A cable-driven, foldable capture mechanism for the deployment and retrieval of unmanned underwater vehicles

Abstract

This invention discloses a rope-driven, deployable capture mechanism for unmanned underwater vehicles (UUVs), comprising a bending mechanism, a synchronous opening and closing mechanism, and a wire rope guiding drive mechanism. The bending mechanism utilizes a linkage transmission assembly to connect the distal, middle, and proximal sections to achieve bending motion. To further expand the capture range, a synchronous opening and closing mechanism is introduced. This mechanism features three symmetrically distributed bending and closing branches and a wire rope guiding drive mechanism. Under the action of a linear electric push rod, only a single degree of freedom is required to achieve both synchronous bending and convergence two-stage deployable motion. Based on this dual motion characteristic, the capture and locking operation of the UUV is completed. By gradually releasing the elastic potential energy accumulated by the torsion spring due to deformation in the capture and locking state, the separation and unlocking action is completed, realizing the deployment of the UUV. This invention features flexible driving methods, can capture different types of UUVs, has strong versatility, and can achieve fast, accurate, and stable capture and deployment operations.

Description

Technical Field

[0001] This invention relates to the field of underwater robot application technology, and in particular to a rope-driven, deployable capture mechanism for the deployment and retrieval of unmanned underwater vehicles. Background Technology

[0002] In recent years, with increasing emphasis on maritime rights, unmanned underwater vehicles (UUVs) have played a crucial role in seabed exploration as an important vehicle for understanding and developing the ocean. The operational process of UUVs typically involves capture, retrieval, and release / separation. This technology is a highly forward-looking and challenging topic in the field of advanced marine technology, and achieving safe and stable deployment and retrieval of UUVs has become an urgent problem to be solved. UUV deployment and retrieval are mainly achieved through three methods: underwater static deployment, underwater dynamic deployment, and surface manual deployment. Underwater static deployment involves setting up a working platform on the seabed, with the UUV actively docking and locking with the platform by adjusting its attitude. Underwater dynamic retrieval involves capture while maintaining relative movement between the deployment / retrieval equipment and the UUV. Surface manual retrieval requires manual hooking, which places high demands on operability.

[0003] In the field of unmanned underwater vehicle (UUV) capture and retrieval technology, numerous inventors have provided various solutions. For example, a Chinese patent, CN201911013241.9, describes a rapid deployment and retrieval device for AUVs under high sea states. This device includes a V-shaped retrieval frame, an AUV guide assembly, a sling assembly, and a barrier net assembly, offering advantages such as expanded retrieval area, reduced docking accuracy requirements, and rapid deployment and retrieval. Another example is CN201811517264.9, a Chinese patent for a device for deploying and retrieval UUVs from an unmanned surface vessel. This device includes a gantry, a drive unit, a laser rangefinder, and a clamping mechanism. By driving the gantry to adjust the attitude of the clamping mechanism, the docking efficiency between the UUV and the unmanned surface vessel at sea is improved. However, existing deployment and retrieval devices suffer from problems such as a large number of drives, complex operation procedures, and low capture success rates. Furthermore, current technologies generally only support deployment and retrieval operations for a specific model and size of UUV. Developing a capture mechanism for unmanned underwater vehicles that is highly versatile, has a convenient and efficient drive system, and provides precise and stable capture capabilities has significant practical value. Summary of the Invention

[0004] Purpose of the invention: In view of the problems of complex drive and low success rate of contact operation during the clamping stage in existing related capture and release devices, the present invention provides a rope-driven foldable capture mechanism for the capture and release of unmanned underwater vehicles. It adopts a single degree of freedom linkage drive to make the joints of the capture mechanism produce capture action, so as to achieve the purpose of accurately grasping and stably and efficiently capturing and releasing unmanned underwater vehicles.

