An unmanned underwater vehicle rendezvous and docking apparatus

Abstract

The application relates to an unmanned underwater vehicle rendezvous docking device which comprises a guide device, a movable end latch device and a receiving end latch device, a locking device and a lifting device, the guide device is internally provided with a containing cavity; the receiving end latch device is arranged on one side of the guide device, the movable end latch device is used for being connected with the underwater vehicle, the guide device is used for driving the movable end latch device to move towards the receiving end latch device, when the movable end latch device is locked with the receiving end latch device, the movable end latch device and the receiving end latch device partially coincide in the height direction of the latch device; the locking device is arranged on one side of the guide device, the locking device has a locking state and a releasing state; the bottom end of the guide device and the bottom end of the latch device are both provided with the lifting device, and the lifting device is used for driving the guide device and the latch device to move in a first direction. The application realizes underwater autonomous recovery of the unmanned underwater vehicle.

Description

Technical Field

[0001] This application relates to the field of ship equipment, and in particular to a rendezvous and docking device for unmanned underwater vehicles. Background Technology

[0002] In the field of marine resource development and utilization, unmanned underwater vehicles (UUVs) play an important role in detection, observation, and operation. However, UUVs have limited battery capacity and need to be recharged periodically. Therefore, the deployment and recovery of UUVs are crucial steps in their workflow. Their deployment and recovery devices need to have certain spatial tolerance and limiting capabilities. Traditional operations generally use the method of deploying and recovering UUVs on the water surface. Specialized deployment and recovery devices need to be developed for different types of UUVs, resulting in poor universal adaptability to different types of UUVs. Summary of the Invention

[0003] This application provides a rendezvous and docking device for unmanned underwater vehicles, which can solve the problems of low efficiency and poor universal adaptability to different types of unmanned underwater vehicles in the traditional surface recovery method in related technologies.

[0004] This application provides a rendezvous and docking device for unmanned underwater vehicles (UUVs), comprising: a guiding device, a moving-end ramming lock device and a receiving-end ramming lock device, a locking device, and a lifting device. The guiding device includes an adjustable accommodating cavity for the size of the UUV. The receiving-end ramming lock device is located on one side of the guiding device. The moving-end ramming lock device is used to connect with the UUV. The guiding device drives the moving-end ramming lock device to move towards the receiving-end ramming lock device, so that the receiving-end ramming lock device docks with the UUV via the moving-end ramming lock device. When the moving-end ramming lock device docks with the receiving-end ramming lock device... When the ramming lock device at the receiving end is locked, and in the height direction of the ramming lock device, the ramming lock device at the moving end partially overlaps with the ramming lock device at the receiving end; the locking device is provided on both sides of the guiding device, and the locking device has a locked state and a released state. Before the ramming lock device docks with the submersible, the locking device is in the released state. After the ramming lock device docks with the submersible, the locking device is in the locked state and is used to fix the submersible; the bottom of the guiding device and the bottom of the ramming lock device are both provided with lifting devices, and the lifting devices are used to drive the guiding device and the ramming lock device to move along the first direction.

[0005] In some embodiments, the ramming lock device includes a ramming mechanism, which includes: a latch, a locking arm, a torsion spring, a fixing pin, and a compression spring. The locking arm has a cavity inside, and the latch is rotatably connected to the cavity via a hinge body. The torsion spring is sleeved on the outer peripheral surface of the hinge body and connected to the cavity. The fixing pin is disposed inside the cavity, with its top end passing through the top end of the locking arm and slidably connected to it. A receiving groove is provided on one side of the fixing pin. One end of the compression spring is connected to the locking arm, and the other end is connected to the fixing pin. When the latch at the moving end is locked with the latch at the receiving end, one end of the latch is located inside the receiving groove, and the top end of the inner wall of the receiving groove is in contact with the top end of the latch.

[0006] In some embodiments, the latch includes a first lock body, a second lock body, and a transition arm, one end of which is connected to the first lock body and the other end of which is connected to the second lock body; wherein, the latch has a first state and a second state; when the locking device is in the released state, the latch is in the first state, and the top end of the transition arm is in contact with the top end of the inner wall of the receiving groove; when the locking device is in the locked state, the latch is in the second state, and the top end of the second lock body is in contact with the top end of the inner wall of the receiving groove.

[0007] In some embodiments, the height of the transition arm is higher than the height of the second lock body, and the plane at the top of the transition arm is located above the plane at the top of the second lock body; the height of the receiving groove is higher than the height of the transition arm, and when the latch is in the first or second state, there is a gap between the bottom end of the latch and the bottom end of the inner wall of the receiving groove.

[0008] In some embodiments, the locking device of the receiving end further includes a limiting buffer mechanism, which is movably connected to the locking mechanism of the receiving end. When the locking device changes from a released state to a locked state, the locking mechanism of the receiving end moves relative to the limiting buffer mechanism.

[0009] In some embodiments, the locking device includes: a bracket, a transmission mechanism, and a first drive mechanism. The bracket has two hinged arms on both sides; the transmission mechanism is hinged to the arms; the first drive mechanism is located on one side of the arms and connected to the transmission mechanism, and the first drive mechanism drives the two arms to retract or open through the transmission mechanism.

[0010] In some embodiments, the first drive mechanism includes a motor and a coupling, the motor being mounted on a bracket; one end of the coupling is fixedly connected to the motor output shaft, and the other end is connected to a transmission mechanism; the transmission mechanism includes a drive shaft, two lead screws, two nuts, and two first connecting rods, one end of the drive shaft being connected to the first drive mechanism, and both ends of the drive shaft being fitted with cylindrical gears; the two lead screws are located on both sides of the drive shaft in the radial direction, each lead screw being fitted with a cylindrical gear, and the cylindrical gear on each lead screw being respectively connected to one of the cylindrical gears on the drive shaft; the two nuts are respectively threaded onto the two lead screws; the two first connecting rods are respectively hinged to the two nuts, and the two first connecting rods are respectively hinged to the two retaining arms.

[0011] In some embodiments, the lifting device includes: a base, a linkage mechanism, and a second drive mechanism. The linkage mechanism includes a lifting link and a supporting link I. The lifting link includes link I, link II, and supporting link I. Link I and link II are respectively hinged to two hinge seats located at intervals on the base. The top end of link I is inclined towards link II, and the top end of link II is inclined towards link I, so that link I and link II form a scissor structure. One end of supporting link I is hinged to the top of link I, and the other end is hinged to link II. The output end of the second drive mechanism is used to drive link II to rotate around the hinge seat.

[0012] In some embodiments, the linkage mechanism further includes a second lifting link located above the lifting link.

