Underwater vehicle docking and recovery device

Abstract

The present invention relates to an underwater vehicle docking and recovery device, the underwater vehicle docking and recovery device comprises a capture module for being arranged on a mother platform, the capture module comprises a support seat and a capture mechanism, the capture mechanism comprises a telescopic belt, a reel, and a reel driving mechanism, and the reel is arranged on one side of the support seat; one end of the telescopic belt is wound on the reel, and the other end is wound from the top of the support seat to the other side of the support seat and fixed to form an envelope ring above the support seat; the reel driving mechanism is used to drive the reel to rotate to reel and unreel the telescopic belt, the envelope ring has a fixed circle state corresponding to the reeling state and a docking circle state corresponding to the unreeling state, when the envelope ring is in the docking circle state, the underwater vehicle enters the envelope ring, and when the envelope ring is in the fixed circle state, the underwater vehicle entering the envelope ring is clamped on the support seat; the size of the envelope ring can be adaptively adjusted to meet the needs of underwater vehicles with different diameters, and has good versatility and high fault tolerance.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater operation equipment, and in particular to an underwater vehicle docking and recovery device. Background Art

[0002] Underwater vehicles are widely used in marine scientific and technological surveys, seabed exploration, pipeline maintenance, and other fields. Deep-sea resident vehicles can break free from dependence on surface motherships. After completing inspections of important facilities like oil pipelines, they can return to a subsea recovery dock or charging station, a mother platform, for energy replenishment and information exchange, thus enabling unmanned intelligent operation and maintenance of underwater facilities. Docking and recovery is a key step in realizing the engineering application of this concept.

[0003] Chinese invention patent document CN111137406B discloses a liftable active underwater vehicle recovery device. The device comprises a hull and a capture module, which includes a capture port and a lifting base. A lead screw and a lead screw motor are located within the hull. The bottom of the lead screw is connected to the lead screw motor via a pulley. The lifting base is entirely mounted on the lead screw. A rotating shaft and a rotating shaft motor are mounted on the lifting base. The rotating shaft is connected to the rotating shaft motor via a gear set. The lower portion of the capture port is connected to the rotating shaft. A propeller is located within the capture port, and the propeller drive device is located within the rotating shaft. A gradually widening water intake is located at the front of the capture port, and an underwater acoustic positioning and visual sensor is installed on the gradually widening water intake. When an underwater vehicle is detected, the capture port is operated to move up and down and rotate in conjunction with acoustic and optical sensors arranged on the device, bringing the port close to the underwater vehicle to be recovered. The propeller in the capture port is activated, and the underwater vehicle is sucked into the capture port by suction. The capture port is then operated to return to the interior of the platform to complete the recovery operation.

[0004] However, the above-mentioned underwater vehicle docking and recovery device still has some shortcomings. Since the diameter of its capture port is fixed, the underwater vehicles docked to the same mother platform have various specifications, and the diameters of underwater vehicles of different specifications are different. Therefore, in actual use, it is not well compatible with the recovery of underwater vehicles of various sizes and specifications, and its versatility is limited. Moreover, when recovering an underwater vehicle with a larger diameter, it is necessary to align the underwater vehicle with the capture port exactly before recovery can be performed, and the recovery deviation tolerance is not high. Summary of the Invention

[0005] The object of the present invention is to provide an underwater vehicle docking and recovery device to solve the problems of low versatility and fault tolerance of existing underwater vehicle docking and recovery devices.

[0006] The technical solution of the underwater vehicle docking and recovery device of the present invention is:

[0007] The cam is mounted on a support frame and has a rotation axis which is adapted to rotate with the support frame to rotate relative to the axis of the carrier, and the cam is mounted on a support frame to move the cam forwardly to the support frame.

