An underwater equipment installation device

Abstract

This invention discloses an underwater equipment installation device, including a support body, an insertion component, a power storage component, a triggering component, and a deployment component. The support body is used to support and position the underwater equipment. The insertion component is fixed to the underwater equipment and is used to insert into an underwater substrate. The power storage component is disposed at one end of the insertion component and is used to apply force to the insertion component after triggering to insert it into the underwater substrate. The triggering component is fixed to the support body and is used to trigger the power storage component. The deployment component is disposed on the outer periphery of the insertion component and has a retracted state and an deployed state. After the insertion component is inserted, the deployment component unfolds along the insertion direction perpendicular to the insertion component and inserts into the underwater substrate, changing from the retracted state to the deployed state. This invention aims to solve the technical problem in the prior art that underwater equipment is difficult to stably insert and maintain in place in an underwater environment due to water flow disturbance and the influence of soft underwater foundations.

Description

Technical Field

[0001] This invention relates to the field of underwater operation equipment technology, and more specifically to an underwater equipment installation device. Background Technology

[0002] Underwater equipment typically needs to be deployed in designated underwater locations and maintain a stable spatial position and attitude in the underwater environment to meet long-term operational requirements. Underwater equipment can take various forms, including sensor nodes, sampling / acquisition devices, communication relays, and small work tools. Since installation locations are often situated in underwater substrate areas of rivers, reservoirs, lakes, and oceans, the installation process represents a typical underwater operational scenario, placing high demands on the environmental adaptability, operational stability, and deployment efficiency of the installation equipment.

[0003] In existing technologies, underwater equipment installation is mostly achieved through methods such as manual diving deployment, rope-guided deployment, counterweight placement, or pole-mounted fixation. For example, the equipment is placed on the surface of an underwater substrate manually or using simple deployment tools, and positioned using counterweights, or it is fixed by continuously applying force to press / drive it into the underwater substrate. However, in soft underwater substrates such as silt and sand, the substrate's bearing capacity is limited, and the underwater environment is often subject to water flow disturbances. The above installation methods are easily affected; the inserted structure is prone to displacement or insufficient insertion depth during the force application process, and after insertion, substrate rebound or water flow impact may still cause the underwater equipment to tilt or loosen, making it difficult to maintain a stable installation state in the long term.

[0004] Therefore, under conditions of soft underwater foundations and water flow disturbance, how to achieve reliable insertion of underwater equipment and maintain stability after insertion, thereby improving the success rate and reliability of underwater deployment operations, is a technical problem that urgently needs to be solved in existing underwater equipment installation technologies. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose an underwater equipment installation device to solve the technical problem in the prior art that underwater equipment is difficult to stably insert and maintain in a soft underwater environment with water flow disturbance.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] This invention provides an underwater equipment installation device, comprising: a support body for supporting and positioning the underwater equipment; an insertion component fixed to the underwater equipment for insertion into an underwater substrate; a power storage component disposed at one end of the insertion component for applying force to the insertion component to insert it into the underwater substrate after triggering; a triggering component fixed to the support body for triggering the power storage component; and a deployment component disposed on the outer periphery of the insertion component, having a retracted state and an deployed state. After the insertion component is inserted, the deployment component deploys along a direction perpendicular to the insertion direction of the insertion component and inserts into the underwater substrate, changing from the retracted state to the deployed state.

[0008] In some embodiments, the insertion assembly includes a limiting sleeve, a puncture member, and a locking member. The limiting sleeve is fixed to an underwater device; the puncture member is inserted into the limiting sleeve and is movable along the axial direction of the limiting sleeve; the locking member is configured to cooperate with the limiting sleeve and the puncture member to lock the relative position of the puncture member and the limiting sleeve.

[0009] In some embodiments, the locking member is an elastic structure disposed on the piercing member; a limiting hole is provided on the limiting sleeve, and when the locking member enters the limiting hole, the position of the piercing member is restricted, and the power storage component is in a power storage state; the triggering component is used to apply force to the locking member so that the locking member disengages from the limiting hole.

[0010] In some embodiments, the power storage component includes an elastic element, one end of which is connected to the piercing element and the other end of which is connected to the limiting sleeve. In the power storage state, the elastic element is in a stretched state. After the triggering component is triggered, the elastic element contracts to drive the insertion component to be inserted into the underwater substrate.

