An underwater robotic deployment device

Abstract

The application provides an underwater robot laying device, which comprises a robot, a main frame for bearing and clamping the robot, a head bracket, a top pressing frame and a tail bracket arranged in sequence on the main frame, the head bracket abutting against the bottom side of the head end of the robot, the top pressing frame abutting against the top side of the robot, the tail bracket arranged on both sides of the tail end of the robot, the tail end of the robot being provided with a stern guide frame clamped on the tail bracket, a moving mechanism for bearing the main frame and moving to a designated position, the moving mechanism being arranged at the bottom end of the main frame, a control cabin for controlling the movement and functions of the whole laying device, and an energy power system for providing power for the operation of the whole laying device. In the application, the underwater robot laying device has the characteristics of large moving range, good maneuverability, rapidity and safety, can make full use of each space position to reduce the load, is suitable for underwater long-distance and long-time work, and can support, fix and guide the robot through the cooperation of the head bracket, the top pressing frame and the tail bracket.

Description

Technical Field

[0001] This invention relates to the field of underwater robots, and more particularly to an underwater robot deployment device. Background Technology

[0002] Autonomous underwater robots (AUVs) offer advantages over tethered remotely operated underwater vehicles (ROVs) in underwater detection, including a wider range of motion, better maneuverability, and increased intelligence, making them an important tool for completing underwater tasks. Currently, underwater robot research has become a hot research area. Underwater robots can perform detection and search tasks underwater, and also handle necessary emergency situations.

[0003] In long-distance water conveyance tunnel inspection missions, autonomous underwater vehicles (AUVs) have very limited energy capacity due to size and mass constraints. For AUVs operating in tunnels for extended periods, deployment and retrieval via support platforms are essential for replenishing energy, transmitting information, and maintenance. In complex water environments, factors such as surface waves and currents prevent deployment using surface vessels or airborne equipment. Therefore, deploying underwater deployment devices is a crucial research direction for AUVs. Summary of the Invention

[0004] The purpose of this invention is to provide an underwater robot deployment device that allows an underwater robot to be deployed at a fixed location at a work site during its entry into a tunnel. This device offers advantages such as a large range of motion, good maneuverability, speed, and safety. It is suitable for various long-distance underwater work applications.

[0005] To achieve the above objectives, this invention proposes an underwater robot deployment device, comprising a robot, a main frame, a moving mechanism, a control cabin, and an energy and power system, wherein:

[0006] The robot is used to perform underwater tasks;

[0007] The main frame supports and clamps the robot, and provides an installation position and space. From head to tail, the main frame is provided with a head bracket, a top pressure bracket, and a tail bracket. The head bracket supports the bottom side of the robot's head end. The top pressure bracket presses against the top side of the robot. The tail bracket is mounted on both sides of the robot's tail end, and the two sides of the robot's tail end are provided with stern guide brackets that are engaged with the tail bracket.

[0008] The head support includes a first hydraulic actuator, a first transmission mechanism, and a first guide clamp. The bottom end of the first hydraulic actuator is movably connected to the main frame. The hydraulic output shaft of the first hydraulic actuator is connected to the first guide clamp through the first transmission mechanism. The first transmission mechanism includes a forward tilting bracket, a rotating connector, and a transmission connector. The forward tilting bracket has a bent structure. One end of the forward tilting bracket is connected to the first guide clamp, and the other end is movably connected to the hydraulic output shaft of the first hydraulic actuator through the transmission connector. The bent part of the forward tilting bracket is movably connected to the main frame through the rotating connector.

[0009] The top-pressing frame includes a second hydraulic actuator, a second transmission mechanism, and a second guide clamp. The bottom end of the second hydraulic actuator is movably connected to the main frame. The hydraulic output shaft of the second hydraulic actuator is connected to the second guide clamp through the second transmission mechanism. The second transmission mechanism includes a flipping bracket, an upper push-pull bracket rod, a flipping connector, and a lower push-pull bracket rod. The flipping bracket has a hook structure. One hook-shaped end of the flipping bracket is connected to the second guide clamp, and the other rod-shaped end is movably connected to the main frame through the flipping connector. The hydraulic output shaft of the second hydraulic actuator is connected to the head ends of both the upper and lower push-pull bracket rods. The tail end of the lower push-pull bracket rod is rotatably fixed to the main frame, and the tail end of the upper push-pull bracket rod is rotatably fixed to the middle section of the flipping bracket.

