermore, the guide sleeve I 8 and guide sleeve II 13 are respectively connected to the guide sleeve I base 2 and guide sleeve II base 5 by means of a pin hinge; one end of the thrust rod 9 is connected to the guide sleeve I 8 by means of a pin, and the other end is connected to the guide sleeve II 13 by means of a pin fitting with an oblong hole.

[0048] Furthermore, both the telescopic support cylinder I7 and the telescopic support cylinder II10 are connected to the conformal support cover plate 6 via ball joints.

[0049] Furthermore, the crank arm 12 and the retraction / extension hydraulic cylinder 14 are respectively hinged to the crank arm base 3 and the retraction / extension hydraulic cylinder base 4, and the output end of the retraction / extension hydraulic cylinder 14 is hinged to the crank arm 12.

[0050] Furthermore, both guide sleeve I8 and guide sleeve II13 are provided with parallel sliding tracks, and the telescopic support cylinder I7 and telescopic support cylinder II10 are slidably and telescopically connected to the guide sleeve I8 and guide sleeve II13 through corresponding sliding tracks.

[0051] Furthermore, one end of the telescopic support cylinder I7 and the telescopic support cylinder II10 are respectively connected to the corresponding support hydraulic cylinders 16 inside the guide sleeve I8 and the guide sleeve II13, and the other end is connected to the conformal support cover plate 6 through a ball joint support.

[0052] Furthermore, the arc shape of the conformal support cover 6 is adapted to the water-permeable lightweight shell 15 installed at the bottom of the submersible pressure shell 1.

[0053] Furthermore, the submersible's bottom-landing control process includes:

[0054] 1) Sealing device deployment: The output rod of the hydraulic cylinder for control of retraction and extension extends, driving the guide sleeve I to rotate counterclockwise around the base of guide sleeve I through the crank arm and connecting rod. At the same time, the thrust rod drives the guide sleeve II to move counterclockwise around the base of guide sleeve II, thereby separating the conformal support cover from the water-permeable lightweight shell at the bottom of the submersible and putting it into a working state.

[0055] 2) Terrain adaptive adjustment: Based on the seabed slope, the telescopic support cylinder I and telescopic support cylinder II are adjusted by two support hydraulic cylinders respectively, so that the tilt angle of the conformal support cover plate is adapted to the terrain slope when the device sits on the bottom.

[0056] 3) Workspace adjustment: Determine the required bottom workspace height of the submersible according to the type of operation task, and adjust the extension of the telescopic support cylinder I and telescopic support cylinder II synchronously according to the workspace height;

[0057] 4) Retraction of the bottom device: After the task is completed, first retract the telescopic support cylinder I and telescopic support cylinder II to the minimum stroke position, then control the output rod of the retraction hydraulic cylinder to retract, thereby driving the guide sleeve I and guide sleeve II to rotate clockwise synchronously so that the conformal support cover plate is retracted into the profile of the water-permeable lightweight shell.

[0058] Furthermore, both the supporting hydraulic cylinder and the retracting hydraulic cylinder have a self-locking function.

[0059] Example 2: This example provides a deep-sea submersible landing device with adaptive seabed topography and geology capabilities, such as... Figure 1 As shown, the submersible is equipped with four sets of bottom-landing devices, which are arranged symmetrically on both sides of the bow and stern of the submersible.

[0060] like Figures 2-3 As shown, when the bottom-sitting device is not in operation, it is retracted into the surface of the submersible, which does not increase the flow resistance and noise of the submersible during navigation. At the same time, the retraction hydraulic cylinder 14 is in the minimum stroke position, tightening the crank arm 12. The crank arm 12 and the connecting rod 11 self-lock at the dead point, which has the function of preventing falling.

[0061] like Figures 4-5 As shown, when the base device is extended, the hydraulic cylinder 14 pushes the crank arm 12 outward to rotate clockwise around the crank arm base 3. Then, through the connecting rod 11, it drives the guide sleeve I 8 to rotate counterclockwise around the guide sleeve I base 2. At the same time, the guide sleeve I 8 transmits the thrust to the guide sleeve II 13 through the thrust rod 9, so that it moves counterclockwise around the guide sleeve II base 5. This causes the conformal support cover 6 to separate from the water-permeable lightweight shell 15, so that the entire base device is extended outside the mold surface and is in a working state.