[0011] In some embodiments, the deployment assembly includes a fixed base, a first link, and a second link. The fixed base is fixed to the underwater device. One end of the first link is hinged to the fixed base, and the other end is hinged to one end of the second link. The other end of the second link is hinged to the piercing element. The sum of the lengths of the first link and the second link is greater than the distance between the hinge point of the fixed base and the second link.

[0012] In some embodiments, the deployment assembly includes multiple sets of linkages, each set of linkages including a first linkage and a second linkage, and the multiple sets of linkages are distributed circumferentially along the puncture member.

[0013] In some embodiments, the underwater equipment installation device further includes at least two sets of webbed moving units, which are respectively disposed on opposite sides of the support body and each includes a flexible webbed surface. The flexible webbed surface generates propulsion force by reciprocating oscillation and interacting with the water.

[0014] In some embodiments, the webbed motion unit includes a drive structure, a plurality of swing rods and a flexible webbed surface, one end of each swing rod being connected to the drive structure and the other end being connected to the flexible webbed surface, wherein there is a phase difference between the swings of adjacent swing rods so that the flexible webbed surface forms a continuous propulsive swing.

[0015] In some embodiments, the support body includes a support frame and a mounting frame connected to each other, a webbed moving unit is disposed on the support frame, the mounting frame is used to carry underwater equipment and triggering components, and the underwater equipment mounting device further includes a lifting assembly for realizing the lifting movement of the mounting frame relative to the support frame.

[0016] In some embodiments, the underwater equipment mounting apparatus further includes a clamping assembly disposed on a mounting frame for clamping or releasing the underwater equipment.

[0017] Compared with existing technologies, the underwater equipment installation device provided by this invention introduces a power storage component during the insertion phase. Upon triggering, this component instantaneously releases energy, applying a concentrated and short-duration large insertion force to the insertion component. This eliminates the need for continuous external forces during insertion, effectively reducing the impact of water flow disturbance and soft soil rebound on the insertion process, ensuring reliable insertion of the underwater equipment to the predetermined depth. Simultaneously, a retractable and deployable deployment component is provided around the insertion component. During insertion, the deployment component transitions from an deployed state to a retracted state, reducing its external dimensions and insertion resistance. After insertion and during the rebound phase, it transitions back to an deployed state, forming a radial support structure within the underwater substrate. This transforms the force distribution on the underwater equipment from unidirectional insertion force to multidirectional support force, significantly improving its anti-overturning capability and installation stability. This enables reliable insertion and long-term stable fixation of the underwater equipment in soft underwater environments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an underwater equipment installation device provided in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the underwater equipment and related structures provided in the embodiments of the present invention;

[0020] Figure 3 This is a top view of the mounting bracket and related structures provided in the embodiments of the present invention;

[0021] Figure 4 This is provided by the embodiments of the present invention. Figure 3 A cross-sectional view along the AA direction;

[0022] Figure 5 This is a schematic diagram of the structure of a webbed mobile unit provided in an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached figures:

[0024] 10. Support body; 11. Support frame; 12. Mounting frame; 20. Insertion assembly; 21. Limiting sleeve; 211. Limiting hole; 22. Puncture component; 23. Locking component; 30. Power storage assembly; 31. Elastic component; 40. Trigger assembly; 41. Paddle; 42. Rotary motor; 50. Deployment assembly; 51. Fixed base; 52. First connecting rod; 53. Second connecting rod; 60. Fin-type moving unit; 61. Drive structure; 611. Drive shaft; 612. Bushing; 613. Lateral connecting rod; 614. Fixed shaft; 615. Connecting sleeve; 62. Swing rod; 63. Flexible fin surface; 70. Lifting assembly; 80. Clamping assembly; 90. Underwater equipment. Detailed Implementation

[0025] 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.

[0026] To address the technical problem of the underwater equipment 90 being difficult to stably insert and maintain in a soft underwater environment with turbulent water flow, this invention provides an underwater equipment 90 installation device that enables reliable insertion of the underwater equipment 90 and maintains stable fixation after insertion, thereby improving the stability and reliability of underwater installation.

[0027] It should be noted that the underwater equipment 90 installation device described in this invention is used for, but not limited to, equipment installation in underwater environments. For ease of explanation, this invention will only use the application of the underwater equipment 90 installation device to equipment installation in underwater environments as an example. The principle of the underwater equipment 90 installation device applied to other types of equipment is essentially the same as that applied to equipment installation in underwater environments, and will not be described in detail here.

