Portable underwater four-foot jacking mechanism and application method thereof

Abstract

The invention relates to the technical field of underwater operation of submersible vehicles, in particular to a portable underwater four-foot jacking mechanism and an application method thereof. The mechanism comprises a base fixedly connected to a submersible vehicle and four unfolding and folding type supporting leg structures of the same structure. Each unfolding and folding type supporting leg structure is sequentially connected with a spiral swing hydraulic cylinder, a supporting rod, a direct-acting hydraulic cylinder and a disc type supporting foot. The supporting legs are unfolded and folded through the spiral swing hydraulic cylinders, the supporting legs are close to the broadside of the submersible vehicle in the folded state so as to reduce the sailing resistance, energy is saved, and long-distance sailing of the submersible vehicle and mechanism carrying and transporting are facilitated; after unfolding, the height of the supporting feet is adjusted through the direct-acting hydraulic cylinders, the device can adapt to the uneven underwater environment, and the bottom sitting stability of the submersible vehicle is improved; and the disc type supporting feet can adapt to the sludge environment, and the whole device has the advantages of being portable, stable, high in environmental adaptability and the like.

Description

Technical Field

[0001] This invention relates to the field of underwater submersible operation technology, specifically to a portable underwater quadruped lifting mechanism and its application method. Background Technology

[0002] Submersibles are widely used in marine exploration, resource exploration, and underwater operations. When a submersible sits on the bottom, it needs to rely on a lifting mechanism for stable support to ensure operational safety and equipment stability. Large submersibles used in underwater operations require sufficient working space between the bottom of the submersible and the seabed during underwater delivery, deployment, and docking.

[0003] Existing lifting support mechanisms for underwater vehicles have several shortcomings: First, most mechanisms use fixed outrigger structures that cannot be folded and stored, resulting in significant water resistance during navigation, increased energy consumption, and inconvenience for transport and deployment. Second, some foldable mechanisms use hydraulic hoses for oil transmission; in deep water environments, these hoses are susceptible to deformation and damage due to water pressure, making it difficult to guarantee sealing performance and unsuitable for deep-water operations. Third, existing mechanisms have limited outrigger height adjustment capabilities, making it difficult to adapt to complex terrains such as uneven seabeds and silt deposits, leading to poor seabed stability and even risks of tilting or sliding. Fourth, conventional drive joints have low load-bearing capacity and transmission efficiency, and are prone to torque fluctuations at low speeds, affecting the smooth operation of the mechanism.

[0004] Therefore, developing an underwater lifting mechanism with features such as portability, deep-water adaptability, stable support, and efficient drive is of great significance for improving the operational reliability and adaptability of underwater vehicles. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a portable underwater quadruped lifting mechanism and its application method, so as to realize the portability and storage of the submersible during navigation, the stable support when it is on the bottom, and at the same time have reliable deep water pressure adaptability and complex terrain adaptability.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: I. A portable underwater quadruped lifting mechanism The present invention provides a portable underwater quadruped lifting mechanism, which mainly includes: four symmetrically distributed retractable support leg structures 1 on both sides of the bottom of the submersible. The retractable support leg structure 1 includes a base 2 fixedly connected to the side of the submersible and a spiral swing hydraulic cylinder 3, a support rod 5, a direct-acting hydraulic cylinder 6 and a disc support leg 8 connected in sequence. The fixed end of the spiral swing hydraulic cylinder 3 is connected to the base 2, and the output end is connected to one end of the support rod 5 through the fastener 4. The other end of the support rod 5 is connected to the direct-acting hydraulic cylinder 6, and the piston rod 7 of the direct-acting hydraulic cylinder 6 is connected to the disc support 8. The spiral swing hydraulic cylinder 3 is provided with pipe thread joints 10 at both ends, and the spiral swing hydraulic cylinder 3 has an internal annular oil circuit. The annular oil circuit is connected to the hydraulic oil circuit in the direct-acting hydraulic cylinder 6 through the pipe thread joints 10 and the hydraulic oil pipe 9. The pipe thread joints 10 are relatively stationary with the base 2 and are connected to the hydraulic source in the submersible through a hard pipe. Both ends of the piston rod 7 of the direct-acting hydraulic cylinder 6 are in contact with the water, and the bottom of the disc-shaped support 8 is provided with anti-slip tips.

