Launching and recovering device and method for underwater robot

Abstract

The invention provides a laying and recovery device and a laying and recovery method for an underwater robot, and belongs to the technical field of underwater robots. The laying and recovery device comprises a recovery cage and a laying device; the recycling cage comprises a frame, a hanging beam is installed on the top of the frame through bolts, two chain blocks are installed at the two ends of the lower portion of the hanging beam, and a crane connecting device is arranged on the upper portion of the hanging beam. The laying device comprises a laying balance beam, balance beam hanging belts are installed at the two ends of the upper portion of the laying balance beam, and the crane and the laying balance beam are connected through the balance beam hanging belts. Detacher slings are mounted at two ends of the lower part of the laying balance beam, an automatic detacher is mounted below the detacher slings, an underwater robot sling is mounted on the automatic detacher, the automatic detacher is connected with one end of an unhooking rope, and the other end of the unhooking rope is mounted on the laying balance beam through a safety pin. The underwater robot can be laid and recycled under the condition that an operator does not need to enter water, the safety performance of the robot in the operation process is improved, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and in particular relates to a deployment and recovery device for an underwater robot and a deployment and recovery method. Background Art

[0002] Currently, the most common method for deploying and recovering medium- to large-sized AUVs is using manned surface vessels. These methods primarily include crane booms, A-frames, and inclined slides. However, these methods are susceptible to wave motion during the deployment process, preventing automatic unhooking and release. These methods require personnel to enter the water to release the ropes or harnesses, significantly impacting sea conditions and posing a threat to the safety of operators. Summary of the Invention

[0003] The purpose of the present invention is to provide a deployment and recovery device for an underwater robot and a deployment and recovery method, so as to achieve smaller mechanical and human resource costs, reduce safety risks during operation, and complete efficient recovery of the underwater robot.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A deployment and recovery device for an underwater robot, comprising: a recovery cage, a deployment device;

[0006] The recovery cage includes a frame, a hanging beam is installed on the top of the frame through a latch, two hand hoists are installed at both ends of the lower part of the hanging beam, and a crane connection device is provided on the upper part of the hanging beam;

[0007] The deploying device includes a deploying balance beam, with balance beam slings installed at both ends of the upper part of the deploying balance beam, and the balance beam sling connects the crane to the deploying balance beam; unhooking device slings are installed at both ends of the lower part of the deploying balance beam, an automatic unhooking device is installed below the unhooking device sling, an underwater robot sling is installed on the automatic unhooking device, the automatic unhooking device is connected to one end of the unhooking rope, and the other end of the unhooking rope is installed on the deploying balance beam through a safety pin.

[0008] Furthermore, a lifting ring is provided at the upper end of the deployment balance beam, and a rear anti-sway rope is installed on the lifting ring to stabilize the posture of the underwater robot during the deployment process.

[0009] Furthermore, the balance beam sling is connected to the deployment balance beam through a bow-shaped shackle A; the unhooker sling is connected to the deployment balance beam through a bow-shaped shackle B.

[0010] Furthermore, the frame of the recovery cage includes a top main beam, which is connected to the top side beam A, the top side beam B, and the hanging beam through pins respectively. The hanging beam is a T-shaped hanging beam. The ends of the top side beam A and the top side beam B are connected to the bottom side beam A and the bottom side beam B respectively through side columns. A group of bottom laying beams are installed between the bottom side beam A and the bottom side beam B.

[0011] Furthermore, the frame at the top of the recovery cage is equipped with two adjustable diagonal braces for increasing the strength of the top of the frame and reducing the deformation of the frame during the recovery process. The upper end of the figure-eight shape composed of the two adjustable diagonal braces is a left-handed adjustable diagonal brace screw, which is used to adjust the length of the diagonal brace by left-hand rotation, and the lower end of the figure-eight shape is a right-handed adjustable diagonal brace screw, which is used to adjust the length of the diagonal brace by right-hand rotation.

