A multifunctional recovery device for full-sea-depth unmanned submersible

Abstract

The present invention discloses a multifunctional recovery device for a full-sea-depth unmanned submersible, comprising a carrier, a through slot is provided on the top of the carrier, grooves are provided on both inner walls of the through slot, bracket mechanisms are installed inside the two groups of the grooves, a slewing base is fixedly installed on the top of the carrier, a hydraulic telescopic arm is fixedly installed on the top of the slewing base, a storage plate is fixedly installed on one side of the top of the hydraulic telescopic arm, a servo motor is fixedly installed on the top of the storage plate, a rotating shaft is installed on the output end of the servo motor, and a limited position frame is fixedly installed on the front of the hydraulic telescopic arm. After the submersible body is recovered in the present invention, it can be placed on the bracket mechanism in the through slot, which effectively prevents it from rolling down. At the same time, when the lifting rope is reeled in, the water pump and the electric push rod are used in combination, which is convenient for timely flushing and cleaning of the seawater on the surface of the lifting rope, and timely wiping of the residual clean water on its outer surface.

Description

Technical Field

[0001] The invention relates to the technical field of submersible recovery, in particular to a multifunctional recovery device for a full-sea-depth unmanned submersible. Background Art

[0002] With the continuous advancement of marine science and technology, submersibles have been widely used in the fields of marine scientific investigation, marine resource development, and national defense capability building. At present, the operation, deployment, and recovery of submersibles generally require the support of large carriers, resulting in problems such as limited operating areas and excessively high maintenance costs.

[0003] In the prior art, a large ship is usually used as a carrier, and then a corresponding traction and retracting mechanism and a lifting mechanism are installed on the carrier to carry out the deployment and recovery operations of the submersible, wherein the lifting mechanism is connected to the submersible by a steel wire rope to assist in the deployment and recovery of the submersible. As the submersible separates from the deep sea, a certain amount of seawater will be reserved on the outer surface of the steel wire rope. If the seawater is not cleaned up in time, it is easy to cause corrosion of the steel wire rope, thereby reducing the service life of the steel wire rope, thereby increasing the maintenance cost of the overall recovery device.

[0004] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art known to those skilled in the art. Summary of the invention

[0005] The object of the present invention is to provide a multifunctional recovery device for a full-sea-depth unmanned submersible to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multifunctional recovery device for a full-sea-depth unmanned submersible, comprising a carrier, a through slot is provided on the top of the carrier, grooves are provided on both sides of the inner wall of the through slot, bracket mechanisms are installed inside the two groups of the grooves, a rotating base is fixedly installed on the top of the carrier, a hydraulic telescopic arm is fixedly installed on the top of the rotating base, a storage plate is fixedly installed on one side of the top of the hydraulic telescopic arm, a servo motor is fixedly installed on the top of the storage plate, a rotating shaft is installed on the output end of the servo motor, a limited position frame is fixedly installed on the front of the hydraulic telescopic arm, and the appearance of the rotating shaft A lifting rope is fixedly connected to the surface, and the tail end of the lifting rope can move through the interior of the limit frame, the tail end of the lifting rope is fixedly connected to a double-row lifting rope, both ends of the double-row lifting rope are fixedly connected to lifting rings, the bottoms of the two groups of lifting rings are fixedly connected to the submersible body, an integrated plate is fixedly installed on the bottom of the limit frame, a bending plate is fixedly installed on one side of the surface of the limit frame, an electric push rod is fixedly connected to one side of the bending plate, the telescopic end of the electric push rod is fixedly connected to a fastening plate, the fastening plate and the one-piece plate are fixedly connected to a wiping sponge on the opposite sides, and the opposite sides of the two groups of wiping sponges are in contact with the outer surface of the lifting rope.