[0062] like Figures 6-8 As shown, according to the requirements of the submersible's bottom-landing mission and the seabed topography, the telescopic support cylinder 16, built into the guide sleeve, pushes the telescopic support cylinder, increasing the distance between the conformal support cover plate 6 and the water-permeable lightweight shell 15, thus increasing the support height. Simultaneously, the telescopic height of the four bottom-landing devices can be individually adjusted to allow the submersible to land on a slope with a certain gradient. Furthermore, the thrust rod 9 uses an oval hole design, allowing for a certain height difference between the two telescopic support cylinders of the same bottom-landing device, which is used to adjust the angle of the conformal support cover plate 6 to suit the seabed topography. After adjusting the bottom-landing devices to the correct position according to the terrain and mission requirements, the submersible can descend and land on the seabed, completing the bottom-landing mission.

[0063] After the task is completed, the bottom-sitting device is recovered via a reverse process. First, the supporting hydraulic cylinder drives the telescopic support cylinder to retract to its minimum stroke position, achieving the desired position. Figure 4 In the state of being in motion, the hydraulic cylinder 14 pulls the crank arm 12 inward to rotate counterclockwise, which drives the guide sleeve I8 to rotate clockwise and retract into the submersible profile via the connecting rod 11. At this time, the guide sleeve I8 pulls the guide sleeve II 13 to retract synchronously through the conformal support cover plate 6. The thrust rod 9 transmits thrust only when the transmission angle of the parallelogram mechanism is small, thus assisting the bottoming device in being released.

[0064] Furthermore, this application adopts a parallelogram support mechanism design to address the characteristic that large-tonnage deep-sea submersibles are subjected to large impact loads at the moment of landing.

[0065] The parallelogram support mechanism comprises guide sleeve I base 2, guide sleeve II base 5, conformal support cover plate 6, telescopic support cylinder I 7, guide sleeve I 8, thrust rod 9, telescopic support cylinder II 10, guide sleeve II 13, and support hydraulic cylinder 16. Guide sleeve I base 2 and guide sleeve II base 5 are welded to the pressure-resistant shell 1. Guide sleeve I 8 is connected to guide sleeve I base 2 by a pin, and guide sleeve II 13 is connected to guide sleeve II base 5 by a pin. The conformal support cover plate 6 is connected to telescopic support cylinder I 7 and telescopic support cylinder II 10 by a ball joint. Thrust rod 9 is connected to guide sleeve I 8 by a pin and to guide sleeve II 13 by a pin and an oblong hole. This parallelogram support structure, including two guide sleeves and two built-in support hydraulic cylinders, can withstand large impact loads when the deep-sea submersible is bottomed, meeting the requirements for bottom support of large-tonnage deep-sea submersibles.

[0066] Furthermore, this application, taking into account the characteristics of a double-hulled deep-sea submersible, adopts a retractable design. When the bottom-sitting device is not in operation, it can be folded down and retracted into the interior of the submersible's permeable lightweight hull. The conformal support cover 6 and the permeable lightweight hull 15 are designed with a conformal line, allowing for a complete fit when retracted, minimizing the impact on the submersible's drag. This retraction mechanism consists of a crank arm base 3, a retraction hydraulic cylinder base 4, a guide sleeve I 8, a connecting rod 11, a crank arm 12, and a retraction hydraulic cylinder 14. The crank arm base 3 and the retraction hydraulic cylinder base 4 are welded to the pressure hull 1. The guide sleeve I 8 is connected to the connecting rod 11 by a pin, the connecting rod 11 is connected to the crank arm 12 by a pin, the crank arm 12 is connected to the retraction hydraulic cylinder 14 by a pin, the crank arm base 3 is connected to the crank arm 12 by a pin, and the retraction hydraulic cylinder 14 is connected to the retraction hydraulic cylinder base 4 by a pin.

