Mechanical lock for laying and recovering underwater robot

Abstract

The mechanical lock is characterized in that a vertically-through containing cavity is formed in the middle of a fixing base, the left side and the right side of the containing cavity are each provided with a shifting piece, the shifting pieces are rotationally or slidably connected to the fixing base through rotating shafts, and the inner sides of the left shifting piece and the right shifting piece are arranged in the containing cavity during locking; the shifting piece is connected with the floating block through a transmission mechanism, the bearing head is fixed to underwater equipment, an umbilical cable connected with the underwater equipment penetrates through a through hole in the middle of the bearing head, an annular clamping groove is formed in the periphery of the bearing head, and when the floating block is on water, the bearing head enters the containing cavity to drive the shifting piece to move out of the containing cavity and then return to the original position, and the inner end of the shifting piece is clamped into the annular clamping groove. A mechanical lock is locked; when the floating block is placed underwater, the floating block floats upwards, the shifting piece moves out of the annular clamping groove, the mechanical lock is unlocked, and the bearing head moves out of the containing cavity. Locking recovery and unlocking laying of the mechanical lock and the underwater robot can be automatically achieved through the gravity and buoyancy of the floating block, and the control process is simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater equipment, and in particular to a mechanical lock used for deploying and recovering an underwater robot. Background Art

[0002] An underwater robot is a robot that operates in an underwater environment and needs to be deployed and recovered when in use. According to the weight, there are three ways to deploy and recover underwater robots. First, large underwater robots operating in deep seas are generally deployed and recovered using an umbilical cable management system TMS; second, small underwater robots are deployed and recovered directly through umbilical cables; third, small and medium-sized underwater robots operating in shallow waters often dock the latch device with the underwater robot, and then lift the latch device by a winch or crane. Latch devices are divided into manual and automatic types. In view of safety considerations, manual latch devices are gradually replaced by automatic latch devices. Existing latch devices generally include a transmission mechanism, a lock pin and a lock body. The lock pin is fixed on the underwater robot, and the lock pin is inserted into the lock body. Under the drive of a driving mechanism (such as a motor) or manpower, the transmission mechanism moves to complete the locking and separation of the lock pin and the lock body, and then complete the docking and separation of the latch device and the underwater robot. Therefore, the existing latch device generally achieves locking and unlocking by applying a pulling force remotely by humans, or adding a motor remote control, and cannot achieve complete autonomous control. To this end, the present invention provides a mechanical lock that can utilize buoyancy and gravity as driving forces to achieve deployment and recovery of an underwater robot. Summary of the invention

[0003] The purpose of the present invention is to provide a mechanical lock for deploying and recovering an underwater robot, which solves the problem that the existing mechanical lock requires additional external force, has a complex structure and is cumbersome to operate.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A mechanical lock for deploying and recovering an underwater robot comprises a floating block, a rotating shaft, a transmission mechanism, a paddle, a fixed seat and a bearing head; a receiving chamber which passes through from top to bottom is provided in the middle of the fixed seat, a paddle is provided on both the left and right sides of the receiving chamber, the paddle is connected to the fixed seat by rotating or sliding through the rotating shaft, the inner sides of the left and right paddles are placed in the receiving chamber when locked, the paddles are connected to the floating block through the transmission mechanism, the bearing head is fixed to the underwater equipment, the umbilical cable connected to the underwater equipment passes through the through hole in the middle of the bearing head, an annular groove is provided on the outer periphery of the bearing head, when the floating block is on the water, the bearing head enters the receiving chamber to drive the inner side of the paddle to move out of the receiving chamber, and then returns to its original position, the inner end of the paddle is clamped in the annular groove, and the mechanical lock is locked; when the floating block is placed underwater, the floating block floats up, the inner end of the paddle moves out of the annular groove, the mechanical lock is unlocked, and the bearing head moves out of the receiving chamber.