[0007] Preferably, a water collecting tank is fixedly installed on the top of the carrier, and a water pump is installed on the top of the water collecting tank. The input end of the water pump is fixedly connected to a suction pipe, and the tail end of the suction pipe extends into the interior of the water collecting tank. The output end of the water pump is fixedly connected to a telescopic tube, and the tail end of the telescopic tube is fixedly connected to an annular nozzle, and the annular nozzle is movably sleeved on the periphery of the lifting rope, the water spray port of the annular nozzle is on the inner side, and the annular nozzle is located below the wiping sponge. An L-shaped connecting rod is fixedly installed on the front of the annular nozzle, and the back of the L-shaped connecting rod is fixedly connected to the lower front of the limit frame.

[0008] Preferably, the structure of the bracket mechanism includes an integrated plate, a base plate, a slot, a plug-in plate and an arc-shaped pad. The integrated plate, the base plate and the arc-shaped pad are each in two groups. The two groups of integrated plates are respectively slidably installed inside the two groups of grooves, the two groups of base plates are respectively fixedly installed on the opposite sides of the two groups of integrated plates, the two groups of arc-shaped pads are respectively fixedly installed on the tops of the two groups of base plates, the slot is opened on one side of one group of base plates, the plug-in plate is fixedly installed on one side of the other group of base plates, and one end of the plug-in plate is movably extended into the interior of the slot.

[0009] Preferably, the structure of the bracket mechanism also includes waterproof electric extension rods and square plates, and the number of the waterproof electric extension rods and square plates is four groups. The four groups of square plates are fixedly installed on the top of the two groups of bottom plates in pairs, and the four groups of waterproof electric extension rods are fixed on the inner walls on the opposite sides of the two groups of grooves in pairs, and the telescopic ends of the four groups of waterproof electric extension rods are fixedly connected to the outer surfaces of the four groups of square plates.

[0010] Preferably, cylindrical airbags are provided on both sides of the carrier, three groups of N-shaped frame plates arranged front and back are fixedly installed on the top of the two groups of cylindrical airbags, air intake pipes are installed on the front of the two groups of cylindrical airbags, and control valves are installed on the outer surface of the air intake pipes.

[0011] Preferably, three groups of front-to-rear arranged connecting seats are fixedly connected to both sides of the carrier, a fastening rope is fixedly connected to the outer surface of the connecting seat, a buckle is fixedly connected to the tail end of the fastening rope, and the buckle is sleeved on the outer surface of the N-shaped frame plate.

[0012] Preferably, two groups of circular rods arranged front and back are fixedly mounted on the inner walls on both sides of the limiting frame, and the two groups of circular rods are respectively located in front of and behind the lifting rope.

[0013] Preferably, a support plate is fixedly mounted on the other side of the top of the hydraulic telescopic arm, and one end of the rotating shaft movably passes through the interior of the support plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. In the present invention, during the process of the lifting rope being reeled in to drive the recovery of the submersible body, two groups of wiping sponges can be attached to the outer surface of the lifting rope to absorb the liquid attached to the outer surface of the lifting rope, thereby ensuring the dryness of the surface of the lifting rope to a certain extent, and at the same time cooperate with the electric push rod to repeatedly extend outward and contract inward according to the set frequency, so as to generate a pushing force toward the direction of the integrated plate and a pulling force away from the direction of the integrated plate on the fastening plate, so as to squeeze the two groups of wiping sponges and squeeze out the water absorbed therein, so as to effectively improve its subsequent removal operation of the liquid attached to the surface of the lifting rope.

[0016] 2. In the present invention, when the lifting rope is reeled in, clean water in the water collecting tank space is extracted by a water pump, and then guided to the location of the annular nozzle along the telescopic tube, and then sprayed along the inner side of the annular nozzle toward the outer surface of the lifting rope that is reeled upward, so as to wash down the seawater attached to the outer surface, thereby reducing the corrosion of the seawater to the lifting rope.