[0028] Please see Figure 1 , Figure 1 This is a schematic diagram of an underwater device 90 installation device according to an embodiment of the present invention. As shown in the figure, the underwater device 90 installation device provided in this embodiment includes a support body 10, an insertion component 20, a power storage component 30, a triggering component 40, and a deployment component 50, used to install the underwater device 90 in an underwater environment within an underwater substrate, thereby achieving reliable insertion of the underwater device 90 and maintaining its fixation after insertion.

[0029] The support body 10 serves as the load-bearing structure of the installation device, used to support and position the underwater equipment 90 during the installation process, so that the underwater equipment 90 maintains a predetermined spatial position and attitude before being inserted into the underwater substrate, thereby ensuring the stability of the insertion direction and position.

[0030] Please see Figure 2 , Figure 2 This is a schematic diagram of the underwater device 90 and related structures provided in an embodiment of the present invention. The insertion component 20 is fixedly disposed on the underwater device 90 and arranged along a predetermined insertion direction for insertion into the underwater substrate during installation. The insertion component 20 can enter the underwater substrate under the force applied by the power storage component 30, and after insertion, serves as the main connection structure between the underwater device 90 and the underwater substrate.

[0031] An energy storage component 30 is disposed at one end of the insertion component 20 and is used to store energy before the insertion action occurs. When the triggering component 40 is not triggered, the energy storage component 30 is in a stored state; when the triggering component 40 is triggered, the energy storage component 30 releases the stored energy to apply an insertion force to the insertion component 20, thereby driving the insertion component 20 to insert into the underwater substrate along the insertion direction. By configuring the energy storage component 30, a large insertion force can be provided to the insertion component 20 in a relatively short time, which helps to overcome the influence of water flow disturbance and soft substrate rebound on the insertion process.

[0032] The trigger component 40 is fixedly mounted on the support body 10 and cooperates with the energy storage component 30 to trigger the energy storage component 30 to release energy under predetermined installation conditions. By setting the trigger component 40, the insertion action can be made to occur at the appropriate time, avoiding insertion failure or insertion posture deviation caused by external interference during the insertion process.

[0033] The deployable component 50 is disposed on the outer periphery of the insert component 20 and has both a retracted and an deployed state, maintaining a linkage with the insert component 20. During installation, when the trigger component 40 is activated, the energy storage component 30 releases its stored energy, applying an insertion force to the insert component 20, causing it to rapidly insert into the underwater substrate along the insertion direction. During this process, the deployable component 50, disposed on the outer periphery of the insert component 20, moves along with the insert component 20 into the depth of the underwater substrate, and, driven by the insert component 20, gradually transitions from the deployed state to the retracted state, thereby reducing the outer dimensions of the deployable component 50 and lowering its drag during insertion. As the insertion process continues, the deployable component 50 reaches its final retracted state, at which point both the insert component 20 and the deployable component 50 are positioned at predetermined locations within the underwater substrate.

[0034] After the insertion action is completed, the power storage component 30 enters the rebound process from the released state. The rebound of the power storage component 30 drives the insertion component 20 to generate a relative retraction movement. During the retraction of the insertion component 20, the deployment component 50, driven by the insertion component 20, unfolds outward in a direction perpendicular to the insertion direction, changing from a retracted state to an unfolded state, and is inserted laterally into the underwater base, thereby forming a support structure for the underwater equipment 90 inside the underwater base, improving the anti-overturning ability and fixed stability of the underwater equipment 90, and preventing the underwater equipment 90 from tilting or loosening under the action of water flow or the influence of base rebound.

[0035] In this embodiment, the problem of underwater equipment 90 easily tilting and loosening under conditions of soft underwater foundation and water flow disturbance is addressed by changing the installation force and fixing method of underwater equipment 90. Specifically, during the insertion phase, the energy storage component 30 releases energy instantaneously upon triggering, applying a concentrated and short-duration large insertion force to the insertion component 20. This makes the insertion process independent of continuous external force, thereby reducing the impact of water flow disturbance and soft foundation rebound on the insertion depth and insertion attitude, ensuring that the insertion component 20 can reliably enter the predetermined depth of the underwater substrate. During insertion, the deployment component 50 changes from an deployed state to a retracted state, reducing its outer dimensions and insertion resistance, allowing the deployment component 50 to smoothly enter the underwater substrate along with the insertion component 20. After insertion, the rebound of the energy storage component 30 causes the insertion component 20 to undergo a relative retraction motion. Under the action of this relative motion, the deployment component 50 changes from a retracted state back to an deployed state, forming radial support inside the underwater substrate. This transforms the force on the underwater equipment 90 from a single insertion direction to multi-directional support, significantly improving its anti-overturning capability. By combining the above-mentioned insertion method and deployment and fixing method, this embodiment can reliably insert the underwater equipment 90 in an underwater soft foundation environment, and effectively suppress tilting and loosening after insertion, fundamentally solving the problem of insufficient underwater installation stability of the underwater equipment 90 in the prior art.