[0067] Furthermore, this application proposes a conformal support cover design to address the limited internal space between the two hulls of the double-hull submersible and the complex geological conditions of the seabed. This conformal support cover adopts a conformal line design with the permeable lightweight hull, allowing the area of ​​the support feet to be maximized without being limited by the internal space of the double-hull submersible, while still meeting structural strength requirements. When retracted, it fits completely without affecting the submersible's navigation. When deployed, it has a large contact area with the seabed, reducing the shear force on seabed sediments when the submersible is on the seabed, thus enabling it to adapt to softer geological environments and demonstrating strong adaptability to seabed geology.

[0068] Furthermore, this application employs an adjustable-height support leg design to address uneven seabed terrain and shallow slopes. Each support leg includes a guide sleeve, a support hydraulic cylinder, and a telescopic support cylinder. The support hydraulic cylinder and the telescopic support cylinder are connected by a pin, and a sliding track is provided between the guide sleeve and the telescopic support cylinder. Through this design, each support leg has an adjustable height, adapting to different seabed terrains and providing a larger working space at the bottom of the hull.

[0069] Example 3: Based on the same inventive concept, this example also provides a deep-sea submersible, which includes the deep-sea submersible bottom-sitting device as described above.

[0070] Furthermore, all parts of this application that are not described in detail are the same as or implemented using existing technology.

[0071] In summary:

[0072] 1. The bottom-sitting device of the present invention adopts a parallelogram linkage mechanism design, and with the built-in support hydraulic cylinders of each support leg, it has the ability to support large-tonnage deep-sea submersibles to sit on the bottom; and by setting a conformal cover plate as the support foot of the device, the contact area between the bottom-sitting device and the seabed sediment is greatly increased, the shearing force of the submersible on the sediment is reduced, and the seabed geological self-adaptation capability of the bottom-sitting device is improved.

[0073] 2. This invention, by setting up a retraction mechanism, allows the submersible to be folded down and retracted into its interior when not in use. Combined with the design of the conformal support cover, this effectively reduces flow resistance and noise during submersible navigation. Furthermore, the retractable support cylinder structure allows for adjustable support height, enabling the adjustment of the height of each support leg when facing uneven seabed terrain or small-angle slopes. This ensures that the submersible's bottoming posture remains stable, adapting to different seabed terrains and providing a larger bottom working space.

[0074] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A deep-sea submersible landing device with adaptive seabed topography and geology capabilities, wherein the landing device is symmetrically arranged on both sides of the bow and stern of the submersible, characterized in that, It includes a parallelogram support mechanism, a telescopic adjustment mechanism, a retraction mechanism, and a bottom control system; The parallelogram support mechanism includes a guide sleeve I base (2) and a guide sleeve II base (5) fixedly installed on the pressure hull (1) of the submersible. The guide sleeve I base (2) and the guide sleeve II base (5) are respectively connected to the guide sleeve I (8) and the guide sleeve II (13) arranged in parallel, and a thrust rod (9) is connected between the guide sleeve I (8) and the guide sleeve II (13). The telescopic adjustment mechanism includes two supporting hydraulic cylinders (16) respectively located in the guide sleeve I (8) and the guide sleeve II (13), and the two supporting hydraulic cylinders (16) are respectively connected to one end of the telescopic support cylinder I (7) and the telescopic support cylinder II (10), and the other end of the telescopic support cylinder I (7) and the telescopic support cylinder II (10) is connected to a conformal support cover plate (6). The retraction and deployment mechanism includes a crank arm base (3) and a retraction and deployment hydraulic cylinder base (4) fixedly installed on the pressure hull (1) of the submersible. A crank arm (12) and a retraction and deployment hydraulic cylinder (14) are respectively connected to the crank arm base (3) and the retraction and deployment hydraulic cylinder base (4). The output end of the retraction and deployment hydraulic cylinder (14) is connected to one end of the crank arm (12), and the other end of the crank arm (12) is connected to the guide sleeve I (8) through the connecting rod (11). The supporting hydraulic cylinder (16) and the retracting hydraulic cylinder (14) are both electrically connected to the bottom-sitting control system.