[0017] 3. In the present invention, the square plates arranged front and rear are driven to move in opposite or relative directions by telescoping four groups of waterproof electric extension rods, so as to adjust the distance between the two groups of bottom plates. When the submersible body is recovered, the distance between the two groups of bottom plates is adjusted to a mode larger than the diameter of the submersible body, and then the submersible body is driven to move upward from the deep sea by the coordinated operation of the hydraulic telescopic arm and the servo motor until it is higher than the position of the bracket mechanism. Then, the two groups of bottom plates begin to close, and then the submersible body is placed on the two groups of arc-shaped pads to complete the recovery of the submersible body. In this device, the recovered submersible body is placed in the space of the groove, which can effectively prevent the submersible body from rolling off the carrier.

[0018] 4. The present invention provides two sets of cylindrical air bags to increase the overall buoyancy of the device, thereby improving the device's anti-sinking ability on the sea surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the installation structure of the electric push rod and the fastening plate of the present invention;

[0021] Figure 3 It is a schematic diagram of the installation structure of the limiting frame, the lifting rope and the wiping sponge of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the bracket mechanism of the present invention;

[0023] Figure 5 It is a schematic diagram of the installation structure of the groove and the waterproof electric extension pole of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the hydraulic telescopic arm and the servo motor of the present invention;

[0025] Figure 7 It is a schematic diagram of the structure of the water collecting tank and the water pump of the present invention;

[0026] Figure 8 It is a schematic diagram of the structure of the carrier and the cylindrical airbag of the present invention;

[0027] Fig. 9 It is a schematic diagram of the structure of the present invention and that of A in 8.

[0028] In the figure: 1. carrier; 2. through groove; 3. groove; 4. bracket mechanism; 5. slewing base; 6. hydraulic telescopic arm; 7. storage plate; 8. servo motor; 9. rotating shaft; 10. limit frame; 11. lifting rope; 12. double-row lifting rope; 13. lifting ring; 14. submersible body; 15. integrated plate; 16. bending plate; 17. electric push rod; 18. fastening plate; 19. wiping sponge; 20. water collecting tank; 21. water pump; 22. telescopic tube; 23. annular nozzle; 24. L-shaped connecting rod; 25. integrated plate; 26. bottom plate; 27. notch; 28. plug-in plate; 29. ​​arc pad; 30. waterproof electric extension rod; 31. square plate; 32. cylindrical air bag; 33. N-type frame plate; 34. air intake pipe; 35. fastening rope; 36. buckle; 37. round rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] See also Figure 1-Figure 9 , an embodiment provided by the present invention:

[0033] A multifunctional recovery device for a full-sea-depth unmanned submersible comprises a carrier 1, a through slot 2 is provided on the top of the carrier 1, grooves 3 are provided on the inner walls on both sides of the through slot 2, a bracket mechanism 4 is installed inside the two groups of grooves 3, a slewing base 5 is fixedly installed on the top of the carrier 1, a hydraulic telescopic arm 6 is fixedly installed on the top of the slewing base 5, a storage plate 7 is fixedly installed on one side of the top of the hydraulic telescopic arm 6, a servo motor 8 is fixedly installed on the top of the storage plate 7, a rotating shaft 9 is installed on the output end of the servo motor 8, a limited position frame 10 is fixedly installed on the front of the hydraulic telescopic arm 6, a lifting rope 11 is fixedly connected to the outer surface of the rotating shaft 9, and the tail end of the lifting rope 11 is movable. The limit frame 10 runs through the interior of the limit frame 10, the tail end of the lifting rope 11 is fixedly connected with a double-row lifting rope 12, both ends of the double-row lifting rope 12 are fixedly connected with a lifting ring 13, the bottom of the two sets of lifting rings 13 are fixedly connected with a submersible body 14, the bottom of the limit frame 10 is fixedly installed with an integrated plate 15, one side of the surface of the limit frame 10 is fixedly installed with a bending plate 16, one side of the bending plate 16 is fixedly connected with an electric push rod 17, the telescopic end of the electric push rod 17 is fixedly connected with a fastening plate 18, the fastening plate 18 and the opposite side of the integrated plate 15 are fixedly connected with a wiping sponge 19, and the opposite sides of the two sets of wiping sponges 19 are in contact with the outer surface of the lifting rope 11.