[0007] Preferably, the spiral swing hydraulic cylinder 3 is encapsulated with multiple spiral gears and filled with hydraulic oil; and the maximum swing angle of the spiral swing hydraulic cylinder 3 is greater than 90 degrees.

[0008] Preferably, the cylinder body of the direct-acting hydraulic cylinder 6 is made of stainless steel and the inner wall is provided with a polytetrafluoroethylene wear-resistant bushing; the support rod 5 is made of high-strength aluminum alloy and the surface is provided with an anti-corrosion coating.

[0009] Preferably, the hydraulic oil pipe 9 is a high-pressure hard oil pipe with a pressure-resistant protective sleeve on the outer wall, and the hydraulic oil pipe 9 is laid along the length direction of the support rod 5 and connected to the annular oil circuit in the spiral swing hydraulic cylinder 3 to form a closed oil circuit system without hoses.

[0010] Preferably, the threaded pipe joint 10 is sealed with a metal gasket.

[0011] Preferably, the disc-shaped support 8 is made of titanium alloy, the anti-slip tip is conical, and multiple sets of anti-slip tips are evenly distributed on the bottom of the disc-shaped support 8.

[0012] II. Application Method of a Portable Underwater Quadruped Lifting Mechanism Based on the same inventive concept, the present invention also provides an application method for the portable underwater quadruped lifting mechanism as described above, comprising the following steps: S1, Operating Condition Judgment and Command Reception: The submersible control system judges the operating condition based on operational requirements and receives control commands. S2, Hydraulic system start-up and pressure detection: Start the submersible hydraulic power source and check whether the oil circuit pressure has reached the preset value. If so, continue to execute the subsequent steps. S3, Carrying navigation condition control: When the carrying navigation condition is determined, the spiral swing hydraulic cylinder 3 is controlled to move, driving the retractable outrigger structure 1 to rotate to a 0° swing angle, so that it is in the carrying state and close to the side of the submarine. S4, Bottom-sitting operation control: When the bottom-sitting operation is detected, the hydraulic source supplies oil to the spiral swing hydraulic cylinder 3, driving the retractable outrigger structure 1 to rotate to a swing angle of 90°~120°, so that it is in the bottom-sitting and unfolded state; at the same time, the direct-acting hydraulic cylinder 6 is controlled to move, driving the piston rod 7 to extend and drive the disc-type outrigger 8 to contact the bottom of the water, and the extension distance of the piston rod 7 of the four outriggers is adjusted respectively to keep the submersible body horizontal; S5, Recovery and Reset Control: When the operation is judged to be completed, control the piston rod 7 to retract so that the disc-type outrigger 8 is removed from the bottom of the water, and then control the spiral swing hydraulic cylinder 3 to rotate in the opposite direction so that the retractable outrigger structure 1 is reset to close to the side of the submersible.

[0013] Preferably, in step S4, the output of the piston rod 7 is dynamically adjusted according to the underwater texture environment: when the underwater texture is muddy, the output of the piston rod 7 is increased by a preset amount one to ensure that the anti-slip tip is inserted into the mud layer; when the underwater texture is rocky, the output of the piston rod 7 is decreased by a preset amount two to prevent wear on the support surface of the foot.

[0014] Preferably, in step S4, after the four outriggers' spiral swing hydraulic cylinders 3 and direct-acting hydraulic cylinders 6 have reached their positions, the submersible control system monitors the pressure signals of each outrigger's oil circuit in real time and performs real-time pressure compensation.