[0036] In some embodiments, the insertion component 20 includes a limiting sleeve 21, a puncture member 22, and a locking member 23, which are used to realize the positioning, force transmission, and status control of the insertion component 20.

[0037] The limiting sleeve 21 is fixedly mounted on the underwater device 90. The limiting sleeve 21 extends along the insertion direction and provides guidance and limiting function for the piercing member 22. By fixing the limiting sleeve 21 to the body of the underwater device 90, the piercing member 22 can maintain its relative position to the underwater device 90 during insertion, thereby ensuring the stability of the insertion direction and avoiding deviation during insertion.

[0038] The piercing element 22 is inserted into the limiting sleeve 21 and can move relative to the limiting sleeve 21 along the axial direction of the limiting sleeve 21. The piercing element 22 is used to insert into the underwater substrate when the accumulator 30 releases its force. Its axially movable configuration allows the piercing element 22 to move in the insertion direction under the action of external force during the insertion phase, and to maintain a stable position under the constraint of the limiting sleeve 21 after insertion.

[0039] The locking element 23 cooperates with the limiting sleeve 21 and the piercing element 22 to lock the relative position between the piercing element 22 and the limiting sleeve 21 in a predetermined state. The locking element 23 restricts the axial movement of the piercing element 22 relative to the limiting sleeve 21, keeping the piercing element 22 in the predetermined position, thereby providing stable structural conditions for the subsequent power storage and triggering process. At the beginning of the insertion process, the locking element 23 releases its lock on the piercing element 22 under the action of the triggering component 40, allowing the piercing element 22 to move along the axial direction of the limiting sleeve 21 under the action of the power storage component 30 to complete the insertion action.

[0040] In this embodiment, the limiting sleeve 21, the piercing member 22, and the locking member 23 together realize the guiding, limiting, and state control functions of the insertion component 20, so that the insertion component 20 can maintain a stable insertion posture during underwater installation and can release and insert the piercing member 22 at the appropriate time, providing a structural basis for the reliable insertion of the underwater device 90 in the underwater soft soil environment.

[0041] Please see Figure 3 and Figure 4 , Figure 3 This is a top view of the mounting bracket 12 and related structures provided in an embodiment of the present invention. Figure 4 This is provided by the embodiments of the present invention. Figure 3 A cross-sectional view along the AA direction. Further, in one embodiment, the locking member 23 adopts an elastic structure and is disposed on the piercing member 22. A limiting hole 211 is formed at a corresponding position on the limiting sleeve 21. When the piercing member 22 is in the insertion-ready state, under the elastic action, the locking member 23 can enter the limiting hole 211, thereby restricting the axial movement of the piercing member 22 relative to the limiting sleeve 21, keeping the piercing member 22 in a predetermined position. In this state, the energy storage component 30 completes energy storage and maintains the stored state, providing preparation conditions for the subsequent insertion action.

[0042] When an insertion operation is required, the trigger component 40 applies an external force to the locking member 23, causing the locking member 23 to elastically deform and disengage from the limiting hole 211, thereby releasing the restriction on the position of the piercing member 22. After the lock is released, the piercing member 22 moves along the axial direction of the limiting sleeve 21 under the drive of the force released by the power storage component 30, completing the insertion process into the underwater substrate.

[0043] In this embodiment, the triggering component 40 employs a paddle 41 and a rotary motor 42. The rotary motor 42 drives the paddle 41 to rotate around its axis. When the paddle 41 rotates to a position where it contacts the locking member 23, it exerts a squeezing force on the locking member 23, causing the locking member 23 to overcome its elastic constraint and exit the limiting hole 211, thereby releasing the locking member 23. By controlling the timing of the rotation of the rotary motor 42, precise control of the insertion action triggering moment can be achieved. With the above structural design, the piercing member 22 can be stably locked before insertion and reliably released at the moment of insertion, allowing the energy of the power storage component 30 to be effectively transferred to the piercing member 22. This ensures the controllability of the insertion process and improves the reliability of the insertion action in an underwater environment.

[0044] It should be noted that the above-mentioned trigger component 40 is only a preferred embodiment of this embodiment. In other embodiments, the trigger component 40 may also adopt other structural forms that can apply force to the locking member 23 to disengage it from the limiting hole 211, which are not limited here.