[0006] As an implementation method, the transmission mechanism includes a connecting rod, a first slider, a support rod and a fixed plate; a through hole is provided in the middle of the fixed plate, the bottom of the fixed seat is installed on the fixed plate and the center of the through hole is on the central axis of the accommodating cavity, and a support rod is fixed on the fixed plates on the left and right sides of the fixed seat respectively, and the two support rods are symmetrically arranged relative to the fixed seat, the top of any support rod is hinged to the middle of a connecting rod, the rotating shaft is lower than the hinge point between the support rod and the connecting rod, the floating block is fixed at the outer end of the connecting rod, and a long first sliding hole is provided at the inner end of the connecting rod along the length direction, and a first sliding block is provided at the outer end of the paddle, and the first sliding block is slidably connected to the first sliding hole.

[0007] As another implementation method, the transmission structure includes a connecting rod, a first slider, a support rod, a fixed plate, a second slider, a vertical rod and a slide; a through hole is provided in the middle of the fixed plate, the bottom of the fixed seat is installed on the fixed plate, and the center of the through hole is on the central axis of the accommodating cavity, a support rod is fixed on the fixed plates on the left and right sides of the fixed seat respectively, and the two support rods are symmetrically arranged relative to the fixed seat, the top of any support rod is hinged to the middle of a connecting rod, the rotating shaft is lower than the hinge point between the support rod and the connecting rod, an elongated first sliding hole is provided at the inner end of the connecting rod along the length direction, a first slider is provided at the outer end of the paddle, the first slider is slidably connected to the first sliding hole, an elongated second sliding hole is provided at the outer end of the connecting rod along the length direction, the floating block is fixed on the top of the vertical rod, the vertical rod is sleeved in the vertical slide and moves back and forth along the sliding, a second slider is provided at the bottom of the vertical rod, and the second slider is slidably connected to the second sliding hole.

[0008] As another implementation method, the transmission mechanism includes a connecting rod, a first gear, and a second gear; the first gear is fixed on the left rotating shaft, the second gear is fixed on the right rotating shaft, the first gear and the second gear are meshed, one end of the connecting rod is fixed on the left rotating shaft, the floating block is fixed at the other end of the connecting rod, and the floating block is close to the second gear.

[0009] As another implementation method, the transmission mechanism includes a connecting rod, a slide groove, a support rod and a fixed plate; a through hole is provided in the middle of the fixed plate, the bottom of the fixed seat is installed on the fixed plate and the center of the through hole is on the central axis of the accommodating cavity, a support rod is fixed on the fixed plates on the left and right sides of the fixed seat respectively, and the two support rods are symmetrically arranged relative to the fixed seat, the top of any support rod is hinged to the slide groove, the floating block is fixed to the outer end of the connecting rod, the connecting rod slides along the slide groove 310, and the inner end of the connecting rod is connected to the outer end of the paddle.

[0010] It should be noted that the floating block is a floating ball, a floating block or an air bag.

[0011] It should be noted that when the mechanical lock is locked, a truncated cone-shaped structure is formed between the left and right paddles.

[0012] It should be noted that: the accommodating cavities are symmetrically opened on the left and right sides of the fixing seat, the accommodating cavities are connected with the accommodating cavity, and the paddle is placed in the accommodating cavity.

[0013] It should be noted that: a lifting ring is installed on the top of the fixing seat, and the lifting equipment lifts the mechanical lock and the underwater equipment through the lifting ring.

[0014] Furthermore, a circular hole is opened on the hanging ring just above the accommodating cavity.

[0015] The beneficial effects of the present invention are as follows: by utilizing the gravity and buoyancy of the floating block itself, the locking, recovery and unlocking and deployment of the mechanical lock and the underwater robot can be automatically realized without using driving devices such as motors and remote control devices, thereby simplifying the control process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the locking state structure of the mechanical lock involved in Example 1.

[0017] Figure 2 This is a schematic diagram of the unlocked state structure of the mechanical lock involved in Example 1.

[0018] Figure 3-4 Schematic diagram of the state of the mechanical lock during the deployment of the underwater robot in Example 1.

