Underwater robot laying and recycling platform suitable for central moon pool ship

Abstract

An underwater robot laying and recycling platform suitable for a central moon pool ship comprises telescopic arms and a parking platform, the periphery of the parking platform is provided with at least two telescopic arms, the telescopic arms are located on the upper side of the parking platform, the telescopic arms synchronously stretch out and draw back to enable the parking platform to horizontally move up and down to be collected and released, and the tops of the telescopic arms are provided with mounting plates; the mounting plate is fixedly connected with a ship. The multiple telescopic arms synchronously stretch out and draw back to drive the parking platform to horizontally move up and down, so that the influence of water flow on the parking platform can be reduced, and the underwater robot is more convenient to lay and recycle.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robot deployment and collection, in particular to an underwater robot deployment and recovery platform suitable for a central moon pool ship. Background Art

[0002] The deployment and recovery technology of underwater robots plays a key role in the fields of marine science, resource exploration, environmental monitoring, etc. The development of this technology enables people to explore the depths of the ocean more deeply and perform various tasks, including but not limited to seabed geological surveys, underwater pipeline maintenance, underwater archaeological research, etc.

[0003] First, in terms of deployment technology, ships with a central moon pool design usually require a sophisticated control system and advanced lifting equipment to ensure the smooth launch of the underwater robot. At the same time, sensors and real-time monitoring systems are needed to help operators monitor the status of the robot at any time to ensure the safety and success of the deployment process. Secondly, after the underwater robot completes its mission, it needs to be safely and efficiently recovered to the ship. Traditional retraction and deployment methods, such as CN116968874A, publication / announcement date: 2023.10.31, discloses a submersible lifting system in a moon pool, which includes a guide rail frame, which is fixedly arranged in the shaft of the moon pool along the vertical direction, and a limit member is arranged at the bottom end of the guide rail frame; a lifting frame, which is slidably arranged on the guide rail frame; a first winch, which is fixedly arranged on the deck, and the first winch has at least two coaxially spaced drums, and each of the drums is wound with a first steel cable; a docking device, one end of the first steel cable passes through the lifting frame and is connected to the docking device, and the docking device can be docked, fixed or separated with the lifting frame; a second winch, which is fixedly arranged on the deck, and a second steel cable is wound around the second winch; a repeater for fixing the submersible. Its characteristic is that it can enable the submersible to enter the designated water depth; its disadvantage is that the repeater is towed by a steel cable, and the repeater is easily swayed by the water flow under the action of the water flow, which is not conducive to the deployment and recovery of the underwater robot. Utility Model Content

[0004] The purpose of the utility model is to provide an underwater robot deployment and recovery platform suitable for central moon pool ships. The parking platform is driven to move up and down by synchronously extending and retracting multiple telescopic arms, thereby reducing the impact of water flow on the parking platform and making it easier to deploy and recover the underwater robot.

[0005] To achieve the above-mentioned purpose, the utility model provides an underwater robot deployment and recovery platform suitable for central moon pool ships, including a telescopic arm and a parking platform, at least two telescopic arms are installed around the parking platform, the telescopic arms are located on the upper side of the parking platform, and the telescopic arms are synchronously telescoped to enable the parking platform to be moved up and down and retracted, and a mounting plate is provided on the top of the telescopic arm, which is used to be connected and fixed to the ship.

[0006] The telescopic arm is also provided with a fixing seat, and the fixing seat is used for connecting and fixing with the ship.

[0007] One end of the telescopic arm connected to the parking platform is also provided with an extension plate, and the parking platform is installed on the upper side of the extension plate.

[0008] The parking platform is provided with water permeable holes.

[0009] The telescopic arm adopts a multi-stage telescopic structure.

[0010] The telescopic arm includes a primary arm, a secondary arm, a tertiary arm, a quadruple arm, a push rod, a first rope-arranging mechanism and a second rope-arranging mechanism. The mounting plate is fixedly connected to the top of the primary arm, the secondary arm is inserted into the primary arm from the bottom, the tertiary arm is inserted into the secondary arm from the bottom, and the quadruple arm is inserted into the tertiary arm from the bottom. The parking platform is installed at the bottom of the quadruple arm. The first rope-arranging mechanism is located on one side of the telescopic arm, and the first rope-arranging mechanism is connected with the primary arm, the secondary arm and the tertiary arm, and the secondary arm and the tertiary arm are driven to telescope synchronously by the push rod. The second rope-arranging mechanism is located on the other side of the telescopic arm, and the second rope-arranging mechanism is connected with the secondary arm, the tertiary arm and the quadruple arm, so that the secondary arm, the tertiary arm and the quadruple arm can telescope synchronously.