[0045] In one embodiment, the energy storage component 30 is implemented using an elastic element 31, which is used to store energy in the puncture member 22 before the insertion action occurs. One end of the elastic element 31 is connected to the puncture member 22, and the other end is connected to the limiting sleeve 21, so that the elastic element 31 forms an elastic connection between the puncture member 22 and the limiting sleeve 21.

[0046] During the installation preparation phase, the puncture member 22 is held in a predetermined position under the restriction of the locking structure. At this time, the elastic member 31 is stretched and in a state of energy storage. The elastic potential energy is stored in the elastic member 31, which is beneficial to maintain a stable energy storage state in the underwater environment.

[0047] When the triggering component 40 performs the triggering action and releases the lock on the puncture member 22, the elastic component 31 changes from a stretched state to a contracted state under its own elasticity. The rapid contraction of the elastic component 31 applies an axial driving force to the puncture member 22, causing the puncture member 22 to move rapidly along the axial direction of the limiting sleeve 21, and driving the insertion component to insert into the underwater substrate. Because the driving force is released in a concentrated manner in a short time, it can effectively overcome the influence of water flow disturbance and soft substrate resistance on the insertion process, and improve the reliability of the insertion action.

[0048] In this embodiment, the power storage component 30 can fully store power before insertion, and after triggering, it can enable the piercing member 22 to obtain an instantaneous and stable insertion force, so that the insertion action has good controllability and repeatability, thereby providing an important guarantee for the reliable insertion of the underwater device 90 in the underwater soft soil environment.

[0049] In some embodiments, the deployment assembly 50 employs a linkage structure to form support inside the underwater substrate after insertion. The deployment assembly 50 includes a fixed base 51, a first linkage 52, and a second linkage 53, with each component connected by a hinge.

[0050] The mounting base 51 is fixedly mounted on the underwater equipment 90, serving as the installation foundation for the deployment assembly 50. One end of the first connecting rod 52 is hinged to the mounting base 51, allowing the first connecting rod 52 to rotate relative to the underwater equipment 90. The other end of the first connecting rod 52 is hinged to one end of the second connecting rod 53, thus forming a rotatable connection between the first connecting rod 52 and the second connecting rod 53. The other end of the second connecting rod 53 is hinged to the piercing member 22, allowing the second connecting rod 53 to rotate relative to the axial movement of the piercing member 22.

[0051] Furthermore, the sum of the lengths of the first link 52 and the second link 53 is greater than the distance between the hinge point of the fixed base 51 and the second link 53. By setting the aforementioned length relationship, when the piercing member 22 undergoes axial displacement relative to the underwater device 90, the first link 52 and the second link 53 cannot maintain a linear retracted state, but will inevitably rotate, thereby driving the deployment assembly 50 to switch between different states.

[0052] During insertion, as the puncture component 22 moves into the underwater substrate under the action of the power storage component 30, the second link 53 moves synchronously with the puncture component 22. Under the constraint of the hinge relationship, the first link 52 and the second link 53 gradually rotate and approach the puncture component 22, so that the deployment component 50 changes from the deployed state to the retracted state, thereby reducing the outer dimensions of the deployment component 50 during insertion, reducing the insertion resistance, and facilitating the smooth entry of the insertion component 20 into the underwater substrate.

[0053] After insertion is completed and the rebound phase begins, the puncture member 22 retracts under the rebound action of the energy storage component 30. The second link 53 then moves in the opposite direction, causing the first link 52 and the second link 53 to rotate again, thus changing the deployment component 50 from a retracted state to an deployed state. The deployed first link 52 and the second link 53 open away from the axis of the puncture member 22 and form a supporting engagement with the underwater base, thereby creating a supporting structure for the underwater equipment 90 inside the underwater base.

[0054] In this embodiment, through the above-mentioned linkage structure and its geometric relationship, the deployment component 50 can automatically retract and deploy by utilizing the axial movement of the piercing member 22 without relying on additional drive, so that the underwater device 90 obtains stable radial support after insertion, effectively improving its anti-overturning ability and fixation reliability in underwater soft soil environment.

[0055] Furthermore, in one embodiment, the unfolding component 50 is configured with multiple sets of linkages, each set of linkages consisting of a first linkage 52 and a second linkage 53, and each set of linkages is distributed around the piercing member 22 at intervals along its circumference.