[0015] Compared with the prior art, the present invention has the following main advantages: 1) Excellent portability: The outriggers are extended and retracted by a spiral swing hydraulic cylinder. When carried, the outriggers are close to the side of the submersible, which greatly reduces the water resistance when the submersible is sailing, reduces energy consumption, and facilitates long-distance sailing or transport of the submersible. 2) Strong resistance to water pressure: Both ends of the piston rod of the direct-acting hydraulic cylinder are in contact with the water body, and the water pressure they bear is balanced. This means that the direct-acting hydraulic cylinder does not need to overcome the water pressure when supplying oil, and can adapt to deep water operations. At the same time, the spiral swing hydraulic cylinder has a built-in annular oil circuit, and the hydraulic pipeline is connected with rigid pipes, which avoids the problem of compression and deformation of hoses in deep water environment, and has high sealing reliability. 3) Good bottom stability: The direct-acting hydraulic cylinders of the four outriggers can independently adjust the piston rod extension distance, which can adapt to uneven underwater environments and ensure that the submersible body sits on the bottom horizontally. The maximum swing angle of the spiral swing hydraulic cylinder is greater than 90°, which can increase the span between the outriggers and further improve the stability of the submersible on the bottom. The disc-type outriggers have a large end face area, which can prevent sinking in silty water, and the anti-slip tip on the bottom can prevent slipping when sitting on the bottom. 4) High durability: The helical swing hydraulic cylinder encapsulates multiple helical gears in a cylinder body filled with hydraulic oil, achieving self-lubrication and sealing in one piece, requiring no additional maintenance and adapting to complex and harsh underwater working environments; each key component is made of high-strength, corrosion-resistant materials, and the surface is coated with a protective coating, extending the service life of the mechanism. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the underwater quadruped lifting mechanism in its carrying and unfolding states in an embodiment of the present invention; Figure 2 This is a schematic diagram of the retractable outrigger structure in an embodiment of the present invention; Figure 3 This is a flowchart illustrating the application method of the portable underwater quadruped lifting mechanism in an embodiment of the present invention.

[0017] In the diagram: 1- Deployable and retractable outrigger structure, 2- Base, 3- Helical swing hydraulic cylinder, 4- Fastener, 5- Support rod, 6- Direct-acting hydraulic cylinder, 7- Piston rod, 8- Disc outrigger, 9- Hydraulic oil pipe, 10- Pipe threaded connector. Detailed Implementation

[0018] 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.

[0019] 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.

[0020] 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.

[0021] Example 1: This example provides a portable underwater quadruped lifting mechanism, such as... Figures 1-2 As shown, it mainly includes: four symmetrically distributed retractable outrigger structures 1 on both sides of the bottom of the submersible. The retractable outrigger structure 1 includes a base 2 fixedly connected to the side of the submersible and a spiral swing hydraulic cylinder 3, a support rod 5, a direct-acting hydraulic cylinder 6 and a disc-type support foot 8 connected in sequence. The fixed end of the spiral swing hydraulic cylinder 3 is connected to the base 2, and the output end is connected to one end of the support rod 5 through the fastener 4. The other end of the support rod 5 is connected to the direct-acting hydraulic cylinder 6, and the piston rod 7 of the direct-acting hydraulic cylinder 6 is connected to the disc support 8. The spiral swing hydraulic cylinder 3 is provided with pipe thread joints 10 at both ends, and the spiral swing hydraulic cylinder 3 has an internal annular oil circuit. The annular oil circuit is connected to the hydraulic oil circuit in the direct-acting hydraulic cylinder 6 through the pipe thread joints 10 and the hydraulic oil pipe 9. The pipe thread joints 10 are relatively stationary with the base 2 and are connected to the hydraulic source in the submersible through a hard pipe. Both ends of the piston rod 7 of the direct-acting hydraulic cylinder 6 are in contact with the water, and the bottom of the disc-shaped support 8 is provided with anti-slip tips.

[0022] Furthermore, the spiral swing hydraulic cylinder 3 is encapsulated with multiple spiral gears, and the cylinder body is filled with hydraulic oil; and the maximum swing angle of the spiral swing hydraulic cylinder 3 is greater than 90 degrees.

[0023] Furthermore, the cylinder body of the direct-acting hydraulic cylinder 6 is made of stainless steel and the inner wall is provided with a polytetrafluoroethylene wear-resistant bushing; the support rod 5 is made of high-strength aluminum alloy and the surface is provided with an anti-corrosion coating.

[0024] Furthermore, the hydraulic oil pipe 9 is a high-pressure hard oil pipe with a pressure-resistant protective sleeve on the outer wall. The hydraulic oil pipe 9 is laid along the length of the support rod 5 and connected to the annular oil circuit in the spiral swing hydraulic cylinder 3 to form a closed oil circuit system without hoses.

[0025] Furthermore, the threaded pipe joint 10 is sealed with a metal gasket.

[0026] Furthermore, the disc-shaped support 8 is made of titanium alloy, the anti-slip tip is conical, and multiple sets of anti-slip tips are evenly distributed on the bottom of the disc-shaped support 8.