[0011] The first rope arrangement mechanism includes a first traction rope and a second traction rope, a first fixing member is installed on the outer wall of one side of the lower end of the first arm, a first guide wheel member is installed on the outer wall of the lower end of the second arm, and a first mounting member is installed on the upper outer wall of the tertiary arm, one end of the first traction rope is connected to the first fixing member, and the other end is connected to the first mounting member after passing through the first guide wheel member, the second fixing member is installed on the upper inner wall of the tertiary arm, the second guide wheel member is installed on the upper inner wall of the secondary arm, and the second mounting member is installed on the lower inner wall of the first arm, one end of the second traction rope is connected to the second fixing member, and the other end is connected to the second mounting member after passing through the second guide wheel member; one end of the push rod is connected to the top outer wall of the first arm The first arm is connected to the second arm by the third guide wheel, and the other end is connected to the first guide wheel; the second rope arrangement mechanism includes a third traction rope and a fourth traction rope, the third fixing part is installed on the outer wall of the lower end of the secondary arm, the third guide wheel part is installed on the outer wall of the lower end of the tertiary arm, and the third mounting part is installed on the outer wall of the upper end of the quadruple arm, one end of the third traction rope is connected to the third fixing part, and the other end is connected to the third mounting part after bypassing the third guide wheel part, the fourth fixing part is installed on the upper inner wall of the quadruple arm, the fourth guide wheel part is installed on the upper inner wall of the tertiary arm, and the fourth mounting part is installed on the lower inner wall of the secondary arm, one end of the fourth traction rope is connected to the fourth fixing part, and the other end is connected to the fourth mounting part after bypassing the fourth guide wheel part.

[0012] The first guide wheel component includes a first connecting plate, a first ear seat is installed on the first connecting plate, a first groove wheel is installed on the first ear seat for rotation through a first core shaft, and a connecting part is also provided on the first ear seat, and a push rod is connected to the connecting part.

[0013] The second guide wheel component, the third guide wheel component and the fourth guide wheel component have the same structure; the second guide wheel component includes a second connecting plate, a second ear seat is installed on the second connecting plate, and a second groove wheel is installed on the second ear seat to rotate through a second core shaft.

[0014] The first mounting member, the second mounting member, the third mounting member and the fourth mounting member have the same structure; the first mounting member includes a base, a notch is provided on the base, a connecting sleeve is installed in the notch through a pin shaft, and a sliding sheet is installed on the top of the base.

[0015] Compared with the prior art, the utility model has the following technical effects:

[0016] 1. The utility model includes a telescopic arm and a parking platform. At least two telescopic arms are installed around the parking platform. The telescopic arms are located on the upper side of the parking platform. The telescopic arms are synchronously telescopically operated to make the parking platform move up and down and be retracted. A mounting plate is provided on the top of the telescopic arm, and the mounting plate is used to connect and fix with the ship. By synchronously telescoping multiple telescopic arms to drive the parking platform to move up and down, the impact of water flow on the parking platform can be reduced, which is more convenient for the deployment and recovery of underwater robots.

[0017] 2. On the one hand, the utility model solves the risk of collision between the existing underwater working robots and the moon pool wall due to the left and right shaking during deployment and recovery, reduces the operating difficulty of the operator, and improves the efficiency of deployment and recovery of the underwater robot; on the other hand, it reduces the difficulty of finding the central moon pool of the ship when recovering the underwater working robot, reduces the risk of collision between the working robot and the bottom of the ship when floating up, avoids damage to the hull or the underwater robot body, and ensures the safety of the hull and various equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model.

[0020] Figure 2 It is a schematic diagram of the main structure of the telescopic arm of the utility model.

[0021] Figure 3 It is a schematic cross-sectional structure diagram of the telescopic arm of the utility model.

[0022] Figure 4 It is a structural schematic diagram of the first rope arrangement mechanism and the second rope arrangement mechanism of the utility model.

[0023] Figure 5 It is a structural schematic diagram of the first guide wheel component of the utility model.

[0024] Figure 6 It is a schematic structural diagram of the second guide wheel component, the third guide wheel component and the fourth guide wheel component of the utility model.

