An underwater dynamic recovery device for underwater robots

Abstract

This invention relates to an underwater dynamic recovery device for an underwater robot, comprising a recovery base, a recovery trolley, and a lateral fixing mechanism. The recovery trolley includes a connecting seat, a movable body, and a guide assembly. The movable body is slidably connected to the recovery base and is equipped with a braking mechanism. The connecting seat is located on the movable body, and the guide assembly is hinged to the connecting seat. A locking mechanism is provided on the connecting seat. After the bow of the underwater robot enters the guide assembly, it connects to the recovery trolley through the locking mechanism. Then, the braking mechanism is released, and the recovery trolley moves along the recovery base driven by the underwater robot. Lateral fixing mechanisms are provided on both sides of the rear of the recovery base, and the underwater robot is fixed by the lateral fixing mechanisms after entering the recovery base. This invention enables underwater recovery operations of AUVs through autonomous movement, is less affected by sea conditions, and reduces the number of operators required.

Description

Technical Field

[0001] This invention relates to the field of underwater robots, and more specifically to an underwater dynamic recovery device for underwater robots. Background Technology

[0002] The ocean contains abundant natural resources and is a valuable asset supporting human sustainable development. Autonomous Underwater Vehicles (AUVs) are a very important tool for marine resource exploration and development. The ability to safely, conveniently and efficiently recover AUVs is an important factor affecting their development.

[0003] Currently, the primary method for recovering AUVs is surface recovery. However, sea conditions such as waves and currents significantly impact the recovery process. While on the surface, AUVs are difficult to control and may drift away with the currents. Hooking the AUV onto the lifting rings (the hoisting ropes from the ship) is also challenging. In rough seas, the AUV may even become unrecoverable. Furthermore, surface recovery requires specialized hoisting equipment and substantial deck space, as well as a significant number of personnel to stabilize the AUV and prevent collisions. The entire recovery process is time-consuming, inefficient, and lacks concealment.

[0004] The above problems can be overcome by using underwater recovery methods for AUVs, but underwater recovery methods for AUVs are relatively complex. The most common underwater recovery method at present is to use a submarine to recover the AUV into the submarine through a robotic arm, which is quite difficult to achieve. Summary of the Invention

[0005] The purpose of this invention is to provide an underwater dynamic recovery device for underwater robots, which can realize underwater recovery operations of AUVs through autonomous movement, with less impact from sea conditions and a reduction in the number of operators.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] An underwater dynamic recovery device for an underwater robot includes a recovery base, a recovery trolley, and a lateral fixing mechanism. The recovery trolley includes a connecting seat, a movable body, and a guide assembly. The movable body is slidably connected to the recovery base and is equipped with a braking mechanism. The connecting seat is located on the movable body, and the guide assembly is hinged to the connecting seat. A locking mechanism is provided on the connecting seat. After the bow of the underwater robot enters the guide assembly, it connects to the recovery trolley through the locking mechanism. Then, the braking mechanism is released, and the recovery trolley moves along the recovery base driven by the underwater robot. Lateral fixing mechanisms are provided on both sides of the rear of the recovery base, and the underwater robot is fixed by the lateral fixing mechanisms after entering the recovery base.

[0008] The guiding assembly is provided with a guide plate, the connecting seat is provided with a first support plate and a second support plate, the upper side of the guide plate is provided with a hinge seat, and the hinge seat is respectively hinged to the upper end of the corresponding support plate on the connecting seat. The lower side of the guide plate is provided with a vertical block, the locking mechanism is provided on the first support plate, and the locking mechanism is provided with a movable locking shaft. The second support plate is provided with a socket for the locking shaft to be inserted. The guide plate is provided with a through hole, and after the connecting bow ring at the front end of the underwater robot passes through the through hole, the locking shaft extends through the connecting bow ring and is inserted into the corresponding socket on the second support plate.

[0009] The locking mechanism includes a locking drive device and a locking shaft. The locking drive device is mounted on the first support plate, and the locking shaft is driven to move by the locking drive device.

[0010] The guiding assembly includes a guide sleeve and a guide cover, both of which are located on the side of the guide disc away from the recycling trolley, and the guide sleeve is located within the guide cover.

[0011] The recycling base is provided with a trolley slide rail, and the lower side of the moving body of the recycling trolley is provided with a roller assembly that cooperates with the trolley slide rail. The braking mechanism includes a foldable brake block arranged in the vertical direction. The trolley slide rail is provided with a slide rail side wing plate, and the slide rail side wing plate and the corresponding side edge of the moving body are both located between the upper and lower brake blocks on the corresponding side.