[0027] Example 2: This example provides a portable underwater quadruped lifting mechanism, featuring four identical retractable outriggers. Each outrigger utilizes a helical oscillating hydraulic cylinder as its primary rotational drive joint. This joint is fixed to the bottom side of the submersible via a side base. The helical oscillating hydraulic cylinder can rotate and retract the outriggers to the side of the submersible, making it lightweight and easy to carry. After rotating at a right angle, the double-rod piston direct-acting hydraulic cylinder on the outrigger is perfectly perpendicular to the horizontal plane. The double-rod piston direct-acting hydraulic cylinder extends the outrigger downwards to the underwater surface. The four direct-acting hydraulic cylinders can adjust the extension length of each outrigger to adapt to uneven underwater surfaces, achieving a horizontal landing for the submersible. It also boasts strong hydraulic drive load capacity and a high load / weight ratio. The helical oscillating hydraulic cylinder uses a built-in oil distribution loop for rigid hydraulic pipeline connections, eliminating the need for hoses and facilitating operations at depths of tens of thousands of meters. The double-rod piston direct-acting hydraulic cylinder balances the underwater pressure at both ends, unaffected by water depth pressure. The disc-shaped outriggers can adapt to muddy underwater environments.

[0028] Furthermore, the aforementioned helical oscillating hydraulic cylinder, serving as the primary rotary drive joint, features a large oscillation angle, high load-bearing capacity, compact structure, high volumetric efficiency, and high transmission efficiency. It can still output stable, high torque even at low speeds. The helical oscillating hydraulic cylinder encapsulates multiple helical gears within a full hydraulic cylinder body, achieving self-lubrication and sealing, making it durable and maintenance-free—an ideal underwater hydraulic power source. When the submersible requires higher stability, the oscillation angle of the helical oscillating hydraulic cylinder can be set to greater than 90 degrees to increase the span between the outriggers, resulting in greater stability when the submersible is on the bottom.

[0029] Furthermore, the spiral swing hydraulic cylinder can rotate and retract the outriggers to the side of the submersible, making it lightweight and easy to carry. It also helps to save water resistance when the submersible itself is sailing long distances or when it is being carried, thereby saving energy consumption within the range of the voyage.

[0030] Furthermore, the piston rods of the dual-rod direct-acting hydraulic cylinders of the support legs are subjected to the same water pressure at both ends. No matter how deep the water is, the direct-acting hydraulic cylinders are not affected by the water depth pressure when driven. Moreover, due to the high hydraulic pressure, they can provide a large lifting force to support a sufficiently large submersible load.

[0031] Furthermore, the spiral swing hydraulic cylinder uses a built-in oil distribution loop to achieve a hard pipe connection of the hydraulic oil pipeline. The oil circuit to the double-rod piston direct-acting hydraulic cylinder is connected from the internal loop of the spiral swing hydraulic cylinder to the hydraulic oil hard pipe laid on the branch, thus eliminating the need for hoses and making it easy to adapt to sea depths of 10,000 meters.

[0032] Furthermore, the disc-shaped support has a large area, which allows it to better adapt to the environment of underwater silt.

[0033] Furthermore, the four direct-acting hydraulic cylinders are perpendicular to the horizontal plane, and the extension distance of the pistons of the four support legs can be adjusted according to the unevenness of the bottom, so that it can always be easily adjusted to a horizontal state, making it easy to achieve a horizontal bottom for the submersible body.

[0034] Example 3: Based on the same inventive concept, this example also provides an application method for the portable underwater quadruped lifting mechanism as described above, such as... Figure 3 As shown, it includes the following steps: Step S1, Working Condition Judgment and Command Reception: The submersible control system judges the working condition according to the operational requirements and receives control commands; Step S2, Hydraulic system start-up and pressure detection: Start the submersible hydraulic power source and check whether the oil circuit pressure reaches the preset value. If so, continue to execute the subsequent steps. Step S3, Carrying navigation condition control: When it is determined that the navigation condition is carried, control the spiral swing hydraulic cylinder 3 to move, drive the retractable outrigger structure 1 to rotate to 0° swing angle, so that it is in the carrying state close to the side of the submarine. Step S4, Bottom-sitting operation control: When the bottom-sitting operation is determined, the hydraulic source supplies oil to the spiral swing hydraulic cylinder 3, driving the retractable outrigger structure 1 to rotate to a swing angle of 90°~120°, so that it is in the bottom-sitting unfolded state; at the same time, the direct-acting hydraulic cylinder 6 is controlled to move, driving the piston rod 7 to extend and drive the disc-type outrigger 8 to contact the bottom of the water, and the extension distance of the piston rod 7 of the four outriggers is adjusted respectively to keep the submersible body horizontal; Step S5, Recovery and Reset Control: When the operation is judged to be completed, control the piston rod 7 to retract so that the disc outrigger 8 is removed from the bottom of the water, and then control the spiral swing hydraulic cylinder 3 to rotate in the opposite direction so that the retractable outrigger structure 1 is reset to close to the side of the submersible.

