Cable-driven foldable and deployable capturing mechanism for launch and recovery of unmanned underwater vehicle

Abstract

A cable-driven foldable and deployable capturing mechanism for launch and recovery of an unmanned underwater vehicle, comprising a bendable mechanism, a synchronous opening and closing mechanism, and a steel wire cable guide driving mechanism. According to the bendable mechanism, a distal section (1), a middle section (2) and a proximal section (3) are connected by means of a connecting rod transmission assembly to achieve bending movement. To further enlarge the grabbing range of the capturing mechanism, the synchronous opening and closing mechanism is introduced, and the mechanism is provided with three sets of folding and deploying branches which are symmetrically and evenly distributed and the steel wire cable guide driving mechanism; under the action of a linear electric push rod (101), only a single degree of freedom is required to achieve two-stage folding and deploying movement of synchronous bending and approaching, and on the basis of the dual movement characteristic, the operation of grabbing and locking the unmanned underwater vehicle is completed. A separation and unlocking action is completed by gradually releasing the elastic potential energy accumulated by deformation of a torsion spring (8) in a grabbing and locking state, so as to implement the launch of the unmanned underwater vehicle. The cable-driven foldable and deployable capturing mechanism for launch and recovery of an unmanned underwater vehicle has a flexible driving mode, can capture unmanned underwater vehicles of different models, has high universality, and can implement fast, accurate and stable launch and recovery operations.

Description

A rope-driven foldable capture mechanism for deploying and retracting unmanned underwater vehicles Technical Field

[0001] The present invention relates to the technical field of underwater robot applications, and in particular to a rope-driven foldable capture mechanism for deploying and retracting an unmanned underwater vehicle. Background Art

[0002] In recent years, with the increasing emphasis on marine rights and interests, unmanned submersibles (UUVs), as a crucial vehicle for human understanding and development of the ocean, have played a significant role in seabed exploration and national defense construction. The operational process of UUVs typically involves the capture, recovery, and release of UUVs. This technology is a highly forward-looking and challenging topic in the field of high-end marine technology, and achieving safe and stable deployment and recovery of UUVs has become a pressing challenge. The deployment and recovery of UUVs is primarily achieved through three methods: underwater static deployment, underwater dynamic deployment, and surface manual deployment. Underwater static deployment involves setting up an operating platform on the seabed, where the UUV actively docks and locks with the platform by adjusting its posture. Underwater dynamic recovery involves capturing the UUV while maintaining relative motion between the deployment and recovery equipment and the UUV. Surface manual recovery requires manual hooking, placing high demands on operability.

[0003] In the field of UUV capture and recovery technology, numerous inventors have proposed various solutions. For example, the Chinese patent application "A Rapid Deployment and Recovery Device for AUVs in High Sea Conditions," patent application number: CN201911013241.9, includes a V-shaped recovery frame, an AUV guide assembly, a sling assembly, and a barrier net assembly. This device offers advantages such as expanding the recovery area, reducing docking precision requirements, and enabling rapid deployment and recovery. Another example is the Chinese patent application "A Device for Deploying an Unmanned Underwater Vehicle from an Unmanned Surface Vehicle," patent application number: CN201811517264.9, which includes a gantry, a drive unit, a laser rangefinder, and a clamping mechanism. By driving the gantry to adjust the clamping mechanism's position, the device improves the efficiency of docking between the UUV and the UUV at sea. Existing deployment and recovery devices suffer from numerous actuators, complex operating procedures, and low capture success rates. Furthermore, existing technologies generally only support deployment and recovery operations for a specific type and size of UUV. The research and development of an unmanned underwater vehicle capture mechanism with strong versatility, convenient and efficient driving mode, and precise and stable grasping has important practical value.

[0004] Summary of the Invention

[0005] Purpose of the invention: In view of the problems of complex driving and low success rate of contact operation in the clamping stage of existing related capture and release devices, the present invention provides a rope-driven foldable capture mechanism for the release and retraction of unmanned underwater vehicles, which adopts a single-degree-of-freedom linkage drive method to prompt the joints of the capture mechanism to produce a capture action, so as to achieve the purpose of accurately capturing and stably and efficiently releasing the unmanned underwater vehicle.