[0008] Beneficial effect: The telescopic belt is wound from one side of the support seat to the other side, thereby forming an envelope ring with a variable diameter. In this way, when it is necessary to dock and recover the underwater vehicle, the reel driving mechanism drives the reel to rotate, and the reel unwinds the telescopic belt. The envelope ring can be made into a docking ring state with a suitable diameter according to the diameter of the underwater vehicle, so that the underwater vehicle can smoothly enter the envelope ring. The telescopic belt is then reeled in by rotating the reel, and the envelope ring enters a fixed ring state. The telescopic belt is retracted and tightened to fix the underwater vehicle on the support seat to achieve the docking and recovery function. In this way, since the size of the envelope ring is adjusted according to the size of the underwater vehicle, it can meet the recovery needs of underwater vehicles with different diameters and specifications, and has good versatility. Moreover, the envelope ring can be set with a larger recovery envelope range, thereby improving the tolerance of docking deviation.

[0009] Furthermore, the capture mechanism is provided with two reels, which are respectively arranged on both sides of the support seat in the horizontal direction, and the two ends of the telescopic belt are respectively wound on the reels.

[0010] Beneficial effect: Both ends of the telescopic belt are wound on the reel, which fixes the telescopic belt while the two reels can reel in and unreel the telescopic belt at the same time, which is beneficial to improving efficiency and at the same time, is beneficial to the stable formation of the envelope ring.

[0011] Furthermore, the support seat extends in the front-to-back direction, two capture mechanisms are provided at intervals in the front-to-back direction, and the reel is provided on one side of the support seat in the left-right direction.

[0012] Beneficial effect: Two enveloping rings can be formed by the two capture mechanisms, thereby facilitating reliable clamping and fixing of the underwater vehicle.

[0013] Furthermore, the telescopic belt has a layered structure, including a steel belt layer, and the steel belt layer is capable of elastic bending.

[0014] Beneficial effect: The steel belt with a certain bending elasticity plays a role of skeleton support, which can not only maintain the shape of the envelope ring and prevent the structure from becoming unstable when the diameter is large, but also facilitate curling, thereby reducing the space occupied by the capture mechanism.

[0015] Furthermore, the retractable belt also includes a luminous layer, which is used to form a visual guidance light source for the underwater vehicle.

[0016] Beneficial effect: The luminous layer can generate a circular light source consistent with the shape of the envelope, which facilitates the underwater vehicle to enter the effective range of the recovery operation from far to near through visual guidance, which is conducive to improving positioning accuracy.

[0017] Furthermore, the expansion belt further includes a buoyancy layer, and the buoyancy layer is used to generate buoyancy.

[0018] Beneficial effect: By setting the buoyancy layer, buoyancy is generated underwater to offset the downward effect of the gravity of the telescopic belt, thereby preventing the envelope from only developing horizontally but lacking vertical height.

[0019] Furthermore, the buoyancy layer is the innermost layer for contacting the underwater vehicle.

[0020] Beneficial effect: The buoyancy layer is utilized to generate buoyancy while making it contact with the underwater vehicle, thereby increasing the friction between the telescopic belt and the underwater vehicle, ensuring that the underwater vehicle will not move forward or backward after being tightened.

[0021] Furthermore, the capturing mechanism further comprises a reel box, the reel is mounted in the reel box, and the reel box is provided with an entrance and exit for the retractable belt to pass through.

[0022] Beneficial effect: by providing a reel box, when the reel is wound up, the telescopic belt can be rolled up and stored in the reel box, so as to protect the telescopic belt and ensure reliable use.

[0023] Furthermore, the capture module also includes a lifting rod and a lifting drive mechanism. The lifting drive mechanism is installed on the mother platform. The lower end of the lifting rod is connected to the lifting drive mechanism. The lifting drive mechanism is used to drive the lifting rod to rise and fall. The support seat is installed at the upper end of the lifting rod.

[0024] Beneficial effect: The lifting rod is driven up and down by the lifting drive mechanism, thereby driving the support seat up and down, so that after the underwater vehicle is fixed to the support seat, it can be retracted into the cabin of the mother platform.

[0025] Furthermore, the support seat is rotatably mounted on the upper end of the lifting rod, and the capture module further includes a flip driving mechanism for driving the support seat to rotate.