[0056] By setting up multiple sets of linkages, the deployable component 50 no longer forms support in only one direction during deployment, but instead deploys simultaneously in multiple directions around the piercing component 22, thereby forming a distributed support structure inside the underwater substrate. Compared with a single set of linkages, multiple sets of linkages can significantly improve the uniformity of support after deployment, avoiding local substrate collapse or support failure due to stress concentration.

[0057] During the insertion phase, as the piercing element 22 moves into the underwater substrate, each linkage group rotates synchronously under the drive of the piercing element 22, gradually changing from an extended state to a retracted state. This reduces the overall outer dimensions of the extended assembly 50, facilitating the smooth entry of the insertion assembly 20 into the underwater substrate. After insertion is completed and the rebound phase begins, the piercing element 22 undergoes a relative retraction motion. Under geometric constraints, each linkage group synchronously changes from a retracted state to an extended state, opening outwards along the circumferential direction of the piercing element 22.

[0058] In this embodiment, multiple sets of connecting rods are distributed circumferentially. After deployment, each connecting rod set forms a multi-point, multi-directional support structure inside the underwater base, which constrains the underwater equipment 90 in all radial directions, thereby effectively improving its anti-overturning ability and overall stability. It is especially suitable for underwater soft foundation environments with low bearing capacity or large water flow disturbance.

[0059] In some embodiments, the underwater equipment 90 installation device is further provided with at least two sets of webbed-type moving units 60, which are respectively arranged on opposite sides of the support body 10, for driving the installation device as a whole to move in the underwater environment. Compared with wheeled or propeller-type propulsion structures, the webbed-type moving units 60 interact directly with the water through the oscillation of the flexible webbed surface 63, making them more suitable for operation in underwater environments. They can maintain better motion stability and environmental adaptability in the presence of water flow disturbances, soft substrates, or numerous underwater obstacles.

[0060] Each set of webbed mobile units 60 includes a flexible webbed surface 63. Under the driving action, the flexible webbed surface 63 generates reciprocating oscillation, which pushes the water to generate a reaction force, thereby providing propulsion for the installation device. Because the flexible webbed surface 63 has a certain degree of compliance, it can adapt to changes in water flow during oscillation, reducing violent disturbance to the water body. This is beneficial for achieving stable movement in complex underwater environments and avoids attitude instability or positional deviation due to unsuitable propulsion methods.

[0061] In this embodiment, the two sets of webbed moving units 60 disposed on opposite sides of the support body 10 can be driven and controlled separately. When the two sets of webbed moving units 60 swing in the same manner, the installation device can move linearly in a predetermined direction; when there are differences in the swing amplitude, frequency, or working state of the two sets of webbed moving units 60, the installation device can achieve turning motion underwater, thereby completing path adjustment. Through the above-mentioned differential swinging method, the installation device can flexibly change its direction of travel in the underwater environment to adapt to different installation position requirements. By setting the webbed moving units 60, the underwater equipment 90 installation device can autonomously move to a suitable installation point underwater, and stop moving after reaching the target position, thereby cooperating with the insertion component 20 and the deployment component 50 to complete the subsequent insertion and fixing operations.

[0062] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a webbed mobile unit 60 provided in an embodiment of the present invention. In one embodiment, the webbed mobile unit 60 includes a drive structure 61, a plurality of swing rods 62, and a flexible webbed surface 63, used to generate continuous and stable propulsion in an underwater environment. The plurality of swing rods 62 are spaced apart along the length direction of the flexible webbed surface 63, with one end of each swing rod 62 connected to the drive structure 61 and the other end connected to the flexible webbed surface 63. The drive structure 61 provides the power required for the reciprocating swing of the swing rods 62, causing the swing rods 62 to oscillate periodically around their connection positions under the drive action, thereby causing the flexible webbed surface 63 to deform and propel the water.

[0063] In this embodiment, the drive structure 61 is configured with multiple bushings 612 linked together, including a drive shaft 611. Multiple bushings 612 are spaced apart along the axial direction of the drive shaft 611, and each bushing 612 can rotate with the drive shaft 611. Each bushing 612 has multiple circumferentially distributed connection points on its outer periphery for establishing connections with adjacent bushings 612. A transverse connecting rod 613 is provided between two adjacent bushings 612, corresponding to a set of circumferentially positioned connection points, allowing the transverse connecting rod 613 to connect to both adjacent bushings 612 simultaneously. A swing rod 62 is provided on the transverse connecting rod 613, with one end connected to the transverse connecting rod 613, allowing the swing rod 62 to swing under the influence of the transverse connecting rod 613. Along the axial direction of the drive shaft 611, the connection points on adjacent bushings 612 for connecting the transverse connecting rod 613 are staggered circumferentially, ensuring that adjacent transverse connecting rods 613 do not overlap circumferentially. Through the above-mentioned staggered connection method, the different swing rods 62 do not swing synchronously during the rotation of the drive shaft 611, but swing sequentially, thus forming a phase difference in time.