[0006] Technical solution: The present invention provides a rope-driven foldable capture mechanism for the retrieval and deployment of unmanned underwater vehicles, comprising a foldable mechanism, a synchronous opening and closing mechanism, and a wire rope guide drive mechanism; the foldable mechanism comprises a distal section, a middle section, and a proximal section with a hollow inner cavity, a connecting rod transmission assembly and a support seat for connecting the three to realize bending movement, the two ends of the middle section are respectively hinged to one end of the distal section and the proximal section, and the other end of the proximal section is hinged to the support seat; the connecting rod transmission assembly is arranged in the inner cavity of the distal section, the middle section, and the proximal section, and the synchronous opening and closing mechanism includes several groups of symmetrically and evenly distributed folding branches, and the bottom ends of the folding branches are connected to the foldable mechanism.

[0007] Furthermore, two pairs of hinge holes are provided on the thin walls on both sides of the distal section, namely the first hinge hole and the second hinge hole; three pairs of hinge holes are provided on the thin walls on both sides of the middle section, namely the third hinge hole, the fourth hinge hole and the fifth hinge hole; three pairs of hinge holes are provided on the thin walls on both sides of the proximal section, namely the sixth hinge hole, the seventh hinge hole and the eighth hinge hole; and there are hollow areas between the thin walls for arranging the connecting rod transmission assembly.

[0008] Furthermore, a ninth articulated joint and a tenth articulated joint are provided in the middle of the support seat, a spring limiting groove is arranged near the tenth articulated joint, and two groups of torsion spring limiting grooves are symmetrically provided with respect to the central axis of the support seat.

[0009] Furthermore, the inner cavity of the middle section fits the outer surfaces of the distal section and the proximal section on the left and right sides respectively; the first hinge hole and the third hinge hole are coaxial and hinged through a pin; the fourth hinge hole and the sixth hinge hole are coaxial and hinged through a pin.

[0010] Furthermore, the connecting rod transmission assembly includes two symmetrically arranged groups of first transmission rods, second transmission rods and third transmission rods and a single group of fourth transmission rods, one end of the first transmission rod is hinged to the first hinge hole, the third hinge hole is located outside the first hinge hole, the circular hole at one end of the first transmission rod, the first hinge hole, the third hinge hole are coaxial with the axis of the pin shaft, and pass through the pin shaft to rotate around the pin shaft; one end of the second transmission rod is embedded in the other end of the first transmission rod and is hinged through the pin shaft, the other end of the second transmission rod extends to the seventh hinge hole and is hinged through the pin shaft; the circular hole at one end of the third transmission rod is hinged to the second hinge hole The hole is hinged by a pin shaft, the circular hole at one end of the fourth transmission rod is hinged to the fifth hinge hole by a pin shaft, the circular hole at the other end of the third transmission rod is hinged to the tenth hinge joint arranged on the support seat; the circular hole at the other end of the fourth transmission rod is also hinged to the tenth hinge joint, and the three are arranged coaxially and rotate around the axis; a square groove is arranged at the other end of the third transmission rod, and a torsion spring with a V-shaped angle of 180° is arranged at the groove, the left end of the V-shaped angle of the torsion spring is against the square groove of the third transmission rod, and the right end is against the torsion spring limiting groove, the ninth hinge joint and the eighth hinge hole arranged on the outer surface of the proximal section are hinged by a pin shaft.

[0011] Furthermore, the folding branch includes an electric push rod, a branch block, a rocker arm, a lock, a push rod, and a sliding branch block. The electric push rod drive motor is fixedly provided with a branch block, and the electric push rod assembly is provided with a sliding branch block. The flat ear piece at one end of the rocker arm is embedded in the branch block and hinged through a pin shaft. The lock is fixed to the middle of the rocker arm. One end of the push rod is rotatably hinged to the lock, and the other end of the push rod is rotatably hinged to the sliding branch block. Cylindrical guide openings are provided inside the branch block and the sliding branch block.

[0012] Furthermore, the wire rope guiding drive mechanism includes three groups of wire ropes and three groups of pulleys. The starting ends of the wire ropes are fixedly connected to the branch blocks. The wire ropes pass through the cylindrical guide openings of the branch blocks and the sliding branch blocks in turn, and then turn at the sliding branch blocks to further extend toward the pulleys, and wrap around the pulleys, and finally connect to the middle part of the fourth transmission rod.

