Mechanical lock for laying and recovering underwater robot

Abstract

The utility model discloses a mechanical lock for laying and recovering an underwater robot, which is characterized in that the middle part of a fixed seat is provided with a vertically through accommodating cavity, the left side and the right side of the accommodating cavity are respectively provided with a shifting piece, the shifting pieces are rotatably or slidably connected to the fixed seat through rotating shafts, and the inner sides of the left shifting piece and the right shifting piece are arranged in the accommodating 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 utility model relates to the technical field of underwater equipment, in particular to a mechanical lock used for deploying and recovering underwater robots. Background Art

[0002] An underwater robot (AUV) is a robot that operates underwater and requires deployment and recovery. Depending on weight, there are three different methods for deploying and recovering an AUV. First, large, deep-sea AUVs are typically deployed and recovered using an umbilical cable management system (TMS). Second, small AUVs are deployed and recovered directly via an umbilical cable. Third, small and medium-sized AUVs operating in shallow waters often dock a latching device with the AUV, which is then lifted by a winch or crane. Latching devices are available in two types: manual and automatic. For safety reasons, manual latching devices are gradually being replaced by automatic latching devices. Existing latching devices generally consist of a transmission mechanism, a locking pin, and a lock body. The locking pin is fixed to the AUV and inserted into the lock body. Driven by a drive mechanism (such as a motor) or human power, the transmission mechanism moves, locking and releasing the locking pin and lock body, thereby completing the docking and release of the latching device with the AUV. Therefore, existing latching devices generally rely on manual remote tension or the addition of a motor for remote control, failing to achieve full autonomous control. To this end, the utility model provides a mechanical lock that can utilize buoyancy and gravity as driving forces to achieve the deployment and recovery of an underwater robot. Utility Model Content

[0003] The purpose of the utility model is to provide a mechanical lock for deploying and recovering an underwater robot, which solves the problems of existing mechanical locks requiring additional external force, having a complex structure and being cumbersome to operate.

[0004] In order to achieve the above purpose, the utility model 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 fixing seat and a load-bearing head; a receiving chamber is provided in the middle of the fixing seat, which passes through from top to bottom, and a paddle is provided on both the left and right sides of the receiving chamber, which are connected to the fixing seat by rotating or sliding through the rotating shaft; when locked, the inner sides of the left and right paddles are placed in the receiving chamber, the paddles are connected to the floating block through the transmission mechanism, the load-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 load-bearing head, and an annular groove is provided on the outer periphery of the load-bearing head; when the floating block is above water, the load-bearing head enters the receiving chamber, drives the inner side of the paddle to move out of the receiving chamber, and then returns to its place, the inner end of the paddle is stuck 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 load-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. The two support rods are symmetrically arranged relative to the fixed seat, and the top of any support rod is hinged to the middle of a connecting rod, and 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. A first slider is provided at the outer end of the paddle, and the first slider 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, 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 inner end of the connecting rod is provided with a long first sliding hole along the length direction, the outer end of the paddle is provided with a first slider, the first slider is slidably connected to the first sliding hole, the outer end of the connecting rod is provided with a long second sliding hole along the length direction, the floating block is fixed to the top of the vertical rod, the vertical rod sleeve slides up and down in the vertical slide, the bottom of the vertical rod is provided with a second slider, 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, and 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, and a support rod is fixed on the fixed plates on the left and right sides of the fixed seat respectively. 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 float ball, a floating block or an air bag.

[0011] It should be noted that when the mechanical lock is locked, a frustum-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 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 equipment such as motors and remote control equipment, thereby simplifying the control process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural diagram of the locked state 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 status 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 structural diagram of the locked state 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] Figure 9 This is a structural diagram of the locked state of the mechanical lock involved in Example 3.

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

[0024] Figure 11 This is a structural diagram of the locked state of the mechanical lock involved in Example 4.

[0025] Figure 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 inside, and the side away from the central axis is the outside.

[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 cavity is provided in the middle of the fixing seat 5, which passes through from top to bottom, and a paddle 4 is provided on both sides of the receiving cavity. 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 cavity, the paddle 4 is connected to the float 1 through the transmission mechanism 3, and the bearing head 6 is fixed to 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 provided on the outer periphery of the bearing head 6. When the float 1 is above water, the bearing head 6 enters the receiving cavity and drives the inner side of the paddle 4 to rotate outward around the rotating shaft 2, and then returns to its position, the inner end of the paddle 4 is stuck 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 cavity.

[0030] like Figure 1-2 As shown, the transmission mechanism 3 of this embodiment includes a connecting rod 301, a first slider 302, a support rod 303, and a fixed plate 304. The fixed plate 304 has a through hole in the middle. The bottom of the fixing base 5 is mounted on the fixing plate 304, with the through hole centered on the central axis of the accommodating cavity. A support rod 303 is fixed to each of the fixing plates 304 on the left and right sides of the fixing base 5. The two support rods 303 are symmetrically arranged relative to the fixing base 5. The top of each 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 float 1 is fixed to the outer end of the connecting rod 301. The inner end of the connecting rod 301 has an elongated first sliding hole along its length. The outer end of the paddle 4 has a first slider 302, which is slidably connected to 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 float is the power source that drives the connecting rod mechanism.