[0064] Furthermore, to support and guide the other end of the swing rod 62, a fixed shaft 614 is also provided in the device. Multiple connecting sleeves 615 are fitted on the fixed shaft 614, and each connecting sleeve 615 can rotate relative to the fixed shaft 614. Each swing rod 62 is connected to a corresponding connecting sleeve 615, so that the swing rod 62 can rotate stably around the fixed shaft 614 during swinging without axial movement or structural interference.

[0065] Multiple swing rods 62 are distributed sequentially along the length of the flexible web surface 63, with the other end of each swing rod 62 connected to the same flexible web surface 63, causing the flexible web surface 63 to be driven by swinging motion at multiple positions. Due to the phase difference between the swing rods 62 under the action of the drive structure 61, when the drive shaft 611 rotates, the flexible web surface 63 will not swing as a whole simultaneously, but will deform sequentially along its length, thus forming a continuous propulsive swing.

[0066] With the above structural configuration, the rotation of the drive shaft 611 can be transmitted step by step through the bushing 612, the transverse connecting rod 613 and the swing rod 62, so that the flexible web surface 63 produces a continuous swinging motion with a phase difference, forming a stable propulsion effect with the water body underwater, which is conducive to improving the smoothness of the propulsion process and the adaptability of underwater operations.

[0067] It should be noted that the specific configuration of the drive structure 61 in this embodiment is only an illustrative example, used to illustrate how the structural cooperation enables multiple swing rods 62 to form a phase difference during movement, thereby driving the flexible web surface 63 to produce continuous propulsive swinging. The structural forms used in the drive structure 61, such as the drive shaft 611, bushing 612, transverse connecting rod 613, and connecting sleeve 615, are only one implementation method to achieve this technical effect and do not constitute a limitation on the specific form of the drive structure 61.

[0068] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of an underwater equipment 90 installation device provided in an embodiment of the present invention. In one embodiment, the support body 10 adopts a split structure, including a support frame 11 and a mounting frame 12 connected to each other. The support frame 11 serves as the basic frame of the device, supporting the web-type moving unit 60, enabling the installation device to move as a whole in an underwater environment. The mounting frame 12 is disposed on the support frame 11, supporting the underwater equipment 90 and the triggering component 40 related to the insertion process, thereby structurally separating the underwater movement function from the underwater equipment 90 installation function.

[0069] The underwater equipment 90 mounting device also includes a lifting assembly 70 for raising and lowering the mounting frame 12 relative to the support frame 11. The lifting assembly 70 can be implemented in various structural forms. For example, the lifting assembly 70 includes a guide rail arranged vertically and a slider that slides in cooperation with the guide rail. The mounting frame 12 is fixed to the slider, thereby achieving stable raising and lowering relative to the support frame 11 under the guidance of the guide rail. Furthermore, the lifting assembly 70 can also include a lead screw structure. The lead screw is connected to the mounting frame 12 or the slider. By driving the lead screw to rotate, the mounting frame 12 rises or falls along the guide rail direction to adjust the height position of the underwater equipment 90.

[0070] In this embodiment, by setting up a lifting structure, after the installation device reaches the predetermined installation area, it can make fine adjustments to the position of the underwater equipment 90 according to the height of the underwater base or the installation requirements, so that the insertion component 20 can contact the underwater base at a suitable initial height and attitude, thereby improving the success rate and installation accuracy of the insertion process.

[0071] In one embodiment, the underwater device 90 mounting device is further provided with a clamping assembly 80, which is mounted on the mounting frame 12 and used to clamp or release the underwater device 90 at different working stages. The clamping assembly 80 ensures that the underwater device 90 can reliably connect with the mounting frame 12 during underwater movement, positioning, and insertion, and can detach from the mounting frame 12 after installation.

