Anchoring device applied to small unmanned overwater or underwater equipment

Abstract

The utility model discloses an anchoring device applied to small unmanned overwater or underwater equipment, and relates to the technical field of underwater equipment anchoring, the anchoring device comprises a storage cabin, a recovery mechanism, an energy storage driving mechanism and an anchoring mechanism, a guide channel is arranged in the storage cabin, and the bottom of the guide channel is open; the recovery mechanism and the energy storage driving mechanism are sequentially arranged in the guide channel from top to bottom; the anchoring mechanism comprises a rope, a main anchor nail and a claw anchor, the first end of the rope penetrates through the energy storage driving mechanism and is connected with the recycling mechanism, and the second end of the rope is fixedly connected with the main anchor nail; the claw anchors are hinged to the edge of the head of the main anchor, and all the claw anchors are evenly distributed around the head of the main anchor. The recovery mechanism can wind the rope to enable the main anchor to compress the energy storage driving mechanism, and the recovery mechanism can loosen the rope to enable the energy storage driving mechanism to release the main anchor, so that the main anchor is embedded into a riverbed for anchoring.

Description

Technical Field

[0001] This utility model relates to the field of underwater equipment anchoring technology, and in particular to an anchoring device for small unmanned surface or underwater equipment. Background Technology

[0002] With the rapid development of detection technology, small unmanned surface or underwater devices have gained widespread application in underwater data collection and measurement due to their unique advantages. These devices are characterized by their small size, low cost, ease of operation, and high flexibility, effectively compensating for many shortcomings of traditional equipment and injecting new vitality into the development of related fields.

[0003] Based on their inherent characteristics, small unmanned surface or underwater equipment differs fundamentally from large surface or underwater equipment. Large surface or underwater equipment is significantly affected by seasonal water level fluctuations. During the dry season, river levels drop dramatically, failing to meet navigational requirements such as draft, rendering the equipment unable to operate normally. In contrast, small unmanned surface or underwater equipment has a shallow draft, is less affected by the riverbed environment, and possesses greater adaptability in shallow water environments, allowing it to continue operating even when larger surface or underwater equipment faces limitations.

[0004] From an operational perspective, traditional manual operations face significant safety risks in underwater environments. The underwater environment is complex and dangerous, with rapid currents and unpredictable water pressure. Personnel performing underwater data collection and measurement tasks constantly face serious threats such as drowning, being cut by underwater objects, and being swept away by currents. The emergence of small, unmanned underwater or surface equipment has successfully mitigated these risks, greatly ensuring the safety of personnel and playing a crucial role in water body data collection and detection tasks.

[0005] However, small unmanned surface or underwater equipment also faces severe challenges in practical applications. Complex, multi-terrain, and current-dependent water environments pose a serious threat to their operational effectiveness and safety. In rivers and reservoirs with fast-flowing currents and deep water levels, the powerful impact of the current can easily cause the equipment to shift and sway, deviating from its intended measurement position, or even capsizing. This not only renders the collected and measured data inaccurate but may also damage the equipment, leading to data loss and economic losses.

[0006] Existing anchoring devices have several drawbacks when applied to small unmanned underwater or surface equipment: First, most anchoring devices are designed specifically for large surface or underwater equipment. For smaller equipment, they are generally too large, cumbersome to operate, and lack adaptability, failing to meet the requirements of lightweight and compactness. Second, traditional fixed anchoring devices are difficult to adapt to complex and changing terrain and water flow conditions, resulting in poor equipment stability. They are prone to loosening under strong water flow impacts, making it difficult to guarantee anchoring effectiveness. Third, while some adjustable anchoring devices can cope with complex environments to a certain extent, they suffer from complex structures, high costs, and an inability to achieve rapid response and adaptive terrain adjustment. Utility Model Content

[0007] The purpose of this invention is to provide an anchoring device for small unmanned surface or underwater equipment to solve the problems existing in the above-mentioned related technologies. It has a simple structure, low cost, and can automatically adjust the anchoring state according to changes in force, thereby improving the working stability and environmental adaptability of small unmanned surface or underwater equipment. It enables the equipment to measure and collect reliable data stably and safely, with high operating efficiency and data accuracy, low accident risk, and ensures the smooth progress of data collection and measurement work of small unmanned surface or underwater equipment.