[0005] Technical Solution: The present invention provides a rope-driven, deployable capture mechanism for unmanned underwater vehicles, comprising a bendable mechanism, a synchronous opening and closing mechanism, and a wire rope guiding and driving mechanism; the bendable mechanism includes a distal section, a middle section, and a proximal section with hollow inner cavities, a connecting rod transmission assembly for connecting the three to achieve bending motion, and a support base; both ends of the middle section are hinged to one end of the distal section and one end of the proximal section, respectively, and the other end of the proximal section is hinged to the support base; the connecting rod transmission assembly is disposed in the inner cavities of the distal section, the middle section, and the proximal section; the synchronous opening and closing mechanism includes several sets of symmetrically distributed folding branches, the bottom ends of which are connected to the bendable mechanism.

[0006] Furthermore, the thin walls on both sides of the distal section are provided with two pairs of hinge holes, namely the first hinge hole and the second hinge hole; the thin walls on both sides of the middle section are provided with three pairs of hinge holes, namely the third hinge hole, the fourth hinge hole and the fifth hinge hole; the thin walls on both sides of the proximal section are provided with three pairs of hinge holes, namely the sixth hinge hole, the seventh hinge hole and the eighth hinge hole; the spaces between the thin walls are hollow areas for arranging the connecting rod transmission assembly.

[0007] Furthermore, the support base is provided with a ninth hinge joint and a tenth hinge joint in the middle, and a spring limiting groove is arranged near the tenth hinge joint. The torsion spring limiting groove is provided in two sets symmetrically about the central axis of the support base.

[0008] Furthermore, the inner cavity of the middle section is respectively attached to the outer surfaces of the distal and proximal sections on the left and right sides; the first hinge hole and the third hinge hole are coaxial and are rotatably hinged by a pin; the fourth hinge hole and the sixth hinge hole are coaxial and are rotatably hinged by a pin.

[0009] Furthermore, the linkage transmission assembly includes two symmetrically arranged sets of first, second, and third transmission rods, and a single set of fourth transmission rods. One end of the first transmission rod is hinged to a first hinge hole, and the third hinge hole is located outside the first hinge hole. The circular hole at one end of the first transmission rod, the first hinge hole, and the third hinge hole are coaxial with the axis of the pin, and the rod rotates around the pin through the pin. One end of the second transmission rod is embedded in the other end of the first transmission rod and is hinged to it by a pin. The other end of the second transmission rod extends to a seventh hinge hole and is hinged to it by a pin. The circular hole at one end of the third transmission rod is hinged to the second hinge hole. The holes are hinged by a pin. One end of the fourth transmission rod is hinged to the fifth hinge hole by a pin. The other end of the third transmission rod is hinged to the tenth hinge joint on the support. The other end of the fourth transmission rod is also hinged to the tenth hinge joint. The three are arranged coaxially and rotate around the axis. A square groove is provided at the other end of the third transmission rod. A torsion spring with a V-angle of 180° is provided in the groove. The left end of the V-angle of the torsion spring abuts against the square groove of the third transmission rod, and the right end abuts against the torsion spring limiting groove. The ninth hinge joint and the eighth hinge hole provided on the outer surface of the near section are hinged by a pin.

[0010] Furthermore, the folding branch includes an electric push rod, a branch block, a swing rod, a latch, a push rod, and a sliding branch block. The branch block is fixedly installed at the drive motor of the electric push rod, and a sliding branch block is provided at the electric push rod assembly. A flat lug at one end of the swing rod is embedded in the branch block and hinged by a pin. The latch is fixed in the middle of the swing rod. One end of the push rod is rotatably hinged to the latch, and the other end of the push rod is rotatably hinged to the sliding branch block. Both the branch block and the sliding branch block have cylindrical guide openings inside.

[0011] Furthermore, the wire rope guiding drive mechanism includes three sets of wire ropes and three sets of pulleys. The beginning of the wire rope is fixedly connected to the branch block. The wire rope passes through the cylindrical guide of the branch block and the sliding branch block in sequence, and then turns at the sliding branch block to extend further towards the pulley, and circles the pulley once, and finally connects to the middle of the fourth transmission rod.

[0012] Furthermore, the centers of adjacent hinge holes on the middle section are connected end to end to form a line, resulting in obtuse triangles with interior angles of 18°, 70°, and 92° respectively.

