An AUV modular underwater autonomous docking charging device

Abstract

The application discloses an underwater autonomous docking charging device for AUV, and belongs to the technical field of underwater robots, and aims at solving the problems in the prior art. The underwater autonomous docking charging device comprises a docking block and a docking clamp. The docking block is connected with an external power supply, and the docking clamp is connected with a battery of an AUV. The AUV is charged through the docking of the docking clamp and the docking block. The docking block comprises at least four plug-in block modules arranged in a plug-in block module cavity. The four plug-in block modules are arranged in two groups in a cross shape. Each plug-in block module comprises at least a power supply rod extending out of the plug-in block module cavity and a communication rod coaxially arranged with the power supply rod and slidably matched with the plug-in block module. The docking clamp comprises at least two positioning blocks and two docking pins. The two positioning blocks are arranged to be relatively opened and closed. The two docking pins are arranged to be respectively pushed through the corresponding positioning blocks to make the communication rod slide and connect one end of the communication rod with one end of the power supply rod.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, specifically relating to a modular underwater autonomous docking and charging device for AUVs. Background Technology

[0002] AUVs (Autonomous Underwater Vehicles) face significant challenges in terms of energy endurance when performing long-duration or long-distance missions. Traditional AUV batteries have limited capacity, and especially in deep-sea exploration or long-term monitoring missions, running out of power can lead to mission interruption, increasing recovery costs and time.

[0003] Existing technologies for charging AUVs mainly include underwater wireless charging and charging via subsea platforms. For underwater wireless charging technology, firstly, its efficiency is low; energy transfer is affected by the conductivity and medium of water, resulting in a slow and unstable charging process. Secondly, the complex underwater environment causes severe signal attenuation, easily leading to charging system failure. Furthermore, existing wireless charging systems typically require high costs and technical support, limiting their widespread application.

[0004] For subsea platform charging technology, the process of an AUV surfacing after being fully charged from the subsea platform requires more thrust to overcome buoyancy due to the increased water depth and pressure, consuming a large amount of energy. During the surfacing process, the AUV may also face the problem of decreased navigation and positioning accuracy due to changes in water depth, which further exacerbates energy consumption and reduces mission efficiency. Summary of the Invention

[0005] The purpose of this invention is to propose a modular underwater autonomous docking and charging device for AUVs, which solves the problems of low wireless charging efficiency, slow and unstable charging, charging system failure, and high energy consumption after charging on the seabed platform in the existing technology.

[0006] To achieve the above objectives, the present invention provides a modular underwater autonomous docking and charging device for an AUV, comprising a docking block and a docking clamp mounted on the AUV; the docking block is connected to an external power source, and the docking clamp is connected to the battery of the AUV, thereby charging the AUV by docking the docking clamp with the docking block; The docking block includes at least: plug-in module cavity shell; The plug-in module is located inside the cavity shell of the plug-in module. The plug-in module includes four modules, which are arranged in pairs. Two modules in one pair are positioned facing one end of the plug-in module cavity shell, and two modules in the other pair are positioned facing the opposite end. The four plug-in modules in the two pairs are arranged in a cross-shaped stagger. Each plug-in module includes at least a power supply rod extending relative to the plug-in module cavity shell and a connecting rod coaxially arranged with the power supply rod. The connecting rod is slidably engaged with the plug-in module so that one end of the connecting rod is connected to or separated from one end of the power supply rod. The other ends of the two power supply rods of the two plug-in modules in each pair are respectively connected to the positive and negative terminals of an external power source. And positioning housings located on the four sides of the plug-in block module cavity shell, each positioning housing having an inwardly recessed spherical guide groove on its outer surface; The docking clamp includes at least two positioning blocks that open and close relative to each other and two docking pins. The positioning blocks and the positioning housing are positioned and clamped by contacting two spherical guide grooves. The two docking pins pass through the corresponding positioning blocks to push the connecting rod to slide so that one end of the connecting rod is connected to one end of the power supply rod. The other end of the docking pin is connected to the AUV battery.

[0007] The docking block also includes: Two end caps are disposed at both ends of the cavity shell of the plug-in module; And two conductive slip ring modules respectively set on the two end caps. One end of each conductive slip ring module is connected to the two power supply rods of the two plug-in block modules located on the same side through a pin, and the other end is connected to an external power supply through a cable.