[0008] To achieve the above objectives, this utility model provides the following solution:

[0009] This utility model provides an anchoring device for small unmanned surface or underwater equipment, including a storage compartment, a recovery mechanism, an energy storage drive mechanism, and an anchoring mechanism. The storage compartment is used to install on the bottom of the small unmanned surface or underwater equipment, and a guide channel is provided inside the storage compartment, with the bottom of the guide channel being open.

[0010] The recovery mechanism and the energy storage drive mechanism are arranged sequentially from top to bottom within the guide channel; the anchoring mechanism includes a rope, a main anchor, and claw anchors. The first end of the rope passes through the energy storage drive mechanism and is connected to the recovery mechanism, and the second end of the rope is fixedly connected to the main anchor. The claw anchor is hinged to the head edge of the main anchor, and multiple sets of claw anchors are provided, with all claw anchors evenly distributed around the head of the main anchor.

[0011] The retrieval mechanism can wind the rope to compress the energy storage drive mechanism with the main anchor, and the retrieval mechanism can release the rope to release the main anchor, thereby embedding the main anchor into the riverbed for anchoring.

[0012] Preferably, the claw anchor is a strip-shaped shovel structure, with one end being a handle end and the other end being a shovel end. The thickness of the claw anchor gradually decreases from its handle end to its shovel end, and the width of the claw anchor gradually increases from its handle end to its shovel end. The handle end of the claw anchor is hinged to the head edge of the main anchor.

[0013] Preferably, the claw anchor has two barbs at its shovel end, with the two barbs located at the two side edges of the claw anchor's shovel end, respectively.

[0014] Preferably, the anchoring mechanism further includes multiple suction cups, and the main anchor rod has multiple fixing holes arranged axially. The suction cups are arranged in a one-to-one correspondence with the fixing holes, and the suction cups can be fixedly connected to the main anchor rod through the corresponding fixing holes.

[0015] Preferably, the anchoring mechanism further includes a tension sensor, which is disposed on the rope near the main anchor.

[0016] Preferably, the recycling mechanism includes a drum, a power unit, and a locking unit. The drum is disposed above the guide channel of the storage compartment, and the drum has a winding groove that spirals around the surface of the drum. The first end of the rope is fixed to the starting end of the winding groove on the drum. The power unit can drive the drum to rotate counterclockwise so that the rope is wound around the winding groove on the drum. When the locking unit is locked, the drum stops rotating. When the locking unit is unlocked, the drum can rotate clockwise.

[0017] Preferably, the power unit includes an electric motor, the output end of which extends along the direction of the drum rod and is connected to the drum rod so that the drum rod can rotate counterclockwise.

[0018] Preferably, the locking part includes an electromagnetic latch, which is disposed on the electric motor; when the electromagnetic latch is locked, the output end of the electric motor stops rotating, and when the electromagnetic latch is unlocked, the output end of the electric motor can rotate clockwise.

[0019] Preferably, the energy storage drive mechanism includes a buffer shell, a fixed seat, a spring, and a movable seat. The buffer shell is embedded in the guide channel of the storage compartment, and the rope passes through the buffer shell. The fixed seat, the spring, and the movable seat are arranged sequentially from top to bottom inside the buffer shell and are sleeved on the rope. The fixed seat is fixedly connected to the buffer shell, one end of the spring is fixedly connected to the fixed seat, and the other end is fixedly connected to the movable seat. The movable seat is movably connected to the buffer shell.

[0020] Preferably, the energy storage drive mechanism further includes a buffer pad, which is disposed inside the buffer shell and located between the top of the buffer shell and the fixed base.

[0021] This utility model achieves the following technical advantages compared to related technologies:

[0022] The present invention provides an anchoring device for small unmanned surface or underwater equipment, comprising a storage compartment, a retrieval mechanism, an energy storage drive mechanism, and an anchoring mechanism. The anchoring mechanism includes a rope, a main anchor, and a claw anchor. In use, the storage compartment is installed at the bottom of the small unmanned surface or underwater equipment. First, the rope is wound around the retrieval mechanism to compress the energy storage drive mechanism with the main anchor. Then, the rope is released by the retrieval mechanism to release the main anchor, thereby embedding the main anchor into the riverbed for anchoring.