[0012] Furthermore, a side diagonal brace is welded on both sides of the frame of the recovery cage, and the two side diagonal braces are perpendicular to each other, so as to resist deformation from the front and back and up and down directions of the recovery cage.

[0013] Furthermore, two rear diagonal braces are welded to the rear side of the frame of the recovery cage, and the two rear diagonal braces are perpendicular to each other to resist deformation of the recovery cage in the left and right and up and down directions.

[0014] Furthermore, a recovery vertical net is installed between the top main beam and the two side columns and the bottom beam;

[0015] A recovery main net is installed between the top side beam A and the top side beam B;

[0016] A lashing belt is installed between the bottom side beam A and the bottom side beam B.

[0017] The present invention also includes:

[0018] A method for deploying a deployment and recovery device for an underwater robot according to any one of claims 1 to 8, characterized in that the method comprises the following steps:

[0019] Step 1: Pre-mount the balance beam sling and the deployment balance beam on the crane, and ensure that the unhooker is in the closed state;

[0020] Step 2: The crane transfers the deployment device to the top of the underwater robot;

[0021] Step 3: Connect the underwater robot's sling to the hook on the underwater robot and make sure it is securely mounted.

[0022] Step 4: The crane lifts and slowly transfers the underwater robot out of the hull deck. The operator uses the anti-sway rope to control the swing amplitude of the underwater robot;

[0023] Step 5: Lower the AUV to the water surface and keep it stable;

[0024] Step 6: Two operators pull the release rope to separate the safety buckle;

[0025] Step 7: Synchronously pull the unhooking rope to complete the unhooking action and release the underwater robot, and the crane will recover the deployment device.

[0026] The present invention also includes:

[0027] A method for deploying the deployment and recovery device for an underwater robot as described above comprises the following steps:

[0028] Step 1: Use slings to connect the crane to the four lifting points on the top side beams A and B of the recovery cage;

[0029] Step 2: Transfer the recovery cage to the water surface, submerge the bottom of the cage above the water surface, and ensure that the bottom of the underwater robot is higher than the net and the top is not in contact with the T-shaped beam.

[0030] Step 3: The operator pulls the recovery cage anti-swing rope to control the swing amplitude of the recovery cage to avoid collision;

[0031] Step 4: The underwater robot operator aligns the robot with the entrance of the recovery cage and drives it in. The robot stops when it collides with the barrier net.

[0032] Step 5: The crane lifts the recovery cage. When the net is confirmed to be able to secure the underwater robot, the recovery cage is transferred to the deck.

[0033] Step 6: Replace the four lifting points of the top side beam A and top side beam B with the three lifting points on the T-shaped lifting beam;

[0034] Step 7: Install a hand chain hoist on the two lifting ears at the bottom of the T-shaped lifting beam web, and hang the hand chain hoist hooks on the two lifting ears of the underwater robot;

[0035] Step 8: Pull the hand chain hoist and lift the underwater robot. Make sure the underwater robot is lifted off the bottom of the recovery main net.

[0036] Step 9: Remove the connecting pins between the T-shaped hanging beam and the top main beam, top side beam A, and top side beam B;

[0037] Step 10: The crane lifts the T-shaped beam and transports the underwater robot to the designated location. The slings and hand hoists connected to the robot are removed, and the T-shaped beam is installed on the recovery cage. The recovery is completed.

[0038] The beneficial effects of the present invention are:

[0039] The present invention combines a balance beam and an automatic unhooking device, and does not directly connect the hooks on the bow and stern sides of the underwater robot, thereby avoiding applying bending stress to the main frame of the underwater robot and protecting the main frame of the robot. At the same time, by adopting the solution of pulling the unhooking rope, the operator does not need to go into the water to remove the hook, thereby improving work efficiency.

[0040] The present invention adopts a magnetic pin as a safety protection measure, which can effectively avoid the situation where the safety pin is accidentally removed due to misoperation or wind and waves, and improve the safety protection performance during the deployment process.