[0072] During the underwater movement and positioning phase, the clamping component 80 is in a clamping state, fixing the underwater device 90 so that it moves together with the mounting frame 12 and maintains a stable relative position and attitude, preventing swaying or displacement due to water flow disturbance during underwater travel. The clamping component 80 continues to clamp the underwater device 90 until the insertion component 20 performs its insertion action and the deployment component 50 completes its deployment and fixation. After the insertion component 20 completes its insertion and the deployment component 50 forms a stable support inside the underwater substrate, the clamping component 80 switches from the clamping state to the release state, disengaging the connection between the underwater device 90 and the mounting frame 12. At this point, the underwater device 90 is stably fixed in the underwater substrate by the insertion component 20 and the deployment component 50, while the mounting frame 12 and support frame 11 can be separated from the underwater device 90, preventing external structures from affecting the long-term working state of the underwater device 90.

[0073] In this embodiment, by setting up the clamping component 80, the underwater device 90 can smoothly switch between two states: moving with the device and being independently fixed, at different stages before and after installation. This makes the underwater movement process and the installation and fixing process of the underwater device 90 form a complete closed loop, thereby improving the reliability and flexibility of the underwater installation operation of the underwater device 90.

[0074] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An underwater equipment installation device, characterized in that, include: The main support structure is used to support and position underwater equipment. An insertion assembly, fixed to the underwater device, is used for insertion into an underwater substrate. The insertion assembly includes a limiting sleeve, a puncture member, and a locking member. The limiting sleeve is fixed to the underwater device. The puncture member passes through the limiting sleeve and is movable along the axial direction of the limiting sleeve. The locking member cooperates with the limiting sleeve and the puncture member to lock the relative position of the puncture member and the limiting sleeve. A power-accumulating component is disposed at one end of the insertion component, including an elastic element. One end of the elastic element is connected to the piercing element, and the other end is connected to the limiting sleeve. In the power-accumulating state, the elastic element is in a stretched state. After the triggering component is triggered, the elastic element contracts and instantaneously releases elastic potential energy to apply an impact-type insertion force to the insertion component, so that the insertion component is inserted into the underwater substrate. A triggering component is fixed to the supporting body and is used to trigger the energy storage component; and The unfolding component is disposed on the outer periphery of the insertion component and has a retracted state and an unfolded state. During the process of the insertion component completing insertion and retracting, the unfolding component unfolds and inserts into the underwater substrate along the insertion direction perpendicular to the insertion component, changing from the retracted state to the unfolded state, so as to form a radial support structure inside the underwater substrate, thereby fixing the underwater equipment in the underwater soft substrate environment.

2. The underwater equipment installation device according to claim 1, characterized in that, The locking member is an elastic structure and is disposed on the puncture member; a limiting hole is provided on the limiting sleeve, and when the locking member enters the limiting hole, the position of the puncture member is restricted, and the power storage component is in a power storage state; the triggering component is used to apply force to the locking member so that the locking member disengages from the limiting hole.

3. The underwater equipment installation device according to claim 1, characterized in that, The deployment assembly includes a fixed base, a first connecting rod, and a second connecting rod. The fixed base is fixed to the underwater device. One end of the first connecting rod is hinged to the fixed base, and the other end is hinged to one end of the second connecting rod. The other end of the second connecting rod is hinged to the piercing member. The sum of the lengths of the first connecting rod and the second connecting rod is greater than the distance between the hinge point of the fixed base and the second connecting rod.

4. The underwater equipment installation device according to claim 3, characterized in that, The deployment assembly includes multiple sets of linkages, each set of linkages including a first linkage and a second linkage, and the multiple sets of linkages are distributed circumferentially along the puncture member.

5. The underwater equipment installation device according to claim 1, characterized in that, The underwater equipment installation device also includes at least two sets of webbed moving units, which are respectively disposed on opposite sides of the support body and each includes a flexible webbed surface. The flexible webbed surface generates propulsion force by reciprocating oscillation and interacting with the water.

6. The underwater equipment installation device according to claim 5, characterized in that, The webbed mobile unit includes a drive structure, multiple swing rods, and the flexible webbed surface. One end of each swing rod is connected to the drive structure, and the other end is connected to the flexible webbed surface. There is a phase difference between the swings of adjacent swing rods, so that the flexible webbed surface forms a continuous propulsive swing.

7. The underwater equipment installation device according to claim 5, characterized in that, The support body includes a support frame and a mounting frame connected to each other. The web-shaped moving unit is disposed on the support frame. The mounting frame is used to support the underwater equipment and the triggering component. The underwater equipment mounting device also includes a lifting component, which is used to realize the lifting movement of the mounting frame relative to the support frame.

8. The underwater equipment installation device according to claim 7, characterized in that, The underwater equipment mounting device further includes a clamping assembly, which is disposed on the mounting frame and is used to clamp or release the underwater equipment.

Images