[0023] This invention improves the stability of small unmanned surface or underwater equipment. By using downward pressure and lateral force from the riverbed, the claw anchors on the main anchor extend, greatly increasing the contact area with the riverbed. When faced with complex external forces such as sudden changes in water flow velocity and water flow fluctuations, the main anchor can be firmly fixed in place, like laying a solid "foundation," effectively ensuring the safety and stability of small unmanned surface or underwater equipment. This significantly reduces the risk of equipment displacement, swaying, or even overturning, ensuring the reliable operation of equipment measurement and data acquisition.

[0024] This invention improves the environmental adaptability of small unmanned surface or underwater equipment. Whether it is a soft muddy riverbed, a sandy riverbed, or a rocky riverbed, this device can automatically adjust the extension of the claw anchor and the gripping method by means of its own mechanical adjustment mechanism.

[0025] This invention has a long service life. By extending the claw anchors, the external forces borne by the anchoring can be distributed. When subjected to external forces such as water flow, each extended claw anchor bears part of the force, avoiding excessive force on a single point. This method of distributing force reduces the possibility of damage to the claw anchors and the anchoring device as a whole, thereby extending the service life of the device, reducing maintenance costs and replacement frequency, and improving the economic efficiency of equipment use.

[0026] This utility model meets the characteristic requirements of small unmanned surface or underwater equipment. Through the close connection of the storage tank, recovery mechanism, energy storage drive mechanism and anchoring mechanism, the overall size of the device is effectively controlled, saving space to a great extent and meeting the strict requirements of lightweight and compactness for small unmanned surface or underwater equipment. The structure of each part of the device is simple and clear. Under the condition of complete functionality, it abandons the complex and cumbersome structure, making the whole device easy to understand and maintain. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or related technologies, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A schematic diagram of an anchoring device for small unmanned surface or underwater equipment provided in an embodiment of this utility model;

[0029] Figure 2 A schematic diagram showing the disassembled state of an anchoring device for small unmanned surface or underwater equipment provided in an embodiment of this utility model;

[0030] Figure 3 A schematic diagram of the storage compartment and buffer shell provided for an embodiment of this utility model;

[0031] Figure 4 A schematic diagram of the recovery mechanism, energy storage drive mechanism, and anchoring mechanism provided in the embodiments of this utility model;

[0032] Figure 5 A schematic diagram of the recovery mechanism, energy storage drive mechanism, and rope provided for an embodiment of this utility model (the energy storage drive mechanism is in a split state, and the buffer shell is not shown);

[0033] Figure 6 A schematic diagram of the anchoring mechanism provided in an embodiment of this utility model (rope not shown);

[0034] Figure 7 This is a schematic diagram of the claw anchor provided in an embodiment of the present invention.

[0035] In the diagram: 100 - Anchoring device for small unmanned surface or underwater equipment; 1 - Storage compartment; 2 - Recovery mechanism; 201 - Drum rod; 202 - Electric motor; 3 - Energy storage drive mechanism; 301 - Buffer shell; 302 - Fixed seat; 303 - Spring; 304 - Movable seat; 305 - Buffer pad; 4 - Anchoring mechanism; 401 - Rope; 402 - Main anchor; 4021 - Fixing hole; 403 - Claw anchor; 4031 - Barb. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0037] The purpose of this invention is to provide an anchoring device for small unmanned surface or underwater equipment to solve the problems existing in related technologies. It has a simple structure, low cost, and can automatically adjust the anchoring state according to changes in force, thereby improving the working stability and environmental adaptability of small unmanned surface or underwater equipment. It enables the stable and safe measurement and collection of reliable data, with high operating efficiency and data accuracy, low accident risk, and ensures the smooth progress of data collection and measurement work of small unmanned surface or underwater equipment.

[0038] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1-2 As shown, this embodiment provides an anchoring device 100 for small unmanned surface or underwater equipment, including a storage tank 1, a recovery mechanism 2, an energy storage drive mechanism 3, and an anchoring mechanism 4. These components are closely connected to form a complete structural system, ensuring that the small unmanned surface or underwater equipment can remain stable and have good adaptability in complex water flow environments.