[0025] Figure 7 It is a schematic diagram of the structure of the first mounting member, the second mounting member, the third mounting member and the fourth mounting member of the utility model.

[0026] In the figure:

[0027] Telescopic arm 100, mounting plate 101, fixing seat 102, extension plate 103;

[0028] A primary arm 110, a secondary arm 120, a tertiary arm 130, a quaternary arm 140, and a push rod 150;

[0029] The first rope arrangement mechanism 160, the first fixing member 161, the first guide wheel member 162, the first connecting plate 1621, the first ear seat 1622, the first spindle 1623, the first groove wheel 1624, the connecting portion 1625, the first mounting member 163, the base 1631, the notch 1632, the pin 1633, the connecting sleeve 1634, the sliding piece 1635, the first traction rope 164, the second mounting member 165, the second guide wheel member 166, the second connecting plate 1661, the second ear seat 1662, the second spindle 1663, the second groove wheel 1664, the second fixing member 167, and the second traction rope 168;

[0030] A second rope arrangement mechanism 170, a third fixing member 171, a third guide wheel member 172, a third mounting member 173, a third traction rope 174, a fourth mounting member 175, a fourth guide wheel member 176, a fourth fixing member 177, and a fourth traction rope 178;

[0031] Parking platform 200, water permeable hole 201. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0033] Embodiment 1:

[0034] See also Figure 1 , an underwater robot deployment and recovery platform suitable for central moon pool ships, including a telescopic arm 100 and a parking platform 200, at least two telescopic arms 100 are installed around the parking platform 200, the telescopic arms 100 are located on the upper side of the parking platform 200, the telescopic arms 100 are synchronously telescopically operated to make the parking platform 200 move up and down, and a mounting plate 101 is provided on the top of the telescopic arm 100, and the mounting plate 101 is used to connect and fix with the ship. The parking platform 200 is driven to move up and down by synchronous telescopic movement of multiple telescopic arms 100. Since the telescopic arms 100 are rigid structures, the influence of water flow on the parking platform can be reduced, which is more convenient for the deployment and recovery of underwater robots.

[0035] In this embodiment, four telescopic arms 100 and a parking platform 200 are included. The parking platform 200 performs telescopic motion synchronously through the four telescopic arms 100, thereby driving the parking platform 200 to perform lifting motion in the vertical direction.

[0036] The parking platform 200 is a square plate structure, with eight water-permeable holes 201 arranged in a circular array on the platform, and two through holes at each of the four corners. The parking platform 200 is connected to the lower end of the telescopic arm 100 by bolts through the through holes. The mounting plate 101 has six symmetrically arranged through holes for fixed connection with the upper part of the moon pool of the ship.

[0037] Furthermore, the telescopic arm 100 is also equipped with a fixing seat 102, which is used to connect and fix with the ship. The fixing seat 102 is fixedly connected with the telescopic arm 100 by welding, and both sides of the fixing seat 102 are provided with mounting holes, which are used to connect and fix with the inner wall of the moon pool by bolts.

[0038] Furthermore, an extension plate 103 is provided at one end of the telescopic arm 100 connected to the parking platform 200, and the parking platform 200 is installed on the upper side of the extension plate 103. The extension plate 103 is used to install and support the parking platform 200, and a threaded hole is provided on the extension plate 103, and a bolt passes through the parking platform 200 and is screwed and fixed to the threaded hole on the extension plate 103.

[0039] Embodiment 2:

[0040] Based on the embodiment, the telescopic arm 100 adopts a multi-stage telescopic structure, so as to increase the diving depth of the parking platform 200.

[0041] For details, see Figure 2 , 3 4. The telescopic arm 100 includes a primary arm 110, a secondary arm 120, a tertiary arm 130, a quadruple arm 140, a push rod 150, a first rope arrangement mechanism 160 and a second rope arrangement mechanism 170. The mounting plate 101 is fixedly connected to the top of the primary arm 110. The secondary arm 120 is inserted into the primary arm 110 from the bottom. The tertiary arm 130 is inserted into the secondary arm 120 from the bottom. The quadruple arm 140 is inserted into the tertiary arm 130 from the bottom. The parking platform 200 is installed at the bottom of the quadruple arm 140. The first row The rope mechanism 160 is located on one side of the telescopic arm 100, and the first rope mechanism 160 is connected to the primary arm 110, the secondary arm 120 and the tertiary arm 130, and drives the secondary arm 120 and the tertiary arm 130 to telescope synchronously through the push rod 150. The second rope mechanism 170 is located on the other side of the telescopic arm 100, and the second rope mechanism 170 is connected to the secondary arm 120, the tertiary arm 130 and the quadruple arm 140, so that the secondary arm 120, the tertiary arm 130 and the quadruple arm 140 can telescope synchronously.