[0019] Figure 5-6 Schematic diagram of the status of the mechanical lock during the recovery process of the underwater robot in Example 1.

[0020] Figure 7 This is a schematic diagram of the locking state structure of the mechanical lock involved in Example 2.

[0021] Figure 8 This is a schematic diagram of the unlocked state structure of the mechanical lock involved in Example 2.

[0022] Fig. 9 This is a schematic diagram of the locking state structure of the mechanical lock involved in Example 3.

[0023] Fig.10 This is a schematic diagram of the unlocked state structure of the mechanical lock involved in Example 3.

[0024] Fig.11 This is a schematic diagram of the locking state structure of the mechanical lock involved in Example 4.

[0025] Fig.12 This is a schematic diagram of the unlocked state structure of the mechanical lock involved in Example 4. DETAILED DESCRIPTION

[0026] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and technical solutions.

[0027] The “inside” and “outside” mentioned in the present invention are relative to the central axis of the mechanical lock, the side close to the central axis is the inner side, and the side away from the central axis is the outer side.

[0028] Example 1

[0029] like Figure 1-2 As shown, the mechanical lock for deploying and recovering an underwater robot involved in this embodiment includes a float 1, a rotating shaft 2, a transmission mechanism 3, a paddle 4, a fixing seat 5, and a bearing head 6; a receiving chamber that passes through from top to bottom is provided in the middle of the fixing seat 5, and a paddle 4 is provided on both sides of the receiving chamber. The paddle 4 is rotatably connected to the fixing seat 5 through the rotating shaft 2. When locked, the inner sides of the left and right paddles 4 are placed in the receiving chamber, the paddle 4 is connected to the float 1 through the transmission mechanism 3, the bearing head 6 is fixed to the underwater equipment 7, and the umbilical cable 8 connected to the underwater equipment 7 passes through the through hole in the middle of the bearing head 6. An annular groove is provided on the outer periphery of the bearing head 6. When the float 1 is above water, the bearing head 6 enters the receiving chamber to drive the inner side of the paddle 4 to rotate outward around the rotating shaft 2, and then returns to its original position, the inner end of the paddle 4 is clamped in the annular groove, and the mechanical lock is locked; when the float 1 is placed underwater, the float 1 floats up, the inner end of the paddle 4 rotates out of the annular groove, the mechanical lock is unlocked, and the bearing head 6 moves out of the receiving chamber.

[0030] like Figure 1-2 As shown, the transmission mechanism 3 involved in this embodiment includes a connecting rod 301, a first slider 302, a support rod 303 and a fixed plate 304; a through hole is provided in the middle of the fixed plate 304, the bottom of the fixed seat 5 is installed on the fixed plate 304 and the center of the through hole is on the central axis of the accommodating cavity, a support rod 303 is fixed on the fixed plates 304 on the left and right sides of the fixed seat 5, and the two support rods 303 are symmetrically arranged relative to the fixed seat 5, the top of any support rod 303 is hinged to the middle of a connecting rod 301, the rotating shaft 2 is lower than the hinge point between the support rod 303 and the connecting rod 301, the floating ball 1 is fixed to the outer end of the connecting rod 301, the inner end of the connecting rod 301 is provided with a long first sliding hole along the length direction, the outer end of the paddle 4 is provided with a first slider 302, and the first slider 302 is slidably connected with the first sliding hole. It can be seen that the connecting rod 301, the paddle 4, the support rod 303 and the fixed plate 304 constitute a connecting rod mechanism, and the floating ball is the power source for driving the connecting rod mechanism to work.

[0031] It should be noted that the float ball 1 can also be a floating block, an air bag or other floating blocks.

[0032] It should be noted that when the mechanical lock is tightened, a truncated cone-shaped structure is formed between the left and right paddles 4 , which facilitates the load-bearing head 6 to lift up the paddle 4 .

[0033] It should be noted that the underwater equipment 7 is an underwater robot or other underwater equipment 7 that needs to be deployed and salvaged.