[0013] Furthermore, the centers of the adjacent hinge holes on the middle section are connected end to end to form a line, and the internal angles are 18 0 , 70 0 , 92 0 obtuse triangle.

[0014] Furthermore, the centers of the adjacent hinge holes on the proximal section are connected end to end to form a line, and the internal angles are 14 0 , 41 0 , 125 0 obtuse triangle.

[0015] Furthermore, the unmanned boat is equipped with a gantry, and a crane fixedly installed on the upper part of the gantry releases the fairing into the sea through a cable. The synchronous opening and closing mechanism of the capture mechanism is stored inside the fairing in an overall retracted state. As the synchronous opening and closing mechanism is gradually pushed out from the inside of the fairing, the synchronous opening and closing mechanism gradually opens, completing the preparations before the capture operation.

[0016] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0017] (1) The present invention is a rope-driven foldable capture mechanism for the retrieval and deployment of unmanned underwater vehicles. The designed foldable mechanism has a multi-link transmission characteristic, and only one drive is required to achieve continuous movement of the entire mechanism from the initial straight state to the extreme bending state. The wire rope guide drive mechanism is shared with the synchronous opening and closing mechanism as the power source for the capture operation, realizing two-level foldable movement of synchronous bending and closing, meeting the function of grabbing and locking the unmanned underwater vehicle during recovery, and using a torsion spring to complete the deployment requirement of separation and unlocking. The driving method of the present invention is convenient and efficient, simplifies the operation process, and can meet the requirements of rapid deployment.

[0018] (2) The present invention is a rope-driven foldable capture mechanism for the retrieval and deployment of unmanned underwater vehicles. With the help of the spatial structural symmetry of the three branches of the synchronous opening and closing mechanism, the arc-shaped head of the unmanned underwater vehicle is used as the working area for performing the capture and release actions. The capture mechanism is used to adaptively align with the contour of the arc-shaped head in the intermediate state between the overall folding and opening, which has the advantages of expanding the opening diameter of the capture mechanism, increasing the capture range, and accurate capture.

[0019] (3) The present invention provides a rope-driven foldable capture mechanism for the retrieval of unmanned submersibles, and proposes that the capture mechanism be dragged by an unmanned boat on the surface to complete the recovery of the unmanned submersible. This can, to a certain extent, avoid the disturbance caused by the waves when traditionally retrieval of unmanned submersibles on the sea surface, improve the unmanned and intelligent level of the retrieval operation, and ensure the safety and stability of the capture and locking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic diagram of the overall structure of the bendable mechanism of the present invention;

[0021] FIG2 is a detailed diagram of the connection relationship of the support base of the bendable mechanism of the present invention;

[0022] FIG3 is a schematic diagram of the proximal section structure of the bendable mechanism of the present invention;

[0023] FIG4 is a schematic diagram of the structure of the middle section of the bendable mechanism of the present invention;

[0024] FIG5 is a schematic diagram of the distal section structure of the bendable mechanism of the present invention;

[0025] FIG6 is a schematic diagram of the structure of the bendable mechanism support seat of the present invention;

[0026] FIG7 is a schematic diagram of three bending deformation states of the bendable mechanism of the present invention;

[0027] FIG8 is a schematic diagram of the overall structure of the synchronous opening and closing mechanism and the wire rope guide drive mechanism of the present invention in an open state;

[0028] FIG9 is a schematic diagram of the overall structure of the synchronous opening and closing mechanism and the wire rope guide drive mechanism of the present invention in a retracted state;

[0029] FIG10 is a schematic diagram of the capture range of the synchronous opening and closing mechanism of the present invention in the overall closed and open states;

[0030] FIG11 is a schematic diagram of the capture preparation state of the present invention;

[0031] FIG12 is a schematic diagram of the capture and locking state of the present invention. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0033] The present invention provides a rope-driven foldable capture mechanism for the retrieval and deployment of unmanned underwater vehicles, which includes a foldable mechanism, a synchronous opening and closing mechanism, and a wire rope guide drive mechanism; the foldable mechanism includes a distal section 1, a middle section 2, a proximal section 3, and a connecting rod transmission assembly for connecting the three to achieve bending movement; the synchronous opening and closing mechanism includes three groups of symmetrically and evenly distributed foldable branches.