[0013] Furthermore, the centers of adjacent hinge holes on the proximal segment are connected end to end to form a line, resulting in obtuse triangles with interior angles of 14°, 41°, and 125° respectively.

[0014] Furthermore, the unmanned surface vessel is equipped with a gantry frame, and a crane fixedly installed on the upper part of the gantry frame releases the fairing into the sea via cables. The synchronous opening and closing mechanism of the capture mechanism is stored inside the fairing in the overall retracted state. As the synchronous opening and closing mechanism is gradually pushed out from inside the fairing, the synchronous opening and closing mechanism gradually opens, completing the preparation before the capture operation.

[0015] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0016] (1) This invention provides a rope-driven, deployable capture mechanism for unmanned underwater vehicles (UUVs). The designed bendable mechanism features multi-link transmission characteristics, requiring only one drive to achieve continuous movement of the entire mechanism from an initial straight state to a maximum bending state. It shares a steel wire rope guide drive mechanism with the synchronous opening and closing mechanism as the power source for the capture operation, realizing two-stage deployable movements of synchronous bending and approaching. This fulfills the function of capturing and locking the UUV during retrieval, and utilizes a torsion spring to complete the deployment requirements for separation and unlocking. This invention offers a convenient and efficient drive method, simplifies the operation process, and meets the requirements for rapid deployment.

[0017] (2) The present invention provides a rope-driven foldable capture mechanism for unmanned underwater vehicles. By utilizing the spatial structural symmetry of the three branches of the synchronous opening and closing mechanism, the arc-shaped head of the unmanned underwater vehicle is used as the working area for performing capture and release actions. The capture mechanism adapts to the arc-shaped head contour in the intermediate state between overall retraction and opening, which has the advantages of increasing the opening diameter of the capture mechanism, increasing the capture range, and improving capture accuracy.

[0018] (3) The present invention provides a rope-driven foldable capture mechanism for the release and retrieval of unmanned underwater vehicles. It proposes a surface unmanned boat towing capture mechanism to complete the recovery of unmanned underwater vehicles. To a certain extent, it can avoid the disturbance caused by sea waves when releasing and retrieval unmanned underwater vehicles on the sea surface in the traditional way, improve the unmanned and intelligent level of the release and retrieval operation, and ensure the safety and stability of the capture and locking process. Attached Figure Description

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

[0020] Figure 2 This is a detailed diagram of the connection relationship at the support base of the bendable mechanism of the present invention;

[0021] Figure 3 This is a schematic diagram of the near-section structure of the bendable mechanism of the present invention;

[0022] Figure 4 This is a schematic diagram of the middle section structure of the bendable mechanism of the present invention;

[0023] Figure 5This is a schematic diagram of the distal section structure of the bendable mechanism of the present invention;

[0024] Figure 6 This is a schematic diagram of the bendable mechanism support structure of the present invention;

[0025] Figure 7 This is a schematic diagram showing three bending deformation states of the bendable mechanism of the present invention;

[0026] Figure 8 This is a schematic diagram of the overall open state structure of the synchronous opening and closing mechanism and the wire rope guiding and driving mechanism of the present invention.

[0027] Figure 9 This is a schematic diagram of the overall retracted structure of the synchronous opening and closing mechanism and the wire rope guiding and driving mechanism of the present invention.

[0028] Figure 10 This is a schematic diagram of the capture range of the synchronous opening and closing mechanism of the present invention in its overall retracted and open states;

[0029] Figure 11 This is a schematic diagram of the capture preparation state according to the present invention;

[0030] Figure 12 This is a schematic diagram of the capture and locking state of the present invention. Detailed Implementation

[0031] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0032] The present invention provides a rope-driven foldable capture mechanism for unmanned underwater vehicles, comprising a bendable mechanism, a synchronous opening and closing mechanism, and a wire rope guiding and driving mechanism; the bendable mechanism comprises a distal section 1, a middle section 2, a proximal section 3, and a linkage transmission assembly for connecting the three to achieve bending motion; the synchronous opening and closing mechanism comprises three sets of symmetrically distributed folding branches.