[0013] In some embodiments, the second lifting link includes a second link I, a second link II, and a second support link I. The bottom end of the second link I is hinged to the link II, and the bottom end of the second link II is hinged to the link I. The top end of the second link I is inclined toward the second link II, and the top end of the second link II is inclined toward the second link I, so that the second link I and the second link II form a scissor structure. One end of the second support link I is hinged to one end of the second link I and the link II, and the other end is hinged to the second link II.

[0014] The beneficial effects of the technical solutions provided in this application include at least the following:

[0015] This application provides a rendezvous and docking device for unmanned underwater vehicles (UUVs). During the autonomous underwater recovery of the UUV, the guidance device drives the ramming lock device on the UUV to dock with the ramming lock device on the receiving end. In the direction of the locking tongue height, the ramming lock device on the moving end and the ramming lock device on the receiving end only need to partially overlap to achieve automatic locking after collision. After the UUV and the ramming lock device on the receiving end establish an initial physical connection, the locking device changes from a released state to a locked state. The locking device can lock UUVs of different sizes. By sequentially executing actions such as "physical guidance-ramming lock-lifting-locking" through the guidance device, ramming lock device, and locking device, the autonomous underwater recovery of the UUV is achieved, improving the efficiency of UUV charging and support operations and its universal adaptability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the ram lock device provided in the embodiments of this application;

[0018] Figure 2 This is a schematic diagram of the ramming lock mechanism provided in an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of the first state structure of the locking tongue provided in an embodiment of this application;

[0020] Figure 4 This is a schematic diagram of the second state structure of the locking tongue provided in an embodiment of this application;

[0021] Figure 5 This is a schematic diagram of the release state structure of the ramming mechanism provided in the embodiments of this application;

[0022] Figure 6 This is a schematic diagram of the locking state structure of the ramming mechanism provided in the embodiments of this application;

[0023] Figure 7 This is a schematic diagram of the limiting buffer mechanism provided in the embodiments of this application;

[0024] Figure 8 This is a schematic diagram of the basic lifting unit structure provided in the embodiments of this application;

[0025] Figure 9 This is a schematic diagram of the two basic lifting units in the raised state provided in the embodiments of this application;

[0026] Figure 10 This is a schematic diagram of the retracted state structure of two basic lifting units provided in the embodiments of this application;

[0027] Figure 11 This is a schematic diagram of the basic lifting unit's horizontal and vertical combined contraction state structure provided in the embodiments of this application;

[0028] Figure 12 A schematic diagram of the bracket provided in the embodiments of this application;

[0029] Figure 13 A schematic diagram of the first drive mechanism and transmission mechanism provided in the embodiments of this application;

[0030] Figure 14 This is a schematic diagram of the closed state of the arm provided in an embodiment of this application;

[0031] Figure 15 This is a schematic diagram of the arm opening state provided in an embodiment of this application;

[0032] Figure 16 A schematic diagram of the arm provided in the embodiments of this application;

[0033] Figure 17 A schematic diagram of the locking device provided in the embodiments of this application;

[0034] Figure 18 A schematic diagram illustrating the rendezvous and docking state of the docking device provided in the embodiments of this application;

[0035] Figure 19 This is a schematic diagram of the storage state of the docking device provided in the embodiments of this application.

[0036] In the diagram: 1. Guiding device;

[0037] 2. Bumper lock device; 20. Bumper lock mechanism; 201. Lock tongue; 2010. First lock body; 2011. Second lock body; 2012. Transition arm; 202. Hinge body; 203. Fixing pin; 2030. Receiving groove; 204. Compression spring; 205. Lock arm; 2050. Cavity; 206. Torsion spring; 207. Electric push rod; 208. Bolt; 209. First top plate; 21. Limiting buffer mechanism; 210. Slider body; 211. Damper; 212. Limiting support arm; 213. First guide rail; 214. Base;

[0038] 3. Locking device; 30. Bracket; 300. Second top plate; 301. Side plate; 31. First drive mechanism; 310. Coupling; 311. Motor; 32. Transmission mechanism; 320. Cylindrical gear; 321. First connecting rod; 322. Lead screw; 323. Nut; 324. Drive shaft; 325. First bearing seat; 326. Second bearing seat; 33. Arm; 330. Panel; 331. Reinforcing rib; 34. Rotating shaft;

[0039] 4. Lifting device; 40. Base; 41. Hinge seat; 42. Linkage mechanism; 420. Lifting link; 4200. Link I; 4201. Link II; 421. Support link I; 43. Second drive mechanism; 430. Hydraulic cylinder; 431. Second guide rail; 432. Connecting slider; 433. Slider hinge; 434. Support link II. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0041] See Figures 1 to 19 This application provides an unmanned underwater vehicle rendezvous and docking device, which can solve the problems of low efficiency and poor universal adaptability to different types of unmanned underwater vehicles in the traditional water surface recovery method in related technologies.

[0042] This application provides an unmanned underwater vehicle (UUV) rendezvous and docking device, comprising: a guiding device 1, a moving-end ramming lock device 2 and a receiving-end ramming lock device 2, a locking device 3, and a lifting device 4. The guiding device 1 has an adjustable accommodating cavity for adjusting according to the size of the UUV. The receiving-end ramming lock device 2 is located on one side of the guiding device 1. The moving-end ramming lock device 2 is used to connect with the UUV. The guiding device 1 drives the moving-end ramming lock device 2 to move towards the receiving-end ramming lock device 2, so that the receiving-end ramming lock device 2 docks with the UUV through the moving-end ramming lock device 2. When the moving-end ramming lock device 2... When the ramming device 2 at the receiving end is locked, and in the height direction of the ramming device 2, the ramming device 2 at the moving end partially overlaps with the ramming device 2 at the receiving end; the locking device 3 is located on one side of the guiding device 1, and the locking device 3 has a locked state and a released state. Before the ramming device 2 docks with the submersible, the locking device 3 is in the released state. After the ramming device docks with the submersible, the locking device 3 is in the locked state and is used to fix the submersible; both the bottom end of the guiding device 1 and the bottom end of the ramming device 2 are provided with a lifting device 4, which is used to drive the guiding device 1 and the ramming device 2 along the first direction ( Figure 18 , 19 Move in the Z direction.

[0043] In this application, during the autonomous underwater recovery of the submersible, the guidance device 1 drives the submersible to dock with the ramming lock device 2, at the height of the ramming lock device 2 ( Figure 1 In the Y direction, the collision lock device 2 at the moving end and the collision lock device 2 at the receiving end only need to partially overlap to achieve automatic locking after collision. After the unmanned underwater vehicle establishes an initial physical connection with the collision lock device 2 at the receiving end, the locking device 3 changes from the released state to the locked state. The locking device 3 can lock unmanned underwater vehicles of different sizes. By sequentially executing actions such as "physical guidance-collision lock-lifting-locking" through the guidance device 1, collision lock device 2 and locking device 3, the autonomous underwater recovery of the unmanned underwater vehicle is realized, which improves the efficiency of the unmanned underwater vehicle charging support operation and its universal adaptability.