[0026] Beneficial effect: By setting up a flip drive mechanism, the support seat can be flipped from a horizontal state to a vertical state, that is, the underwater vehicle can be transformed from a horizontal state to a vertical state, which is beneficial to reducing the opening of the mother platform cabin and facilitating recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic structural diagram of the underwater vehicle docking and recovery device of the present invention when docking with the underwater vehicle;

[0028] Figure 2 for Figure 1 A local enlarged view of point A in FIG;

[0029] Figure 3 for Figure 2 Side view after removing the cabin;

[0030] Figure 4 It is a schematic diagram of the structure of the underwater vehicle in the envelope circle in the docking circle state;

[0031] Figure 5 It is a schematic diagram of the structure of the underwater vehicle in the envelope in the fixed circle state;

[0032] Figure 6 Schematic diagram of the structure of the telescopic belt.

[0033] In the figure: 1. Cabin; 2. Storage and transportation hatch; 3. Lifting rod; 4. Underwater vehicle; 5. Rotating shaft; 6. Motor; 7. Reducer; 8. Reel; 9. Support base; 10. Retractable belt; 11. Luminous layer; 12. Steel belt layer; 13. Buoyancy layer. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention and are not intended to limit the present invention. That is, the embodiments described herein are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and illustrated in the drawings herein may be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely intended to represent selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0036] It should be noted that, in the specific embodiments of the present invention, terms such as “first” and “second” and other relational terms that may appear are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, terms such as “include”, “comprises” or any other variants thereof that may appear are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or elements that are inherent to such process, method, article or device. In the absence of further restrictions, elements defined by possible statements such as “including a…” do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0037] In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] In the description of the present invention, unless otherwise expressly specified or limited, the terms "provided with" and "provided with" should be understood broadly. For example, the object "provided with" may be a part of the main body, or may be arranged separately from the main body and connected to the main body. The connection may be detachable or non-detachable. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0039] The present invention is described in further detail below with reference to the examples.

[0040] Embodiment 1 of the underwater vehicle docking and recovery device of the present invention:

[0041] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 As shown, the underwater vehicle docking and recovery device includes a capture module for being set on a mother platform. A storage and transportation cabin is provided on the cabin body 1 of the mother platform. The storage and transportation cabin has a storage and transportation hatch 2. The capture module is set at the storage and transportation hatch 2. The capture module is used to capture the underwater vehicle 4.

[0042] The capture module includes a support base 9, a capture mechanism, and a lifting rod 3. The capture mechanism is mounted on the support base 9, and the support base 9 is mounted on the lifting rod 3. The lifting rod 3 extends vertically in the up-down direction, and the support base 9 extends horizontally in the front-back direction.

[0043] The capture mechanism includes a retractable belt 10, a reel, a reel drive mechanism, and a reel box 8. There are two reels, one on each side of the support base 9 in the left-right direction. The left end of the retractable belt 10 is wound around the reel on the left side of the support base 9, while the right end of the retractable belt 10 is wound from above the support base 9 to the right side of the support base 9 and wound around the reel on the right side of the support base 9. The two ends of the retractable belt 10 are secured by being wound around the reels. The portion of the retractable belt 10 not wound around the reel extends circumferentially from one side of the support base 9 to the other side of the support base 9 in the left-right direction, thereby forming an envelope above the support base 9 for the underwater vehicle 4 to enter. The two reel drive mechanisms are respectively provided with two reels and are installed on the left and right sides of the support seat 9. The reel drive mechanisms are used to drive the reel to rotate so as to reel and unreel the telescopic belt 10, relying on the reel to provide reeling and unreeling force for the telescopic belt 10. Reeling is to reel in the telescopic belt 10, so that the part of the telescopic belt 10 wound on the reel increases, and unreeling is to release the telescopic belt 10, so that the part of the telescopic belt 10 wound on the reel decreases. The telescopic belt 10 has a reeled state and an unreeled state, and the envelope ring has a fixed ring state corresponding to the reeled state of the telescopic belt 10 and a docking ring state corresponding to the unreeling state of the telescopic belt 10. When the envelope ring is in the docking ring state, the diameter is larger for allowing the underwater vehicle 4 to enter, and when the envelope ring is in the fixed ring state, the diameter is smaller for tightening and fixing the underwater vehicle 4 on the support seat 9. Two capture mechanisms are provided at intervals along the front-to-back direction. The telescopic belts 10 of the two capture mechanisms can form two enveloping rings, which is conducive to the reliable tightening and fixing of the underwater vehicle 4.