[0010] The moving mechanism carries the main frame and moves it to a designated position; the moving mechanism is located at the bottom end of the main frame.

[0011] The control cabin is used to control the movement and function of the entire deployment device;

[0012] The energy and power system is used to provide power for the operation of the entire deployment device.

[0013] Furthermore, in the underwater robot deployment device, the moving mechanism includes a chassis beam and tracked wheels. The chassis beam is horizontally mounted on the bottom of the main frame, and the tracked wheels are symmetrically arranged at both ends of the chassis beam.

[0014] The tracked mobile wheel includes a mobile frame, a drive wheel, a driven wheel, and a rubber track. The rubber track has anti-slip ribs on its outer side and guide teeth on its inner side. The drive wheel and the driven wheel are both mounted on the mobile frame. The drive wheel meshes with the guide teeth, and the driven wheel supports the rubber track.

[0015] Furthermore, the underwater robot deployment device also includes a hydraulic system for controlling the head support and top pressure frame to perform deployment operations;

[0016] The hydraulic system is driven and connected to the first hydraulic actuator and the second hydraulic actuator respectively; the control cabin and the hydraulic system are both fixedly installed inside the main frame, and the control cabin is controlled and connected to the hydraulic system.

[0017] Furthermore, in the underwater robot deployment device, both the first guide clamp and the second guide clamp include an arc-shaped wheel plate and directional pulleys symmetrically arranged on both sides of the arc-shaped wheel plate.

[0018] Furthermore, in the underwater robot deployment device, the bottom of the main frame is provided with a base plate, the control cabin is fixedly installed on the main frame, the hydraulic system is fixedly installed on the base plate, and the bottom end of the first hydraulic actuator in the head bracket is movably connected to the base plate.

[0019] Furthermore, in the underwater robot deployment device, an extension support rod is provided on the outer side of the main frame, and the bottom ends of the second hydraulic actuator in the lower push-pull frame and the top pressure frame are movably connected to the extension support rod.

[0020] Furthermore, in the underwater robot deployment device, the tail support includes a U-shaped slide rail and a tail support frame. The U-shaped slide rail is fixed on multiple parallel tail support frames, and the opening direction of the U-shaped slide rail is consistent with the movement direction of the robot. The stern guide frame is clamped on the inner side of the U-shaped slide rail.

[0021] Furthermore, in the underwater robot deployment device, a U-shaped connector is provided at the bend of the U-shaped slide rail to connect the U-shaped slide rail in a U-shape. A hollow plate is provided on one side of the U-shaped connector to reinforce the U-shaped slide rail in a U-shape.

[0022] Compared with the prior art, the beneficial effects of the present invention are mainly reflected in:

[0023] 1. Tracked mobile mechanisms are characterized by a large range of motion, good maneuverability, speed, and safety;

[0024] 2. The overall structure of the deployment device makes full use of the space of the main frame, reducing the load while extending its working time, making it suitable for various underwater long-distance and long-term work occasions.

[0025] 3. The combination of pulleys and slide rails used in the pressure plate top support structure can not only fix and support the torpedo robot, but also guide it. Attached Figure Description

[0026] Figure 1This is a schematic diagram of the underwater robot deployment device in this invention;

[0027] Figure 2 This is a schematic diagram of the underwater robot deployment device in this invention when carrying the robot;

[0028] Figure 3 This is a schematic diagram of the underwater robot deployment device in this invention when it is held by the robot.

[0029] Figure 4 This is a schematic diagram of the underwater robot deployment device in this invention when the robot departs.

[0030] The components include: robot 1, stern guide frame 11, main frame 2, base plate 21, extension strut 22, moving mechanism 3, chassis crossbeam 31, moving frame 32, drive wheel 33, driven wheel 34, rubber track 35, drive motor 36, control cabin 4, hydraulic system 5, first hydraulic actuator 51, second hydraulic actuator 52, hydraulic output shaft 53, first guide clamp 61, second guide clamp 62, arc-shaped wheel plate 63, directional pulley 64, forward tilting bracket 71, rotating connector 72, transmission connector 73, tilting bracket 81, upper push-pull frame rod 82, tilting connector 83, lower push-pull frame rod 84, U-shaped slide rail 91, tail support frame 92, U-shaped connector 93, and hollow plate 94. Detailed Implementation