[0033] like Figure 1 As shown, the distal section 1, middle section 2, and proximal section 3 of the bendable mechanism are all provided with hollow inner cavities. The inner cavity of the middle section 2 of the bendable mechanism is respectively attached to the outer surfaces of the distal section 1 and the proximal section 3 on the left and right sides. The first hinge hole 11 provided on the outer surface of the distal section 1 of the bendable mechanism is coaxial with the third hinge hole 21 provided on the outer surface of the middle section 2 of the bendable mechanism and is rotatably hinged by a pin. The fourth hinge hole 22 provided on the outer surface of the middle section 2 of the bendable mechanism is coaxial with the sixth hinge hole 31 provided on the outer surface of the proximal section 3 of the bendable mechanism and is rotatably hinged by a pin.

[0034] The linkage transmission assembly includes a first transmission rod 4, a second transmission rod 5, a third transmission rod 6, and a fourth transmission rod 7. Two sets of each of the first, second, and third transmission rods are provided, while one set of the fourth transmission rod 7 is provided independently. The linkage transmission assembly is arranged in the hollow cavities of the distal section 1, middle section 2, and proximal section 3 of the bendable mechanism.

[0035] One end of the first transmission rod 4 has a circular hole that is rotatably hinged to the first hinge hole 11 on the outer surface of the distal section 1 of the bendable mechanism via a pin. The third hinge hole 21 of the middle section 2 of the bendable mechanism is located outside the first hinge hole 11. The circular hole, the first hinge hole 11, and the third hinge hole 21 of the first transmission rod 4 are coaxial with the axis of the pin and rotate around the pin through it. One end of the second transmission rod 5 is embedded in the other end of the first transmission rod 4 and is rotatably hinged to it via a pin. The other end of the second transmission rod 5 extends to the seventh hinge hole 32 on the outer surface of the proximal section 3 of the bendable mechanism, and the two are also rotatably hinged to it via a pin. One end of the third transmission rod 6 has a circular hole that is rotatably hinged to the second hinge hole 12 via a pin. One end of the fourth transmission rod 7 has a circular hole that is rotatably hinged to the fifth hinge hole 23 on the outer surface of the middle section 2 of the bendable mechanism via a pin. The inner surfaces of the distal section 1 and the proximal section 3 of the bendable mechanism are in contact with and tightly fitted to the outer surfaces of the first transmission rod 4 and the second transmission rod 5. The two side surfaces of the third transmission rod 6 are in contact with and tightly fitted to the outer surfaces of the second transmission rod 5 and the fourth transmission rod 7, respectively. Since there are two sets of the first transmission rod 4, the second transmission rod 5, and the third transmission rod 6, one set is arranged symmetrically with respect to the fourth transmission rod 7.

[0036] like Figure 2 As shown, the other end of the third transmission rod 6 is hinged to the tenth hinge joint 92 provided on the support base 9, and the other end of the fourth transmission rod 7 is also hinged to the second hinge joint 92. The three are arranged coaxially and rotate around the axis. A square groove is provided at the other end of the third transmission rod 6, and a V-shaped torsion spring 8 is provided in the groove. When there is no force, the left end of the V-shaped angle of the torsion spring 8 abuts against the square groove of the third transmission rod 6, and the right end abuts against the torsion spring limiting groove 93. In addition, the ninth hinge joint 91 and the eighth hinge hole 33 provided on the outer surface of the proximal section 3 of the bendable mechanism are rotatably hinged by a pin.

[0037] like Figure 3 As shown, two pairs of hinge holes are provided on the thin walls on both sides of the distal section 1 of the bendable mechanism, namely the first hinge hole 11 and the second hinge hole 12. The two pairs of hinge holes are surrounded by hollow cavities for arranging the connecting rod transmission assembly.

[0038] like Figure 4As shown, three pairs of hinge holes are provided on the thin walls on both sides of the bendable mechanism section 2, namely the third hinge hole 21, the fourth hinge hole 22, and the fifth hinge hole 23. Connecting the centers of adjacent hinge holes end to end in sequence forms an obtuse triangle with interior angles of 18°, 70°, and 92°. The space between the thin walls on both sides of the bendable mechanism section 2 is a hollow area used to arrange the linkage transmission assembly.