[0041] The present invention combines the steel structure recovery cage with the recovery vertical net and the recovery main net, which not only ensures the strength of the recovery device in all directions, but also provides buffering and limiting for the underwater robot. The anti-sway rope can also control the posture of the recovery cage to a certain extent, providing a strong guarantee for the smooth and safe recovery process.

[0042] The combination of the T-shaped lifting beam and the hand chain hoist of the present invention solves the problem of being unable to smoothly take the underwater robot out of the recovery cage, and improves the working efficiency of transporting the underwater robot on the deck.

[0043] During the entire deployment and recovery process, the present invention does not require operators to go into the water to remove or hook the hook. In addition, the present invention can achieve the deployment and recovery of the underwater robot in general wind and waves, reducing operational risks and providing safety protection for the underwater robot and operators.

[0044] During the entire deployment and recovery process, the present invention has relatively small size restrictions on the underwater robot, does not require personnel to go into the water for operation, reduces the safety hazards of deployment and recovery of the underwater robot, and improves operation efficiency.

[0045] During the deployment phase of the present invention, the underwater robot is moved to the water surface by a crane, and the staff on the mother ship pulls the rope connected to the automatic unhooking device, the unhooking device unhooks and releases one end of the sling, and the crane transports the balance beam, automatic unhooking device and sling back to the mother ship; during the recovery phase, the crane sinks the bottom end of the recovery cage into the water surface, and the operator remotely controls the underwater robot into the recovery cage. During the process of pulling up the recovery cage, the recovery net is gradually tightened and fixed to the underwater robot. After the underwater robot is fixed, the crane transports the recovery cage and the underwater robot to the deck of the mother ship to complete the recovery, thereby achieving smaller mechanical and human resource costs, reducing safety risks during operations, and completing the efficient recovery of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Attachment Figure 1 It is a structural schematic diagram of the recovery cage of the present invention;

[0047] Attachment Figure 2 It is attached Figure 1 The main view;

[0048] Attachment Figure 3 It is attached Figure 2 Left view of;

[0049] Attachment Figure 4 It is attached Figure 2 A top view of

[0050] Attachment Figure 5 It is a structural schematic diagram of the hanging beam of the present invention;

[0051] Attachment Figure 6 It is a structural schematic diagram of the deployment device of the present invention;

[0052] Attachment Figure 7 It is attached Figure 6 The main view;

[0053] Attachment Figure 8 It is a schematic structural diagram of the safety pin of the present invention;

[0054] Attachment Figure 9 It is a structural schematic diagram of the automatic decoupling device of the present invention;

[0055] Attachment Figure 10 It is a schematic flow chart of the deployment process of the underwater robot of the present invention;

[0056] Attachment Figure 11 It is a schematic flow chart of the recovery process of the underwater robot of the present invention.

[0057] In the attached figure: 1. Recovery cage, 1-1. Top main beam, 1-2. Lifting beam, 1-3. Top side beam B, 1-4. Adjustable diagonal brace, 1-5. Side column, 1-6. Recovery main net; 1-7. Bottom side beam B, 1-8. Bottom auxiliary beam, 1-9. Bottom side beam A, 1-10. Side diagonal brace, 1-11. Recovery vertical net, 1-12. Adjustable diagonal brace pin, 1-13. Pin, 1-14. Rear diagonal brace, 1-15. Lifting ring, 1-16. Top side beam A, 1-17. Lashing strap, 1-18. Rear diagonal brace pin, 1-19. Hand chain hoist, 1-20. Crane connecting device;

[0058] 2. Deployment device, 2-1. Balance beam sling, 2-2. Bow shackle A, 2-3. Deployment balance beam, 2-4. Bow shackle B, 2-5. Unhooker sling, 2-6. Automatic unhooker, 2-7. Underwater robot sling, 2-8-1 Unhooker breaking rope, 2-8-2. Safety pin. DETAILED DESCRIPTION

[0059] The present invention will be further described below with reference to the accompanying drawings.