[0040] In this embodiment, the storage compartment 1 is installed on the bottom of a small unmanned surface or underwater device, and a guide channel is provided inside the storage compartment 1, with the bottom of the guide channel being open. Specifically, the storage compartment 1 in this embodiment is cylindrical, and a cylindrical groove is formed at the bottom of the storage compartment 1, which is the guide channel. The top of the storage compartment 1 can be bolted to the bottom groove of the small unmanned surface or underwater device, which is tight and easy to disassemble, providing convenience for the maintenance and upgrading of the device. The storage compartment 1 is made of high-strength and corrosion-resistant materials to adapt to the complex underwater environment, prevent the storage compartment 1 from being corroded and damaged during long-term use, and ensure the protection of the recovery mechanism 2 inside.

[0041] In this embodiment, the recovery mechanism 2 and the energy storage drive mechanism 3 are arranged sequentially from top to bottom in the guide channel; the anchoring mechanism 4 includes a rope 401, a main anchor 402, and a claw anchor 403. In this embodiment, the rope 401 is preferably a high-strength composite rope. The first end of the rope 401 passes through the energy storage drive mechanism 3 and is connected to the recovery mechanism 2. The second end of the rope 401 is fixedly connected to the main anchor 402; the claw anchor 403 is hinged to the head edge of the main anchor 402, and multiple sets of claw anchors 403 are provided, with all claw anchors 403 evenly distributed around the head of the main anchor 402; the recovery mechanism 2 can wind the rope 401 to compress the energy storage drive mechanism 3 with the main anchor 402, and the recovery mechanism 2 can loosen the rope 401 to release the main anchor 402 with the energy storage drive mechanism 3, thereby embedding the main anchor 402 into the riverbed for anchoring, achieving the effect of stabilizing small unmanned surface or underwater equipment.

[0042] In this embodiment, the recycling mechanism 2 includes a drum rod 201, a power unit, and a locking unit. The drum rod 201 is disposed above the guide channel of the storage compartment 1, and a winding groove is provided on the drum rod 201. The winding groove is spirally arranged around the surface of the drum rod 201, and the first end of the rope 401 is fixed to the starting end of the winding groove of the drum rod 201. The winding groove on the surface of the drum rod 201 can ensure that the rope 401 is neat and orderly during the winding process, avoiding the rope 401 from tangling, knotting, etc., and greatly improving the reliability of the recycling process.

[0043] In this embodiment, the power unit can drive the drum rod 201 to rotate counterclockwise so that the rope 401 is wound around the winding groove of the drum rod 201. When the locking part is locked, the drum rod 201 stops rotating. When the locking part is unlocked, the drum rod 201 can rotate clockwise.

[0044] Furthermore, such as Figure 4 As shown, the power unit in this embodiment includes an electric motor 202. The output end of the electric motor 202 extends along the direction of the drum rod 201 and is connected to the drum rod 201 so that the drum rod 201 can rotate counterclockwise. Using the electric motor 202 as the core power source, and its output end being directly connected to the drum rod 201, this direct connection method greatly simplifies the power transmission structure, reduces energy loss, enables the power of the electric motor 202 to act on the drum rod 201 efficiently and directly, and also reduces the probability of failure.

[0045] Furthermore, the locking part in this embodiment includes an electromagnetic latch, which is disposed on the electric motor 202; when the electromagnetic latch is locked, the output end of the electric motor 202 stops rotating, and when the electromagnetic latch is unlocked, the output end of the electric motor 202 can rotate clockwise.

[0046] When the anchoring mechanism 4 is retrieved, the electromagnetic lock is released, the electric motor 202 is turned on, and the drum 201 rotates counterclockwise. The main anchor 402 is retrieved by winding the rope 401 until the main anchor 402 compresses the energy storage drive mechanism 3 and returns to its original position. The electromagnetic lock is then locked, and the electric motor 202 is turned off. When the anchoring mechanism 4 is released, the electromagnetic lock is released. At this time, under the action of the energy storage drive mechanism 3, the output end of the electric motor 202, together with the drum 201, can rotate clockwise, releasing the rope 401, thereby allowing the main anchor 402 to embed into the riverbed for anchoring.