[0012] The braking mechanism includes a mounting bracket, a brake drive device, and brake blocks. The mounting bracket is mounted on the mobile vehicle body, the brake drive device is mounted on the mounting bracket, and the brake blocks are opened and closed by the brake drive device.

[0013] The roller assembly includes horizontal rollers and vertical rollers. The trolley slide rail is grooved, with the horizontal rollers rolling along the groove walls and the vertical rollers rolling along the bottom surface of the groove.

[0014] The recovery base includes a recovery base frame, a bow fairing at the head end of the recovery base frame, a recovery bow ring at the front end of the bow fairing, bow horizontal wing plates on both sides of the head end of the recovery base frame, a vertical wing plate on the upper side of the head end of the recovery base frame, and stern horizontal wing plates on both sides of the tail end of the recovery base frame. Buoyancy materials are provided on the left, right, and lower sides of the recovery base frame.

[0015] The recycling base frame is equipped with a trolley slide rail and rubber-coated wheels, with the rubber-coated wheels located on both sides of the trolley slide rail. The outer sides of the recycling base frame are equipped with pulley brackets, and the pulley brackets are equipped with pulleys.

[0016] The lateral fixing mechanism includes a baffle base, a fixed baffle, and a baffle driving device. The baffle base is fixed on the recovery base. The lower end of the fixed baffle is hinged to the baffle base. A connecting rod is provided between adjacent fixed baffles on the same side. The lower end of the baffle driving device is hinged to the recovery base. The upper output shaft of the baffle driving device is hinged to the corresponding connecting rod.

[0017] The advantages and positive effects of this invention are as follows:

[0018] 1. This invention enables underwater recovery of AUVs with minimal impact from sea conditions. Even in rough seas and with large waves, AUVs can be recovered safely and smoothly.

[0019] 2. This invention achieves recovery by docking the recovery trolley on the recovery base with the AUV, and the AUV moves the recovery trolley into the recovery base by autonomous movement, reducing the number of control operators. In addition, the upper side of the recovery base is an open structure, so the entire recovery process will not be affected by protrusions such as fins, propellers and antennas on the AUV body.

[0020] 3. By designing the buoyancy material on the recovery base and adjusting the mother ship's speed, this invention can achieve a stable state between the rope tension, the navigation resistance, gravity, and buoyancy of the invention. This allows the invention to maintain a stable posture and be in force balance underwater, meeting the docking requirements between the underwater robot and the recovery trolley. At the same time, the recovery trolley is equipped with a locking mechanism to connect with the underwater robot and a braking mechanism to brake and position the trolley on the recovery base, thus ensuring the smooth recovery of the underwater robot.

[0021] 4. The recovery base of the present invention is equipped with rubber-coated wheels to reduce friction with the underwater robot and play a protective role. In addition, many parts of the present invention are made of rubber or have rubber protective blocks, which can reduce impact and play a good protective role for AUV. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention.

[0023] Figure 2 for Figure 1 A schematic diagram of the recycling cart in the picture.

[0024] Figure 3 for Figure 2 A schematic diagram of the braking mechanism in the diagram.

[0025] Figure 4 for Figure 3 Schematic diagram of the cooperation between the central braking mechanism and the trolley slide rail.

[0026] Figure 5 This is a schematic diagram illustrating the invention's towing capability via a mother ship.

[0027] Figure 6 This is a schematic diagram illustrating the docking of the present invention with an underwater robot.

[0028] Figure 7 This is a schematic diagram showing the underwater robot completely fixed to the present invention.

[0029] Among them, 1 is the recovery base, 101 is the recovery base frame, 102 is the rubber-coated wheel, 103 is the rubber-coated wheel base, 104 is the trolley slide rail, 1041 is the slide rail side wing plate, 105 is the rubber-coated wheel support, 106 is the pulley bracket, 107 is the pulley, 108 is the buoyancy material, 109 is the bow horizontal wing plate, 110 is the stern horizontal wing plate, 111 is the vertical wing plate, 112 is the bow fairing, and 113 is the recovery bow ring; 2 is the recovery trolley, 201 is the connecting seat, 202 is the roller assembly, 2021 is the horizontal roller, 2022 is the vertical roller, and 203 is the moving vehicle body. 204 is the braking mechanism, 2041 is the mounting bracket, 2042 is the brake drive device, 2043 is the brake block, 205 is the second support plate, 206 is the first support plate, 207 is the guide plate, 2071 is the through hole, 2072 is the hinge seat, 208 is the vertical block, 209 is the guide sleeve, 210 is the guide cover, 211 is the locking drive device, 212 is the locking shaft; 3 is the lateral fixing mechanism, 301 is the baffle base, 302 is the fixed baffle, 303 is the baffle drive device, 304 is the connecting rod, 305 is the protective rubber block, 4 is the mother ship, and 5 is the underwater robot. Detailed Implementation

[0030] The invention will now be described in further detail with reference to the accompanying drawings.