[0034] As shown in Figure 1, the distal section 1, middle section 2, and proximal section 3 of the bendable mechanism are all provided with hollow interior cavities. The interior cavity of the bendable mechanism middle section 2 is in contact with the outer surfaces of the distal section 1 and proximal section 3 on its left and right sides, respectively. A first hinge hole 11 provided on the outer surface of the bendable mechanism distal section 1 is coaxial with a third hinge hole 21 provided on the outer surface of the bendable mechanism middle section 2, and they are pivotally connected via a pin. A fourth hinge hole 22 provided on the outer surface of the bendable mechanism middle section 2 is coaxial with a sixth hinge hole 31 provided on the outer surface of the bendable mechanism proximal section 3, and they are pivotally connected via a pin.

[0035] The connecting rod transmission assembly includes a first transmission rod 4, a second transmission rod 5, a third transmission rod 6, and a fourth transmission rod 7. The first transmission rod 4, the second transmission rod 5, and the third transmission rod 6 are each provided in pairs, and the fourth transmission rod 7 is provided in a single pair. The connecting rod transmission assembly is arranged in the hollow inner cavity of the distal section 1, the middle section 2, and the proximal section 3 of the bendable mechanism.

[0036] One end of the first transmission rod 4 is pivotally connected to a first hinge hole 11 on the outer surface of the distal section 1 of the bendable mechanism via a pin. A third hinge hole 21 of the middle section 2 of the bendable mechanism is located outside the first hinge hole 11. The first end of the first transmission rod 4, the first hinge hole 11, and the third hinge hole 21 are coaxial with the axis of the hinge, and are pivotally connected around the hinge through the hinge. One end of the second transmission rod 5 is inserted into the other end of the first transmission rod 4 and pivotally connected via a pin. The other end of the second transmission rod 5 extends to the seventh hinge hole 32 on the outer surface of the proximal section 3 of the bendable mechanism, and the two are also pivotally connected via a pin. One end of the third transmission rod 6 is pivotally connected to the second hinge hole 12 via a pin. One end of the fourth transmission rod 7 is pivotally connected to the fifth hinge hole 23 on the outer surface of the middle section 2 of the bendable mechanism via a pin. The inner surfaces of the distal and proximal sections 1 and 3 of the bendable mechanism contact and fit tightly against the outer surfaces of the first and second transmission rods 4 and 5. The two side surfaces of the third transmission rod 6 are in contact and tightly fit with the outer surfaces of the second transmission rod 5 and the fourth transmission rod 7. Since there are two sets of first transmission rod 4, second transmission rod 5 and third transmission rod 6, one set is arranged in mirror symmetry with respect to the fourth transmission rod 7.

[0037] As shown in Figure 2, the circular hole at the other end of the third transmission rod 6 is hinged to the tenth hinged joint 92 provided on the support seat 9. The circular hole at the other end of the fourth transmission rod 7 is also hinged to the second hinged joint 92. The three are arranged coaxially and rotate around the axis. A square groove is provided at the other end of the third transmission rod 6, and a torsion spring 8 with a V-shaped angle is provided in this groove. In the absence of any force, the left end of the V-shaped angle of the torsion spring 8 abuts against the square groove of the third transmission rod 6, and the right end abuts against the torsion spring limit groove 93. In addition, the ninth hinged joint 91 and the eighth hinge hole 33 provided on the outer surface of the proximal section 3 of the bendable mechanism are rotatably hinged via a pin.

[0038] As shown in FIG3 , two pairs of hinge holes are provided on the thin walls on both sides of the distal section 1 of the bendable mechanism, namely a first hinge hole 11 and a second hinge hole 12 . The two pairs of hinge holes are surrounded by a hollow inner cavity for arranging the connecting rod transmission assembly.

[0039] As shown in FIG4 , three pairs of hinge holes are provided on the thin walls on both sides of the middle section 2 of the bendable mechanism, namely the third hinge hole 21, the fourth hinge hole 22 and the fifth hinge hole 23. The centers of the adjacent hinge holes are connected end to end to form a line, and the internal angles are 18 0 , 70 0 , 92 0 The hollow area between the thin walls on both sides of the bendable mechanism middle section 2 is used to arrange the connecting rod transmission assembly.

