CN113277015A

CN113277015A - Modular slide capture rod type recovery device for autonomous recovery of underwater robots

Info

Publication number: CN113277015A
Application number: CN202110475151.2A
Authority: CN
Inventors: 孟令帅; 谷海涛; 高东勇; 赵志超; 高存璋; 林扬
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2021-08-20
Anticipated expiration: 2041-04-29
Also published as: CN113277015B

Abstract

The invention belongs to the field of autonomous underwater robots, and particularly relates to a modular slide capturing rod type recovery device for autonomously recovering an underwater robot, which comprises a fixed frame, and a slide mechanism, a lead screw sliding table hoisting mechanism and a clamping mechanism which are respectively arranged on the fixed frame. The invention has simple integral structure, reliable performance, convenient maintenance and strong practicability.

Description

Modular slide capture rod type recovery device for autonomous recovery of underwater robots

Technical Field

The invention belongs to the field of autonomous underwater robots, and particularly relates to a modular slideway capture rod type recovery device for autonomously recovering an underwater robot.

Background

In recent years, autonomous underwater robots are becoming more and more mature and have been widely used in the fields of marine scientific research, resource investigation and military. Because the autonomous underwater robot has limited energy and is restricted by the development level of the battery technology, the capability and the further popularization and application of the autonomous underwater robot are limited, and the autonomous underwater robot needs to be frequently recycled. The traditional manned recovery mode has the problems of high operation cost, large personnel risk, complex recovery procedure, low automation level, low operation efficiency and the like, and also becomes a bottleneck for preventing the autonomous underwater robot from being widely applied. Therefore, in order to further develop the performance of the underwater robot, the underwater robot recovery system is being developed to be less or no-man.

Disclosure of Invention

Aiming at the problems of complex structure, low success rate and the like of a manned recovery mechanism of the existing autonomous underwater robot, the invention aims to provide a modular slideway capturing rod type recovery device for the autonomous underwater robot. The recovery device adopts an unmanned autonomous recovery mode, has a relatively simple structure, is safe and reliable, has high recovery success rate, and can effectively improve the operation efficiency and the success rate of the autonomous underwater robot.

The purpose of the invention is realized by the following technical scheme:

the automatic lifting device comprises a fixed frame, and a slide way mechanism, a lead screw sliding table lifting mechanism and a clamping mechanism which are respectively arranged on the fixed frame, wherein the slide way mechanism is positioned at the lower part in the fixed frame and comprises a motor A, a transmission device, a roller, a belt and a supporting plate; the screw rod sliding table hoisting mechanism is positioned above the slide rail mechanism and comprises a motor B, a screw rod sliding table fixing plate, a screw rod sliding table and a butt joint rod, the motor B and the screw rod sliding table fixing plate are respectively installed on the fixing frame, a screw rod in the screw rod sliding table is rotatably installed on the screw rod sliding table fixing plate and is connected with the output end of the motor B, the sliding table in the screw rod sliding table has the freedom degree of reciprocating movement along the axial direction of the screw rod, the upper end of the butt joint rod is hinged on the sliding table and moves synchronously with the sliding table, and the lower end of the butt joint rod is a traction end; the clamping mechanism comprises a clamping frame, a rope, a fixed pulley, a long sliding table and a spring, the clamping frame for clamping the underwater robot is symmetrically arranged on two sides of the belt, the clamping frame is connected with the fixed frame in a sliding mode, the rope is connected to the clamping frame on each side, one end of the rope is connected to the clamping frame, the other end of the rope is connected with the long sliding table connected to the fixed frame in a sliding mode after bypassing the fixed pulley arranged on the fixed frame, the spring is connected between the inner side of the clamping frame on each side and the fixed frame, the clamping side is arranged on the inner side of the clamping frame on each side, the outer side of the clamping frame is connected with the fixed frame, and the clamping frame is close to the fixed frame under the elastic force of the spring; the long sliding table is located on a track of the butt joint rod moving along with the sliding table, is pushed by the butt joint rod, and then pulls the clamping frame through the rope to clamp the underwater robot.

Wherein: the supporting plates are parallel to each other and are fixed to the lower portion in the fixed frame respectively, the supporting plates are connected through roller brackets, small rollers are mounted on the roller brackets, large rollers are mounted between the two ends of the supporting plates in a rotating mode, and the belt is wound on the large rollers and the small rollers respectively.