[0031] like Figures 1-7 As shown, the present invention includes a recovery base 1, a recovery trolley 2, and a lateral fixing mechanism 3, wherein... Figure 2As shown, the recycling trolley 2 includes a connecting seat 201, a movable body 203, and a guide assembly. The movable body 203 is slidably connected to the recycling base 1, and a braking mechanism 204 is provided on the movable body 203 for braking and positioning on the recycling base 1. The connecting seat 201 is disposed on the movable body 203, and the upper side of the guide assembly is hinged to the upper end of the connecting seat 201. A locking mechanism is provided on the connecting seat 201, and as shown... Figure 6 As shown, after the bow of the underwater robot 5 enters the guide assembly, it is locked by the locking mechanism to connect with the recovery trolley 2. Then, the brake mechanism 204 is released, and the recovery trolley 2 is driven by the underwater robot 5 to move along the recovery base 1. The recovery base 1 is provided with lateral fixing mechanisms 3 on both sides of its rear. Figure 7 As shown, after the underwater robot 5 fully enters the recovery base 1, it is closed and fixed by the lateral fixing mechanisms 3 on both sides.

[0032] like Figure 2 As shown, the guiding assembly is provided with a guide plate 207, the connecting seat 201 is provided with a first support plate 206 and a second support plate 205, the upper side of the guide plate 207 is provided with a hinge seat 2072, and the hinge seat 2072 is hinged to the upper end of the corresponding support plate on the connecting seat 201. The lower side of the guide plate 207 is provided with a vertical block 208, the vertical block 208 ensures that the guide plate 207 is vertical in the water, thereby ensuring accurate docking. The locking mechanism is provided on the first support plate 206, and the locking mechanism is provided with a movable locking shaft 212. The second support plate 205 is provided with a socket for the locking shaft 212 to be inserted. The guide plate 207 is provided with a through hole 2071, and the connecting bow ring at the front end of the underwater robot 5 passes through the through hole 2071. Then the locking shaft 212 extends out, passes through the connecting bow ring, and is inserted into the corresponding socket on the second support plate 205, thereby realizing the connection between the connecting seat 201 and the underwater robot 5. In this embodiment, the guide plate 207 is made of rubber to avoid hard impact with the underwater robot 5 and the connecting seat 201. The plumb block 208 is made of solid metal to achieve a plumb effect. The plumb block 208 can pass between the two support plates of the connecting seat 201, thereby avoiding hard impact with the connecting seat 201.

[0033] like Figure 2 As shown, the guiding assembly includes a guide disk 207, a guide sleeve 209, and a guide cover 210. The guide sleeve 209 and the guide cover 210 are both located on the side of the guide disk 207 away from the recovery trolley 2, and the guide sleeve 209 is located inside the guide cover 210. The guide cover 210 has a flared, expanded diameter structure. When the underwater robot 5 docks with the recovery trolley 2, it first enters the guide cover 210 and then enters the guide sleeve 209. The guide sleeve 209 is also made of rubber to avoid hard impacts.

[0034] like Figure 2 As shown, in this embodiment, the locking mechanism includes a locking drive device 211 and a locking shaft 212. The locking drive device 211 is mounted on the first support plate 206, and the locking shaft 212 is driven to move by the locking drive device 211.

[0035] In this embodiment, the locking drive device 211 includes a locking motor and a worm gear. The locking shaft 212 is provided with a worm section. The worm gear is driven to rotate by the locking motor, and the worm gear meshes with the worm section of the locking shaft 212. The rotation of the worm gear drives the locking shaft 212 to extend and retract, and the worm section can be completely retracted into the housing of the locking drive device 211, so that the locking shaft 212 has a sufficient retraction distance to ensure that the connecting bow ring of the underwater robot 5 enters between the first support plate 06 and the second support plate 205.