[0040] As shown in FIG5 , three pairs of hinge holes are also provided on the thin walls on both sides of the proximal section 3 of the bendable mechanism, namely the sixth hinge hole 31, the seventh hinge hole 32 and the eighth hinge hole 33. The centers of the adjacent hinge holes are connected end to end to form a line, and the internal angles are 14 0 , 41 0 , 125 0 The hollow area between the thin walls on both sides of the bendable mechanism near the section 3 is used to arrange the connecting rod transmission assembly.

[0041] As shown in Figure 6, a ninth articulated joint 91 and a tenth articulated joint 92 are provided in the middle of the support seat 9, and a spring limiting groove 93 is arranged near the tenth articulated joint 92. There are two groups of torsion spring limiting grooves 93 symmetrically arranged about the central axis of the support seat 9.

[0042] As shown in Figure 7, the bendable mechanism itself has a single degree of freedom characteristic. With the help of the linkage effect of the transmission components, the distal section, middle section 2, and proximal section 3 of the bendable mechanism can realize continuous bending movement from the initial straight state to the transitional extension state and finally to the extreme bending state, completing the stable capture of the arc-shaped head area of ​​the unmanned underwater vehicle.

[0043] As shown in Figure 8, the synchronous opening and closing mechanism comprises three sets of folding branches evenly arranged along the circumference of the electric push rod 101, with a bendable mechanism fixedly mounted at the ends of the folding branches. Taking one set of folding branches as an example, a branch block 102 is fixedly mounted on the drive motor of the electric push rod 101, and a sliding branch block 106 is mounted on the push rod assembly of the electric push rod 101. A flat lug at one end of the rocker arm 103 is embedded in the branch block 102 and hinged via a pin. A lock 104 is fixed to the middle of the rocker arm 103 via a screw. One end of the push rod 105 is rotatably hinged to the lock 104, and the other end of the push rod 105 is rotatably hinged to the sliding branch block 106. Both the branch block 102 and the sliding branch block 106 are internally provided with cylindrical guide openings. The wire rope guide drive mechanism consists of a group of electric push rods 101, three groups of wire ropes 107 and three groups of pulleys 108. The starting end of the wire rope 107 is fixedly connected to the branch block 102. The wire rope 107 passes through the cylindrical guide openings of the branch block 102 and the sliding branch block 106 in turn, and then turns at the sliding branch block 106 to further extend toward the pulley 108, and wraps around the pulley 108, and finally connects to the middle part of the fourth transmission rod 7 of the bendable mechanism.

[0044] As shown in Figures 8 and 9, to achieve the capture and locking operation of the unmanned underwater vehicle, the synchronized opening and closing mechanism must be capable of deforming from a fully open state to a closed state. The folding branches directly push the sliding branch block 106 via the push rod assembly of the centrally located electric push rod 101. This coordinated action allows the three folding branches to achieve a first-stage synchronized convergence movement. Simultaneously, the centrally located electric push rod 101 serves as the power source for the bendable mechanism located at the end of the folding branches. Because the length of the steel wire rope 107 is fixed and lacks elasticity, the steel wire rope 107 pulls the bendable mechanism along the cylindrical guide during the push rod assembly's extension. The V-shaped corners of the torsion spring 8 in the bendable mechanism are elastically deformed by the combined forces of the square grooves of the third transmission rod 6 and the torsion spring limit slots 93. This process causes the bendable mechanism to transition from its initial straight state to a maximum bending state, driving it to achieve a second-stage synchronized bending movement under the action of the steel wire rope guide drive mechanism.

[0045] To enable clustered and rapid operation of the UUV retraction and deployment devices, the synchronous opening and closing mechanism must be reversible from its overall retracted state to its extended state. As the electric push rod 101 gradually retracts, the elastic force stored in the V-shaped corners of the torsion spring 8 in the bendable mechanism is gradually released. Leveraging the springback properties of the torsion spring 8, the bendable mechanism transitions from its extreme bending state to its initial straight state, allowing the synchronous opening and closing mechanism to return from its overall retracted state to its extended state.