[0044] Based on the above embodiments, in this embodiment, the locking mechanism 20 further includes: a locking tongue 201, a locking arm 205, a torsion spring 206, a fixing pin 203, and a compression spring 204. The locking arm 205 has a cavity 2050 inside, and the locking tongue 201 is rotatably connected to the cavity 2050 via a hinge body 202. The torsion spring 206 is sleeved on the outer peripheral surface of the hinge body 202 and connected to the cavity 2050. The fixing pin 203 is provided with... The fixed pin 203 is placed inside the cavity 2050. The top end of the fixed pin 203 passes through the top end of the locking arm 205 and is slidably connected to the locking arm 205. A receiving groove 2030 is opened on one side of the fixed pin 203. One end of the compression spring 204 is connected to the locking arm 205, and the other end is connected to the fixed pin 203. When the locking device 2 is in the locked state, one end of the locking tongue 201 is located inside the receiving groove 2030, and the top end of the inner wall of the receiving groove 2030 is in contact with the top end of the locking tongue 201.

[0045] The moving end and receiving end of the locking mechanism 20 have the same structure. If the latch 201 in one locking mechanism 20 faces right, the latch 201 in the other locking mechanism 20 faces left; if the latch 201 in one locking mechanism 20 faces upward, the latch 201 in the other locking mechanism 20 faces downward. Here, "facing right," "facing left," "facing upward," and "facing downward" all refer to the direction of the latch 201 relative to the center of the locking mechanism 20. For example, "facing right" means the latch 201 is located to the right of the center of the locking mechanism 20. When the locking device 2 is in the released state, the latch 201 at the moving end separates from the latch 201 at the receiving end. When the locking device 2 is in the locked state, the latch 201 at the moving end locks with the latch 201 at the receiving end, and in the height direction of the locking mechanism 20 (… Figure 1 In the Y direction, the latch surface of the moving end latch 201 partially overlaps with the latch surface of the receiving end latch 201.

[0046] Among them, the locking tongue surface refers to the surface where one locking tongue 201 and another locking tongue 201 are in contact; the locking tongue surface of the moving end locking tongue 201 and the locking tongue surface of the receiving end locking tongue 201 partially overlap, meaning that when the locking device 2 is in the locked state, in the height direction of the locking mechanism 20 ( Figure 1 In the Y direction, a portion of the latch surface of the moving end latch 201 is in contact with a portion of the latch surface of the receiving end latch 201. This portion can be half of the latch surface or one-third of the latch surface.

[0047] Therefore, since the receiving end's ramming device 2 is located on the moving path of the moving end's ramming device 2, when the two ramming mechanisms 20 are locked, the moving end's locking tongue 201 moves towards the receiving end's locking tongue 201. In the height direction of the locking tongue 201, the locking tongue surface of the moving end's locking tongue 201 and the locking tongue surface of the receiving end's locking tongue 201 only need to partially overlap to achieve automatic locking of the two ramming mechanisms 20 after impact. This allows the device to have a high spatial tolerance capability and reduces the positional accuracy requirements of the object to be locked.

[0048] In this embodiment, the latch 201 is disposed inside the cavity 2050. The latch 201 includes a first lock body 2010, a second lock body 2011, and a transition arm 2012. One end of the transition arm 2012 is connected to the first lock body 2010, and the other end is connected to the second lock body 2011. The first lock body 2010 is located outside the lock arm 205, and the second lock body 2011 and the transition arm 2012 are located inside the cavity 2050. The transition arm 2012 has through holes penetrating its top and bottom ends. After the hinge body 202 passes through the through holes, its top and bottom ends are hinged to the lock arm 205. The side of the transition arm 2012 has through slots penetrating both sides of the transition arm 2012. A torsion spring 206 is sleeved on the outer peripheral surface of the hinge body 202, and one end of the torsion spring 206 extends out of the through slot and is fixed to the inner wall of the cavity 2050. When the latch 201 rotates around the hinge body 202, the torsion spring 206 is used to achieve automatic reset of the latch 201.

[0049] A connecting hole is provided at the top of the locking arm 205, and a connector is also fixed at the top of the locking arm 205, with the connector located at the top of the connecting hole. The top of the fixing pin 203 passes through the connecting hole, and the middle part of the top of the fixing pin 203 is recessed towards the bottom of the fixing pin 203 to form a groove. A column is fixedly connected in the groove, and the top of the column passes through the connector and is slidably connected to the connector. A compression spring 204 is sleeved on the outer circumferential surface of the column, with one end of the compression spring 204 fixed to the inner wall of the groove and the other end fixed to the inner wall of the connector.

[0050] Furthermore, the locking tongue 201 has a first state and a second state:

[0051] When the locking device 2 is in the released state, the bolt 201 is in the first state, the second lock body 2011 is located outside the receiving groove 2030, and the top of the transition arm 2012 is in contact with the top of the inner wall of the receiving groove 2030. Due to the action of the compression spring 204, the inner wall of the receiving groove 2030 is tightly in contact with the top of the transition arm 2012, which can prevent the bolt 201 from rotating freely.

[0052] When the locking device 2 is in the locked state, the bolt 201 is in the second state. The bolt 201 rotates, and the second lock body 2011 rotates into the receiving groove 2030. At this time, the top of the second lock body 2011 is in contact with the top of the inner wall of the receiving groove 2030. Due to the action of the compression spring 204, the inner wall of the receiving groove 2030 is in close contact with the top of the second lock body 2011, which can prevent the bolt 201 from rotating at will.

[0053] To ensure the locking effect between the receiving end's latch 201 and the moving end's latch 201, the transition arm 2012 is positioned at a height higher than the second lock body 2011, with the top plane of the transition arm 2012 located above the top plane of the second lock body 2011. Therefore, when the latch 201 rotates and the second lock body 2011 rotates into the receiving groove 2030, the fixing pin 203 descends under the action of gravity and the compression spring 204, locking the second lock body 2011 and completing the locking process.

[0054] In order to facilitate the unlocking of the receiving end's ram lock device 2 and the moving end's ram lock device 2, based on the above embodiment, in this embodiment, the ram lock mechanism 20 further includes: a pusher, which is fixed inside the cavity 2050 and is used to drive the fixed pin 203 to move so that the top of the inner wall of the receiving groove 2030 is separated from the top of the lock tongue 201.