[0060] The present invention provides a deployment and recovery device for an underwater robot, such as Figure 1-9 As shown, it includes: a recovery cage 1 and a placing device 2;

[0061] The recovery cage 1 includes a frame, a hanging beam 1-2 is installed on the top of the frame through a latch, two hand hoists 1-19 are installed at both ends of the lower part of the hanging beam 1-2, and a crane connection device 1-20 is provided on the upper part of the hanging beam 1-2;

[0062] The laying device 2 includes a laying balance beam 2-3, and balance beam slings 2-1 are installed at both ends of the upper part of the laying balance beam 2-3, and the balance beam sling 2-1 connects the crane to the laying balance beam; unhooking device slings 2-5 are installed at both ends of the lower part of the laying balance beam 2-3, and an automatic unhooking device 2-6 is installed below the unhooking device sling 2-5, and an underwater robot sling 2-7 is installed on the automatic unhooking device 2-6. The automatic unhooking device 2-6 is connected to one end of the unhooking rope 2-8-1, and the other end of the unhooking rope 2-8-1 is installed on the laying balance beam 2-3 through a safety pin 2-8-2.

[0063] As attached Figure 1-5 As shown, the frame of the recovery cage 1 includes a top main beam 1-1, and the top main beam 1-1 is connected to the top side beam A1-16, the top side beam B1-3, and the hanging beam 1-2 through pins respectively. The hanging beam 1-2 is a T-shaped hanging beam, and the ends of the top side beam A1-16 and the top side beam B1-16 are connected to the bottom side beam A1-9 and the bottom side beam B1-7 through side columns 1-5 respectively. A group of bottom laying beams 1-8 are installed between the bottom side beams A1-9 and the bottom side beams B1-7.

[0064] The frame at the top of the recovery cage 1 is equipped with two adjustable diagonal braces 1-4, which are used to increase the strength of the top of the frame and reduce the deformation of the frame during the recovery process. The upper end of the figure-eight shape composed of the two adjustable diagonal braces 1-4 is a left-handed adjustable diagonal brace screw, which adjusts the diagonal brace length by left-hand rotation, and the lower end of the figure-eight shape is a right-handed adjustable diagonal brace screw, which adjusts the diagonal brace length by right-hand rotation.

[0065] A side brace 1-10 is welded on both sides of the frame of the recovery cage 1. The two side braces 1-10 are perpendicular to each other and are used to resist deformation from the front and back and up and down directions of the recovery cage.

[0066] Two rear diagonal braces 1-14 are welded to the rear side of the frame of the recovery cage 1. The two rear diagonal braces 1-14 are perpendicular to each other and are used to resist deformation from the left and right and up and down directions of the recovery cage.

[0067] A recovery vertical net 11 is installed between the top main beam 1-1 and the two side columns 1-5 and the bottom laying beam 1-8;

[0068] A recycling main net 1-6 is installed between the top side beam A1-16 and the top side beam B1-3;

[0069] A lashing belt 1-17 is installed between the bottom side beam A1-9 and the bottom side beam B1-7.

[0070] Furthermore, six welded lifting rings are evenly distributed on the top main beam 1-1 of the recovery cage for vertically fixing the barrier net. The connecting plates on both sides are used for welding with the top side beams, and a latch hole is provided in the middle for connection with the lifting beam.

[0071] The recovery cage lifting beam 2 is a T-shaped lifting beam used to prevent the side column beam from sinking into the frame when the underwater robot is recovered. The web and flange are connected to the top main beam and top side beam respectively by pins. Hand hoists can be installed at both ends of the web to lift the underwater robot and separate it from the net. At the same time, each end is provided with a lifting lug for transporting the underwater robot after successful recovery.