[0034] It should be noted that: the accommodating cavities are symmetrically opened on the left and right sides of the fixing seat 5 , the accommodating cavities are connected with the receiving cavity, and the paddle 4 is placed in the accommodating cavities. This structure can prevent the external environment from affecting the paddle 4 .

[0035] As an implementation method: the fixing seat is a frame structure, a frame accommodating cavity is built in the middle of the fixing seat 5, frame accommodating cavities are symmetrically built on the left and right sides of the fixing seat 5, the accommodating cavities are connected to each other, and the paddle 4 is placed in the accommodating cavity.

[0036] It should be noted that: a lifting ring 9 is installed on the top of the fixing seat 5, and the lifting equipment lifts the mechanical lock and the underwater equipment 7 through the lifting ring 9. Further, a round hole is opened on the lifting ring 9 just above the accommodating cavity.

[0037] It should be noted that the load-bearing head 6 is fixed at the joint between the underwater robot and the cable, for example, the cable is connected to the internal circuit structure of the underwater robot through a watertight head, the load-bearing head 6 is covered on the outside of the watertight head, and the load-bearing head 6 is fixed to the underwater robot by screws.

[0038] like Figure 3-4 As shown in the figure, the deployment process of the underwater robot is as follows: (1) When the buoy 1 is above water, the umbilical cable passes through the through hole, the receiving cavity and the circular hole in turn, and the bearing head 6 enters the receiving cavity from the through hole, lifts the paddles 4 on the left and right sides, and the inner sides of the left and right paddles 4 rotate outward around the rotating shaft 2. The two paddles 4 open, and the bearing head 6 continues to move forward. When the annular groove approaches the paddle 4, the paddle 4 returns to its original position and closes. The inner end of the paddle 4 is stuck in the annular groove and locked by the mechanical lock; (2) The lifting ring is lifted to place the underwater robot into a specific water area. The underwater robot Start, drive the mechanical lock into underwater, the buoyancy of the float 1 is greater than the gravity, the float 1 floats up, drive the support rod 303 to rotate around the middle hinge point, the other end of the support rod 303 presses down the slider end of the paddle 4, the first slider 302 slides along the first sliding hole, the inner side of the paddle rotates outward around the rotating axis, the paddle 4 rotates out of the annular slot, the mechanical lock is unlocked, the underwater robot dives, drive the lower bearing head 6 to move out of the accommodating cavity, realize deployment, and the mechanical lock floats on the water surface under the action of the float, waiting for the underwater robot to be recovered.

[0039] like Figure 5-6 As shown, the underwater robot recovery process is as follows: (1) Control the underwater robot to float to the water surface, the float and the bearing head 6 are exposed above the water surface, the umbilical cable is tightened to facilitate the bearing head 6 to enter the accommodating cavity from the through hole, and the paddles 4 on the left and right sides are lifted up. The inner sides of the left and right paddles 4 rotate outward around the rotating axis, the two paddles 4 are opened, and the mechanical lock continues to be lowered. When the annular groove approaches the paddle 4, the paddle 4 returns to its original position and closes. The inner end of the paddle 4 is inserted into the annular groove and the mechanical lock is locked; (2) Lift the lifting ring to lift the underwater robot to achieve recovery.

[0040] Example 2

[0041] like Figure 7-8As shown, except for the transmission mechanism 3, the present embodiment is the same as the embodiment 1. The transmission structure includes a connecting rod 301, a first slider 302, a support rod 303, a fixing plate 304, a second slider 305, a vertical rod 306 and a slideway 307; a through hole is provided in the middle of the fixing plate 304, the bottom of the fixing seat 5 is mounted on the fixing plate 304, and the center of the through hole is located on the central axis of the accommodating cavity, and a support rod 303 is fixed on the fixing plates 304 on the left and right sides of the fixing seat 5, respectively, and the two support rods 303 are symmetrically arranged relative to the fixing seat 5, and the top of any support rod 303 is connected to a connecting rod 301. The middle part of the rod 301 is hinged, and the rotating shaft 2 is lower than the hinge point between the supporting rod 303 and the connecting rod 301. The inner end of the connecting rod 301 is provided with a long first sliding hole along the length direction, and the outer end of the paddle 4 is provided with a first slider 302, and the first slider 302 is slidably connected with the first sliding hole. The outer end of the connecting rod 301 is provided with a long second sliding hole along the length direction. The float 1 is fixed on the top of the vertical pole 306, and the vertical pole 306 is sleeved in the vertical slide 307 and reciprocates up and down along the sliding. The bottom of the vertical pole 306 is provided with a second slider 305, and the second slider 305 is slidably connected with the second sliding hole.