[0031] The underwater robot deployment device of the present invention will now be described in more detail with reference to the schematic diagrams, which illustrate preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0032] In the description of this invention, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this invention.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "assembly," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can also refer to a mechanical connection; they can refer to a direct connection or a connection through an intermediate medium; or they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] The invention is described more specifically by way of example in the following paragraphs with reference to the accompanying drawings. The advantages and features of the invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0035] like Figures 2 to 4 As shown, this invention proposes an underwater robot deployment device, comprising a robot 1, a main frame 2, a moving mechanism 3, a control cabin 4, an energy and power system, and a hydraulic system 5, wherein:

[0036] Robot 1 is used to perform underwater work, and Robot 1 is a torpedo-shaped robot;

[0037] The main frame 2 supports and holds the robot 1, and provides installation positions and space for other structures;

[0038] The moving mechanism 3 carries the main frame 2 and moves it to the designated position;

[0039] Control cabin 4 is used to control the movement and function of the entire deployment device;

[0040] The energy and power system is used to provide power for the operation of the entire deployment device;

[0041] Hydraulic system 5 is used to control the deployment of the head support and top pressure frame.

[0042] Specifically, such as Figures 1 to 2 As shown, the main frame 2 is provided with a head bracket, a top pressure bracket and a tail bracket in sequence from head to tail; the head bracket supports the bottom side of the head end of the robot 1; the top pressure bracket presses against the top side of the robot 1; the tail bracket is mounted on both sides of the tail end of the robot 1, and the tail guide bracket 11 is provided on both sides of the tail end of the robot 1 and is locked on the tail bracket.

[0043] Specifically, such as Figures 1 to 2 As shown, the moving mechanism 3 includes a chassis crossbeam 31 and tracked moving wheels, and the moving mechanism 3 is located at the bottom of the main frame 2; multiple chassis crossbeams 31 are horizontally mounted on the bottom of the main frame 2, that is, the chassis crossbeams 31 are fixedly connected to the main frame 2 with screws, and tracked moving wheels are symmetrically provided at both ends of the chassis crossbeams 31.

[0044] The tracked mobile wheel includes a mobile frame 32, a drive wheel 33, a driven wheel 34, and a rubber track 35. The outer side of the rubber track 35 is provided with anti-slip ribs to improve the adhesion between the track and the ground. The inner side of the rubber track 35 is provided with guide teeth for straightening the rubber track 35. The drive wheel 33 and the driven wheel 34 are both mounted on the mobile frame 32. The drive wheel 33 meshes with the guide teeth, and the driven wheel 34 is used to support the rubber track 35.

[0045] The power system includes a drive motor. The control compartment 4 is electrically connected to the drive motor 36. The drive motor controls the rotation of the drive wheel 32, and the driven wheel 33 drives the track 34 to operate.

[0046] Furthermore, such as Figures 1 to 2 As shown, the bottom of the main frame 2 is provided with a base plate 21 fixed to the chassis crossbeam 31. The control cabin 4 is fixedly installed on the main frame 2, and the hydraulic system 5 is fixedly installed on the base plate 21. The control cabin 4 is controlled and connected to the hydraulic system 5. At the same time, since the head support and the top pressure frame both include hydraulic actuators, transmission mechanisms and guide clamps, the hydraulic system 5 is driven and connected to the hydraulic actuators. By controlling the extension and retraction of the hydraulic output shaft 53, the position of the guide clamp is controlled through the transmission mechanism to perform clamping, fastening or loosening guiding actions on the robot 1.

[0047] Specifically, such as Figures 1 to 2 As shown, the head support includes a first hydraulic actuator 51, a first transmission mechanism, and a first guide clamp 61. The bottom end of the first hydraulic actuator 51 is movably connected to the bottom plate 21 of the main frame 2. The hydraulic output shaft 53 of the first hydraulic actuator 51 is connected to the first guide clamp 61 through the first transmission mechanism. The first transmission mechanism of the head support includes a forward tilting bracket 71, a rotating connector 72, and a transmission connector 73. The forward tilting bracket 71 has an L-shaped bent structure, and the rotating connector 72 is locked and fixed at the center of the crossbeam at the front end of the main frame 2. One end of the forward tilting bracket 71 is fixed to the bottom side of the first guide clamp 61, and the other end is movably connected to the hydraulic output shaft 53 of the first hydraulic actuator 51 through the transmission connector 73. The bent part of the forward tilting bracket 71 is movably connected to the main frame 2 through the rotating connector 72.