[0072] The top side beam A1-16 and the top side beam B1-3 of the recovery cage are designed with two lifting ears at both ends for hoisting and transporting the recovery cage as a whole, and 8 welded lifting rings are evenly distributed for fixing the top of the net;

[0073] The four side columns 1-5 of the recovery cage are used to support the top beam and the bottom beam, wherein the two side columns 1-5 on the rear side of the frame are evenly distributed with five welded lifting rings for horizontal fixation of the barrier net;

[0074] On both sides of the bottom of the recovery cage are the bottom side beams A1-9 and B1-7, with 7 welded lifting rings evenly distributed, which are used to limit the stretching of the net to prevent the net from floating after being launched into the water;

[0075] The bottom of the recovery cage includes three bottom beams 1-8, of which the rear side is a bottom auxiliary beam with a lifting ring, and there are 5 welded lifting rings evenly distributed for vertical fixation of the barrier net.

[0076] As attached Figure 6-9 As shown, a lifting ring is installed at the upper end of the deployment balance beam 2-3, and a rear anti-sway rope is installed on the lifting ring to stabilize the posture of the underwater robot during the deployment process.

[0077] The balance beam sling 2-1 is connected to the deployment balance beam 2-3 through a bow shackle A2-2; the unhooker sling 2-5 is connected to the deployment balance beam 2-3 through a bow shackle B2-4.

[0078] The deployment balance beam 3 in the deployment device 2 is used to protect the longitudinal deformation of the frame during the deployment of the underwater robot. At the same time, a lifting ring is installed on the upper end of the balance beam, which can be used with an anti-sway rope to stabilize the posture of the underwater robot during the deployment process.

[0079] One end of the sling in the deployment device is connected to the lifting ring below the automatic unhooking device 6, and the other end passes through the hook of the underwater robot and is connected to the release hook of the automatic unhooking device 6;

[0080] The safety pin in the deployment device 2 is a magnet structure with a magnetic attraction force of 30kgf. The end of the safety pin is connected to a lifting ring, and a safety rope passes through the lifting ring. The safety pin can only be pulled out of the hole when the tension of the safety rope is greater than 30kgf. This is used to prevent the safety pin from accidentally falling off due to accidental factors, thereby causing the unhooking device to accidentally unhook.

[0081] During the entire deployment and recovery process, the present invention has relatively small size restrictions on the underwater robot, does not require personnel to go into the water for operation, reduces the safety hazards of deployment and recovery of the underwater robot, and improves operation efficiency.

[0082] This embodiment also includes:

[0083] A method for deploying the deployment and recovery device for an underwater robot as described above comprises the following steps:

[0084] Step 1: Pre-mount the balance beam sling 2-1 and the deployment balance beam 2-3 on the crane, and ensure that the unhooker is in the closed state;

[0085] Step 2: The crane transfers the deployment device 2 to the top of the underwater robot;

[0086] Step 3: Connect the underwater robot's sling 2-7 to the hook on the underwater robot and make sure it is securely mounted.

[0087] Step 4: The crane lifts and slowly transfers the underwater robot out of the hull deck. The operator uses the anti-sway rope to control the swing amplitude of the underwater robot;

[0088] Step 5: Lower the AUV to the water surface and keep it stable;

[0089] Step 6: Two operators pull the release rope 2-8-1 to separate the safety buckle;

[0090] Step 7: Synchronously pull the unhooking rope 2-8-1 to complete the unhooking action and release the underwater robot, and the crane will recover the deployment device.

[0091] A method for deploying the deployment and recovery device for an underwater robot as described above comprises the following steps:

[0092] Step 1: Use slings to connect the crane to the four lifting points on the top side beam A1-16 and top side beam B1-3 of the recovery cage 1;

[0093] Step 2: Transfer the recovery cage 1 to the water surface, submerge the bottom of the cage above the water surface, and ensure that the bottom of the underwater robot is higher than the net and the top is not in contact with the T-shaped beam.