The small idler wheel is V-shaped, the surface of the belt wound on the small idler wheel is also V-shaped, and the bottom of the V-shaped is positioned in the middle of the idler wheel bracket.

The transmission device comprises a chain wheel and a chain, the motor A is fixed at the upper end of the fixed frame, and the output end of the motor A is connected with the chain wheel; and the other chain wheel is connected to any one of the large idler wheels, and the two chain wheels are connected through the chain.

The motor B is fixed on the lead screw sliding table fixing plate or the fixing frame through the adapter plate, and the output end of the motor B is connected with a lead screw in the lead screw sliding table through a coupler.

The screw rod sliding table is in threaded connection with the screw rod, one side or two sides of the sliding table are hinged with the butt joint rods, and the upper ends of the butt joint rods are inserted into U-shaped grooves formed in the sliding table and hinged through pin shafts.

The bottom of the clamping frame is fixedly connected with a short sliding table which is in sliding connection with a short guide rail arranged on the fixed frame, and the sliding direction is perpendicular to the direction in which the underwater robot moves towards the inside of the fixed frame; the long sliding table is connected with a long guide rail installed on the fixed frame in a sliding mode, and the sliding direction of the long sliding table is the same as the direction of the underwater robot moving towards the inside of the fixed frame.

And each side of the rope is wound by two fixed pulleys, one fixed pulley is fixed on the upper part in the fixed frame, the axial direction of the fixed pulley is the same as the sliding direction of the clamping frame, and the other fixed pulley is fixed on the lower part in the fixed frame, and the axial direction of the fixed pulley is the same as the sliding direction of the long sliding table.

And soft foam is arranged at the clamping part of the inner side of the clamping frame, which is contacted with the underwater robot, and a pressure sensor is arranged between the soft foam and the clamping frame.

One end of the supporting plate is connected with a front end baffle, a distance measuring sensor is mounted on the front end baffle, and the other end of the supporting plate is fixedly connected with a guide plate.

The invention has the advantages and positive effects that:

1. the modularized slide rail capturing rod type recovery device capable of autonomously recovering the underwater robot is simple in structure and modularized in design, greatly reduces the labor intensity of operators, and improves the automation level and the recovery efficiency of the recovery process.

2. The underwater robots with different diameters can be recovered by changing the forward movement distance of the butt joint rod in the recovery process, and meanwhile, the butt joint rod and the belt jointly pull the underwater robots to move forward; therefore, the underwater robot recycling device can also finish recycling of underwater robots with large weight, and has good universality.

3. The underwater robot has better safety to the underwater robot, firstly, a belt in the slideway mechanism is in a V shape, and when the underwater robot is positioned on the belt, the underwater robot tends to move towards the center of the belt under the action of self gravity; in addition, the butt joint rod is positioned in the middle of the clamping tongue of the underwater robot, and can play a role in drawing the underwater robot and prevent the underwater robot from colliding with other objects; when the underwater robot is recovered, the movement speed of the sliding table and the movement speed of the belt are set to be synchronous, so that the underwater robot can move stably; the place where the clamping frame contacts with the underwater robot adopts soft foam, so that the damage to the surface of the underwater robot shell caused by overlarge pressure is avoided.

4. The invention adopts a set of lead screw sliding table to solve the two problems of moving the underwater robot on the belt and clamping and limiting the underwater robot, reduces a set of driving equipment and improves the reliability of the device.

5. According to the invention, the butt joint rod is hinged with the sliding table through the pin shaft, when sea conditions are poor, the recovery platform rolls, and the butt joint rod returns to a vertical state under the action of self gravity, so that the influence of external interference on the underwater robot for capturing the butt joint rod is reduced, and the recovery success rate is improved; therefore, the invention can finish the autonomous recovery of the underwater robot under higher sea conditions.

6. The slideway device has the advantages of heavy load, skid resistance, wear resistance, large driving force and stable operation, and can meet the requirement of recycling small and medium underwater robots; in addition, the driving motor of lead screw slip table is located the frame top, keeps away from the surface of water, prevents that the motor from meeting water and causing the damage to it.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of the slide mechanism of the present invention;

FIG. 3 is a schematic view of the internal structure of the slideway of the present invention;

FIG. 4 is a schematic structural view of a screw sliding table hoisting mechanism of the present invention;

FIG. 5 is a schematic view of the clamping mechanism of the present invention;

FIG. 6 is a schematic view of the internal structure of the clamping mechanism of the present invention;