[0047] In this embodiment, the energy storage drive mechanism 3 includes a buffer shell 301, a fixed base 302, a spring 303, and a movable base 304. The buffer shell 301 is embedded in the guide channel of the storage compartment 1, and the rope 401 passes through the buffer shell 301; specifically, as Figure 3 As shown, the outer wall of the buffer shell 301 can fit tightly against the inner wall of the guide channel of the storage compartment 1. This design not only ensures the accuracy of the relative position of the storage compartment 1 and the energy storage drive mechanism 3 during installation and use, but also plays a buffering role when driving the anchoring mechanism 4, effectively absorbing and dispersing some of the impact force and vibration energy, and reducing the risk of damage to the storage compartment 1 and its internal parts caused by vibration and impact.

[0048] In this embodiment, as Figure 5 As shown, the fixed seat 302, spring 303, and movable seat 304 are arranged sequentially from top to bottom inside the buffer shell 301 and sleeved on the rope 401. The fixed seat 302 is fixedly connected to the buffer shell 301, and one end of the spring 303 is fixedly connected to the fixed seat 302. The fixed seat 302 serves to support and position the spring 303, ensuring the stability of the position and direction of the spring 303 during compression and release. The other end of the spring 303 is fixedly connected to the movable seat 304, which is movably connected to the buffer shell 301. The cylindrical channel inside the buffer shell 301 can provide guidance for the movable seat 304, ensuring that it moves along a predetermined vertical direction during driving and avoiding deviation or shaking. In this embodiment, the spring 303 is made of a special alloy material, which has a high elastic modulus and good fatigue resistance. It can maintain a stable elastic potential energy storage and release capacity during multiple compressions and releases, extending the service life of the energy storage drive mechanism 3.

[0049] When the spring 303 is compressed, it stores elastic potential energy. When released, the elastic potential energy is converted into the kinetic energy of the main anchor 402. When the spring 303 is released, its elastic force pushes the movable seat 304 to move, thereby pushing out the main anchor 402 and providing initial dynamic pressure to the main anchor 402. In this embodiment, both the fixed seat 302 and the movable seat 304 are smooth surfaces to reduce friction. The energy storage drive mechanism 3 stably provides power to the anchoring mechanism 4 through the coordinated work of simple components such as the spring 303, the fixed seat 302, and the movable seat 304, making the entire device easy to understand and maintain.

[0050] Furthermore, the energy storage drive mechanism 3 in this embodiment also includes a buffer pad 305, which is disposed inside the buffer shell 301 and located between the top of the buffer shell 301 and the fixed seat 302. The buffer pad 305 can disperse the impact force, prevent the fixed seat 302 and other components from being damaged by the reaction force, extend the service life of the energy storage drive mechanism 3, and also adjust the initial drive state, so that the driven object is subjected to force more smoothly, and improve the drive accuracy and stability.

[0051] In this embodiment, as Figure 6 As shown, the head of the main anchor 402 is surrounded by six claw anchors 403. The head of the main anchor 402 is directly fixedly connected to the rope 401 that passes through the energy storage drive mechanism 3 through an inlaid ring. The head of the main anchor 402 is designed as a flat cylindrical shape, and the bottom of the main anchor 402 is designed as a sharp cone shape, which facilitates rapid penetration into the riverbed and improves anchoring efficiency.

[0052] Furthermore, the claw anchor 403 has a strip-shaped shovel structure, with one end being the handle and the other end being the shovel end. The thickness of the claw anchor 403 gradually decreases from the handle to the shovel end, while the width gradually increases from the handle to the shovel end. The handle of the claw anchor 403 is hinged to the head edge of the main anchor 402. Specifically, the handle of the claw anchor 403 is connected to the corresponding hole on the main anchor 402 via a pivot. This hinge structure allows the claw anchor 403 to rotate relative to the main anchor 402. During the process of penetrating the riverbed, the claw anchor 403 rotates outward around the corresponding pivot due to the reverse lateral pressure from the riverbed, thereby automatically extending outward. When anchoring, the claw anchor 403 retracts due to vertical force, facilitating the retraction and storage of the anchoring mechanism 4.