[0094] Step 3: The operator pulls the recovery cage anti-swing rope to control the swing amplitude of the recovery cage 1 to avoid collision;

[0095] Step 4: The underwater robot operator aligns the robot with the entrance of the recovery cage and drives it in. The robot stops when it collides with the barrier net.

[0096] Step 5: The crane lifts the recovery cage 1. When it is observed that the net can fix the underwater robot, the recovery cage 1 is transferred to the deck;

[0097] Step 6: Replace the four lifting points of the top side beam A1-16 and the top side beam B1-3 with the three lifting points on the T-shaped lifting beam;

[0098] Step 7: Install the hand chain hoist 1-19 on the two lifting ears at the bottom of the T-shaped lifting beam web, and hang the hook of the hand chain hoist 1-19 on the two lifting ears of the underwater robot;

[0099] Step 8: Pull the hand chain hoist 1-19 and lift the underwater robot. Make sure the underwater robot is lifted off the bottom of the recovery main net 1-6.

[0100] Step 9: Remove the connecting pins between the T-shaped hanging beam and the top main beam 1-1, top side beam A1-16, and top side beam B1-3;

[0101] Step 10: The crane lifts the T-shaped beam and transports the underwater robot to the designated location. The slings and hand hoists connected to the robot are removed, and the T-shaped beam is installed on the recovery cage 1. The recovery is completed.

[0102] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A deployment and recovery device for an underwater robot, characterized in that: include: Recovery cage (1), deployment device (2); The recovery cage (1) comprises a frame, a hanging beam (1-2) is mounted on the top of the frame via a latch, two hand chain hoists (1-19) are mounted at both ends of the lower portion of the hanging beam (1-2), and a crane connection device (1-20) is provided on the upper portion of the hanging beam (1-2); The deploying device (2) comprises a deploying balance beam (2-3), wherein balance beam slings (2-1) are installed at both ends of the upper portion of the deploying balance beam (2-3), and the balance beam slings (2-1) connect the crane and the deploying balance beam; wherein unhooking device slings (2-5) are installed at both ends of the lower portion of the deploying balance beam (2-3), an automatic unhooking device (2-6) is installed below the unhooking device sling (2-5), an underwater robot sling (2-7) is installed on the automatic unhooking device (2-6), the automatic unhooking device (2-6) is connected to one end of an unhooking rope (2-8-1), and the other end of the unhooking rope (2-8-1) is installed on the deploying balance beam (2-3) via a safety pin (2-8-2).

2. The deployment and recovery device for an underwater robot according to claim 1, characterized in that: The upper end of the deployment balance beam (2-3) is provided with a lifting ring, and a rear anti-sway rope is installed on the lifting ring to stabilize the posture of the underwater robot during the deployment process.

3. The deployment and recovery device for an underwater robot according to claim 2, characterized in that: The balance beam sling (2-1) is connected to the deployment balance beam (2-3) via a bow-shaped shackle A (2-2); the unhooker sling (2-5) is connected to the deployment balance beam (2-3) via a bow-shaped shackle B (2-4).

4. The deployment and recovery device for an underwater robot according to claim 1 or 3, characterized in that: The frame of the recovery cage (1) comprises a top main beam (1-1), the top main beam (1-1) is respectively connected to a top side beam A (1-16), a top side beam B (1-3), and a hanging beam (1-2) via a latch, the hanging beam (1-2) is a T-shaped hanging beam, the ends of the top side beam A (1-16) and the top side beam B (1-16) are respectively connected to a bottom side beam A (1-9) and a bottom side beam B (1-7) via side columns (1-5), and a group of bottom laying beams (1-8) is installed between the bottom side beam A (1-9) and the bottom side beam B (1-7).