[0031] It should be noted that the float 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 the paddles 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 to the accommodation 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-type accommodating cavity is built in the middle of the fixing seat 5, frame-type 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. Furthermore, a circular 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, and the load-bearing head 6 is covered on the outside of the watertight head. At the same time, 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 on the water, the umbilical cable passes through the through hole, the accommodating cavity and the circular hole in turn, and the bearing head 6 enters the accommodating cavity from the through hole, lifts the left and right side picks 4, and the inner sides of the left and right picks 4 rotate outward around the rotating shaft 2. The two picks 4 are opened, and the bearing head 6 continues to move forward. When the annular groove approaches the pick 4, the pick 4 returns to its original position and closes. The inner end of the pick 4 is stuck in the annular groove and locked by the mechanical lock; (2) Lift the lifting ring and place the underwater robot into the specific water area. The underwater robot When it is started, the mechanical lock is driven underwater. The buoyancy of the float 1 is greater than the gravity, and the float 1 floats up, driving the support rod 303 to rotate around the middle hinge point. The other end of the support rod 303 presses down the end of the slider of the paddle 4, and the first slider 302 slides along the first sliding hole. The inner side of the paddle rotates outward around the rotating axis, and the paddle 4 rotates out of the annular slot. The mechanical lock is unlocked, and the underwater robot dives, driving the lower bearing head 6 to move out of the accommodating cavity to achieve deployment. The mechanical lock floats on the water surface under the action of the float, waiting to be recovered by the underwater robot.

[0039] like Figure 5-6 As shown, the underwater robot recovery process is as follows: (1) the underwater robot is controlled to float to the water surface, the float and the bearing head 6 are exposed to the water surface, the umbilical cable is tightened to facilitate the bearing head 6 to enter the accommodating cavity from the through hole, the left and right side paddles 4 are lifted, the inner sides of the left and right paddles 4 rotate outward around the rotating axis, the two paddles 4 are opened, the mechanical lock continues to be lowered, and when the annular slot approaches the paddle 4, the paddle 4 returns to its position and closes, the inner end of the paddle 4 is stuck in the annular slot, and the mechanical lock is locked; (2) the lifting ring is lifted 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 fixed plate 304, a second slider 305, a vertical rod 306 and a slideway 307; a through hole is provided in the middle of the fixed plate 304, the bottom of the fixed seat 5 is mounted 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 plates 304 on the left and right sides of the fixed seat 5 respectively. The two support rods 303 are symmetrically arranged relative to the fixed 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 of the support 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. The first slider 302 is slidably connected to 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 rod 306. The vertical rod 306 is sleeved in the vertical slide 307 and slides up and down. The bottom of the vertical rod 306 is provided with a second slider 305, and the second slider 305 is slidably connected to the second sliding hole.

[0042] Specifically, when the float 1 is on the water, the 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 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 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. 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. 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 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 float drives the connecting rod mechanism to work through the vertical rod 306 and the slide 307 .

[0043] Example 3

[0044] like Figure 9-10 As shown, this embodiment is the same as the embodiment 1 except for 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 engaged. One end of the connecting rod 301 is fixed on the left rotating shaft 2, and the float 1 is fixed on the other end of the connecting rod 301. The float 1 is close to the second gear 309.

[0046] Specifically, when the float 1 is on the water, the bearing head 6 enters the accommodating cavity from the through hole, lifts up the left and right paddles 4, and the inner sides of the left and right paddles rotate outward around the rotating shaft. 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 position and closes. The inner end of the paddle 4 is stuck in 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 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 rotation axis 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 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. The two 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 paddle 4 is driven by the transmission mechanism. The dynamic mechanism 3 is connected to the float 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 provided on the outer periphery of the bearing head 6. When the float 1 is above water, the bearing head 6 enters the accommodating cavity and drives the inner side of the paddle 4 to move outward, and then returns to its position. The inner end of the paddle 4 is stuck 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 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. 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 bearing head 6 enters the accommodating cavity from the through hole, pushes the left and right paddles 4 out of the accommodating cavity, and the two paddles 4 move away, and the bearing head 6 continues to move forward. When the annular groove approaches the paddle 4, the paddle 4 returns to its position and closes, and the inner end of the paddle 4 is stuck in 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, moving out of the annular groove, the mechanical lock is unlocked, and the 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 load-bearing head; a accommodating chamber that runs through the upper and lower parts is provided in the middle of the fixed seat, and a paddle is provided on both sides of the accommodating chamber. The paddles are connected to the fixed seat by rotating or sliding through the rotating shaft. When locked, the inner sides of the left and right paddles are placed in the accommodating chamber. The paddles are connected to the floating block through the transmission mechanism. The load-bearing head is fixed on the underwater equipment. The umbilical cable connected to the underwater equipment passes through the through hole in the middle of the load-bearing head. An annular groove is provided on the outer periphery of the load-bearing head. When the floating block is on the water, the load-bearing head enters the accommodating chamber to drive the paddle to move out of the accommodating chamber, and then the inner end of the paddle is reset and stuck 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 load-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 the inner end of the connecting rod is provided with a long first sliding hole along the length direction, and the outer end of the paddle is provided with a first slider, and the first slider 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 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, 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 inner end of the connecting rod is provided with a long first sliding hole along the length direction, the outer end of the paddle is provided with a first slider, the first slider is slidably connected to the first sliding hole, the outer end of the connecting rod is provided with a long second sliding hole along the length direction, the floating block is fixed to the top of the vertical rod, the vertical rod sleeve is in the vertical slide and slides up and down reciprocatingly, the bottom of the vertical rod is provided with a second slider, 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, and 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 mounted on the fixed plate and the center of the through hole is located 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, 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 float 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 frustum-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 opened on the left and right sides of the fixing seat, the accommodating cavities are communicated with the accommodating cavity, and the paddles are placed 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 hanging ring just above the accommodating cavity.

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