2. The deep-sea submersible landing device with seabed topographic and geological adaptive capabilities according to claim 1, characterized in that, The guide sleeve I (8) and guide sleeve II (13) are respectively connected to the base of guide sleeve I (2) and the base of guide sleeve II (5) by means of a pin; one end of the thrust rod (9) is connected to the guide sleeve I (8) by means of a pin, and the other end is connected to the guide sleeve II (13) by means of a pin and a spherical hole.

3. The deep-sea submersible landing device with seabed topographic and geological adaptive capabilities according to claim 1, characterized in that, Both the telescopic support cylinder I (7) and the telescopic support cylinder II (10) are connected to the conformal support cover plate (6) via ball joints.

4. The deep-sea submersible landing device with seabed topographic and geological adaptive capabilities according to claim 1, characterized in that, The crank arm (12) and the retracting hydraulic cylinder (14) are respectively hinged on the crank arm base (3) and the retracting hydraulic cylinder base (4), and the output end of the retracting hydraulic cylinder (14) is hinged to the crank arm (12).

5. The deep-sea submersible landing device with seabed topographic and geological adaptive capabilities according to claim 1, characterized in that, Both guide sleeve I (8) and guide sleeve II (13) are provided with parallel sliding tracks, and telescopic support cylinder I (7) and telescopic support cylinder II (10) are slidably and telescopically connected to guide sleeve I (8) and guide sleeve II (13) through corresponding sliding tracks.

6. A deep-sea submersible landing device with seabed topographic and geological adaptive capabilities according to claim 5, characterized in that, One end of the telescopic support cylinder I (7) and the telescopic support cylinder II (10) are respectively connected to the corresponding support hydraulic cylinders (16) inside the guide sleeve I (8) and the guide sleeve II (13), and the other end is connected to the conformal support cover plate (6) through a ball joint support.

7. The deep-sea submersible landing device with seabed topographic and geological adaptive capabilities according to claim 1, characterized in that, The arc shape of the conformal support cover (6) is adapted to the permeable lightweight shell (15) installed at the bottom of the submersible pressure hull (1).

8. A deep-sea submersible landing device with seabed topographic and geological adaptive capabilities according to claim 7, characterized in that, The submersible's bottom-landing control process includes: 1) Sealing device deployment: The output rod of the hydraulic cylinder for control of retraction and extension extends, driving the guide sleeve I to rotate counterclockwise around the base of guide sleeve I through the crank arm and connecting rod. At the same time, the thrust rod drives the guide sleeve II to move counterclockwise around the base of guide sleeve II, thereby separating the conformal support cover from the water-permeable lightweight shell at the bottom of the submersible and putting it into a working state. 2) Terrain adaptive adjustment: Based on the seabed slope, the telescopic support cylinder I and telescopic support cylinder II are adjusted by two support hydraulic cylinders respectively, so that the tilt angle of the conformal support cover plate is adapted to the terrain slope when the device sits on the bottom. 3) Workspace adjustment: Determine the required bottom workspace height of the submersible according to the type of operation task, and adjust the extension of the telescopic support cylinder I and telescopic support cylinder II synchronously according to the workspace height; 4) Retraction of the bottom device: After the task is completed, first retract the telescopic support cylinder I and telescopic support cylinder II to the minimum stroke position, then control the output rod of the retraction hydraulic cylinder to retract, thereby driving the guide sleeve I and guide sleeve II to rotate clockwise synchronously so that the conformal support cover plate is retracted into the profile of the water-permeable lightweight shell.

9. A deep-sea submersible landing device with seabed topographic and geological adaptive capabilities according to claim 8, characterized in that, Both the supporting hydraulic cylinder and the retracting hydraulic cylinder have a self-locking function.

10. A deep-sea submersible, characterized in that, Includes a deep-sea submersible landing device with seabed topographic and geological adaptive capabilities as described in any one of claims 1 to 9.

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