[0034] When recovering the submersible body 14, the bracket mechanism 4 is in a separated mode as a whole, and then the slewing base 5, the hydraulic telescopic arm 6 and the servo motor 8 are operated, wherein the slewing base 5 and the hydraulic telescopic arm 6 are used in combination to adjust the limit frame 10 to the position just above the through slot 2, and the servo motor 8 is operated to drive the rotating shaft 9 to rotate in a set direction, so that the lifting rope 11 is reeled along the rotating shaft 9, so as to generate an upward pulling force on the submersible body 14 through the double-row lifting ropes 12 and the two sets of lifting rings 13, so as to drive the submersible body 14 to move upward from the deep sea, and reach the range of the through slot 2, and be higher than the position of the bracket mechanism 4, at which time the bracket mechanism 4 is merged, and then the servo motor 8 drives the rotating shaft 9 to rotate in another direction, so as to drive the lifting rope 11 to a set distance below, so that the submersible body 14 can be placed on the bracket mechanism 4, so as to complete the recovery operation of the submersible body 14;

[0035] Specifically, the carrier 1 in the present device is consistent with the carrier 1 in the prior art, wherein the slewing base 5 and the hydraulic telescopic arm 6 are used in combination, and the position and angle of the submersible body 14 assembled by the lifting rope 11, the double-row lifting rope 12 and the lifting ring 13 can be conveniently adjusted, so that the submersible body 14 can be driven downward to the waters at different positions around the carrier 1;

[0036] More specifically, during the process of winding up the lifting rope 11, the two groups of wiping sponges 19 can be attached to the outer surface of the lifting rope 11. As the lifting rope 11 is wound upward, the moisture on its surface can be absorbed by the wiping sponge 19, thereby ensuring the dryness of the surface of the lifting rope 11 to a certain extent. At the same time, the electric push rod 17 repeatedly extends outward and contracts inward at a set frequency, thereby generating a pushing force toward the direction of the integrated plate 15 and a pulling force away from the integrated plate 15 on the fastening plate 18, so as to squeeze the two groups of wiping sponges 19 and squeeze out the moisture absorbed therein, thereby effectively improving its removal operation for the liquid attached to the surface of the subsequent lifting rope 11.

[0037] A water collecting tank 20 is fixedly installed on the top of the carrier 1, and a water pump 21 is installed on the top of the water collecting tank 20. The input end of the water pump 21 is fixedly connected to a suction pipe, and the tail end of the suction pipe extends into the interior of the water collecting tank 20. The output end of the water pump 21 is fixedly connected to a telescopic tube 22, and the tail end of the telescopic tube 22 is fixedly connected to an annular nozzle 23, and the annular nozzle 23 is movably sleeved on the periphery of the lifting rope 11, and the water spray port of the annular nozzle 23 is on the inner side. The annular nozzle 23 is located below the wiping sponge 19, and an L-shaped connecting rod 24 is fixedly installed on the front of the annular nozzle 23, and the back of the L-shaped connecting rod 24 is fixedly connected to the lower front of the limit frame 10.

[0038] During the process of winding the lifting rope 11, the water pump 21 and the annular nozzle 23 are also operated in coordination. The clean water inside the water collecting tank 20 is extracted by the water pump 21, and then guided to the location of the annular nozzle 23 along the telescopic tube 22. Then, the water is sprayed along the inner side of the annular nozzle 23 toward the outer surface of the lifting rope 11 that is wound upward, and the seawater attached to the outer surface is washed down, thereby reducing the corrosion of the seawater to the lifting rope 11. The telescopic tube 22 itself is stretched by external force and can change its own comprehensive length, so that when the hydraulic telescopic arm 6 is operated, the telescopic tube 22 follows the distance between the water pump 21 and the annular nozzle 23 to extend the comprehensive length of the telescopic tube 22.