[0035] Furthermore, in step S4, the output of the piston rod 7 is dynamically adjusted according to the underwater texture environment: when the underwater texture is muddy, the output of the piston rod 7 is increased by a preset amount one to ensure that the anti-slip tip is inserted into the mud layer; when the underwater texture is rocky, the output of the piston rod 7 is decreased by a preset amount two to prevent wear on the support surface of the foot.

[0036] Furthermore, in step S4, after the four outriggers' spiral swing hydraulic cylinders 3 and direct-acting hydraulic cylinders 6 have reached their positions, the submersible control system monitors the pressure signals of each outrigger's oil circuit in real time and performs real-time pressure compensation.

[0037] Example 4: Based on the same inventive concept, this example also provides an underwater operating submersible, which includes the portable underwater quadruped lifting mechanism described above.

[0038] Furthermore, all parts of this application that are not described in detail are the same as or implemented using existing technology.

[0039] In summary: 1) Excellent portability: The outriggers are extended and retracted by a spiral swing hydraulic cylinder. When carried, the outriggers are close to the side of the submersible, which greatly reduces the water resistance when the submersible is sailing, reduces energy consumption, and facilitates long-distance sailing or transport of the submersible. 2) Strong resistance to water pressure: Both ends of the piston rod of the direct-acting hydraulic cylinder are in contact with the water body, and the water pressure they bear is balanced. This means that the direct-acting hydraulic cylinder does not need to overcome the water pressure when supplying oil, and can adapt to deep water operations. At the same time, the spiral swing hydraulic cylinder has a built-in annular oil circuit, and the hydraulic pipeline is connected with rigid pipes, which avoids the problem of compression and deformation of hoses in deep water environment, and has high sealing reliability. 3) Good bottom stability: The direct-acting hydraulic cylinders of the four outriggers can independently adjust the piston rod extension distance, which can adapt to uneven underwater environments and ensure that the submersible body sits on the bottom horizontally. The maximum swing angle of the spiral swing hydraulic cylinder is greater than 90°, which can increase the span between the outriggers and further improve the stability of the submersible on the bottom. The disc-type outriggers have a large end face area, which can prevent sinking in silty water, and the anti-slip tip on the bottom can prevent slipping when sitting on the bottom. 4) High durability: The helical swing hydraulic cylinder encapsulates multiple helical gears in a cylinder body filled with hydraulic oil, achieving self-lubrication and sealing in one piece, requiring no additional maintenance and adapting to complex and harsh underwater working environments; each key component is made of high-strength, corrosion-resistant materials, and the surface is coated with a protective coating, extending the service life of the mechanism.

[0040] 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.

[0041] 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.

[0042] 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 portable underwater quadruped jacking mechanism, characterized by: The application relates to a submersible leg structure, which comprises four symmetrical spreadable leg structures (1) arranged on the two sides of the bottom of a submersible, wherein the spreadable leg structure (1) comprises a base (2) fixedly connected to the side of the submersible, a screw swing hydraulic cylinder (3), a supporting rod (5), a direct hydraulic cylinder (6) and a disc-shaped supporting foot (8) connected in sequence. The fixed end of the screw swing hydraulic cylinder (3) is connected with the base (2), the output end is connected with one end of the supporting rod (5) through a fastener (4), the other end of the supporting rod (5) is connected with the direct hydraulic cylinder (6), and the piston rod (7) of the direct hydraulic cylinder (6) is connected with the disc-shaped supporting foot (8). The screw swing hydraulic cylinder (3) is provided with pipe thread joints (10) at both ends, the screw swing hydraulic cylinder (3) is internally provided with an annular oil path, the annular oil path is communicated with the hydraulic oil path in the direct hydraulic cylinder (6) through the pipe thread joints (10) and hydraulic oil pipes (9), the pipe thread joints (10) are relatively static with the base (2) and are connected with the hydraulic source in the submersible through hard pipes. The piston rod (7) of the direct hydraulic cylinder (6) is contacted with water bodies at both ends, and the disc-shaped supporting foot (8) is provided with anti-skid tips at the bottom.