[0044] The reel drive mechanism includes a motor 6 and a reducer 7. The motor 6 is connected to the reel through the reducer 7 to drive the reel to rotate. The motor 6 is an electric motor 6, and the driving force is provided by the electric motor 6. The synchronous operation of the two motors 6 allows the two reels to simultaneously reel and unreel the telescopic belt 10, which is beneficial to improving efficiency and facilitating the stable formation of the envelope.

[0045] The reel is mounted in a reel box 8, and the output shaft of the reducer 7 extends into the reel box 8, connecting it to the reel. The reel box 8 is equipped with an inlet and outlet for the expansion belt 10 to pass through. When the reel is reeled, the expansion belt 10 can be rolled up and stored in the reel box 8, protecting the expansion belt 10 and ensuring reliable use. The inlet and outlet are located on the upper side of the reel box 8 and form a guide with the expansion belt 10, ensuring that the expansion belt 10 can freely expand and contract.

[0046] The telescopic band 10 has a layered structure, comprising an inner layer, an intermediate layer, and an outer layer. These three layers are combined to form a multi-layer composite flexible telescopic band 10. The intermediate layer is a steel belt layer 12, made of a flexible steel belt. This serves as a skeletal support, maintaining the shape of the band and preventing structural instability when the band is large. It also facilitates curling, thereby reducing the space occupied by the capture mechanism. The inner layer is a buoyancy layer 13, made of a lightweight material. This layer generates buoyancy underwater, counteracting the downward force of the band's gravity and preventing the flexible band from expanding only horizontally while lacking vertical height. Furthermore, the inner buoyancy layer 13 is designed to contact the underwater vehicle 4. This buoyancy, while simultaneously generating buoyancy, increases friction between the band 10 and the underwater vehicle 4, ensuring that the vehicle 4 does not move forward or backward after tightening. The outer layer is a luminous layer 11, which can generate a circular light source consistent with the shape of the envelope ring, so as to form a visual guidance light source for the underwater vehicle 4, so that the underwater vehicle 4 can enter the effective range of the recovery operation from far to near through visual guidance, which is higher than the existing acoustic positioning accuracy.

[0047] The capture module also includes a lifting drive mechanism (not shown in the figure), which is installed on the mother platform. The lower end of the lifting rod 3 is connected to the lifting drive mechanism. The lifting drive mechanism is used to drive the lifting rod 3 to move up and down, and then drive the support seat 9 to move up and down, so that after the underwater vehicle 4 is fixed to the support seat 9, the underwater vehicle 4 can be lowered and retracted into the cabin 1 of the mother platform.

[0048] The support seat 9 is rotatably mounted on the upper end of the lifting rod 3. A hinge ear is provided on the lower side of the support seat 9, and a rotating shaft 5 is fixed on the hinge ear. A hinge hole is provided at the upper end of the lifting rod 3, and the rotating shaft 5 is passed through the hinge hole. The capture module also includes a flipping drive mechanism (not shown in the figure) for driving the support seat 9 to rotate. The flipping drive mechanism can be a motor installed on the lifting rod 3. The motor drives the rotating shaft 5 to rotate, thereby driving the support seat 9 to rotate. The flipping drive mechanism can flip the support seat 9 from a horizontal state to a vertical state, that is, it can transform the underwater vehicle 4 from a horizontal state to a vertical state, thereby facilitating the recovery of the underwater vehicle 4 into the cabin 1 through the storage and transportation hatch 2.