[0042] Specifically, when the float 1 is on the water, the load-bearing head 6 enters the accommodating cavity from the through hole, lifts up the paddles 4 on the left and right sides, and the inner sides of the left and right paddles rotate outward around the rotating shaft 2. The two paddles 4 open, and the load-bearing head 6 continues to move forward. When the annular groove approaches the paddle 4, the paddle 4 returns to its original position and closes, and the inner end of the paddle 4 is inserted into the annular groove, and the mechanical lock is locked; when the float 1 is placed underwater, the buoyancy of the float 1 is greater than the gravity, and the float 1 floats up, driving the vertical rod 306 to move upward along the slide 307, and the second slider 305 slides along the second sliding hole, driving the support rod 303 to rotate around the middle hinge point, and the other end of the support rod 303 presses down the slider end of the paddle 4, and the first slider 302 slides along the first sliding hole, and the paddle 4 rotates around the rotating shaft 2, and the paddle 4 rotates out of the annular groove, the mechanical lock is unlocked, and the load-bearing head 6 moves out of the accommodating cavity. It can be seen that the connecting rod 301 , the paddle 4 , the support rod 303 and the fixing plate 304 constitute a connecting rod mechanism, and the floating ball drives the connecting rod mechanism to work through the vertical rod 306 and the slideway 307 .

[0043] Example 3

[0044] like Figure 9-10 As shown, this embodiment is the same as the first embodiment except the transmission mechanism 3. The transmission mechanism 3 includes a connecting rod 301, a first gear 308, and a second gear 309;

[0045] The first gear 308 is fixed on the left rotating shaft 2, and the second gear 309 is fixed on the right rotating shaft 2. The first gear 308 and the second gear 309 are meshed. One end of the connecting rod 301 is fixed on the left rotating shaft 2, and the floating ball 1 is fixed on the other end of the connecting rod 301, and the floating ball 1 is close to the second gear 309.

[0046] Specifically, when the float 1 is on the water, the load-bearing head 6 enters the accommodating cavity from the through hole, lifts up the paddles 4 on the left and right sides, and the inner sides of the left and right paddles rotate outward around the rotating shaft. The two paddles 4 open, and the load-bearing head 6 continues to move forward. When the annular groove approaches the paddle 4, the paddle 4 returns to its original position and closes. The inner end of the paddle 4 is inserted into the annular groove and the mechanical lock is locked. When the float 1 is placed underwater, the buoyancy of the float 1 is greater than the gravity, the float 1 floats up, driving the rotating shaft 2 to rotate, the first gear 308 and the second gear 309 both rotate outward, the paddle 4 rotates around the rotating shaft 2, the paddle 4 rotates out of the annular groove, the mechanical lock is unlocked, and the load-bearing head 6 moves out of the accommodating cavity.

[0047] The transmission mechanism may also be other structures, as long as the float can drive the paddle to rotate around the rotating shaft through the transmission mechanism under the action of buoyancy.