[0055] When the receiving groove 2030 is located in the middle of the fixing pin 203, that is, the bottom and top of the receiving groove 2030 are sealed, one side is open and the other side is sealed. In order to enable the pusher to push the fixing pin 203 upward, the height of the receiving groove 2030 is set higher than the height of the transition arm 2012. When the locking tongue 201 is in the first state or the second state, there is a gap between the bottom of the locking tongue 201 and the bottom of the inner wall of the receiving groove 2030.

[0056] In this design, the pushing component includes an electric push rod 207 and a first top plate 209. The electric push rod 207 is fixed inside the cavity 2050. The first top plate 209 is fixed to the output shaft of the electric push rod 207 and is located at the bottom end of the fixing pin 203, and is used to push the fixing pin 203 to move. When the electric push rod 207 pushes the fixing pin 203, the movement of the output shaft of the electric push rod 207 drives the first top plate 209 to move toward the fixing pin 203 until the top end of the locking tongue 201 separates from the top end of the inner wall of the receiving groove 2030, and the gap between the bottom end of the locking tongue 201 and the bottom end of the inner wall of the receiving groove 2030 gradually shortens. When the top of the latch 201 separates from the top of the inner wall of the receiving groove 2030, the latch 201 loses the limit of the fixing pin 203, and the torsion spring 206 drives the latch 201 to start rotating around the hinge body 202 until the latch 201 returns to the initial position, and the second lock body 2011 leaves the inside of the receiving groove 2030, completing the unlocking.

[0057] When the bottom end of the receiving groove 2030 penetrates the bottom end of the fixing pin 203, that is, the bottom end of the receiving groove 2030 is open and the top end is sealed, one side is open and the other side is sealed. At this time, when the transition arm 2012 or the second lock body 2011 is located inside the receiving groove 2030, the top end of the transition arm 2012 or the top end of the second lock body 2011 contacts the top end of the inner wall of the fixing pin 203.

[0058] In this design, the pushing component includes an electric push rod 207, which is fixed inside the cavity 2050 and located on one side of the fixing pin 203. The output shaft of the electric push rod 207 is also fixed to one side of the fixing pin 203. When the electric push rod 207 pushes the fixing pin 203, the top of the latch 201 separates from the top of the inner wall of the receiving groove 2030. When the top of the latch 201 separates from the top of the inner wall of the receiving groove 2030, the latch 201 loses the restraint of the fixing pin 203. The torsion spring 206 drives the latch 201 to rotate around the hinge body 202 until the latch 201 returns to its initial position. The second lock body 2011 then leaves the receiving groove 2030, completing the unlocking process.

[0059] Based on the above embodiments, in this embodiment, the receiving end's ramming lock device 2 further includes: a limiting buffer mechanism 21, which is movably connected to the receiving end's ramming lock mechanism 20. When the ramming lock device 2 changes from a released state to a locked state, the receiving end's ramming lock mechanism 20 moves relative to the limiting buffer mechanism 21.

[0060] By connecting the receiving end's ramming lock mechanism 20 with the limiting buffer mechanism 21, the ramming lock mechanism 20 at the moving end and the ramming lock mechanism 20 at the receiving end can be limited and buffered during the ramming lock process, so that the device can be applied to high inertia application scenarios.

[0061] Specifically, the limiting buffer mechanism 21 includes: a base 214, a first guide rail 213, and a damper 211. The first guide rail 213 is fixed to the base 214, and the receiving end is slidably connected to the first guide rail 213. The damper 211 extends along the length of the first guide rail 213. Figure 1 In the X direction, the damper 211 is fixed at one end to the base 214 and the other end is connected to the locking mechanism 20 of the receiver.

[0062] The receiving end's locking mechanism 20 is mounted on the first guide rail 213 and slidably connected to it. During the transition of the locking device 2 from the released state to the locked state, the receiving end's locking mechanism 20 slides on the first guide rail 213 after being impacted by the moving end's locking mechanism 20. To reduce the impact during the locking process, a damper 211 is used for buffering. The damper 211 is located on both sides of the first guide rail 213. The damper 211 can be a viscous damper, a spring damper, a hydraulic damper, etc. In this embodiment, a hydraulic damper is preferred.

[0063] Furthermore, the limiting buffer mechanism 21 also includes: a slider body 210 and a limiting support arm 212. The slider body 210 is slidably connected to the first guide rail 213 and fixed to the receiving end. Connecting blocks are provided on both sides of the slider body 210. The limiting support arm 212 is fixed to the base 214. One end of the damper 211 is fixed to the limiting support arm 212, and the other end is connected to the connecting block.

[0064] The slider body 210 slides on the first guide rail 213. A fixed block is fixedly connected to one end of the slider body 210. Threaded holes are opened on the fixed block and the locking arm 205 of the receiving end. When the fixed block is inserted into the cavity 2050, the threaded hole on the fixed block corresponds to the threaded hole on the locking arm 205. Then, the threaded hole is passed through the bolt 208 so that the fixed block is connected to the locking arm 205 of the collision locking mechanism 20 of the receiving end.

[0065] Both sides of the first guide rail 213 are fixedly connected to limit support arms 212, and two limit support arms 212 are provided on each side. The damper 211 is located between the two limit support arms 212, and one end of the damper 211 is fixed to one of the limit support arms 212. The connecting block fixed on the slider body 210 is also located between the two limit support arms 212. Therefore, the other end of the damper 211 is connected to the connecting block, and the connecting block is movably connected to the other limit support arm 212. By providing a limit support arm 212 at each end of the damper 211 and the connecting block, the slider body 210 can be prevented from sliding out of the first guide rail 213.

[0066] In summary, as Figure 5 As shown, in the released state, the locking mechanism 20 at the moving end and the locking mechanism 20 at the receiving end are separated from each other. Due to the action of the torsion spring 206, the locking tongue 201 can remain open to the maximum state.

[0067] like Figure 6 As shown, in the locked state, the locking tongue 201 of the moving end of the locking mechanism 20 and the locking tongue 201 of the receiving end of the locking mechanism 20 are pressed together, the second lock body 2011 moves into the receiving groove 2030, and the fixing pin 203 descends to fit with the second lock body 2011 to complete the locking position.

[0068] To reduce the impact during the locking process, the first straight guide rail 213 with dovetail groove and the hydraulic dampers on both sides are used for buffering. There is a limit support arm 212 at the front and rear of the hydraulic damper to prevent the slider body 210 from sliding out of the first guide rail 213.