[0039] The structure of the bracket mechanism 4 includes an integrated plate 25, a bottom plate 26, a notch 27, a plug-in plate 28 and an arc-shaped pad 29. The number of the integrated plate 25, the bottom plate 26 and the arc-shaped pad 29 is two groups. The two groups of integrated plates 25 are slidably mounted inside the two groups of grooves 3, the two groups of bottom plates 26 are fixedly mounted on the opposite sides of the two groups of integrated plates 25, and the two groups of arc-shaped pads 29 are fixedly mounted on the tops of the two groups of bottom plates 26. The notch 27 is opened on one side of one group of bottom plates 26, and the plug-in plate 28 is fixedly mounted on the other side. One side of the bottom plate 26 of the group, and one end of the plug-in board 28 movably extends into the interior of the slot 27. The structure of the bracket mechanism 4 also includes a waterproof electric extension rod 30 and a square plate 31. The number of the waterproof electric extension rod 30 and the square plate 31 are four groups. The four groups of square plates 31 are fixedly installed on the top of the two groups of bottom plates 26 in pairs. The four groups of waterproof electric extension rods 30 are fixed on the inner walls of the opposite sides of the two groups of grooves 3 in pairs, and the telescopic ends of the four groups of waterproof electric extension rods 30 are fixedly connected to the outer surfaces of the four groups of square plates 31.

[0040] Before the submersible body 14 is deployed, four groups of waterproof electric extension rods 30 are operated to cause them to synchronously retract inwards, and respectively drive the square plates 31 arranged in pairs in front and behind to move in opposite directions, so that the distance between the two groups of bottom plates 26 is gradually widened, so as to facilitate the direct deployment of the submersible body 14 into the deep sea. Conversely, during the recovery of the submersible body 14, when the submersible body 14 rises above the bracket mechanism 4, the waterproof electric extension rods 30 are operated again to cause them to extend outwards, and the square plates 31 are used to drive the two groups of bottom plates 26 to move in relative directions, so that the plug-in board 28 is embedded in the slot 27. At this time, the two groups of bottom plates 26 are in a closed state, thereby providing a relatively stable and concealed space for the placement of the submersible body 14.

[0041] Cylindrical air bags 32 are provided on both sides of the carrier 1, and three groups of N-shaped frame plates 33 arranged front and back are fixedly installed on the top of the two groups of cylindrical air bags 32. Air intake pipes 34 are installed on the front of the two groups of cylindrical air bags 32, and control valves are installed on the outer surface of the air intake pipes 34. Three groups of connecting seats arranged front and back are fixedly connected to both sides of the carrier 1, and fastening ropes 35 are fixedly connected to the outer surface of the connecting seats, and the tail end of the fastening rope 35 is fixedly connected to a buckle 36, and the buckle 36 is sleeved on the outer surface of the N-shaped frame plate 33.

[0042] By setting up two groups of cylindrical airbags 32, the overall buoyancy of the device can be increased, thereby improving the device's anti-sinking ability on the sea surface. At the same time, the buckle 36 is in the form of a spring, which has the ability to open and close, and is convenient for disassembly and assembly between the cylindrical airbag 32 and the carrier 1. The setting of the air inlet pipe 34 is used for an external inflation device, and then air is supplied to the internal space of the cylindrical airbag 32 to make it gradually expand. Before separating the inflation device, a cylindrical control valve is required to close the internal pipeline of the air inlet pipe 34.

[0043] Two groups of circular rods 37 arranged front and back are fixedly installed on the inner walls on both sides of the limit frame 10, and the two groups of circular rods 37 are respectively located in front and behind the lifting rope 11. A support plate is fixedly installed on the other side of the top of the hydraulic telescopic arm 6, and one end of the rotating shaft 9 is movable through the inside of the support plate.