[0048] Example 4

[0049] like Figure 11-12 As shown, the mechanical lock for deploying and recovering an underwater robot involved in this embodiment includes a float 1, a rotating shaft 2 (also called a guide shaft), a transmission mechanism 3, a paddle 4, a fixing seat 5, and a bearing head 6; a receiving cavity that runs through from top to bottom is provided in the middle of the fixing seat 5, and a paddle 4 is provided on both sides of the receiving cavity. A slide groove is provided on the paddle 4, and the rotating shaft 2 passes through the slide groove and moves along the slide groove. Both ends of the rotating shaft 2 are fixed on the fixing seat 5. When locked, the inner sides of the left and right paddles 4 are placed in the receiving cavity, and the paddles 4 are moved by the transmission mechanism 3. The dynamic mechanism 3 is connected to the buoy 1, the bearing head 6 is fixed on the underwater equipment 7, the umbilical cable 8 connected to the underwater equipment 7 passes through the through hole in the middle of the bearing head 6, and an annular groove is arranged on the outer periphery of the bearing head 6. When the buoy 1 is above water, the bearing head 6 enters the accommodating cavity to drive the inner side of the paddle 4 to move outward, and then returns to its position, the inner end of the paddle 4 is inserted into the annular groove, and the mechanical lock is locked; when the buoy 1 is placed underwater, the buoy 1 floats up, the inner end of the paddle 4 rotates out of the annular groove, the mechanical lock is unlocked, and the bearing head 6 moves out of the accommodating cavity.

[0050] like Figure 11-12 As shown, the transmission mechanism 3 involved in this embodiment includes a connecting rod 301, a slide groove 310, a support rod 303 and a fixed plate 304; a through hole is provided in the middle of the fixed plate 304, the bottom of the fixed seat 5 is installed on the fixed plate 304 and the center of the through hole is on the central axis of the accommodating cavity, and a support rod 303 is fixed on the fixed plate 304 on the left and right sides of the fixed seat 5 respectively, and the two support rods 303 are symmetrically arranged relative to the fixed seat 5, and the top of any support rod 303 is hinged to the slide groove 310, the float 1 is fixed to the outer end of the connecting rod 301, the connecting rod 301 slides along the slide groove 310, and the inner end of the connecting rod 301 is connected to the outer end of the paddle 4.

[0051] Specifically, when the float 1 is on the water, the load-bearing head 6 enters the accommodating cavity from the through hole, pushes the left and right sides of the paddles 4 out of the accommodating cavity, and the two paddles 4 move away from each other, and the load-bearing head 6 continues to move forward until the annular groove approaches the paddle 4, the paddle 4 returns to its original position and closes, the inner end of the paddle 4 is inserted into the annular groove, and the mechanical lock is locked; when the float 1 is placed underwater, the buoyancy of the float 1 is greater than the gravity, the float 1 floats up, and the connecting rod 301 moves upward along the slide groove 310, thereby driving the rotating shaft 2 to move outward and move out of the annular groove, the mechanical lock is unlocked, and the load-bearing head 6 moves out of the accommodating cavity.

Claims

1. A mechanical lock for deploying and recovering an underwater robot, characterized in that: It includes a floating block, a rotating shaft, a transmission mechanism, a paddle, a fixed seat, and a bearing head; a accommodating chamber which passes through from top to bottom is provided in the middle of the fixed seat, and a paddle is provided on both sides of the accommodating chamber, the paddle is connected to the fixed seat by rotating or sliding through the rotating shaft, and when locked, the inner sides of the left and right paddles are placed in the accommodating chamber, the paddle is connected to the floating block through the transmission mechanism, the bearing head is fixed to the underwater equipment, the umbilical cable connected to the underwater equipment passes through the through hole in the middle of the bearing head, and an annular groove is provided on the outer periphery of the bearing head, when the floating block is on the water, the bearing head enters the accommodating chamber to drive the paddle to move out of the accommodating chamber, and then the inner end of the returning paddle is inserted into the annular groove and locked by the mechanical lock; when the floating block is placed underwater, the floating block floats up, the inner end of the paddle moves out of the annular groove, the mechanical lock is unlocked, and the bearing head moves out of the accommodating chamber.