[0069] The locking process is as follows: First, the front end of the locking tongue 201 of the moving end's locking mechanism 20 impacts the locking tongue 201 of the receiving end's locking mechanism 20. Then, under the impact, the two locking tongues 201 rotate around their respective hinge bodies 202 until the fixing pin 203 descends under the action of gravity and the compression spring 204, locking the second lock body 2011 that has entered the receiving groove 2030. The locking tongues 201 are then locked. During this process, as long as the locking tongue 201 of the moving end's locking mechanism 20 can partially enter the opening of the locking arm 205 of the receiving end's locking mechanism 20, locking can be achieved. Therefore, a reasonable design of the dimensions of the locking tongue 201 and the locking arm 205 can ensure that the relative positions of the moving end's locking mechanism 20 and the receiving end's locking mechanism 20 have a certain tolerance during locking.

[0070] The release process is as follows: First, under the action of the electric push rod 207, the fixing pin 203 is lifted to separate from the top of the locking tongue 201. Under the action of the torsion spring 206, the two locking tongues 201 rotate around the hinge body 202 until they separate from each other, thus completing the release.

[0071] In this embodiment, the locking device 3 includes: a bracket 30, a transmission mechanism 32 and a first drive mechanism 31. Both sides of the bracket 30 are hinged with a retaining arm 33. The transmission mechanism 32 is hinged to the retaining arm 33. The first drive mechanism 31 is located on one side of the retaining arm 33 and is connected to the transmission mechanism 32. The first drive mechanism 31 drives the two retaining arms 33 to retract or open through the transmission mechanism 32.

[0072] The first drive mechanism 31, in conjunction with the transmission mechanism 32, can control the two clamping arms 33 to lock heavy objects of various cross-sectional shapes, thus having good versatility. The two clamping arms 33 can open and close to a large extent, with strong spatial tolerance. The bracket 30 is in surface contact with the heavy object, resulting in excellent load-bearing capacity, and there is no interface requirement for the heavy object.

[0073] The bracket 30 includes two side plates 301 and a second top plate 300, with the second top plate 300 fixed between the top ends of the two side plates 301. The two side plates 301 are connected to both ends of the second top plate 300 by connecting bolts, forming a detachable symmetrical structure for the bracket 30. The center of the top of the second top plate 300 is recessed towards the bottom of the bracket 30 to form a groove, which can accommodate heavy objects with different cross-sectional shapes. Whether the heavy objects have circular, elliptical, or rectangular cross-sections, the bracket 30 can provide stable support with a large contact area. For more diverse locking objects, only the surface shape of the bracket 30 needs to be adapted. The detachable design facilitates replacement. The inner wall of the groove has through holes, allowing the bracket 30 to meet the requirements of lightweight design. The top of the second top plate 300, i.e., the inner wall of the groove and the inner wall of the arm 33, are both provided with cushioning materials such as buffer rubber pads to prevent damage to heavy objects.

[0074] Based on the above embodiments, in this embodiment, the first drive mechanism 31 includes a motor 311 and a coupling 310. The motor 311 is mounted on the bracket 30; one end of the coupling 310 is fixedly connected to the output shaft of the motor 311, and the other end is connected to the transmission mechanism 32.

[0075] Motor 311 can be a hydraulic motor, an electric motor, etc. In this embodiment, preferably, a hydraulic motor is used as the power output source of the transmission mechanism 32.

[0076] The transmission mechanism 32 includes: a transmission shaft 324, two lead screws 322, two nuts 323, and two first connecting rods 321. One end of the transmission shaft 324 is connected to the first drive mechanism 31, and both ends of the transmission shaft 324 are fitted with cylindrical gears 320. The two lead screws 322 are located on both sides of the transmission shaft 324 in the radial direction. Each lead screw 322 is fitted with a cylindrical gear 320, and the cylindrical gear 320 on each lead screw 322 is respectively connected to one of the cylindrical gears 320 on the transmission shaft 324. The two nuts 323 are respectively threaded onto the two lead screws 322. The two first connecting rods 321 are respectively hinged to the two nuts 323 and respectively hinged to the two clamping arms 33.

[0077] Specifically, the drive shaft 324 is connected to the coupling 310. The drive shaft 324 is arranged between the two lead screws 322. The two cylindrical gears 320 on the drive shaft 324 mesh with the cylindrical gears 320 on the two lead screws 322 respectively. When the drive shaft 324 rotates, it drives the two lead screws 322 to rotate simultaneously through the cylindrical gears 320. When the lead screws 322 rotate, the nuts 323 on the lead screws 322 move along the axial direction of the lead screws 322, which in turn drives the arm 33 to open or close through the first connecting rod 321.

[0078] When the locking device 3 is not in operation, the clamping arm 33 is retracted. When in operation, the hydraulic motor 311 drives the transmission shaft 324 arranged in the middle of the two lead screws 322 through the coupling 310. Then, the cylindrical gears 320 at both ends of the transmission shaft 324 drive the lead screws 322 arranged on both sides of the transmission shaft 324 to rotate. The lead screws 322 drive the clamping arm 33 to open to the maximum angle through the nut 323 and the first connecting rod 321 to prevent collision with the heavy object. After the heavy object contacts the bracket 30, the hydraulic motor 311 rotates in the opposite direction, driving the clamping arm 33 to close, thus completing the locking of the heavy object.

[0079] A first bearing seat 325 is provided on the first connecting rod 321, so that the first connecting rod 321 is hinged to the arm 33 via the first bearing seat 325, and the arm 33 is hinged to the bracket 30 via the pivot 34. Therefore, when the first connecting rod 321 moves and rotates, it drives the arm 33 to swing around the pivot 34 via the first bearing seat 325, thereby opening or closing the arm 33.

[0080] Second bearing seats 326 are provided at both ends of the lead screw 322 for support. At the same time, second bearing seats 326 are provided at both ends of the transmission shaft 324 for support.

[0081] Based on the above embodiments, in this embodiment, the two clamping arms 33 are staggered in the width direction of the bracket 30. That is, as shown in Figure 25, the two clamping arms 33 have no overlapping portion in the length direction of the bracket 30. The clamping arms 33 adopt a staggered arrangement, which allows for a large opening and closing range, strong spatial tolerance, and reduces storage volume when closed in the non-working state. The body cross-section of the clamping arm 33 is a frame structure. Specifically, the clamping arm 33 includes: two panels 330 and reinforcing ribs 331. The two panels 330 are arc-shaped, and the reinforcing ribs 331 are disposed between the two panels 330, making the clamping arm 33 lightweight and with strong load-bearing capacity. For more diverse locking objects, the inner surface shape of the clamping arm 33 can be adaptively designed.