2. The portable underwater four-legged jack-up rig of claim 1, wherein, The screw swing hydraulic cylinder (3) is internally provided with multiple screw gears, and is filled with hydraulic oil in the cylinder body; and the maximum swing angle of the screw swing hydraulic cylinder (3) is greater than 90 degrees.

3. The portable underwater four-legged jack-up rig of claim 1, wherein, The cylinder body of the direct hydraulic cylinder (6) is made of stainless steel, and the inner wall is provided with a polytetrafluoroethylene wear-resistant bushing; the supporting rod (5) is made of high-strength aluminum alloy, and the surface is provided with a corrosion-resistant coating.

4. The portable underwater four-legged jack-up rig of claim 3, wherein, The hydraulic oil pipe (9) is a high-pressure hard oil pipe, and the outer wall is provided with a pressure-resistant protective sleeve; the hydraulic oil pipe (9) is laid along the length direction of the supporting rod (5) and is communicated with the annular oil path in the screw swing hydraulic cylinder (3) to form a closed oil path system without a hose.

5. The portable underwater four-legged jack-up rig of claim 1, wherein, The metal gasket is sealed in the pipe thread joint (10).

6. The portable underwater four-legged jack-up rig of claim 1, wherein, The disc-shaped supporting foot (8) is made of titanium alloy, the anti-skid tips are conical, and multiple groups of anti-skid tips are uniformly distributed at the bottom of the disc-shaped supporting foot (8).

7. A method of using the portable underwater four-legged jack-up rig as claimed in any one of claims 1 to 6, characterized in that, The method comprises the following steps: S1, working condition judgment and instruction receiving: the submersible control system judges the working condition according to the operation demand and receives control instructions; S2, hydraulic system starting and pressure detection: starting the submersible hydraulic source, detecting whether the oil path pressure reaches the preset value, if yes, the subsequent steps are continuously executed; S3, carrying navigation working condition control: when the carrying navigation working condition is judged, the screw swing hydraulic cylinder (3) is controlled to move, the spreadable leg structure (1) is rotated to 0-degree swing angle, and the spreadable leg structure (1) is in the carrying state and close to the side of the submersible; S4, bottom sitting operation working condition control: when the bottom sitting operation working condition is judged, the hydraulic source supplies oil to the screw swing hydraulic cylinder (3) to drive the spreadable leg structure (1) to rotate to 90-degree to 120-degree swing angle, so that the spreadable leg structure (1) is in the bottom sitting and expanding state; meanwhile, the direct hydraulic cylinder (6) is controlled to move, the piston rod (7) is extended to drive the disc-shaped supporting foot (8) to contact the water bottom, and the extension distances of the piston rods (7) of the four legs are adjusted to keep the submersible body horizontal; S5, recovery reset control: when judging the end of the operation, control the piston rod (7) to retract the disc-shaped support leg (8) from the water bottom, and then control the spiral swing hydraulic cylinder (3) to rotate reversely, so that the retractable support leg structure (1) is reset to the side of the submarine.

8. The method of use of claim 7, wherein, In the step S4, the output of the piston rod (7) is dynamically corrected according to the water bottom environment: when in the silt bottom, the output of the piston rod (7) is increased by a preset amplitude one to ensure that the anti-skid tip is inserted into the silt layer; when in the rock bottom, the output of the piston rod (7) is reduced by a preset amplitude two to prevent the support surface from being worn.

9. The method of claim 7, wherein the compound is administered in an amount of about 0.1 to 10 mg / kg. In the step S4, after the four support leg spiral swing hydraulic cylinders (3) and the direct-acting hydraulic cylinder (6) are operated to the position, the submarine control system monitors the pressure signals of the support leg oil paths in real time and performs real-time pressure compensation.

10. An underwater vehicle, characterized by The portable underwater four-legged jacking mechanism comprises the portable underwater four-legged jacking mechanism as claimed in any one of claims 1 to 6.

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