[0044] The setting of the two sets of circular rods 37 can effectively prevent the lifting rope 11 from being rubbed by the top edge of the rear wall of the limiting frame 10 during the process of winding or unwinding. The support plate is used to provide a certain supporting force for the rotating shaft 9.

[0045] Working principle: When recovering the submersible body 14, the bracket mechanism 4 is in a separated mode as a whole, and then the slewing base 5, the hydraulic telescopic arm 6 and the servo motor 8 are operated, wherein the slewing base 5 and the hydraulic telescopic arm 6 are used in combination to adjust the limit frame 10 to the position just above the through slot 2, and the servo motor 8 is operated to drive the rotating shaft 9 to drive the lifting rope 11 to reel in along the rotating shaft 9, so as to generate an upward pulling force on the submersible body 14 through the double-row lifting ropes 12 and the two groups of lifting rings 13, and pull the submersible body 14 upward from the deep sea to the range of the through slot 2, and then the waterproof electric extension rod 30 is caused to extend outward, and the two groups of bottom plates 26 are driven to move in relative directions through the square plate 31, so that the plug-in plate 28 Embedded in the groove 27, the two groups of bottom plates 26 are in a closed state at this time, and then the servo motor 8 drives the rotating shaft 9 to rotate in the other direction to drive the set distance below the lifting rope 11, so that the submersible body 14 can be placed on the bracket mechanism 4 to complete the recovery operation of the submersible body 14, and in the process of recovering the submersible body 14, the water pump 21 extracts the clean water inside the water collecting tank 20, and then guides it along the telescopic tube 22 to the location of the annular nozzle 23, and then sprays along the inner side of the annular nozzle 23 toward the outer surface of the lifting rope 11 that is wound upward, and washes down the seawater attached to its outer surface, and in addition, with the use of two groups of wiping sponges 19, the liquid attached to the outer surface of the lifting rope 11 is wiped clean.

[0046] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A multifunctional recovery device for a full-sea-depth unmanned submersible, comprising a carrier (1), characterized in that: The carrier (1) is provided with a through groove (2) on the top, and grooves (3) are provided on the inner walls on both sides of the through groove (2). A bracket mechanism (4) is installed inside the two groups of grooves (3). A slewing base (5) is fixedly installed on the top of the carrier (1), and a hydraulic telescopic arm (6) is fixedly installed on the top of the slewing base (5). A storage plate (7) is fixedly installed on one side of the top of the hydraulic telescopic arm (6), and a servo motor (8) is fixedly installed on the top of the storage plate (7). A rotating shaft (9) is installed on the output end of the servo motor (8). A limit frame (10) is fixedly installed on the front of the hydraulic telescopic arm (6), and a lifting rope (11) is fixedly connected to the outer surface of the rotating shaft (9), and the tail end of the lifting rope (11) movably penetrates the limit frame (1 0), the tail end of the lifting rope (11) is fixedly connected to a double-row lifting rope (12), both ends of the double-row lifting rope (12) are fixedly connected to a lifting ring (13), the bottoms of the two groups of lifting rings (13) are fixedly connected to a submersible body (14), the bottom of the limiting frame (10) is fixedly installed with an integrated plate (15), one side of the surface of the limiting frame (10) is fixedly installed with a bending plate (16), one side of the bending plate (16) is fixedly connected to an electric push rod (17), the telescopic end of the electric push rod (17) is fixedly connected to a fastening plate (18), the fastening plate (18) and the one-piece plate (15) are fixedly connected to a wiping sponge (19) on the opposite side, and the opposite sides of the two groups of wiping sponges (19) are in contact with the outer surface of the lifting rope (11).