5. The deployment and recovery device for an underwater robot according to claim 4, characterized in that: The frame on the top of the recovery cage (1) is equipped with two adjustable diagonal braces (1-4) for increasing the strength of the frame top and reducing deformation of the frame during the recovery process. The upper end of the figure-eight shaped frame formed by the two adjustable diagonal braces (1-4) is a left-handed adjustable diagonal brace screw, which is used to adjust the diagonal brace length. The lower end of the figure-eight shaped frame is a right-handed adjustable diagonal brace screw, which is used to adjust the diagonal brace length.

6. The deployment and recovery device for an underwater robot according to claim 5, characterized in that: A side diagonal brace (1-10) is welded on both sides of the frame of the recovery cage (1), and the two side diagonal braces (1-10) are perpendicular to each other and are used to resist deformation from the front and back and up and down directions of the recovery cage.

7. The deployment and recovery device for an underwater robot according to claim 6, characterized in that: Two rear diagonal braces (1-14) are welded to the rear side of the frame of the recovery cage (1), and the two rear diagonal braces (1-14) are perpendicular to each other and are used to resist deformation of the recovery cage in the left and right and up and down directions.

8. The deployment and recovery device for an underwater robot according to claim 5, 6 or 7, characterized in that: A recovery vertical net (11) is installed between the top main beam (1-1), the two side columns (1-5), and the bottom laying beam (1-8); A recovery main net (1-6) is installed between the top side beam A (1-16) and the top side beam B (1-3); A fastening belt (1-17) is installed between the bottom side beam A (1-9) and the bottom side beam B (1-7).

9. A method for deploying a deployment and recovery device for an underwater robot according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: Step 1: Pre-mount the balance beam sling (2-1) and the deployment balance beam (2-3) on the crane, and ensure that the unhooker is in the closed state; Step 2: The crane transfers the deployment device (2) to the top of the underwater robot; Step 3: Connect the underwater robot's sling (2-7) to the hook on the underwater robot and make sure it is securely mounted. Step 4: The crane lifts and slowly transfers the underwater robot out of the hull deck. The operator uses the anti-sway rope to control the swing amplitude of the underwater robot; Step 5: Lower the AUV to the water surface and keep it stable; Step 6: Two operators pull the release rope (2-8-1) to separate the safety buckle; Step 7: Synchronously pull the unhooking rope (2-8-1) to complete the unhooking action and release the underwater robot, and the crane will recover the deployment device.

10. A method for deploying a deployment and recovery device for an underwater robot according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: Step 1: Use slings to connect the crane to the four lifting points on the top side beam A (1-16) and top side beam B (1-3) of the recovery cage (1); Step 2: transport the recovery cage (1) to the water surface, with the bottom submerged above the water surface, so that the bottom of the underwater robot is higher than the net and the top is not in contact with the T-shaped beam; Step 3: The operator pulls the recovery cage anti-swing rope to control the swing amplitude of the recovery cage (1) to avoid collision; Step 4: The underwater robot operator aligns the robot with the entrance of the recovery cage and drives it in. The robot stops when it collides with the barrier net. Step 5: The crane lifts the recovery cage (1). When it is observed that the net can fix the underwater robot, the recovery cage (1) is transferred to the deck; Step 6: Replace the four lifting points of the top side beam A (1-16) and the top side beam B (1-3) with the three lifting points on the T-shaped lifting beam; Step 7: Install the hand chain hoist (1-19) on the two lifting ears at the bottom of the T-shaped lifting beam web, and hang the hook of the hand chain hoist (1-19) on the two lifting ears of the underwater robot; Step 8: Pull the hand chain hoist (1-19) and lift the underwater robot. Make sure the underwater robot is lifted off the bottom of the recovery main net (1-6). Step 9: Remove the connecting pins between the T-shaped hanging beam and the top main beam (1-1), top side beam A (1-16), and top side beam B (1-3); Step 10: The crane lifts the T-shaped beam and transports the underwater robot to the designated location. The sling and hand chain hoist connected to the robot are removed, and the T-shaped beam is installed in the recovery cage (1). The recovery is completed.

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