[0082] The controllable two-piece cross-arranged clamping arms 33 can lock heavy objects of various cross-sectional shapes, offering good versatility. The cross-arms 33 can open and close significantly, providing strong spatial tolerance. The transmission mechanism 32 has a compact structure and achieves mechanical self-locking through the lead screw 322 and nut 323, improving locking reliability. The frame-section form of the clamping arms 33 balances lightweight design with high load-bearing capacity. The detachable bracket 30 and clamping arms 33 can be adaptively designed according to heavy objects of different cross-sections and sizes, and different cross-sections can be mixed and used along the axis of the heavy object, demonstrating strong versatility. The detachable bracket 30 has surface contact with the heavy object, resulting in excellent load-bearing capacity, and requires no interface with the heavy object.

[0083] Based on the above embodiments, in this embodiment, the lifting device 4 includes: a base 40, a linkage mechanism 42, and a second drive mechanism 43. The linkage mechanism 42 includes a lifting link 420, which includes a link I 4200, a link II 4201, and a support link I 421. The link I 4200 and the link II 4201 are respectively hinged to two hinge seats 41 located at intervals on the base 40. The top end of the link I 4200 is inclined toward the link II 4201, and the top end of the link II 4201 is inclined toward the link I 4200, so that the link I 4200 and the link II 4201 form a scissor structure. One end of the support link I 421 is hinged to the top of the link I 4200, and the other end is hinged to the link II 4201. The output end of the second drive mechanism 43 is used to drive the link II 4201 to rotate around the hinge seat 41.

[0084] The lifting effect is achieved by using a linkage mechanism 42, which eliminates the sliding pair and greatly improves the lifting stability and durability of the motion pair of the lifting device 4. The linkage I 4200 and linkage II 4201 are formed into a scissor structure, which can achieve a large lifting height with a small driving stroke.

[0085] Among them, the hinge seat 41, connecting rod I 4200 and connecting rod II 4201 are all provided with hollow holes based on topology optimization: the hinge seat 41, connecting rod I 4200 and connecting rod II 4201 and supporting connecting rod I 421 are lightweighted based on the principle of topology optimization, so as to achieve the purpose of weight reduction, effectively reduce the total weight of the device, and achieve the effect of making the lifting device 4 lighter.

[0086] The hinge seat 41 is a triangular bracket with a groove, the top of which is rounded, and holes are drilled on the upper part of both sides of the groove for hinge connection with connecting rod I 4200 and connecting rod II 4201.

[0087] The bottom ends of connecting rod I 4200 and connecting rod II 4201 are respectively hinged to two hinge seats 41 on the base 40. One end of supporting connecting rod I 421 is hinged to the top of connecting rod I 4200, and the other end is hinged to the middle of connecting rod II 4201 and near the bottom end of connecting rod II 4201. The output shaft of the second drive mechanism 43 drives connecting rod II 4201 to rotate around the hinge seat 41. When connecting rod II 4201 rotates, supporting connecting rod I 421 rotates, which in turn drives connecting rod I 4200 to rotate. At this time, the top ends of connecting rod I 4200 and connecting rod II 4201 rise.

[0088] Based on the above embodiments, in this embodiment, the second drive mechanism 43 includes: a hydraulic cylinder 430 and a support link II 434. The hydraulic cylinder 430 is horizontally mounted on the top of the base 40; one end of the support link II 434 is hinged to the output shaft of the hydraulic cylinder 430, and the other end is hinged to the link II 4201.

[0089] In this embodiment, the previous method of using the hydraulic cylinder 430 to be angled is changed. Instead, the hydraulic cylinder 430 is placed horizontally to input the power of the lifting device 4, which greatly reduces the size and weight of the lifting device 4 in its storage state.

[0090] The two ends of the support link II 434 are hinged to the slider hinge 433 and the link II 4201, respectively. During operation, the slider hinge 433 drives one end of the support link II 434 to move, and the other end pushes the link II 4201 to rotate, thereby realizing the power input to the lifting link 420.

[0091] Hydraulic cylinder 430 is disposed between hinge seat 41 connected to connecting rod I 4200 and hinge seat 41 connected to connecting rod II 4201. Furthermore, the second drive mechanism 43 also includes: a second guide rail 431 and a connecting slider 432. The second guide rail 431 is fixed to the top of the base 40 and is located on one side of the output shaft of hydraulic cylinder 430. The connecting slider 432 is slidably connected to the second guide rail 431 and is connected to the output shaft of hydraulic cylinder 430 through slider hinge 433. One end of supporting connecting rod II 434 is hinged to slider hinge 433.

[0092] The hydraulic cylinder 430 is horizontally positioned directly below the linkage mechanism 42. A mounting bracket is provided on the base 40, and the hydraulic cylinder 430 is snapped into the mounting bracket. The mounting bracket provides circumferential limitation for the hydraulic cylinder 430, improving its stability during operation. The hydraulic cylinder 430 includes a piston rod and a cylinder barrel. The cylinder barrel is directly fixed to the base 40. One end of the piston rod is fixed to the connecting slider 432 and the slider hinge 433. The movement of the piston rod drives the movement of the connecting slider 432 and the slider hinge 433, thereby inputting power to the entire system.

[0093] Specifically, the second guide rail 431 is fixed to the base 40, and a connecting slider 432 is provided on the first guide rail 213, so that the connecting slider 432 is slidably connected to the second guide rail 431. A slider hinge 433 is provided on the connecting slider 432, so that one end of the supporting connecting rod II 434 is hinged to the slider hinge 433, and the other end is hinged to the connecting rod II 4201. The connecting rod II 4201 supports the connecting rod I 421 as follows. Figure 11 As shown, one end of support link I 421 is located on the front of link II 4201, and one end of support link II 434 is located on the back of link II 4201.

[0094] Based on the above embodiments, in this embodiment, the linkage mechanism 42 further includes a second lifting linkage 420, which is located above the lifting linkage 420. The second lifting linkage 420 can be obtained by rotating the lifting linkage 420 clockwise.

[0095] For ease of explanation, the lifting link 420 connected to the second drive mechanism 43 is referred to as the first lifting link 420, and the second lifting link 420 is connected to the first lifting link 420 to obtain the basic lifting unit.

[0096] Specifically, the second lifting link 420 includes a second link I 4200, a second link II 4201, and a second support link I 421. The bottom end of the second link I 4200 is hinged to the link II 4201, that is, hinged to the top end of the link II 4201 of the first lifting link 420. The bottom end of the second link II 4201 is hinged to the link I 4200, that is, hinged to the top end of the link I 4200 of the first lifting link 420. The top end of the second link I 4200 is inclined toward the second link II 4201, and the top end of the second link II 4201 is inclined toward the second link I 4200, so that the second link I 4200 and the second link II 4201 form a scissor structure. One end of the second support link I 421 is hinged to one end of the second link I 4200 and one end of link II 4201. Specifically, a connecting hole is provided at the top of link II 4201 of the first lifting link 420, and the link passes through the connecting hole. Figure 11As shown, the second support link I 421 is hinged to one end of the link and is located in front of the link II 4201 of the first lifting link 420. The second link I 4200 is hinged to the other end of the link and is located behind the link II 4201 of the first lifting link 420. The other end of the second support link I 421 is hinged to the second link II 4201.