[0049] The mother platform can be a mobile platform such as a floating submarine or a large UUV, or a fixed platform pre-placed on the seabed as a carrier mother body to provide hydraulic source, power source and target location information. A storage and transportation cabin is set up on the mother platform, and the storage and transportation hatch 2 is provided with a hatch cover. After the underwater vehicle 4 is recovered, the hatch cover can be closed to keep the mother platform streamlined. The lifting rod 3 is set in the middle of the storage and transportation hatch 2. The lifting drive mechanism formed by the multi-stage oil cylinder realizes a large lifting stroke, which can make the lifting rod 3 extend outward from the mother platform to a certain height, and control the recovery area to a position away from the command room shell and the boundary layer, reducing the hydrodynamic interference of the double-body rendezvous and docking. The hinged connection between the support seat 9 and the lifting rod 3 forms a rotating joint, which can rotate the support seat 9 by 90°, so that the support seat 9 can be switched between the vertical state and the horizontal state, which is convenient for docking and recovery.

[0050] When in use, first, after completing the mission, the underwater vehicle 4 receives the recovery mission instruction from the mother platform and agrees on the recovery area, and starts to intersect and dock from far to near; the underwater vehicle docking and recovery device on the mother platform operates, opens the storage compartment hatch in turn, extends the lifting rod 3, and flips the support seat 9 from the vertical state to the horizontal state; the motor 6 of the capture mechanism moves synchronously, drives the reel to rotate through the reducer 7, unwinds the telescopic belt 10, and the telescopic belt 10 extends from the inlet and outlet of the reel box 8, and continuously expands to the space above the support seat 9 to form an envelope, and the envelope continues to grow. After 10 is unwound into place, the shape of the envelope gradually stabilizes; the light-emitting layer 11 of the telescopic belt 10 is energized to form a guiding light source, and the underwater vehicle 4 relies on the optical target for identification and navigation positioning, and gradually enters the recovery envelope range; the motor 6 rotates in the opposite direction quickly to reel in the telescopic belt 10, and the telescopic belt 10 quickly enters the reel boxes 8 on both sides, gradually tightening the underwater vehicle 4, so that the underwater vehicle 4 is fixed on the support base 9, and the motor 6 loses power and self-locks; then, the support base 9 is flipped from a horizontal state to a vertical state, and the lifting rod 3 is retracted into the storage and transportation cabin; at this point, the entire recovery process is completed.

[0051] In this way, an envelope with a variable diameter is formed by the telescopic belt 10. The telescopic belt 10 can be released in advance before docking and recovery to form a large envelope in the upper space of the flip frame. The size of the envelope is determined by the length of the telescopic belt 10, and the diameter of the envelope can be much larger than the diameter of the vehicle itself. When the underwater vehicle 4 is recovered, the envelope can be made into a docking circle state with a suitable diameter according to the diameter of the underwater vehicle 4. The underwater vehicle 4 navigates into the envelope range. When the sensor provided on the support seat 9 senses that the vehicle is in place, the telescopic belt 10 is quickly retracted, and the envelope enters a fixed circle state. The telescopic belt 10 tightens and fixes the underwater vehicle 4 on the support seat 9. Since the size of the envelope can be adjusted according to the size of the underwater vehicle 4, it can adapt to underwater vehicles 4 of different diameters and has good versatility. Moreover, the envelope can be set with a larger recovery envelope range, thereby improving the tolerance for docking deviation.

[0052] The underwater vehicle docking and recovery device has the advantages of a large recovery envelope, strong tolerance for docking deviation, compatibility with multiple sizes and specifications, compact structure, simplicity and reliability, and multifunctional integration of recovery, capture and auxiliary guidance. It has broad application prospects in military and civilian fields such as underwater manned / unmanned collaborative combat and unmanned intelligent operation and maintenance of underwater facilities, and has high military and economic benefits.

[0053] Embodiment 2 of the underwater vehicle docking and recovery device of the present invention:

[0054] This embodiment differs from Example 1 in that, whereas in Example 1, the capture mechanism has two reels, one on each horizontal side of the support base, with both ends of the elastic band wound around the corresponding reels, this embodiment has only one reel, located on one side of the support base. One end of the elastic band is wound around the reel, while the other end is wound from above to the other side of the support base and then directly fixed to the support base. The reel is driven by the single reel to achieve winding and unwinding of the elastic band.