[0048] like Figure 4 As shown, when the hydraulic output shaft 53 of the first hydraulic actuator 51 at the head bracket extends and outputs, it pushes the forward tilting bracket 71 to rotate forward around the rotating connector 72, so that the forward tilting bracket 71 drives the first guide clamp 61 to tilt forward in the vertical position, thereby adjusting the position of the head end of the robot 1, so as to facilitate the robot 1 to detach and drive away.

[0049] like Figure 3As shown, when the hydraulic output shaft 53 of the first hydraulic actuator 51 at the head bracket retracts, the forward tilting bracket 71 is pulled back to rotate around the rotating connector 72, so that the forward tilting bracket 71 drives the first guide clamp 61 to stand up backward at the forward tilting position, so as to adjust the position of the head end of the robot 1 and facilitate the clamping and fastening of the robot 1.

[0050] Specifically, such as Figures 1 to 2 As shown, the top-pressing frame includes a second hydraulic actuator 52, a second transmission mechanism, and a second guide clamp 62. The bottom end of the second hydraulic actuator 52 is movably connected to the extension support rod 22 on the outside of the main frame 2. The hydraulic output shaft 53 of the second hydraulic actuator 52 is connected to the second guide clamp 62 through the second transmission mechanism. The second transmission mechanism of the top-pressing frame includes a flipping bracket 81, an upper push-pull bracket rod 82, a flipping connector 83, and a lower push-pull bracket rod 84. A horizontal extension support rod 22 is provided on the outside of the main frame 2. The flipping connector 83 is locked and fixed at the middle section of the longitudinal beam on the side end of the main frame 2. The flip bracket 81 has a hook structure. One hook-shaped end of the flip bracket 81 is fixed to the top side of the second guide clamp 62, and the other rod-shaped end is movably connected to the main frame 2 through the flip connector 83. The bottom end of the second hydraulic actuator 52 is movably connected to the inner end of the extension support rod 22. The hydraulic output shaft 53 of the second hydraulic actuator 52 is simultaneously connected to the head end of the upper push-pull frame rod 82 and the lower push-pull frame rod 84. The tail end of the lower push-pull frame rod 84 is movably connected to the outer end of the extension support rod 22, and the tail end of the upper push-pull frame rod 82 is movably connected to the middle section of the flip bracket 81. The extension support rod 22, the second hydraulic actuator 52, the lower push-pull frame rod 84 and the upper push-pull frame rod 82 of the flip bracket 81 are on the same plane.

[0051] like Figure 4 As shown, when the hydraulic output shaft 53 of the second hydraulic actuator 52 at the top pressure frame extends and outputs, it pushes the upper push-pull frame rod 82 and the lower push-pull frame rod 84 to the outside of the extension support rod 22. The flipping bracket 81 rotates outward around the flipping connector 83 along the pull of the upper push-pull frame rod 82, so that the flipping bracket 81 drives the second guide clamp 62 to move outward. The second guide clamp 62 moves away from the top side of the robot 1 to release the pressing action on the top side of the robot 1, so as to facilitate the robot 1 to get out and drive away.

[0052] like Figure 3 As shown, when the hydraulic output shaft 53 of the second hydraulic actuator 52 at the top pressure frame retracts, it pulls the upper push-pull frame rod 82 and the lower push-pull frame rod 84 inward towards the extension support rod 22. The flipping bracket 81 rotates inward around the flipping connector 83 along the thrust of the upper push-pull frame rod 82, causing the flipping bracket 81 to drive the second guide clamp 62 to press inward. The second guide clamp 62 presses against the top side of the robot 1 to clamp the top side of the robot 1, which facilitates the clamping and fastening of the robot 1.

[0053] Furthermore, the end of the hydraulic output shaft 53 of the second hydraulic actuator 52 is a flat ring shape, and the ends of the upper push-pull bracket 82 and the lower push-pull bracket 84 are both H-shaped. The end of the hydraulic output shaft 53 of the second hydraulic actuator 52 is movably connected to the ends of the upper push-pull bracket 82 and the lower push-pull bracket 84 by bolts.