[0046] As shown in Figure 10, a rope-driven, deployable capture mechanism for retracting and deploying unmanned underwater vehicles utilizes its deformation motion to achieve spatial posture transformation, enabling capture of various types and diameters of unmanned underwater vehicles, enhancing the capture mechanism's applicability and versatility. The ratio of the circumscribed circle diameters of the open and closed end openings reflects the capture mechanism's capture capability. In this example, the diameter of the open end opening is D = 618.2 mm, and the diameter of the closed end opening is d = 143.5 mm. Therefore, the deployable capture mechanism can capture unmanned underwater vehicles with diameters between d and D.

[0047] As shown in Figure 11, when surface unmanned vehicle 111 receives a command to recover the UUV and returns to the operating area, crane 113, mounted atop gantry 112, releases shroud 115 into the sea via cable 114. The synchronized opening and closing mechanism, stored within shroud 115 in its stowed state, gradually expands as it is gradually pushed out of shroud 115, completing preparations for the capture operation.

[0048] As shown in Figure 11, the surface unmanned boat 111 and the unmanned underwater vehicle are moving in the same direction. The head of the unmanned underwater vehicle contacts the synchronous opening and closing mechanism, and then the wire rope guide drive mechanism is activated. The three folding branches of the synchronous opening and closing mechanism are all moved toward the center. In this process, the bendable mechanism at the end of the synchronous opening and closing mechanism generates a bending movement, which fits the head of the unmanned underwater vehicle for wrapping and clamping, completing the locking operation, and then performing the lifting and recovery task through the crane 113 and returning with the surface unmanned boat 111.

Claims

1. A rope-driven foldable capture mechanism for unmanned underwater vehicles. A rope-driven foldable capture mechanism for unmanned underwater vehicles, characterized in that: The invention comprises a bendable mechanism, a synchronous opening and closing mechanism and a wire rope guiding and driving mechanism; the bendable mechanism comprises a distal section (1) provided with a hollow inner cavity, a middle section (2), a proximal section (3), a connecting rod transmission assembly and a support seat (9) for connecting the three to realize bending movement, the two ends of the middle section (2) are respectively hinged to one end of the distal section (1) and the proximal section (3), and the other end of the proximal section (3) is hinged to the support seat (9); the connecting rod transmission assembly is arranged in the inner cavity of the distal section (1), the middle section (2) and the proximal section (3), and the synchronous opening and closing mechanism comprises a plurality of groups of symmetrically evenly distributed folding branches, and the bottom ends of the folding branches are connected to the bendable mechanism.

2. The rope-driven foldable capture mechanism for unmanned underwater vehicle retrieval and deployment according to claim 1, characterized in that: Two pairs of hinge holes are arranged on the thin walls on both sides of the distal section (1), namely the first hinge hole (11) and the second hinge hole (12); three pairs of hinge holes are arranged on the thin walls on both sides of the middle section (2), namely the third hinge hole (21), the fourth hinge hole (22) and the fifth hinge hole (23); three pairs of hinge holes are arranged on the thin walls on both sides of the proximal section (3), namely the sixth hinge hole (31), the seventh hinge hole (32) and the eighth hinge hole (33); and hollow areas are provided between the thin walls for arranging connecting rod transmission components.

3. The rope-driven foldable capture mechanism for unmanned underwater vehicle retrieval and deployment according to claim 2, characterized in that: A ninth articulated joint (91) and a tenth articulated joint (92) are provided in the middle of the support seat (9), and a torsion spring limiting groove (93) is arranged on the other side of the articulated joint. Two groups of the torsion spring limiting grooves (93) are symmetrically arranged about the central axis of the support seat (9).

4. The rope-driven foldable capture mechanism for unmanned underwater vehicle retrieval and deployment according to claim 2, characterized in that: The inner cavity of the middle section (2) fits the outer surfaces of the distal section (1) and the proximal section (3) on the left and right sides respectively; the first hinge hole (11) and the third hinge hole (21) are coaxial and rotatably hinged via a pin; the fourth hinge hole (22) and the sixth hinge hole (31) are coaxial and rotatably hinged via a pin.