2. A multifunctional recovery device for a full-sea-depth unmanned submersible according to claim 1, characterized in that: A water collecting tank (20) is fixedly installed on the top of the carrier (1), and a water pump (21) is installed on the top of the water collecting tank (20). The input end of the water pump (21) is fixedly connected to a suction pipe, and the tail end of the suction pipe extends into the interior of the water collecting tank (20). The output end of the water pump (21) is fixedly connected to a telescopic tube (22), and the tail end of the telescopic tube (22) is fixedly connected to an annular nozzle (23), and the annular nozzle (23) is movably sleeved on the periphery of the lifting rope (11), the water spray port of the annular nozzle (23) is on the inner side, and the annular nozzle (23) is located below the wiping sponge (19). An L-shaped connecting rod (24) is fixedly installed on the front of the annular nozzle (23), and the back of the L-shaped connecting rod (24) is fixedly connected to the lower part of the front of the limiting frame (10).

3. The multifunctional recovery device for full-sea-depth unmanned submersible according to claim 1, characterized in that: The structure of the bracket mechanism (4) includes an integrated plate (25), a bottom plate (26), a notch (27), a plug-in plate (28) and an arc-shaped pad (29). The number of the integrated plate (25), the bottom plate (26) and the arc-shaped pad (29) is two groups. The two groups of the integrated plates (25) are slidably mounted inside the two groups of grooves (3), respectively. The two groups of the bottom plates (26) are fixedly mounted on opposite sides of the two groups of integrated plates (25), respectively. The two groups of the arc-shaped pads (29) are fixedly mounted on the tops of the two groups of bottom plates (26), respectively. The notch (27) is opened on one side of one group of the bottom plates (26), and the plug-in plate (28) is fixedly mounted on one side of the other group of the bottom plates (26), and one end of the plug-in plate (28) is movably extended into the inside of the notch (27).

4. A multifunctional recovery device for a full-sea-depth unmanned submersible according to claim 3, characterized in that: The structure of the bracket mechanism (4) also includes waterproof electric extension rods (30) and square plates (31). The number of the waterproof electric extension rods (30) and the square plates (31) are four groups. The four groups of square plates (31) are respectively fixedly mounted on the tops of the two groups of bottom plates (26) in pairs. The four groups of waterproof electric extension rods (30) are respectively fixedly mounted on the inner walls of the two groups of grooves (3) in pairs. The telescopic ends of the four groups of waterproof electric extension rods (30) are respectively fixedly connected to the outer surfaces of the four groups of square plates (31).

5. The multifunctional recovery device for full-sea-depth unmanned submersible according to claim 1, characterized in that: Both sides of the carrier (1) are provided with cylindrical air bags (32), the tops of the two groups of cylindrical air bags (32) are fixedly mounted with three groups of N-shaped frame plates (33) arranged front and rear, the fronts of the two groups of cylindrical air bags (32) are mounted with air intake pipes (34), and the outer surfaces of the air intake pipes (34) are mounted with control valves.

6. A multifunctional recovery device for a full-sea-depth unmanned submersible according to claim 5, characterized in that: Three groups of front-to-back connecting seats are fixedly connected to both sides of the carrier (1); a fastening rope (35) is fixedly connected to the outer surface of the connecting seat; a buckle (36) is fixedly connected to the tail end of the fastening rope (35); and the buckle (36) is sleeved on the outer surface of the N-shaped frame plate (33).

7. The multifunctional recovery device for full-sea-depth unmanned submersible according to claim 1, characterized in that: Two groups of circular rods (37) arranged front and back are fixedly mounted on the inner walls of both sides of the limiting frame (10), and the two groups of circular rods (37) are respectively located in front of and behind the lifting rope (11).

8. The multifunctional recovery device for full-sea-depth unmanned submersible according to claim 1, characterized in that: A support plate is fixedly mounted on the other side of the top of the hydraulic telescopic arm (6), and one end of the rotating shaft (9) movably passes through the interior of the support plate.

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