[0042] See also Figure 3 , 4The first rope arrangement mechanism 160 includes a first traction rope 164 and a second traction rope 168. The first fixing member 161 is installed on the outer wall of one side of the lower end of the first arm 110, the first guide wheel member 162 is installed on the outer wall of the lower end of the second arm 120, and the first mounting member 163 is installed on the upper outer wall of the tertiary arm 130. One end of the first traction rope 164 is connected to the first fixing member 161, and the other end is connected to the first mounting member 163 after bypassing the first guide wheel member 162. The second fixing member 167 is installed on the upper inner wall of the tertiary arm 130, the second guide wheel member 166 is installed on the upper inner wall of the secondary arm 120, and the second mounting member 165 is installed on the lower inner wall of the first arm 110. One end of the second traction rope 168 is connected to the second fixing member 167, and the other end is connected to the second mounting member 165 after bypassing the second guide wheel member 166; one end of the push rod 150 is connected to the top of the first arm 110 The outer wall of the secondary arm 120 is connected at one end, and the other end is connected to the first guide wheel member 162; the second rope arrangement mechanism 170 includes a third traction rope 174 and a fourth traction rope 178, the third fixing member 171 is installed on the outer wall of the lower end of the secondary arm 120, the third guide wheel member 172 is installed on the lower outer wall of the tertiary arm 130, and the third mounting member 173 is installed on the upper outer wall of the quadruple arm 140, one end of the third traction rope 174 is connected to the third fixing member 171, and the other end is connected to the third mounting member 173 after bypassing the third guide wheel member 172, the fourth fixing member 177 is installed on the upper inner wall of the quadruple arm 140, the fourth guide wheel member 176 is installed on the upper inner wall of the tertiary arm 130, and the fourth mounting member 175 is installed on the lower inner wall of the secondary arm 120, one end of the fourth traction rope 178 is connected to the fourth fixing member 177, and the other end is connected to the fourth mounting member 175 after bypassing the fourth guide wheel member 176. The push rod 150 can be a pneumatic cylinder, an oil cylinder or an electric push rod.

[0043] The operating principle of the first rope arrangement mechanism 160 is as follows:

[0044] When the push rod 150 extends, the secondary arm 120 is first pushed downward by the first guide wheel member 162, and the first guide wheel member 162 at the lower end of the secondary arm 120 pulls the tertiary arm 130 downward through the first traction rope 164; when the push rod 150 retracts, the secondary arm 120 is first lifted up and retracted by the first guide wheel member 162, and the second guide wheel member 166 at the upper end of the secondary arm 120 lifts up the tertiary arm 130 through the second traction rope 168.

[0045] The operating principle of the second rope arrangement mechanism 170 is as follows:

[0046] When the push rod 150 is extended, the tertiary arm 130 extends downward, and the third guide wheel member 172 at the lower end of the tertiary arm 130 pulls the quadruple arm 140 downward through the third traction rope 174; when the push rod 150 is retracted, the tertiary arm 130 retracts upward, and the fourth guide wheel member 176 at the upper end of the tertiary arm 130 pulls the quadruple arm 140 up and retracts it through the fourth traction rope 178.

[0047] See also Figure 5 The first guide wheel member 162 includes a first connecting plate 1621, a first ear seat 1622 is mounted on the first connecting plate 1621, a first groove wheel 1624 is mounted on the first ear seat 1622 to rotate through a first spindle 1623, a connecting portion 1625 is also provided on the first ear seat 1622, and the push rod 150 is connected to the connecting portion 1625. The first connecting plate 1621 is used to weld the designated position of the positive telescopic arm 100, the traction rope passes around the first groove wheel 1624, and the telescopic end of the push rod 150 is hinged to the connecting portion 1625 through a joint.

[0048] In this embodiment, two first traction ropes 164 are provided. Figure 5 In the embodiment, two first groove wheels 1624 are provided.