[0039] like Figure 5 As shown, three pairs of hinge holes are also provided on the thin walls on both sides of the proximal section 3 of the bendable mechanism, namely the sixth hinge hole 31, the seventh hinge hole 32, and the eighth hinge hole 33. Connecting the centers of adjacent hinge holes one after the other in sequence forms an obtuse triangle with interior angles of 14°, 41°, and 125°. The space between the thin walls on both sides of the proximal section 3 of the bendable mechanism is a hollow area used to arrange the linkage transmission assembly.

[0040] like Figure 6 As shown, the support base 9 is provided with a ninth hinge joint 91 and a tenth hinge joint 92 in the middle. A spring limiting groove 93 is arranged near the tenth hinge joint 92. Two sets of torsion spring limiting grooves 93 are symmetrically arranged about the central axis of the support base 9.

[0041] like Figure 7 As shown, the bendable mechanism itself has a single degree of freedom. With the help of the linkage of the transmission components, the far section, middle section 2, and near section 3 of the bendable mechanism can achieve continuous bending motion from the initial straight state to the transitional extension state and finally to the extreme bending state, thus completing the stable capture of the arc-shaped head area of ​​the unmanned underwater vehicle.

[0042] like Figure 8As shown, the synchronous opening and closing mechanism has three sets of folding branches evenly arranged along the circumference of the electric push rod 101, and a bendable mechanism is fixedly installed at the end of the folding branches. Taking one set of folding branches as an example, a branch block 102 is fixedly installed at the drive motor of the electric push rod 101, and a sliding branch block 106 is installed at the push rod assembly of the electric push rod 101. A flat lug at one end of the swing rod 103 is embedded in the branch block 102 and hinged by a pin. A latch 104 is fixed to the middle of the swing rod 103 by screws. One end of the push rod 105 is rotatably hinged to the latch 104, and the other end of the push rod 105 is rotatably hinged to the sliding branch block 106. Both the branch block 102 and the sliding branch block 106 have cylindrical guide openings inside. The wire rope guiding drive mechanism consists of a set of electric push rods 101, three sets of wire ropes 107, and three sets of pulleys 108. The beginning of the wire rope 107 is fixedly connected to the branch block 102. The wire rope 107 passes through the cylindrical guide openings of the branch block 102 and the sliding branch block 106 in sequence, and then turns at the sliding branch block 106 to extend further towards the pulley 108, and circles the pulley 108 once, and finally connects to the middle of the fourth transmission rod 7 of the bendable mechanism.

[0043] like Figure 8 and 9 As shown, to achieve the capture and locking operation of the unmanned underwater vehicle, the synchronous opening and closing mechanism needs to have the ability to deform from an overall open state to a retracted state. The folding branches directly push the sliding branch block 106 with the push rod assembly of the electric push rod 101 arranged in the center. Based on this linkage, the three folding branches complete the first-level synchronous closing movement. At the same time, the electric push rod 101 in the center can also serve as the power source for the bendable mechanism arranged at the end of the folding branches. Since the length of the steel wire rope 107 is fixed and it does not have elastic extension characteristics, the steel wire rope 107 pulls the bendable mechanism along the cylindrical guide during the push rod assembly of the electric push rod 101. The V-shaped angles on both sides of the torsion spring 8 in the bendable mechanism undergo elastic deformation under the combined force of the square groove of the third transmission rod 6 and the torsion spring limiting groove 93. Based on this process, the bendable mechanism changes from the initial straight state to the ultimate bending state, driving it to complete the second-level synchronous bending movement under the action of the steel wire rope guiding drive mechanism.

[0044] To enable clustered and rapid operation of the unmanned underwater vehicle (UUV) deployment and retrieval devices, the synchronous opening and closing mechanism must be reversible in its transition from the retracted to the open state. As the electric push rod 101 gradually retracts, the elastic force stored and accumulated on both sides of the V-shaped angle of the torsion spring 8 in the bendable mechanism is gradually released. Utilizing the rebound characteristics of the torsion spring 8, the bendable mechanism transitions from its extreme bending state to its initial straight state, and the synchronous opening and closing mechanism returns from the retracted state to the open state.