[0097] The output shaft of the second drive mechanism 43 drives the link II 4201 of the first lifting link 420 to rotate around the hinge seat 41. When the link II 4201 rotates, it drives the support link I 421 of the first lifting link 420 to rotate, and then drives the link I 4200 of the first lifting link 420 and the link II 4201 of the second lifting link 420 to rotate. At this time, the tops of the link I 4200 and the link II 4201 of the first lifting link 420 rise, and the tops of the second link I 4200 and the second link II 4201 also rise. The tops of the second link I 4200 and the second link II 4201 are both hinged with hinge seats 41.

[0098] If the volume of the carried object is small and the load requirement is small, as Figure 9 shown, the lifting device 4 can be formed by paralleling two basic lifting units; if the requirements for load and stability are high, as Figure 11 shown, the basic lifting units can be applied in a horizontal and vertical combination, such as forming a "mouth" shape layout to improve the horizontal and vertical stability of the lifting device 4.

[0099] When the lifting device 4 is formed by paralleling two basic lifting units, there are two link mechanisms 42 and they are arranged on the base 40 at intervals.

[0100] At this time, the output shaft of the hydraulic cylinder 430 is hinged to the support link II 434. Since two basic lifting units are paralleled, two sets of second drive mechanisms 43 are provided.

[0101] The link mechanism 42 is used to achieve the lifting effect. There is no sliding pair, which greatly improves the lifting stability and the durability of the kinematic pair. The scissor structure is adopted, which can obtain a large lifting height under a small driving stroke; and the way of the inclined support of the hydraulic cylinder 430 in the past is changed, and the hydraulic cylinder 430 is placed flat to input the power of the lifting mechanism, which greatly reduces the volume and weight of the device in the storage state; based on the topology optimization principle, the key links are lightened, making the device lighter; for different load requirements, the link mechanism 42 can be used in parallel or in a horizontal and vertical combination; the mechanism principle of the device is simple, and the stability is better than that of the traditional lifting structure, and lightweight treatment is added, which can be applied to various devices with high requirements for lifting conditions.

[0102] During rendezvous and docking, the deployable guidance mechanism in guidance device 1 opens to a trumpet shape to increase the space tolerance during recovery and achieve coarse positioning. The parallelogram linkage mechanism 42 in the positioning mechanism retracts and adheres to the inner wall of the positioning fixing cylinder. When the unmanned underwater vehicle enters the positioning mechanism, the hydraulic push rod pushes the parallelogram linkage mechanism 42 to open, achieving precise positioning of the unmanned underwater vehicle. After the unmanned underwater vehicle is recovered, the second drive mechanism 43 drives the deployable guidance mechanism to retract, reducing the space occupied by guidance device 1.

[0103] Under the guidance of the guidance device 1, the unmanned underwater vehicle moves toward the ramming lock device 2. Both the moving end and the receiving end are equipped with torsion springs 206 to keep the locking tongue 201 open when not in operation. Under the action of inertia, the locking tongues 201 of the moving end and the receiving end are engaged, and the pin is locked. When unlocking, the electric push rod 207 in the ramming lock device 2 pulls out the fixing pin 203, releases the locking position, and the locking tongues 201 of the moving end and the receiving end separate from each other, completing the release.

[0104] Before rendezvous and docking, the motor 311 in the locking device 3 drives the transmission shaft 324 through the coupling 310, and then drives the lead screw 322, nut 323 and first connecting rod 321 through the cylindrical gear 320 to control the arm 33 to swing to the maximum angle to prevent the unmanned underwater vehicle from colliding with the arm 33. After the unmanned underwater vehicle establishes an initial physical connection with the ramming lock device 2, the guide device 1 and the lifting device 4 below the ramming lock device 2 work together to lower the unmanned underwater vehicle onto the detachable bracket 30 of the locking device 3, and the arm 33 closes to lock the unmanned underwater vehicle. The release process is the reverse.

[0105] In summary, this application has the following beneficial effects:

[0106] The locking device 3 is highly versatile, with a large opening and closing tolerance, compact storage, and high locking reliability. The detachable bracket 30 and the gripping arm 33 in the locking device 3 can be adapted to the design of unmanned underwater vehicles (UUVs) with different cross-sections and sizes, and can be used in combination along the UUV's axis, demonstrating strong versatility. The cross-shaped gripping arm 33 allows for a large opening and closing range, has strong spatial tolerance, and occupies little space when not in operation and closed. The transmission mechanism 32 has a compact structure, and the lead screw 322 and nut 323 mechanism are mechanically self-locking, improving locking reliability.

[0107] The impact locking device 2 is reliable, safe, and highly versatile. It utilizes the inertia of the unmanned underwater vehicle (UUV) to achieve automatic locking upon impact, and boasts high spatial tolerance and reliability. A torsion spring 206 automatically resets the locking tongue 201, while an electric push rod 207 allows for active unlocking by inserting and removing the pin. A hydraulic damper 211 absorbs the energy during the impact locking process, ensuring high safety. The impact locking device 2 employs a modular design, securing itself to the UUV and underwater docking station via bolts, further enhancing its versatility.

[0108] The lifting device 4 boasts strong lifting stability, durable moving parts, light weight, small storage space, a large lifting height to drive stroke ratio, and high versatility. The lifting device 4 utilizes a linkage mechanism 42 to achieve the lifting effect, eliminating sliding pairs and significantly improving lifting stability and the durability of moving parts. Employing a scissor-type structure, it can achieve a large lifting height with a relatively small drive stroke. Changing the previous method of using the hydraulic cylinder 430 for oblique support, it now places the hydraulic cylinder 430 horizontally to input power to the lifting mechanism, greatly reducing the size and weight of the storage device. For different load-bearing requirements, it can be used in parallel or in a combination of horizontal and vertical configurations, offering strong versatility.

[0109] Each component sequentially performs actions such as "lifting-physical guidance-crashing lock-lifting-locking", realizing autonomous underwater recovery of the unmanned underwater vehicle. This solves the pain points of low efficiency, high risk and poor versatility of traditional surface recovery methods, and improves the efficiency, safety and universal compatibility of charging support operations for unmanned underwater vehicles.