2. The mechanical lock for deploying and recovering an underwater robot according to claim 1, characterized in that: The transmission mechanism includes a connecting rod, a first slider, a support rod and a fixed plate; a through hole is provided in the middle of the fixed plate, the bottom of the fixed seat is installed on the fixed plate and the center of the through hole is on the central axis of the accommodating cavity, a support rod is fixed on the fixed plates on the left and right sides of the fixed seat respectively, and the two support rods are symmetrically arranged relative to the fixed seat, the top of any support rod is hinged to the middle of a connecting rod, the rotating shaft is lower than the hinge point between the support rod and the connecting rod, the floating block is fixed to the outer end of the connecting rod, and a long first sliding hole is provided at the inner end of the connecting rod along the length direction, and a first sliding block is provided at the outer end of the paddle, and the first sliding block is slidably connected to the first sliding hole.

3. The mechanical lock for deploying and recovering an underwater robot according to claim 1, characterized in that: The transmission structure includes a connecting rod, a first slider, a support rod, a fixed plate, a second slider, a vertical rod and a slideway; a through hole is provided in the middle of the fixed plate, the bottom of the fixed seat is installed on the fixed plate, and the center of the through hole is on the central axis of the accommodating cavity, a support rod is fixed on the fixed plates on the left and right sides of the fixed seat respectively, and the two support rods are symmetrically arranged relative to the fixed seat, the top of any support rod is hinged to the middle of a connecting rod, the rotating shaft is lower than the hinge point between the support rod and the connecting rod, an elongated first sliding hole is provided at the inner end of the connecting rod along the length direction, a first slider is provided at the outer end of the paddle, the first slider is slidably connected to the first sliding hole, an elongated second sliding hole is provided at the outer end of the connecting rod along the length direction, the floating block is fixed on the top of the vertical rod, the vertical rod is sleeved in the vertical slideway and moves back and forth along the sliding, a second slider is provided at the bottom of the vertical rod, and the second slider is slidably connected to the second sliding hole.

4. The mechanical lock for deploying and recovering an underwater robot according to claim 1, characterized in that: The transmission mechanism includes a connecting rod, a first gear, and a second gear; the first gear is fixed on the left rotating shaft, the second gear is fixed on the right rotating shaft, the first gear and the second gear are meshed, one end of the connecting rod is fixed on the left rotating shaft, the floating block is fixed on the other end of the connecting rod, and the floating block is close to the second gear.

5. The mechanical lock for deploying and recovering an underwater robot according to claim 1, characterized in that: The transmission mechanism includes a connecting rod, a slide groove, a support rod and a fixed plate; a through hole is provided in the middle of the fixed plate, the bottom of the fixed seat is installed on the fixed plate and the center of the through hole is on the central axis of the accommodating cavity, a support rod is fixed on the fixed plates on the left and right sides of the fixed seat respectively, and the two support rods are symmetrically arranged relative to the fixed seat, the top of any support rod is hinged to the slide groove, the floating block is fixed to the outer end of the connecting rod, the connecting rod slides along the slide groove 310, and the inner end of the connecting rod is connected to the outer end of the paddle.

6. The mechanical lock for deploying and recovering an underwater robot according to claim 1, characterized in that: The floating block is a floating ball, a floating block or an air bag.

7. The mechanical lock for deploying and recovering an underwater robot according to claim 1, characterized in that: When the mechanical lock is locked, a truncated cone-shaped structure is formed between the left and right paddles.

8. The mechanical lock for deploying and recovering an underwater robot according to claim 1, characterized in that: The accommodating cavities are symmetrically arranged on the left and right sides of the fixing seat, the accommodating cavities are communicated with the accommodating cavity, and the paddles are arranged in the accommodating cavities.

9. The mechanical lock for deploying and recovering an underwater robot according to claim 1, characterized in that: A lifting ring is installed on the top of the fixing seat, and the lifting equipment lifts the mechanical lock and the underwater equipment through the lifting ring.

10. The mechanical lock for deploying and recovering an underwater robot according to claim 9, characterized in that: A circular hole is provided on the lifting ring just above the accommodating cavity.

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