FIG. 7 is a schematic structural view of a front end baffle of the present invention;

wherein: the device comprises a fixed frame 1, a slideway mechanism 2, a screw sliding table hoisting mechanism 3, a clamping mechanism 4, a guide plate 5, a bolt 6, a nut 7, a corner piece 8, a motor A9, a chain 10, a chain wheel 11, an underwater robot 12, a belt 13, a motor fixing plate 14, a large roller 15, a support plate 16, a rope 17, a butt joint rod 18, a fixed pulley 19, a small roller 20, a roller bracket 21, a coupling 22, a screw sliding table 23, an adapter plate 24, a pin shaft 25, a short sliding table 26, a short guide rail 27, a long sliding table 28, a long guide rail 29, a spring 30, soft foam 31, a pressure sensor 32, a distance measuring sensor 33, a front end baffle 34, a screw fixing plate 35, a clamping frame 36, an aluminum profile 37 and a motor B38.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 7, the invention comprises a fixed frame 1, a slide mechanism 2, a screw slide hoisting mechanism 3 and a clamping mechanism 4, wherein the slide mechanism 2, the screw slide hoisting mechanism 3 and the clamping mechanism 4 are all connected to the fixed frame 1 through bolts 6 and nuts 7. The fixed frame 1 of this embodiment is a module by the cuboid frame that many aluminium alloy 37 formed through bolt 6, nut 7 and corner fittings 8 connection, wholly, and slide mechanism 2 is located the lower part in fixed frame 1, and lead screw slip table hoisting machine constructs 3 and is located the upper portion of fixed frame 1.

The slide mechanism 2 of the embodiment comprises a motor A9, a transmission device, a roller, a belt 13 and a support plate 16, wherein the motor A9 is fixedly connected to the upper end of the fixed frame 1 through a motor fixing plate 14, so that the motor A9 is far away from the water surface, the motor A9 is prevented from splashing water, and the safe operation of the motor A9 is ensured; the roller is rotatably arranged on the supporting plate 16 and is connected with the output end of the motor A9 through a transmission device, and the belt 13 is wound on the roller and is driven to run by the motor A9. The two support plates 16 of this embodiment are parallel to each other, and are fixed in the lower part of fixed frame 1 through bolts 6 respectively, and link to each other through roller bracket 21 between two support plates 16, install little gyro wheel 20 on roller bracket 21, respectively rotate between the front and back both ends of two support plates 16 and install a big gyro wheel 15, and belt 13 twines respectively on big gyro wheel 15 and little gyro wheel 20. The roller bracket 21 of the embodiment is provided with a plurality of roller brackets, and each roller bracket 21 is provided with a small roller 20; the small roller 20 of this embodiment is "V" shaped, the surface of the belt 13 wound around the small roller 20 is also "V" shaped, and the bottom of the "V" shape is located in the middle of the roller bracket 21, so that the underwater robot 12 is located in the middle of the roller bracket 21, and the underwater robot 12 is prevented from shaking to both sides. The transmission device of the embodiment comprises a chain wheel 11 and a chain 10, wherein the output end of a motor A is connected with one chain wheel 11, any one of the large idler wheels 15 is connected with another chain wheel 11, and the two chain wheels 11 are connected through the chain 10. The motor A9 drives the chain wheel 11 to rotate, and then drives the big roller 15 and the belt 13 to move through the chain 10. The belt 13 functions to support and convey the underwater robot 12.

One end of the supporting plate 16 of this embodiment is fixedly connected with a front end baffle 34 through a bolt 6, and a distance measuring sensor 33 is installed on one surface of the front end baffle 34 facing the underwater robot 12, and mainly used for detecting the distance from the underwater robot 12 to the front end of the fixed frame 1 on the belt 13. The other end of the supporting plate 16 is fixedly connected with a guide plate 5 through a bolt 6, and the guide plate 5 is mainly used for guiding the underwater robot 12 sailing on the water surface to the right back of the belt 13 so as to facilitate the underwater robot to reach the upper surface of the belt 13.