[0045] like Figure 10As shown, the rope-driven, deployable capture mechanism for unmanned underwater vehicles (UUVs) utilizes deformation motion to achieve spatial attitude transformation, enabling the capture of various types and diameters of UUVs, thus enhancing the applicability and versatility of the capture mechanism. The ratio of the circumscribed circle diameter when the end opening is open to when it is closed reflects the capture capability of the mechanism. In this example, the diameter when the end opening is open is D = 618.2 mm, and the diameter when the end opening is closed is d = 143.5 mm. Therefore, the capture range of the deployable capture mechanism can accommodate UUVs with diameters between d and D.

[0046] like Figure 11 As shown, when the surface unmanned surface vessel 111 receives the instruction to recover the unmanned underwater vehicle and proceeds to the operating area, the crane 113, fixedly installed on the upper part of the gantry 112, releases the fairing 115 into the sea via cable 114. The synchronous opening and closing mechanism is stored inside the fairing 115 in its fully retracted state. As the synchronous opening and closing mechanism is gradually pushed out from inside the fairing 115, it gradually opens, completing the preparations for the capture operation.

[0047] like Figure 11 As shown, the surface unmanned surface vessel 111 and the unmanned underwater vehicle (UUV) move in the same direction. When the head of the UUV comes into contact with the synchronous opening and closing mechanism, the wire rope guide drive mechanism is activated, and the three folding branches of the synchronous opening and closing mechanism move towards the center. During this process, the bendable mechanism at the end of the synchronous opening and closing mechanism bends and fits against the head of the UUV to perform a wrapping clamping action, completing the locking operation. Then, the crane 113 performs the hoisting and recovery task and returns with the surface unmanned surface vessel 111.

Claims

1. A cable-driven, deployable capture mechanism for unmanned underwater vehicles, characterized in that, It includes a bendable mechanism, a synchronous opening and closing mechanism, and a wire rope guiding and driving mechanism; the bendable mechanism includes a distal section (1), a middle section (2), and a proximal section (3) with hollow inner cavities, a connecting rod transmission assembly for connecting the three to achieve bending motion, and a support base (9); the two ends of the middle section (2) are respectively hinged to one end of the distal section (1) and the proximal section (3), and the other end of the proximal section (3) is hinged to the support base (9); the connecting rod transmission assembly is located in the inner cavities of the distal section (1), the middle section (2), and the proximal section (3); the synchronous opening and closing mechanism includes several sets of symmetrically distributed folding branches, and the bottom end of the folding branches is connected to the bendable mechanism; The folding branch includes an electric push rod (101), a branch block (102), a swing rod (103), a latch (104), a push rod (105), and a sliding branch block (106). The electric push rod (101) has a branch block (102) fixedly installed at the drive motor. The electric push rod (101) has a sliding branch block (106) at its push rod assembly. A flat lug at one end of the swing rod (103) is embedded in the branch block (102) and hinged by a pin. The latch (104) is fixed in the middle of the swing rod (103). One end of the push rod (105) is rotatably hinged to the latch (104), and the other end of the push rod (105) is rotatably hinged to the sliding branch block (106). Both the branch block (102) and the sliding branch block (106) have cylindrical guide openings inside. The linkage transmission assembly includes a fourth transmission rod (7); The wire rope guiding drive mechanism includes three sets of wire ropes (107) and three sets of pulleys (108). The beginning of the wire rope (107) is fixedly connected to the branch block (102). The wire rope (107) passes through the cylindrical guide of the branch block (102) and the sliding branch block (106) in sequence, and then turns at the sliding branch block (106) to extend further towards the pulley (108), and circles the pulley (108) once, and finally connects to the middle of the fourth transmission rod (7). The synchronous opening and closing mechanism of the capture mechanism is stored inside the flow guide (115) in the overall retracted state. As the synchronous opening and closing mechanism is gradually pushed out from inside the flow guide (115), the synchronous opening and closing mechanism gradually opens, completing the preparation before the capture operation.