[0054] Furthermore, both the first guide jig 61 and the second guide jig 62 include an arc-shaped wheel plate 63 and directional pulleys 64 symmetrically arranged on both sides of the arc-shaped wheel plate 63. The directional pulleys 64 are fixed to the short rib plate that extends obliquely from the arc-shaped wheel plate 63 by screws, so that the two directional pulleys 64 are inclined inward relative to each other, ensuring that the wheel surface of the directional pulleys 64 is in close contact with the robot 1, so that the robot 1 can slide through the directional pulleys 64.

[0055] At the same time, such as Figures 1 to 2 As shown, the tail support includes a U-shaped slide rail 91 and an L-shaped tail support frame 92. The U-shaped slide rail 91 is fixed on multiple parallel tail support frames 92, and the opening direction of the U-shaped slide rail 91 is consistent with the moving direction of the robot 1. The stern guide frame 11 is clamped and set on the inner side of the U-shaped slide rail 91, which serves as a guide while supporting the torpedo-shaped robot 1.

[0056] Specifically, such as Figures 1 to 2 As shown, the U-shaped slide rail 91 has a U-shaped connector 93 at the bend, which is used to connect the U-shaped slide rail 91 in a U-shape. That is, the U-shaped slide rail 91 is formed by two slide rods being fastened together in a U-shape by the U-shaped connector 93. A hollow plate 94 is provided on one side of the U-shaped connector 93, which is used to reinforce the U-shaped slide rail 91. The two slide rods are fastened together by screws through the hollow part in the middle of the hollow plate 94, which enhances the sturdiness of the U-shaped slide rail 91.

[0057] Its specific working principle is as follows:

[0058] like Figures 3 to 4 As shown, when the tracked wheels drive robot 1 to the designated position, the torpedo-shaped underwater robot 1 will gradually move away from the deployment device. The stern guide frames 11 on both sides of the tail will slide along the U-shaped slide rails 91 on both sides of the main frame 2. At the same time, the hydraulic system 5 controls the first hydraulic actuator 51 and the second hydraulic actuator 52 to work simultaneously, causing them to synchronously push out the hydraulic output shaft 53. The second transmission mechanism of the top pressure frame will flip and loosen outward under the push of the second hydraulic actuator 52, at which time the top pressure frame is in the open state. The first transmission mechanism of the head support will tilt forward under the push of the first hydraulic actuator 51. The main body of the torpedo-shaped robot 1 will gradually slide forward along the directional pulleys 64 of the upper and lower first guide clamps 61 and second guide clamps 62 until it moves away from the deployment device.

[0059] In summary, the underwater robot deployment device proposed in this embodiment has the following advantages:

[0060] 1. Tracked mobile mechanisms are characterized by a large range of motion, good maneuverability, speed, and safety;

[0061] 2. The overall structure of the deployment device makes full use of the space of the main frame, reducing the load while extending its working time, making it suitable for various underwater long-distance and long-term work occasions.

[0062] 3. The combination of pulleys and slide rails used in the pressure plate top support structure can not only fix and support the torpedo robot, but also guide it.