[0053] Furthermore, the claw anchor 403 has two barbs 4031 at its shovel end, with the two barbs 4031 located on the two sides of the shovel end of the claw anchor 403 respectively; specifically, as shown... Figure 7As shown, the claw anchor 403 is shovel-shaped. The cross-section of the shank end of the claw anchor 403 is flat and elongated from top to bottom, and then smoothly transitions to a shovel end that is narrow in the middle and wide at both ends. Vertical barbs 4031 are provided on the upper left and right sides of the shovel end of the claw anchor 403. The barbs 4031 have a streamlined structure that is pointed at the top and thick at the bottom, which can increase the contact area and friction with the riverbed and provide stronger anchoring force.

[0054] In this embodiment, the anchoring mechanism 4 also includes multiple suction cups. The main anchor 402 has multiple fixing holes 4021 arranged axially on its shank. The suction cups are arranged one-to-one with the fixing holes 4021, and the suction cups can be fixedly connected to the shank of the main anchor 402 through the corresponding fixing holes 4021. In use, suction cups can be added according to the terrain. When the riverbed is mostly rocky, the suction cups can form a negative pressure by expelling the air inside, thereby tightly adhering to the rocks and helping to increase the anchoring force.

[0055] It should be noted that in sandy or silty bottoms, the uniquely designed claw anchor 403 in this device can be quickly inserted into the bottom to fix the equipment; in rocky bottom areas, it can be closely attached to the rock surface by adding suction cups for auxiliary adsorption; this device has strong self-adaptability, eliminating the need for complex anchoring selection or modification for different riverbed conditions, effectively improving the versatility and application range of the anchoring device, adapting to various complex underwater environments, and ensuring that the equipment can operate normally in different waters.

[0056] In this embodiment, the anchoring mechanism 4 also includes a tension sensor, which is located on the rope 401 near the main anchor 402.

[0057] The usage process of the anchoring device 100 for small unmanned surface or underwater equipment provided in this embodiment is as follows:

[0058] Storage compartment 1 is bolted into the bottom groove of the small unmanned surface or underwater equipment, ensuring a tight connection. Suction cups are added to the fixing holes 4021 of the main anchor 402 according to the riverbed topography. Simultaneously, the electric motor 202 and drum 201 of the retrieval mechanism 2 are checked for proper functioning, ensuring the rope 401 is not tangled or damaged, and confirming that the rope 401 is fully tightened and the spring 303 of the energy storage drive mechanism 3 is compressed. When the small unmanned surface or underwater equipment reaches the predetermined position, the electromagnetic lock unlocks, releasing the elastic potential energy of the spring 303. The spring 303 pushes the movable seat 304 outward, causing the main anchor 402 to quickly embed into the riverbed. At this time, the claw anchor 403 on the main anchor 402 exerts reverse lateral pressure on the riverbed. Under the action of force, it automatically unfolds outward, increasing the contact area with the riverbed and providing stronger anchoring force. After the main anchor 402 is embedded in the riverbed, the device is stably fixed by the gripping force of the claw anchor 403 and the adsorption force of the suction cup. Subsequently, the device begins to perform underwater collection or measurement tasks, ensuring stability in complex water flow environments. After the task is completed, the electric motor 202 of the recovery mechanism 2 is started, and the drum rod 201 rotates counterclockwise to retract the rope 401. During the uniform retraction of the rope 401, the tension sensor monitors the tension in real time to prevent the device from being overloaded and damaged. After the recovery is completed, the electromagnetic lock automatically locks the output end of the electric motor 202 to prevent rotation. After the main anchor 402 is pulled back from the riverbed, the claw anchor 403 is retracted by vertical force for easy storage.

[0059] In summary, this device, through an adaptive mechanics mechanism, achieves highly stable anchoring of small unmanned surface or underwater equipment in various terrains and complex water flow environments. Its compact structure, rapid response capability, and excellent adaptability to diverse terrains offer significant advantages over existing anchoring devices. It not only effectively reduces the risks of equipment displacement, swaying, and capsizing, but also greatly expands its versatility and application scope, providing reliable protection for underwater exploration, environmental monitoring, and other fields.