[0036] like Figure 1 As shown, the recycling base 1 is equipped with a trolley slide rail 104, such as... Figure 2 and Figure 4 As shown, the lower side of the moving body 203 of the recycling trolley 2 is provided with a roller assembly 202 that cooperates with the trolley slide rail 104. The braking mechanism 204 includes a vertically oriented, openable brake block 2043. The trolley slide rail 104 has slide rail side wing plates 1041 on both sides, and the slide rail side wing plates 1041 and the corresponding edges of the moving body 203 are positioned between the upper and lower brake blocks 2043 on the corresponding sides. When the two brake blocks 2043 are closed, they clamp the slide rail side wing plates 1041 and the edges of the moving body 203, thereby achieving braking and positioning of the recycling trolley 2. Figure 5 As shown, when the present invention is towed normally by the mother ship 4, the recovery trolley 2 is positioned at the tail end of the recovery base 1, as follows. Figure 6 As shown, after the underwater robot 5 completes its connection with the recovery trolley 2, the two brake blocks 2043 open, and the underwater robot 5's power propels the recovery trolley 2 to move along the recovery base 1. Simultaneously, guided by the guide assembly, it moves as follows... Figure 7 As shown, the underwater robot 5 can enter the recovery base 1 and maintain a roughly parallel state with the recovery base 1. After the underwater robot 5 moves into place (that is, after the recovery trolley 2 moves back into place), the two brake blocks 2043 close again to realize the braking and positioning of the recovery trolley 2. Then the lateral fixing mechanism 3 is activated to fix the underwater robot 5 on the recovery base 1.

[0037] like Figures 3-4As shown, in this embodiment, the braking mechanism 204 includes a mounting bracket 2041, a brake drive device 2402, and brake blocks 2403. The mounting bracket 2041 is disposed on the edge of the moving vehicle body 203, and the brake drive device 2402 is disposed on the mounting bracket 2041. The upper and lower brake blocks 2403 are driven to open and close by the brake drive device 2402. The brake drive device 2402 is a technology known in the art and is a commercially available product, such as a gripper motor. In addition, in this embodiment, the brake blocks 2403 are made of rubber to avoid damaging the vehicle body and the slide rail.

[0038] like Figure 2 and Figure 4 As shown, in this embodiment, the roller assembly 202 includes horizontal rollers 2021 and vertical rollers 2022. The trolley slide rail 104 is grooved, and the horizontal rollers 2021 roll along the groove wall. At the same time, the horizontal rollers 2021 on both sides limit the left and right displacement of the moving trolley body 203, and the vertical rollers 2022 roll along the bottom surface of the groove.

[0039] like Figure 1 As shown, the recovery base 1 includes a recovery base frame 101. The head end of the recovery base frame 101 is provided with a bow fairing 112, and the front end of the bow fairing 112 is provided with a recovery bow ring 113 connected to the mother ship 4 by a tow rope. Bow horizontal wing plates 109 are provided on both sides of the head end of the recovery base frame 101, and a vertical wing plate 111 is provided on the upper side of the head end of the recovery base frame 101. Stern horizontal wing plates 110 are provided on both sides of the stern end of the recovery base frame 101. In addition, buoyancy materials 108 are provided on the left, right, and lower sides of the recovery base frame 101 to generate buoyancy. Figure 5 As shown, when the present invention is towed by the mother ship 4, the present invention has a forward sailing speed, and at the same time, it generates sailing resistance. Through the design and installation of the buoyancy material 108 and the adjustment of the heading speed of the mother ship 4, the present invention can make the tension of the tow rope and the sailing resistance, gravity and buoyancy of the present invention form a stable state, thereby enabling the present invention to maintain a stable posture in underwater force balance and meet the docking requirements of the underwater robot 5. The above force balance can be calculated by the control system programming module.

[0040] like Figure 1As shown, the recovery base frame 101 is equipped with a trolley slide rail 104 and rubber-coated wheels 102. The rubber-coated wheels 102 are respectively located on both sides of the trolley slide rail 104. When the underwater robot 5 moves in, the two sides of the underwater robot 5 roll into contact with the corresponding rubber-coated wheels 104, thereby reducing the friction of the underwater robot 5 during recovery and playing a protective role. In addition, the recovery base frame 101 is equipped with pulley brackets 106 on both sides, and pulleys 107 are provided on the pulley brackets 106. When the present invention is recovered onto the mother ship 4, the pulleys 107 can reduce the friction between the present invention and the equipment of the mother ship 4 and play a protective role.