2. The cable-driven, deployable capture mechanism for unmanned underwater vehicles according to claim 1, characterized in that, The distal section (1) has two pairs of hinge holes on its two thin walls, namely the first hinge hole (11) and the second hinge hole (12); the middle section (2) has three pairs of hinge holes on its two thin walls, namely the third hinge hole (21), the fourth hinge hole (22) and the fifth hinge hole (23); the proximal section (3) has three pairs of hinge holes on its two thin walls, namely the sixth hinge hole (31), the seventh hinge hole (32) and the eighth hinge hole (33); the space between the thin walls is a hollow area for arranging the connecting rod transmission assembly.

3. The rope-driven, deployable capture mechanism for unmanned underwater vehicles according to claim 2, characterized in that, The support base (9) is provided with a ninth hinge joint (91) and a tenth hinge joint (92) in the middle. A torsion spring limiting groove (93) is arranged on the other side of the hinge joint. The torsion spring limiting groove (93) is provided in two sets symmetrically about the central axis of the support base (9).

4. The rope-driven, deployable capture mechanism for unmanned underwater vehicles according to claim 2, characterized in that, The inner cavity of the middle section (2) is attached to the outer surfaces of the distal section (1) and the proximal section (3) on the left and right sides respectively; the first hinge hole (11) and the third hinge hole (21) are coaxial and are hinged by a pin; the fourth hinge hole (22) and the sixth hinge hole (31) are coaxial and are hinged by a pin.

5. The cable-driven, deployable capture mechanism for unmanned underwater vehicles according to claim 3, characterized in that, The linkage transmission assembly includes two sets of symmetrically arranged first transmission rods (4), second transmission rods (5), and third transmission rods (6), as well as a single set of fourth transmission rods (7). One end of the first transmission rod (4) is hinged to the first hinge hole (11), and the third hinge hole (21) is located outside the first hinge hole (11). The circular hole at one end of the first transmission rod (4), the first hinge hole (11), and the third hinge hole (21) are coaxial with the axis of the pin and rotate around the pin through the pin. One end of the second transmission rod (5) is embedded in the other end of the first transmission rod (4) and is hinged to it by rotation through the pin. The other end of the second transmission rod (5) extends to the seventh hinge hole (32) and is hinged to it by rotation through the pin. The circular hole at one end of the third transmission rod (6) is connected to the second hinge hole (11). 2) The fourth transmission rod (7) is pivotally hinged to the fifth hinge hole (23) by a pin. The other end of the third transmission rod (6) is pivotally hinged to the tenth hinge joint (92) provided on the support base (9). The other end of the fourth transmission rod (7) is also pivotally hinged to the tenth hinge joint (92). The three are arranged coaxially and rotate around the axis. The other end of the third transmission rod (6) is provided with a square groove. A torsion spring (8) with a V-angle of 180° is provided in the groove. The left end of the V-angle of the torsion spring (8) abuts against the square groove of the third transmission rod (6), and the right end abuts against the torsion spring limiting groove (93). The ninth hinge joint (91) and the eighth hinge hole (33) provided on the outer surface of the near section (3) are pivotally hinged by a pin.

6. The cable-driven, deployable capture mechanism for unmanned underwater vehicles according to claim 2, characterized in that, The centers of adjacent hinge holes on the middle section (2) are connected end to end to form a line, resulting in obtuse triangles with interior angles of 18°, 70°, and 92°.

7. The rope-driven, deployable capture mechanism for unmanned underwater vehicles according to claim 2, characterized in that, The centers of adjacent hinge holes on the near section (3) are connected end to end to form a line, resulting in obtuse triangles with interior angles of 14°, 41°, and 125° respectively.

8. The cable-driven, deployable capture mechanism for unmanned underwater vehicles according to any one of claims 1-7, characterized in that, The unmanned surface vessel (111) is equipped with a gantry (112), and a crane (113) fixedly installed on the upper part of the gantry (112) releases the fairing (115) into the sea via a cable (114).

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