[0049] See also Figure 6 The second guide wheel member 166, the third guide wheel member 172 and the fourth guide wheel member 176 have the same structure; the second guide wheel member 166 includes a second connecting plate 1661, on which a second ear seat 1662 is installed, and on the second ear seat 1662, a second groove wheel 1664 is installed for rotation via a second core shaft 1663, and the traction rope passes around the second groove wheel. Similarly, two second groove wheels 1664 are also provided.

[0050] See also Figure 7 The first mounting member 163, the second mounting member 165, the third mounting member 173 and the fourth mounting member 175 have the same structure; the first mounting member 163 includes a base 1631, a notch 1632 is provided on the base 1631, a connecting sleeve 1634 is installed in the notch 1632 through a pin 1633, and a slide 1635 is installed on the top of the base 1631. When in use, the traction rope is pressed and fixedly connected with the connecting sleeve 1634, the base 1631 is used to be welded and fixed to the designated position of the telescopic arm 100, and the slide 1635 provides a gap and guide between the multi-stage arms.

[0051] In addition to the above structure, the telescopic arm 100 may also adopt other structures, such as a multi-stage cylinder structure.

[0052] The working principle or action process of the utility model is as follows:

[0053] First, install the assembled telescopic arm 100 at the designated position in the center of the ship's moon pool. The four corners must be installed completely. Then place the parking platform 200 on the extended plate 103 of the quadrupole arm 140. The two are fastened together by bolts to complete the assembly of the underwater robot deployment and recovery platform.

[0054] When the underwater robot needs to be deployed, the push rod 150 pushes the telescopic arm 100 to extend downward, thereby driving the parking platform 200 to descend at a constant speed. When the parking platform 200 moves to the specified position, the underwater robot has been submerged in the water. At this time, due to the buoyancy of the robot itself, it is separated from the parking platform 200. The underwater robot can be controlled to move forward and can be separated from the parking platform 200. At this time, the push rod 150 is controlled to retract and the parking platform 200 is retracted, and the deployment of the underwater robot is completed.

[0055] When the underwater robot needs to be recovered after completing its operation, the push rod 150 is first used to control the telescopic arm 100 to lower the parking platform 200 to a specified underwater position. At this time, after the underwater robot is controlled to move directly above the parking platform 200, the robot's drive device is turned off, and then the telescopic arm 100 is retracted by controlling the push rod 150, thereby driving the underwater robot and the parking platform 200 to rise at a uniform speed until the underwater robot is lifted out of the water, completing the recovery operation of the underwater robot.

Claims

1. An underwater robot deployment and recovery platform suitable for central moon pool ships, characterized by: The invention comprises a telescopic arm (100) and a parking platform (200), wherein at least two telescopic arms (100) are installed around the parking platform (200), the telescopic arms (100) are located on the upper side of the parking platform (200), the telescopic arms (100) are synchronously telescoped to enable the parking platform (200) to move up and down horizontally and to be retracted, and a mounting plate (101) is arranged on the top of the telescopic arm (100), and the mounting plate (101) is used for being connected and fixed to a ship.

2. The underwater robot deployment and recovery platform suitable for central moon pool vessels according to claim 1, characterized in that: The telescopic arm (100) is also provided with a fixing seat (102), and the fixing seat (102) is used for being connected and fixed to a ship.

3. The underwater robot deployment and recovery platform suitable for central moon pool vessels according to claim 1, characterized in that: An extension plate (103) is further provided at one end of the telescopic arm (100) connected to the parking platform (200), and the parking platform (200) is installed on the upper side of the extension plate (103).

4. The underwater robot deployment and recovery platform suitable for central moon pool vessels according to claim 1, characterized in that: The parking platform (200) is provided with a water permeable hole (201).

5. The underwater robot deployment and recovery platform suitable for central moon pool vessels according to claim 1, characterized in that: The telescopic arm (100) adopts a multi-stage telescopic structure.