[0041] like Figure 1 As shown, in this embodiment, the rubber-coated wheel 102 is mounted on the rubber-coated wheel base 103, the rubber-coated wheel base 103 is mounted on the rubber-coated wheel support 105, and the rubber-coated wheel support 105 is mounted on the recycling base frame 101.

[0042] like Figure 1 As shown, the lateral fixing mechanism 3 includes a baffle base 301, a fixed baffle 302, and a baffle driving device 303. The baffle base 301 is fixed on the recycling base 1. The lower end of the fixed baffle 302 is hinged to the baffle base 301 and driven to rotate by the baffle driving device 303.

[0043] like Figure 1 As shown, in this embodiment, a connecting rod 304 is provided between adjacent fixed baffles 302 on the same side. The baffle driving device 303 is a linear driving device, such as an electric push rod. The lower end of the baffle driving device 303 is hinged to the recovery base 1. The upper output shaft of the baffle driving device 303 is hinged to the corresponding connecting rod 304. The output shaft extends to drive the fixed baffle 302 to rotate and close, thus fixing the underwater robot 5. A protective rubber block 305 is provided on the fixed baffle 302 to avoid damaging the underwater robot.

[0044] The working principle of this invention is as follows:

[0045] like Figures 5-7As shown, the present invention is first lowered into the water from the mother ship 4. The mother ship 4 moves forward at a certain speed and tows the present invention by a rope, which is attached to the recovery bow ring 113 at the front end of the recovery base 1. Due to the towing by the mother ship 4, the present invention has a forward speed and generates sailing resistance. The recovery base 1 is equipped with a buoyancy material 108 to generate buoyancy. The present invention, through the design of the buoyancy material 108 and in coordination with the adjustment of the mother ship 4's sailing speed, can make the tension of the rope and the sailing resistance, gravity, and buoyancy of the present invention form a stable state, thereby making the present invention balanced underwater and able to maintain a stable attitude. At this time, the recovery trolley 2 is fixed to the end of the present invention by the braking mechanism 204, and the guide plate 207 on the recovery trolley 2 is kept vertical in the water by the action of the plumb block 208. The underwater robot 5 autonomously controls its forward movement and docks with the recovery trolley 2. During docking, the underwater robot 5 first enters the guide cover 210 and then enters the guide sleeve 209, and the connecting bow ring of the underwater robot 5 passes through the guide plate 213. 07. The underwater robot 5 enters between the first support plate 206 and the second support plate 205 on the recovery trolley 2. A sensor can be installed on either support plate. After the sensor detects the entry of the connecting bow ring, it sends a signal to the control system. The control system controls the locking shaft 212 in the locking mechanism to extend through the connecting bow ring of the underwater robot 5 and insert into the corresponding hole on the second support plate 205, thereby connecting the recovery trolley 2 and the underwater robot 5. The sensor is a known technology in the field and is a commercially available product. Then, the braking mechanism 204 is released, and the underwater robot 5 continues to move autonomously. The recovery trolley 2 slides along the trolley slide rail 104 on the recovery base 1 to the bow end of the invention under the push of the underwater robot 5. Then, the braking mechanism 204 restarts to fix the recovery trolley 2, and the fixing baffle 302 in the lateral fixing mechanism 3 closes to press the underwater robot 5 to fix it. Finally, the mother ship 4 pulls the invention together with the underwater robot 5 onto the mother ship 4 by pulling rope, thus completing the recovery of the underwater robot. The present invention can also be used for the deployment of underwater robot 5, and the deployment process of underwater robot 5 is the reverse of the above-described recovery process.

Claims

1. An underwater dynamic recovery device for underwater robots, characterized in that: The system includes a recovery base (1), a recovery trolley (2), and a lateral fixing mechanism (3). The recovery trolley (2) includes a connecting seat (201), a moving body (203), and a guide assembly. The moving body (203) is slidably connected to the recovery base (1), and a brake mechanism (204) is provided on the moving body (203). The connecting seat (201) is located on the moving body (203), and the guide assembly is hinged to the connecting seat (201). A locking mechanism is provided on the connecting seat (201). After the bow of the underwater robot (5) enters the guide assembly, it is connected to the recovery trolley (2) through the locking mechanism. Then the brake mechanism (204) is released, and the recovery trolley (2) is driven by the underwater robot (5) to move along the recovery base (1). Lateral fixing mechanisms (3) are provided on both sides of the rear of the recovery base (1), and the underwater robot (5) is fixed by the lateral fixing mechanisms (3) after entering the recovery base (1). The recovery base (1) includes a recovery base frame (101), the head end of the recovery base frame (101) is provided with a bow fairing (112), and the front end of the bow fairing (112) is provided with a recovery bow ring (113). The two sides of the head end of the recovery base frame (101) are provided with bow horizontal wing plates (109), the upper side of the head end of the recovery base frame (101) is provided with a vertical wing plate (111), the two sides of the tail end of the recovery base frame (101) are provided with stern horizontal wing plates (110), and buoyancy materials (108) are provided on the left, right and lower sides of the recovery base frame (101). The front end of the bow fairing (112) is provided with a recovery bow ring (113) which is connected to the mother ship (4) by a rope.