[0063] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. An underwater robot deployment device, characterized in that, It includes a robot (1), a main frame (2), a moving mechanism (3), a control cabin (4), and an energy and power system, wherein: The robot (1) is used to perform underwater work; The main frame (2) supports and holds the robot (1) and provides installation position and space; the main frame (2) is provided with a head bracket, a top pressure bracket and a tail bracket from head to tail; the head bracket supports the bottom side of the head end of the robot (1); the top pressure bracket presses against the top side of the robot (1); the tail bracket is mounted on both sides of the tail end of the robot (1), and the tail guide bracket (11) is provided on both sides of the tail end of the robot (1) and is locked on the tail bracket. The head support includes a first hydraulic actuator (51), a first transmission mechanism, and a first guide clamp (61). The bottom end of the first hydraulic actuator (51) is movably connected to the main frame (2). The hydraulic output shaft (53) of the first hydraulic actuator (51) is connected to the first guide clamp (61) through the first transmission mechanism. The first transmission mechanism includes a forward tilting bracket (71), a rotary connector (72), and a transmission connector (73). The forward tilting bracket (71) has a bent structure. One end of the forward tilting bracket (71) is connected to the first guide clamp (61), and the other end is movably connected to the hydraulic output shaft (53) of the first hydraulic actuator (51) through the transmission connector (73). The bent part of the forward tilting bracket (71) is movably connected to the main frame (2) through the rotary connector (72). The top pressure frame includes a second hydraulic actuator (52), a second transmission mechanism, and a second guide clamp (62). The bottom end of the second hydraulic actuator (52) is movably connected to the main frame (2). The hydraulic output shaft (53) of the second hydraulic actuator (52) is connected to the second guide clamp (62) through the second transmission mechanism. The second transmission mechanism includes a flipping bracket (81), an upper push-pull bracket rod (82), a flipping connector (83), and a lower push-pull bracket rod (84). The flipping bracket (81) has a hook structure. The hook-shaped end of the flipping bracket (81) is connected to the second guide clamp (62), and the rod-shaped end is movably connected to the main frame (2) through the flipping connector (83). The hydraulic output shaft (53) of the second hydraulic actuator (52) is connected to the head end of the upper push-pull bracket (82) and the lower push-pull bracket (84). The tail end of the lower push-pull bracket (84) is rotatably fixed on the main frame (2), and the tail end of the upper push-pull bracket (82) is rotatably fixed at the middle section of the flipping bracket (81). The moving mechanism (3) carries the main frame (2) and moves it to a designated position; the moving mechanism (3) is placed at the bottom end of the main frame (2); The control cabin (4) is used to control the movement and function of the entire deployment device; The energy and power system is used to provide power for the operation of the entire deployment device.

2. The underwater robot deployment device according to claim 1, characterized in that, The moving mechanism (3) includes a chassis beam (31) and tracked moving wheels. The chassis beam (31) is horizontally mounted on the bottom of the main frame (2), and the tracked moving wheels are symmetrically arranged at both ends of the chassis beam (31). The tracked mobile wheel includes a mobile frame (32), a drive wheel (33), a driven wheel (34), and a rubber track (35). The rubber track (35) has anti-slip ribs on the outer side and guide teeth on the inner side. The drive wheel (33) and the driven wheel (34) are both mounted on the mobile frame (32). The drive wheel (33) meshes with the guide teeth, and the driven wheel (34) is used to support the rubber track (35).

3. The underwater robot deployment device according to claim 1, characterized in that, It also includes a hydraulic system (5) for controlling the head support and top pressure frame to perform deployment operations; the hydraulic system (5) is driven and connected to the first hydraulic actuator (51) and the second hydraulic actuator (52) respectively; the control cabin (4) and the hydraulic system (5) are both fixedly installed inside the main frame (2), and the control cabin (4) is controlled and connected to the hydraulic system (5).

4. The underwater robot deployment device according to claim 3, characterized in that, The first guide clamp (61) and the second guide clamp (62) both include an arc-shaped wheel plate (63) and directional pulleys (64) symmetrically arranged on both sides of the arc-shaped wheel plate (63).

5. The underwater robot deployment device according to claim 3, characterized in that, The bottom of the main frame (2) is provided with a base plate (21), the control cabin (4) is fixedly installed on the main frame (2), the hydraulic system (5) is fixedly installed on the base plate (21), and the bottom end of the first hydraulic actuator (51) in the head bracket is movably connected to the base plate (21).

6. The underwater robot deployment device according to claim 1, characterized in that, The outer side of the main frame (2) is provided with an extension strut (22), and the bottom ends of the lower push-pull frame rod (84) and the second hydraulic actuator (52) in the top pressure frame are movably connected to the extension strut (22).

7. The underwater robot deployment device according to claim 1, characterized in that, The tail support includes a U-shaped slide rail (91) and a tail support frame (92). The U-shaped slide rail (91) is fixed on a plurality of parallel tail support frames (92), and the opening direction of the U-shaped slide rail (91) is consistent with the moving direction of the robot (1). The stern guide frame (11) is clamped and disposed on the inner side of the U-shaped slide rail (91).

8. The underwater robot deployment device according to claim 7, characterized in that, The U-shaped slide rail (91) is provided with a U-shaped connector (93) at the bend, which is used to connect the U-shaped slide rail (91) in a U-shape. A hollow plate (94) is provided on one side of the U-shaped connector (93), which is used to reinforce the U-shaped slide rail (91) in a U-shape.

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