[0008] The plug-in module includes: A base with an axial through hole in the middle, and the through hole in the middle of the base and the connecting rod are in sliding fit; An upper connecting cover is located above the base and is fixedly connected to the upper end face of the base by bolts, and a small sealing gasket is provided between the upper end face of the base and the upper connecting cover; A top cover is located above the upper connecting cover. The upper connecting cover is fixedly connected to the lower end face of the top cover by bolts. The lower end face of the top cover is provided with a receiving groove. The top cover is provided with a docking hole from one side to the other side. The docking hole passes through the receiving groove. A one-way valve is provided at one end of the docking hole. A large sealing gasket is provided between the top cover and the upper connecting cover. A lower connecting cover is located below the base and is fixedly connected to the lower end face of the base by bolts. A sealing groove is provided on the lower surface of the lower connecting cover, and a small sealing gasket is provided between the lower end face of the base and the lower connecting cover. The sealing ring is located within the sealing groove; The diaphragm located below the lower connecting cover; The bottom cover is located below the diaphragm. Bolts pass through the lower connecting cover, the diaphragm and the bottom cover in sequence to fix them together. A gasket is provided between the diaphragm and the bottom cover. The power supply rod is fixed to the lower surface of the bottom cover by the extension plate of the power supply rod. A sliding tongue is located in the receiving groove on the lower surface of the top cover and slides up and down relative to the receiving groove. The upper surface of the sliding tongue is inclined, and the inclined surface faces the end of the docking hole where no one-way valve is installed. The connecting rod passes through the sealing ring, the lower connecting cover, the base and the upper connecting cover from bottom to top, and then connects and is fixed with the threaded hole designed on the lower surface of the sliding tongue. The lower end of the connecting rod passes through the diaphragm and the bottom cover and contacts or separates from the power supply rod. In addition, there are adjusting springs and spring threaded rods. One end of multiple circumferentially distributed adjusting springs is fixedly connected to the lower surface of the sliding tongue, and the other end is connected to a pair of spring threaded rods respectively. The other end of the multiple spring threaded rods is fixedly connected to the upper connecting rod. The docking pin is inserted or pulled out through the docking hole of the top cover. The sliding tongue and the connecting rod move up and down as a whole through the inclined surface of the sliding tongue to contact or separate from the power supply rod.

[0009] The diaphragm includes an outer circular portion, an inner circular portion, and a semicircular portion connecting the outer circular portion and the inner circular portion; the inner circular portion is a rigid structure, while the outer circular portion and the semicircular portion are flexible membranes. The diaphragm is connected to the lower connecting cover and the bottom cover through the outer circular portion. The inner circular portion and the semicircular portion are movable parts. When the spring is adjusted to its natural state, the extension plate at the lower part of the connecting rod is tightly attached to the inner circular portion of the diaphragm.

[0010] The conductive slip ring module includes: The universal joint cross shaft includes a square annular universal joint housing and threaded journals. Threaded holes are provided at the center of each of the four perimeters of the universal joint housing, and the four threaded journals are respectively connected to the threaded holes to form the universal joint cross shaft. The upper universal joint fork is connected to two opposing threaded journals. The lower universal joint fork is connected to two other threaded journals on the opposite side. The lower bearing shell, wherein the lower end of the lower universal joint fork is disposed on the lower bearing shell and rotates on the lower bearing shell; The lower bearing housing, wherein the lower bearing bush is disposed within the groove of the lower bearing housing; The upper bearing shell is coaxially mounted on the upper surface of the lower end of the lower universal joint fork by bolts; Upper bearing housing, which is pressed against the upper surface of the upper bearing bush; And a conductive slip ring located below the lower bearing housing, one end of the conductive slip ring extending into the corresponding end cover, and the other end pressed against the outer end face of the end cover. The bolt passes through the upper bearing housing, the lower bearing housing and the conductive slip ring in sequence and is then threadedly connected to the end cover.