[0110] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0111] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0112] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A rendezvous and docking device for unmanned underwater vehicles, characterized in that, It includes: The guidance device (1) is provided with a accommodating cavity for adjustment according to the size of the submarine; The moving end ram lock device (2) and the receiving end ram lock device (2) are provided on one side of the guiding device (1). The moving end ram lock device (2) is used to connect with the submersible. The guiding device (1) is used to drive the moving end ram lock device (2) to move towards the receiving end ram lock device (2) so that the receiving end ram lock device (2) docks with the submersible through the moving end ram lock device (2). When the moving end ram lock device (2) and the receiving end ram lock device (2) are locked together, and in the height direction of the ram lock device (2), the moving end ram lock device (2) and the receiving end ram lock device (2) partially overlap. Locking device (3), the locking device (3) is disposed on both sides of the guiding device (1). The locking device (3) has a locked state and a released state. Before the ramming lock device (2) docks with the submersible, the locking device (3) is in the released state. After the ramming lock device (2) docks with the submersible, the locking device (3) is in the locked state and is used to fix the submersible. Lifting device (4), the bottom end of the guide device (1) and the bottom end of the ramming device (2) are both provided with lifting device (4), the lifting device (4) is used to drive the guide device (1) and the ramming device (2) to move along the first direction; The ramming lock device (2) includes a ramming lock mechanism (20), which includes: Locking tongue (201); The locking arm (205) has a cavity (2050) inside, and the locking tongue (201) is rotatably connected to the cavity (2050) through the hinge body (202); Torsion spring (206), the torsion spring (206) is sleeved on the outer peripheral surface of the hinge body (202), and the torsion spring (206) is connected to the inside of the cavity (2050); A fixing pin (203) is provided inside the cavity (2050). The top end of the fixing pin (203) passes through the top end of the locking arm (205) and is slidably connected to the locking arm (205). A receiving groove (2030) is provided on one side of the fixing pin (203). Compression spring (204), one end of which is connected to the locking arm (205) and the other end is connected to the fixing pin (203); When the locking tongue (201) at the moving end is locked with the locking tongue (201) at the receiving end, one end of the locking tongue (201) is located inside the receiving groove (2030), and the top of the inner wall of the receiving groove (2030) is in contact with the top of the locking tongue (201).

2. The unmanned underwater vehicle rendezvous and docking device as described in claim 1, characterized in that, The locking tongue (201) includes: First lock body (2010); Second lock body (2011); A transition arm (2012), one end of which is connected to the first lock body (2010) and the other end of which is connected to the second lock body (2011); The locking tongue (201) has a first state and a second state; When the ramming device (2) is in the released state, the bolt (201) is in the first state, and the top of the transition arm (2012) is in contact with the top of the inner wall of the receiving groove (2030); When the ramming device (2) is in the locked state, the bolt (201) is in the second state, and the top of the second lock body (2011) is in contact with the top of the inner wall of the receiving groove (2030).

3. The unmanned underwater vehicle rendezvous and docking device as described in claim 2, characterized in that: The height of the transition arm (2012) is higher than the height of the second lock body (2011), and the plane at the top of the transition arm (2012) is above the plane at the top of the second lock body (2011). The height of the receiving groove (2030) is higher than the height of the transition arm (2012). When the locking tongue (201) is in the first state or the second state, there is a gap between the bottom end of the locking tongue (201) and the bottom end of the inner wall of the receiving groove (2030).

4. The unmanned underwater vehicle rendezvous and docking device as described in claim 1, characterized in that, The receiving end's locking device (2) also includes: The limiting buffer mechanism (21) is movably connected to the ramming lock mechanism (20) of the receiving end. When the ramming lock device (2) changes from the released state to the locked state, the ramming lock mechanism (20) of the receiving end moves relative to the limiting buffer mechanism (21).

5. The unmanned underwater vehicle rendezvous and docking device as described in claim 1, characterized in that: The locking device (3) includes: Bracket (30), with arm (33) hinged on both sides of the bracket (30); The transmission mechanism (32) is hinged to the arm (33); The first drive mechanism (31) is located on one side of the arm (33) and is connected to the transmission mechanism (32). The first drive mechanism (31) drives the two arms (33) to retract or open through the transmission mechanism (32).

6. The unmanned underwater vehicle rendezvous and docking device as described in claim 5, characterized in that: The first drive mechanism (31) includes a motor (311) and a coupling (310). The motor (311) is mounted on a bracket (30). One end of the coupling (310) is fixedly connected to the output shaft of the motor (311), and the other end is connected to the transmission mechanism (32). The transmission mechanism (32) includes: a transmission shaft (324), two lead screws (322), two nuts (323), and two first connecting rods (321). One end of the transmission shaft (324) is connected to the first drive mechanism (31), and both ends of the transmission shaft (324) are fitted with cylindrical gears (320). The two lead screws (322) are located on both sides of the transmission shaft (324) in the radial direction. Each lead screw (322) is fitted with a cylindrical gear (320), and the cylindrical gear (320) on each lead screw (322) is connected to one of the cylindrical gears (320) on the transmission shaft (324). The two nuts (323) are threaded onto the two lead screws (322). The two first connecting rods (321) are hinged to the two nuts (323) and the two first connecting rods (321) are hinged to the two clamps (33).

7. The unmanned underwater vehicle rendezvous and docking device as described in claim 1, characterized in that, The lifting device (4) includes: Base (40); The linkage mechanism (42) includes a lifting linkage (420) and a supporting linkage I (421). The lifting linkage (420) includes a linkage I (4200), a linkage II (4201) and a supporting linkage I (421). The linkage I (4200) and the linkage II (4201) are respectively hinged to two hinge seats (41) spaced apart on the base (40). The top end of the linkage I (4200) is inclined toward the linkage II (4201), and the top end of the linkage II (4201) is inclined toward the linkage I (4200), so that the linkage I (4200) and the linkage II (4201) form a scissor structure. One end of the supporting linkage I (421) is hinged to the top of the linkage I (4200), and the other end is hinged to the linkage II (4201). The second drive mechanism (10) is used to drive the connecting rod II (4201) to rotate around the hinge seat (41).

8. The unmanned underwater vehicle rendezvous and docking device as described in claim 7, characterized in that: The linkage mechanism (42) also includes a second lifting link (420) located above the lifting link (420).

9. The unmanned underwater vehicle rendezvous and docking device as described in claim 8, characterized in that: The second lifting link (420) includes a second link I (4200), a second link II (4201), and a second support link I (421). The bottom end of the second link I (4200) is hinged to the link II (4201), and the bottom end of the second link II (4201) is hinged to the link I (4200). The top end of the second link I (4200) is inclined toward the second link II (4201), and the top end of the second link II (4201) is inclined toward the second link I (4200), so that the second link I (4200) and the second link II (4201) form a scissor structure. One end of the second support link I (421) is hinged to one end of the second link I (4200) and the link II (4201), and the other end is hinged to the second link II (4201).

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