Lead screw slip table hoisting machine of this embodiment constructs 3 top that is located slide mechanism 2, including motor B38, adapter plate 24, shaft coupling 22, lead screw slip table fixed plate 35, lead screw slip table 23, round pin axle 25 and butt joint pole 18, this motor B38 passes through adapter plate 24 to be fixed on lead screw slip table fixed plate 35 or fixed frame 1, the motor B38 of this embodiment passes through adapter plate 24 to be fixed on lead screw slip table fixed plate 35, lead screw slip table fixed plate 35 passes through 6 rigid couplings on fixed frame 1, lead screw in the lead screw slip table 23 rotates and installs on lead screw slip table fixed plate 35, the output of motor B38 passes through the lead screw in shaft coupling 22 and the lead screw slip table 23 and links to each other. The slipway in the lead screw slipway 23 has the degree of freedom of reciprocating movement along the axial direction of the lead screw, namely, the slipway in the lead screw slipway 23 is in threaded connection with the lead screw, one side or two sides of the slipway are hinged with a butt-joint rod 18, the upper end of the butt-joint rod 18 is inserted into a U-shaped groove formed in the slipway and is hinged with the slipway through a pin shaft 25 and synchronously moves with the slipway, and the lower end of the butt-joint rod 18 is a traction end. The U-shaped groove on the sliding table can ensure that the butt joint rod 18 is still in a vertical state under the action of self gravity when the ship body rolls, and the success rate of capturing the butt joint rod 18 by the underwater robot 12 is improved. The underwater robot 12 is located under the butt joint rod 18, the motor B38 rotates to drive the screw rod in the screw rod sliding table 23 to rotate and the sliding table to move, the connecting rod 18 is driven to reciprocate, the butt joint rod 18 mainly pulls the underwater robot 12, and the belt assists in pulling and supporting. When the screw rod slipway is fixed 35 and rolls with the hull, the docking rod 18 automatically returns to the vertical state under the action of the self gravity, thereby reducing the influence of the hull rolling on the underwater robot 12 capturing the docking rod 18. The running speed of the belt 13 and the running speed of the sliding table of the embodiment are synchronous, so that the underwater robot 12 can be stably recovered.

The clamping mechanism 4 of the embodiment comprises a clamping frame 36, a rope 17, a fixed pulley 19, a long sliding table 28, a spring 30, a soft foam 31 and a pressure sensor 32, wherein the clamping frames 36 for clamping the underwater robot 12 are symmetrically arranged above two sides of the belt 13, the clamping frame 36 is in sliding connection with the fixed frame 1, the rope 17 is connected to each side of the clamping frame 36, one end of the rope 17 is connected to the clamping frame 36, the other end of the rope 17 bypasses the fixed pulley 19 arranged on the fixed frame 1 and then is connected with the long sliding table 28 connected to the fixed frame 1 in a sliding manner, the inner side of each side of the clamping frame 36 is a clamping side, the outer side of each side of the clamping frame 36 is connected with the spring 30 with the fixed frame 1, when the underwater robot 12 is not recovered, the clamping frame 4 is close to the fixed frame 1 under the elastic force of the spring 30, and the clamping frame 36 is prevented from shaking; the long sliding table 28 is positioned on the track of the docking rod 18 moving along with the sliding table, and is pushed by the docking rod 18, so that the clamping frame 36 is pulled by the rope 17 to clamp the underwater robot 12. The bottom of the holding frame 36 of this embodiment is fixedly connected with a short sliding table 26, the short sliding table 26 is slidably connected with a short guide rail 27 fixed at the inner lower part of the fixed frame 1 through a bolt 6, and the sliding direction is perpendicular to the direction of the underwater robot 12 moving towards the inner part of the fixed frame 1; the long slide table 28 is slidably connected to a long guide rail 29 fixed to the upper portion of the inside of the fixed frame 1 by a bolt 6, and the sliding direction is the same as the direction in which the underwater robot 12 moves toward the inside of the fixed frame 1. Each side rope 17 of the present embodiment is wound by two fixed pulleys 19, one of which 19 is fixed at the upper portion in the fixed frame 1 in the axial direction in the same direction as the sliding direction of the holding frame 36, and the other fixed pulley 19 is fixed at the lower portion in the fixed frame 1 in the axial direction in the same direction as the sliding direction of the long slide table 28. The rope 17 passes through the upper fixed pulley 19, changes the horizontal direction of the moving direction of the underwater robot 12 into the vertical direction, and then passes through the lower fixed pulley 19, and changes the horizontal direction perpendicular to the moving direction of the underwater robot 12. In the embodiment, the soft foam 31 wraps the clamping part of the inner side of the clamping frame 36, which is in contact with the underwater robot 12, so that the underwater robot 12 is protected, the shell of the underwater robot 12 is prevented from being damaged, the pressure sensor 32 is arranged between the soft foam 31 and the clamping frame 36, and the pressure value between the clamping frame 36 and the underwater robot 12 is measured through the pressure sensor 32. The pressure sensor 32 and the distance measuring sensor 33 of the embodiment are respectively connected with a control system on a ship, and the motor A9 and the motor B38 are also respectively connected with the control system; the control system of the present embodiment is the prior art, and is not described herein again.