5. The rope-driven foldable capture mechanism for unmanned underwater vehicle retrieval and deployment according to claim 3, characterized in that: The connecting rod transmission assembly comprises two groups of first transmission rods (4), second transmission rods (5) and third transmission rods (6) which are symmetrically arranged, and a single group of fourth transmission rods (7); one end of the first transmission rod (4) is hinged to the first hinge hole (11); the third hinge hole (21) is located outside the first hinge hole (11); the circular hole at one end of the first transmission rod (4), the first hinge hole (11) and the third hinge hole (21) are coaxial with the axis of the pin shaft and penetrate through the pin shaft to rotate around the pin shaft; one end of the second transmission rod (5) is embedded in the other end of the first transmission rod (4) and rotates through the pin shaft The second transmission rod (5) is hinged, the other end of the second transmission rod (5) extends to the seventh hinge hole (32) and is hinged by a pin; the circular hole at one end of the third transmission rod (6) is hinged by a pin, the circular hole at one end of the fourth transmission rod (7) is hinged by a pin, the circular hole at one end of the third transmission rod (6) is hinged by a pin, the circular hole at the other end of the third transmission rod (6) is hinged by a tenth hinge joint (92) provided on the support seat (9); the circular hole at the other end of the fourth transmission rod (7) is also hinged by the tenth hinge joint (92), and the three are coaxially arranged and rotate around the axis; the third transmission rod (6) A square groove is arranged at the other end, and a torsion spring (8) with a V-shaped angle of 180° is arranged at the groove. The left end of the V-shaped angle of the torsion spring (8) abuts against the square groove of the third transmission rod (6), and the right end abuts against the torsion spring limiting groove (93). The ninth articulated joint (91) and the eighth articulated hole (33) arranged on the outer surface of the proximal section (3) are rotatably hinged through a pin shaft.

6. The rope-driven foldable capture mechanism for unmanned underwater vehicle retrieval and deployment according to claim 5, characterized in that: The folding and unfolding branch comprises an electric push rod (101), a branch block (102), a swing rod (103), a lock (104), a push rod (105), and a sliding branch block (106); the branch block (102) is fixedly arranged at the driving motor of the electric push rod (101); the sliding branch block (106) is arranged at the push rod assembly of the electric push rod (101); a flat ear piece at one end of the swing rod (103) is embedded in the branch block (102) and is hinged by a pin shaft; the lock (104) is fixed to the middle of the swing rod (103); one end of the push rod (105) is rotatably hinged to the lock (104); and the other end of the push rod (105) is rotatably hinged to the sliding branch block (106); and cylindrical guide openings are arranged inside the branch block (102) and the sliding branch block (106).

7. The rope-driven foldable capture mechanism for unmanned underwater vehicle retrieval and deployment according to claim 6, characterized in that: The steel wire rope guiding and driving mechanism comprises three groups of steel wire ropes (107) and three groups of pulleys (108). The starting ends of the steel wire ropes (107) are fixedly connected to the branch block (102). The steel wire ropes (107) pass through the cylindrical guide openings of the branch block (102) and the sliding branch block (106) in sequence, and then turn at the sliding branch block (106) to further extend toward the pulley (108), and circle around the pulley (108) to finally connect to the middle of the fourth transmission rod (7).

8. The rope-driven foldable capture mechanism for unmanned underwater vehicle retrieval and deployment according to claim 2, characterized in that: The centers of the adjacent hinge holes on the middle section (2) are connected end to end in sequence to form a line, thereby obtaining an obtuse triangle with internal angles of 18°, 70° and 92° respectively.

9. The rope-driven foldable capture mechanism for unmanned underwater vehicle retrieval and deployment according to claim 2, characterized in that: The centers of the adjacent hinge holes on the proximal section (3) are connected end to end in sequence to form a line, thereby obtaining an obtuse triangle with internal angles of 14°, 41°, and 125° respectively.

10. The rope-driven foldable capture mechanism for unmanned underwater vehicle retrieval and deployment according to any one of claims 1 to 9, characterized in that: The unmanned boat (111) is equipped with a gantry (112), and a crane (113) fixedly installed on the upper part of the gantry (112) releases the fairing (115) into the sea through a cable (114). The synchronous opening and closing mechanism of the capture mechanism is stored inside the fairing (115) in an overall retracted state. As the synchronous opening and closing mechanism is gradually pushed out from the fairing (115), the synchronous opening and closing mechanism gradually opens, completing the preparation before the capture operation.

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