[0060] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An anchoring device for small unmanned surface or underwater equipment, characterized in that: It includes a storage compartment, a recovery mechanism, an energy storage drive mechanism, and an anchoring mechanism. The storage compartment is used to install on the bottom of a small unmanned surface or underwater device, and a guide channel is provided inside the storage compartment, with the bottom of the guide channel being open. The recovery mechanism and the energy storage drive mechanism are arranged sequentially from top to bottom within the guide channel; the anchoring mechanism includes a rope, a main anchor, and claw anchors. The first end of the rope passes through the energy storage drive mechanism and is connected to the recovery mechanism, and the second end of the rope is fixedly connected to the main anchor. The claw anchor is hinged to the head edge of the main anchor, and multiple sets of claw anchors are provided, with all claw anchors evenly distributed around the head of the main anchor. The retrieval mechanism can wind the rope to compress the energy storage drive mechanism with the main anchor, and the retrieval mechanism can release the rope to release the main anchor, thereby embedding the main anchor into the riverbed for anchoring.

2. The anchoring device for small unmanned surface or underwater equipment according to claim 1, characterized in that: The claw anchor is a strip-shaped shovel structure, with one end being a handle and the other end being a shovel. The thickness of the claw anchor gradually decreases from the handle to the shovel, and the width of the claw anchor gradually increases from the handle to the shovel. The handle of the claw anchor is hinged to the head edge of the main anchor.

3. The anchoring device for small unmanned surface or underwater equipment according to claim 2, characterized in that: The claw anchor has two barbs at its shovel end, with the two barbs located on the two sides of the shovel end of the claw anchor.

4. The anchoring device for small unmanned surface or underwater equipment according to claim 1, characterized in that: The anchoring mechanism also includes multiple suction cups. The main anchor rod has multiple fixing holes arranged axially. The suction cups are arranged in a one-to-one correspondence with the fixing holes, and the suction cups can be fixedly connected to the main anchor rod through the corresponding fixing holes.

5. The anchoring device for small unmanned surface or underwater equipment according to claim 1, characterized in that: The anchoring mechanism also includes a tension sensor, which is located on the rope near the main anchor.

6. The anchoring device for small unmanned surface or underwater equipment according to claim 1, characterized in that: The recycling mechanism includes a drum, a power unit, and a locking unit. The drum is located above the guide channel of the storage compartment and has a winding groove that spirals around its surface. The first end of the rope is fixed to the starting end of the winding groove. The power unit drives the drum to rotate counterclockwise so that the rope winds around the winding groove. When the locking unit is locked, the drum stops rotating; when the locking unit is unlocked, the drum can rotate clockwise.

7. The anchoring device for small unmanned surface or underwater equipment according to claim 6, characterized in that: The power unit includes an electric motor, the output end of which extends along the direction of the drum rod and is connected to the drum rod so that the drum rod can rotate counterclockwise.

8. The anchoring device for small unmanned surface or underwater equipment according to claim 7, characterized in that: The locking part includes an electromagnetic latch, which is disposed on the electric motor; when the electromagnetic latch is locked, the output end of the electric motor stops rotating; when the electromagnetic latch is unlocked, the output end of the electric motor can rotate clockwise.

9. The anchoring device for small unmanned surface or underwater equipment according to claim 1, characterized in that: The energy storage drive mechanism includes a buffer shell, a fixed base, a spring, and a movable base. The buffer shell is embedded in the guide channel of the storage compartment, and the rope passes through the buffer shell. The fixed base, the spring, and the movable base are arranged sequentially from top to bottom inside the buffer shell and are sleeved on the rope. The fixed base is fixedly connected to the buffer shell, one end of the spring is fixedly connected to the fixed base, and the other end is fixedly connected to the movable base. The movable base is movably connected to the buffer shell.

10. The anchoring device for small unmanned surface or underwater equipment according to claim 9, characterized in that: The energy storage drive mechanism also includes a buffer pad, which is disposed inside the buffer shell and located between the top of the buffer shell and the fixed base.

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