The working principle of the invention is as follows:

when the autonomous underwater robot 12 needs to be autonomously recovered, the underwater robot 12 navigates to the water area where the recovery platform (such as an unmanned ship) is located through the communication guide equipment; when the underwater robot 12 reaches a designated water area, the capturing mechanism at the front end is opened, at the moment, the recovery device of the invention is started, and the slideway mechanism 2, the screw rod sliding table hoisting mechanism 3 and the clamping mechanism 4 work cooperatively. Firstly, a motor B38 in the screw rod sliding table hoisting mechanism 3 drives the screw rod to rotate through the coupler 22, and the sliding table and the butt joint rod 18 move together to the tail end of the fixed frame 1. When the sliding table reaches the extreme edge, the slide mechanism starts to start, the motor A9 drives the chain wheel 11 to rotate, and the belt 13 in the slide mechanism is driven to move by the chain 10. The underwater robot 12 approaches the recovery device from the water surface, and successfully captures the docking rod 18 under the guiding action of the guide cover; at this time, the slide table starts moving toward the front end of the fixed frame 1, and the underwater robot 12 is transferred from the water to the belt 13 by the traction of the docking rod 18 and the belt 13. Under the traction action, the underwater robot 12 continues to move towards the front end of the fixed frame 1, the butt joint rod 18 is in contact with the long sliding table 28, the long sliding table 28 moves forwards under the thrust action of the butt joint rod 18, the rope 17 pulls the two side clamping frames 36 to move towards each other along the short guide rail 27, and the distance between the two side clamping frames 36 is gradually reduced. When the distance between the holding frames 36 on both sides is smaller than the diameter of the underwater robot 12, the soft foam 31 on the holding frames 36 contacts with the surface of the shell of the underwater robot 12 and starts to play a role in holding and fixing. As the underwater robot 12 moves further forward, the gripping force between the gripping brackets 36 and the underwater robot 12 gradually increases; when the distance measuring sensor 33 arranged at the front end of the fixed frame 1 senses the underwater robot 12 or the pressure between the clamping frame 36 and the shell of the underwater robot 12 reaches the value specified by the pressure sensor 32, the screw rod sliding table hoisting mechanism 3 and the slide way mechanism 2 stop working; at this time, the recovery device has already finished the clamping, limiting and fixing of the underwater robot 12, and the three mechanisms cooperate with each other to complete the autonomous recovery of the underwater robot 12.

Claims

1. A modular chute catch bar recovery device for autonomous recovery underwater robots, characterized in that: the screw rod sliding table hoisting mechanism comprises a fixed frame (1), and a slide way mechanism (2), a screw rod sliding table hoisting mechanism (3) and a clamping mechanism (4) which are respectively arranged on the fixed frame (1), wherein the slide way mechanism (2) is positioned at the lower part in the fixed frame (1) and comprises a motor A (9), a transmission device, a roller, a belt (13) and a supporting plate (16), the roller is rotatably arranged on the supporting plate (16) and is connected with the output end of the motor A (9) arranged on the fixed frame (1) through the transmission device, the belt (13) is wound on the roller and is driven to operate through the motor A (9); the screw rod sliding table hoisting mechanism (3) is positioned above the slide rail mechanism (2) and comprises a motor B (38), a screw rod sliding table fixing plate (35), a screw rod sliding table (23) and a butt joint rod (18), wherein the motor B (38) and the screw rod sliding table fixing plate (35) are respectively installed on the fixed frame (1), a screw rod in the screw rod sliding table (23) is rotatably installed on the screw rod sliding table fixing plate (35) and is connected with the output end of the motor B (38), the sliding table in the screw rod sliding table (23) has the freedom degree of axial reciprocating movement along the screw rod, the upper end of the butt joint rod (18) is hinged to the sliding table and synchronously moves with the sliding table, and the lower end of the butt joint rod (18) is a traction end; the clamping mechanism (4) comprises a clamping frame (36), a rope (17), a fixed pulley (19), a long sliding table (28) and a spring (30), clamping frames (36) for clamping the underwater robot (12) are symmetrically arranged on two sides of the belt (13), the clamping frame (36) is connected with the fixed frame (1) in a sliding way, the clamping frame (36) at each side is connected with a rope (17), one end of the rope (17) is connected on the clamping frame (36), the other end of the rope is connected with the long sliding table (28) which is slidably connected on the fixed frame (1) after bypassing the fixed pulley (19) which is arranged on the fixed frame (1), the inner side of the clamping frame (36) at each side is a clamping side, the outer side of the clamping frame and a spring (30) is connected between the clamping side and the fixed frame (1), the clamping frame (4) is close to the fixed frame (1) under the action of the elastic force of the spring (30); the long sliding table (28) is positioned on the track of the butt joint rod (18) moving along with the sliding table, is pushed by the butt joint rod (18), and then pulls the clamping frame (36) to clamp the underwater robot (12) through the rope (17).