2. The underwater dynamic recovery device for underwater robots according to claim 1, characterized in that: The guiding assembly is provided with a guide plate (207), the connecting seat (201) is provided with a first support plate (206) and a second support plate (205), the upper side of the guide plate (207) is provided with a hinge seat (2072), and the hinge seat (2072) is respectively hinged to the upper end of the corresponding support plate on the connecting seat (201). The lower side of the guide plate (207) is provided with a vertical block (208). The locking mechanism is provided on the first support plate (206), and the locking mechanism is provided with a movable locking shaft (212). The second support plate (205) is provided with a socket for the locking shaft (212) to be inserted. The guide plate (207) is provided with a through hole (2071). After the connecting bow ring at the front end of the underwater robot (5) passes through the through hole (2071), the locking shaft (212) extends out, passes through the connecting bow ring, and is inserted into the corresponding socket on the second support plate (205).

3. The underwater dynamic recovery device for underwater robots according to claim 2, characterized in that: The locking mechanism includes a locking drive device (211) and a locking shaft (212). The locking drive device (211) is mounted on the first support plate (206), and the locking shaft (212) is driven to move by the locking drive device (211).

4. The underwater dynamic recovery device for underwater robots according to claim 2, characterized in that: The guiding assembly includes a guide sleeve (209) and a guide cover (210), and both the guide sleeve (209) and the guide cover (210) are located on the side of the guide disc (207) away from the recycling trolley (2), and the guide sleeve (209) is located in the guide cover (210).

5. The underwater dynamic recovery device for an underwater robot according to claim 1, characterized in that: The recycling base (1) is provided with a trolley slide rail (104). The lower side of the moving body (203) of the recycling trolley (2) is provided with a roller group (202) that cooperates with the trolley slide rail (104). The braking mechanism (204) includes a brake block (2043) that can be opened and closed in the vertical direction. The trolley slide rail (104) is provided with a slide rail side wing plate (1041). The slide rail side wing plate (1041) and the corresponding side edge of the moving body (203) are both located between the upper and lower brake blocks (2043) on the corresponding side.

6. The underwater dynamic recovery device for an underwater robot according to claim 5, characterized in that: The braking mechanism (204) includes a mounting bracket (2041), a brake drive device (2402), and a brake block (2403). The mounting bracket (2041) is mounted on the moving vehicle body (203), the brake drive device (2402) is mounted on the mounting bracket (2041), and the brake block (2403) is driven to open and close by the brake drive device (2402).

7. The underwater dynamic recovery device for an underwater robot according to claim 5, characterized in that: The roller assembly (202) includes a horizontal roller (2021) and a vertical roller (2022). The trolley slide rail (104) is grooved, and the horizontal roller (2021) rolls along the groove wall, while the vertical roller (2022) rolls along the bottom surface of the groove.

8. The underwater dynamic recovery device for an underwater robot according to claim 1, characterized in that: The recycling base frame (101) is provided with a trolley slide rail (104) and rubber-coated wheels (102), and the rubber-coated wheels (102) are respectively located on both sides of the trolley slide rail (104). The recycling base frame (101) is provided with pulley brackets (106) on both sides, and pulleys (107) are provided on the pulley brackets (106).

9. The underwater dynamic recovery device for an underwater robot according to claim 1, characterized in that: The lateral fixing mechanism (3) includes a baffle base (301), a fixed baffle (302), and a baffle driving device (303). The baffle base (301) is fixed on the recycling base (1). The lower end of the fixed baffle (302) is hinged to the baffle base (301). A connecting rod (304) is provided between adjacent fixed baffles (302) on the same side. The lower end of the baffle driving device (303) is hinged to the recycling base (1). The upper output shaft of the baffle driving device (303) is hinged to the corresponding connecting rod (304).

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