[0055] Embodiment 3 of the underwater vehicle docking and recovery device of the present invention:

[0056] This embodiment differs from the first embodiment in that, whereas in the first embodiment, two capture mechanisms are provided spaced apart in the front-to-rear direction, this embodiment has only one capture mechanism and, accordingly, one envelope. The underwater vehicle is secured by a single retractable band, the width of which can be increased to ensure secure securing.

[0057] Embodiment 4 of the underwater vehicle docking and recovery device of the present invention:

[0058] This embodiment differs from Example 1 in that, whereas in Example 1, the retractable belt is a three-layer composite structure comprising a steel belt layer, a buoyancy layer, and a luminous layer, this embodiment utilizes a single-layer structure formed of a steel belt, which is an elastic steel strip. The visual guidance light source is adaptively positioned separately on the support base.

[0059] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments without inventive effort, or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An underwater vehicle docking and recovery device, comprising a capture module for being arranged on a mother platform, characterized in that: The capture module comprises a support seat (9) and at least one capture mechanism, the capture mechanism comprising a telescopic belt (10), a reel, and a reel driving mechanism, wherein the reel is arranged on one side of the support seat (9) in the horizontal direction; one end of the telescopic belt (10) is wound on the reel, and the other end is wound from above the support seat (9) to the other side of the support seat (9) in the horizontal direction and fixed, so as to form an envelope ring above the support seat (9); the reel driving mechanism is installed on the support seat (9), and the reel driving mechanism is used to drive the reel to rotate so as to reel and unreel the telescopic belt (10), and the envelope ring has a fixed ring state corresponding to the reeling state of the telescopic belt (10) and a docking ring state corresponding to the unreeling state of the telescopic belt (10); when the envelope ring is in the docking ring state, it is used to allow the underwater vehicle (4) to enter the envelope ring; when the envelope ring is in the fixed ring state, it is used to clamp and fix the underwater vehicle (4) entering the envelope ring on the support seat (9).

2. The underwater vehicle docking and recovery device according to claim 1, characterized in that: The capture mechanism is provided with two reels, which are respectively arranged on both sides of the support seat (9) in the horizontal direction, and the two ends of the telescopic belt (10) are respectively wound on the reels.

3. The underwater vehicle docking and recovery device according to claim 1, characterized in that: The support seat (9) extends in the front-back direction, two capture mechanisms are arranged at intervals in the front-back direction, and the reel is arranged on one side of the support seat (9) in the left-right direction.

4. The underwater vehicle docking and recovery device according to claim 1, 2 or 3, characterized in that: The telescopic belt (10) is a layered structure, comprising a steel belt layer (12), and the steel belt layer (12) is capable of elastic bending.

5. The underwater vehicle docking and recovery device according to claim 4, characterized in that: The telescopic belt (10) further comprises a luminous layer (11), and the luminous layer (11) is used to form a visual guidance light source for the underwater vehicle (4).

6. The underwater vehicle docking and recovery device according to claim 4, characterized in that: The stretch belt (10) further comprises a buoyancy layer (13), and the buoyancy layer (13) is used to generate buoyancy.

7. The underwater vehicle docking and recovery device according to claim 6, characterized in that: The buoyancy layer (13) is the innermost layer for contacting the underwater vehicle (4).

8. The underwater vehicle docking and recovery device according to claim 1, 2 or 3, characterized in that: The capturing mechanism further comprises a reel box (8), the reel being installed in the reel box (8), and an entrance and exit for the retractable belt (10) to pass through being provided on the reel box (8).

9. The underwater vehicle docking and recovery device according to claim 1, 2 or 3, characterized in that: The capture module further comprises a lifting rod (3) and a lifting drive mechanism, wherein the lifting drive mechanism is mounted on the mother platform, the lower end of the lifting rod (3) is connected to the lifting drive mechanism, the lifting drive mechanism is used to drive the lifting rod (3) to move up and down, and the support seat (9) is mounted on the upper end of the lifting rod (3).

10. The underwater vehicle docking and recovery device according to claim 9, characterized in that: The support seat (9) is rotatably mounted on the upper end of the lifting rod (3), and the capture module further comprises a flip driving mechanism for driving the support seat (9) to rotate.

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