2. The modular skid catch bar recovery apparatus for autonomous recovery of underwater robots of claim 1, characterized in that: backup pad (16) are two that are parallel to each other, fix respectively lower part in fixed frame (1), two link to each other through gyro wheel bracket (21) between backup pad (16), install on gyro wheel bracket (21) little gyro wheel (20), two rotate between the both ends of backup pad (16) and install big gyro wheel (15), belt (13) twines respectively on big gyro wheel (15) and little gyro wheel (20).

3. The modular skid catch bar recovery apparatus for autonomous recovery of underwater robots of claim 2, characterized in that: the small roller (20) is V-shaped, the surface of the belt (13) wound on the small roller (20) is also V-shaped, and the bottom of the V-shaped is positioned in the middle of the roller bracket (21).

4. The modular skid catch bar recovery apparatus for autonomous recovery of underwater robots of claim 2, characterized in that: the transmission device comprises a chain wheel (11) and a chain (10), the motor A (9) is fixed at the upper end of the fixed frame (1), and the output end of the motor A (9) is connected with the chain wheel (11); and the large roller (15) is connected with another chain wheel (11), and the two chain wheels (11) are connected through the chain (10).

5. The modular skid catch bar recovery apparatus for autonomous recovery of underwater robots of claim 1, characterized in that: the motor B (38) is fixed on the screw rod sliding table fixing plate (35) or the fixing frame (1) through the adapter plate (24), and the output end of the motor B (38) is connected with a screw rod in the screw rod sliding table (23) through the coupler (22).

6. The modular skid catch bar recovery apparatus for autonomous recovery of underwater robots of claim 1, characterized in that: threaded connection between slip table and the lead screw in lead screw slip table (23), one side or both sides of this slip table articulate have butt joint pole (18), insert the upper end of butt joint pole (18) in the U-shaped inslot that sets up on the slip table to realize articulating through round pin axle (25).

7. The modular skid catch bar recovery apparatus for autonomous recovery of underwater robots of claim 1, characterized in that: the bottom of the clamping frame (36) is fixedly connected with a short sliding table (26), the short sliding table (26) is connected with a short guide rail (27) arranged on the fixed frame (1) in a sliding mode, and the sliding direction is perpendicular to the direction in which the underwater robot (12) moves towards the inside of the fixed frame (1); the long sliding table (28) is connected with a long guide rail (29) arranged on the fixed frame (1) in a sliding mode, and the sliding direction of the long sliding table is the same as the direction of the underwater robot (12) moving towards the inside of the fixed frame (1).

8. The modular skid catch bar recovery apparatus for autonomous recovery of underwater robots of claim 1, characterized in that: rope (17) are walked around by two fixed pulleys (19) on each side, and one of them fixed pulley (19) fix upper portion in fixed frame (1), the axial with the slip direction of holding frame (36) is the same, and another fixed pulley (19) fix lower part in fixed frame (1), the axial with the slip direction of long slip table (28) is the same.

9. The modular skid catch bar recovery apparatus for autonomous recovery of underwater robots of claim 1, characterized in that: the underwater robot clamping device is characterized in that a soft foam (31) is arranged at a clamping position, in contact with the underwater robot (12), of the inner side of the clamping frame (36), and a pressure sensor (32) is arranged between the soft foam (31) and the clamping frame (36).

10. The modular skid catch bar recovery apparatus for autonomous recovery of underwater robots of claim 1, characterized in that: one end of the supporting plate (16) is connected with a front end baffle (34), a distance measuring sensor (33) is installed on the front end baffle (34), and the other end of the supporting plate (16) is fixedly connected with a guide plate (5).