6. The underwater robot deployment and recovery platform suitable for central moon pool vessels according to claim 5, characterized in that: The telescopic arm (100) comprises a primary arm (110), a secondary arm (120), a tertiary arm (130), a quaternary arm (140), a push rod (150), a first rope arrangement mechanism (160) and a second rope arrangement mechanism (170); the mounting plate (101) is fixedly connected to the top of the primary arm (110); the secondary arm (120) is inserted into the primary arm (110) from the bottom; the tertiary arm (130) is inserted into the secondary arm (120) from the bottom; the quaternary arm (140) is inserted into the tertiary arm (130) from the bottom; the parking platform (200) is installed at the bottom of the quaternary arm (140); the first rope arrangement mechanism (160) and the second rope arrangement mechanism (170) are fixedly connected to the top of the primary arm (110); the secondary arm (120) is inserted into the primary arm (110) from the bottom; the tertiary arm (130) is inserted into the secondary arm (120) from the bottom; the quaternary arm (140) is inserted into the tertiary arm (130) from the bottom; The mechanism (160) is located on one side of the telescopic arm (100); the first rope arrangement mechanism (160) is connected to the first arm (110), the second arm (120) and the third arm (130); the second arm (120) and the third arm (130) are driven to move synchronously through the push rod (150); the second rope arrangement mechanism (170) is located on the other side of the telescopic arm (100); the second rope arrangement mechanism (170) is connected to the second arm (120), the third arm (130) and the fourth arm (140); so that the second arm (120), the third arm (130) and the fourth arm (140) move synchronously.

7. The underwater robot deployment and recovery platform suitable for central moon pool vessels according to claim 6, characterized in that: The first rope arrangement mechanism (160) comprises a first traction rope (164) and a second traction rope (168); a first fixing member (161) is mounted on an outer wall on one side of a lower end of the first arm (110); a first guide wheel member (162) is mounted on an outer wall on a lower end of the second arm (120); a first mounting member (163) is mounted on an outer wall on an upper end of the third arm (130); one end of the first traction rope (164) is connected to the first fixing member (161); the other end of the first traction rope (164) is connected to the first mounting member (163) after passing through the first guide wheel member (162); The fixing member (167) is mounted on the upper inner wall of the tertiary arm (130), the second guide wheel member (166) is mounted on the upper inner wall of the secondary arm (120), the second mounting member (165) is mounted on the lower inner wall of the primary arm (110), one end of the second traction rope (168) is connected to the second fixing member (167), and the other end is connected to the second mounting member (165) after passing through the second guide wheel member (166); one end of the push rod (150) is connected to the top outer wall of the primary arm (110), and the other end is connected to the first guide wheel member (162); The second rope arrangement mechanism (170) comprises a third traction rope (174) and a fourth traction rope (178); the third fixing member (171) is mounted on the outer wall of the lower end of the secondary arm (120); the third guide wheel member (172) is mounted on the outer wall of the lower end of the tertiary arm (130); the third mounting member (173) is mounted on the outer wall of the upper end of the quaternary arm (140); one end of the third traction rope (174) is connected to the third fixing member (171); the other end of the third traction rope (174) is passed around the third guide wheel member (171) and is connected to the quaternary arm (140); 2) and then connected to the third mounting member (173); the fourth fixing member (177) is mounted on the upper inner wall of the fourth-stage arm (140); the fourth guide wheel member (176) is mounted on the upper inner wall of the third-stage arm (130); the fourth mounting member (175) is mounted on the lower inner wall of the second-stage arm (120); one end of the fourth traction rope (178) is connected to the fourth fixing member (177); the other end of the fourth traction rope (178) is connected to the fourth mounting member (175) after passing through the fourth guide wheel member (176).

8. The underwater robot deployment and recovery platform suitable for central moon pool vessels according to claim 7, characterized in that: The first guide wheel member (162) comprises a first connecting plate (1621), a first ear seat (1622) is mounted on the first connecting plate (1621), a first grooved wheel (1624) is mounted on the first ear seat (1622) and is rotatably mounted via a first spindle (1623), a connecting portion (1625) is also provided on the first ear seat (1622), and the push rod (150) is connected to the connecting portion (1625).

9. The underwater robot deployment and recovery platform suitable for central moon pool vessels according to claim 7, characterized in that: The second guide wheel member (166), the third guide wheel member (172) and the fourth guide wheel member (176) have the same structure; the second guide wheel member (166) comprises a second connecting plate (1661), a second ear seat (1662) is mounted on the second connecting plate (1661), and a second grooved wheel (1664) is mounted on the second ear seat (1662) to rotate via a second core shaft (1663).

10. The underwater robot deployment and recovery platform suitable for central moon pool vessels according to claim 7, characterized in that: The first mounting member (163), the second mounting member (165), the third mounting member (173) and the fourth mounting member (175) have the same structure; the first mounting member (163) comprises a base (1631), a notch (1632) is provided on the base (1631), a connecting sleeve (1634) is installed in the notch (1632) via a pin shaft (1633), and a sliding sheet (1635) is installed on the top of the base (1631).

Images