[0011] The docking clamp also includes Mounting bracket for AUV; A front push plate located inside the AUV; A rear push plate located inside the AUV; An upper linkage mechanism and a lower linkage mechanism are arranged opposite each other. The upper first link of the upper linkage mechanism and the lower first link of the lower linkage mechanism pass through the fixed frame, the front wall of the AUV bow, and the front push plate in sequence, and are fixedly connected to the end face of the rear push plate. The other end drives the two positioning blocks to open and close. A middle linkage mechanism is located between the upper linkage mechanism and the lower linkage mechanism; the first link of the middle linkage mechanism passes through the fixed frame and the front wall of the AUV bow in sequence and is fixedly connected to the end face of the front push plate, and the other end drives the two docking pins to open and close. Two thin springs are located between the front push plate and the rear push plate. The two thin springs are respectively sleeved on the upper first link and the lower first link, and the two ends of the two thin springs are in contact with the end faces of the front push plate and the rear push plate, respectively. A thick spring is fitted on the first connecting rod, with one end in contact with the end face of the front push plate and the other end in contact with the inner wall of the front wall of the AUV bow. The stiffness coefficient of the thick spring is greater than that of the two thin springs. The fixing rod has threads at both ends, and there are four threads in total, two on the left and two on the right, symmetrically arranged in pairs. The fixing rod passes through the upper part of the fixing frame, the upper fourth link of the upper linkage mechanism, the middle fourth link of the middle linkage mechanism, the lower fourth link of the lower linkage mechanism, and the lower part of the fixing frame from top to bottom, and is fixed to the fixing frame on both sides by bolts. And an electric actuator fixed inside the AUV, the output end of which is connected to the rear push plate.

[0012] The upper linkage mechanism includes an upper first link, an upper second link, an upper third link, an upper fourth link, an upper fifth link, an upper sixth link, and an upper connecting rod. The upper first link is a telescopic rod with a threaded upper end, passing through the front push plate and fixedly connected to the rear push plate. Its lower end is hinged to one end of each of the two upper second links via a pin. The other ends of the two upper second links have the same connection structure: the other ends of the upper second links are respectively hinged to one end of the upper third link and one end of the upper fourth link via pins; the other end of the upper third link is hinged to one end of the upper fifth link, which is parallel to the upper fourth link; one end of the upper sixth link is hinged to the other end of the upper fifth link via a pin; and the middle part of the upper sixth link is hinged to the other end of the upper fourth link via a pin. The other end of the upper sixth link is designed with a threaded hole and is threadedly connected to one end of the upper connecting rod. The opposite ends of the two upper connecting rods are threaded and are respectively connected and fixed to the corresponding positioning blocks.

[0013] The lower linkage mechanism includes a lower first link, a lower second link, a lower third link, a lower fourth link, a lower fifth link, a lower sixth link, and a lower connecting rod. The lower first link is a telescopic rod with a threaded upper end, passing through the front push plate and fixedly connected to the rear push plate. Its lower end is hinged to one end of each of the two upper second links via a pin. The other ends of the two lower second links have the same connection structure: the other ends of the lower second links are respectively hinged to one end of the lower third link and the lower fourth link via pins; the other end of the lower third link is hinged to one end of the lower fifth link, which is parallel to the lower fourth link; one end of the lower sixth link is hinged to the other end of the lower fifth link via a pin; and the middle part of the lower sixth link is hinged to the other end of the lower fourth link via a pin. The other end of the lower sixth link is designed with a threaded hole and is threadedly connected to one end of the lower connecting rod. The opposite ends of the two lower connecting rods are threaded and respectively connected and fixed to the corresponding positioning blocks.

[0014] The central linkage mechanism is a symmetrical multi-link structure, including a central first link, a central second link, a central third link, a central fourth link, a central fifth link, a central sixth link, a connecting pin, a slider, and a sliding rod; the upper end of the central first link is threaded and fixed to the front push plate, and the lower end is hinged to the two central second links by a pin; the connection structure at the other end of the two central second links is the same, specifically: The other end of the second connecting rod is hinged to one end of the third and fourth connecting rods respectively by a pin; the other end of the third connecting rod is hinged to one end of the fifth connecting rod, which is parallel to the fourth connecting rod; one end of the sixth connecting rod is hinged to the other end of the fifth connecting rod by a pin; the middle part of the sixth connecting rod is hinged to the other end of the fourth connecting rod by a pin; the other end of the sixth connecting rod is vertically fixedly connected to one end of the sliding rod; the slider slides on the sliding rod and engages with the sliding rod; one end of the connecting pin is threaded and threadedly connected to the slider.

[0015] The positioning block has a hemispherical structure, including a hemispherical bowl-shaped front shell and a circular plate-shaped rear shell that is detachably connected to the front shell.

[0016] The beneficial effects of this invention are as follows: The modular underwater autonomous docking and charging device for AUVs consists of two main parts: a docking clamp and a docking block. During docking, the AUV can dock from four directions, and the docking block can rotate around the cable. The conductive slip ring module effectively avoids cable entanglement problems, improving the success rate of autonomous docking. Because in marine conditions, complex ocean currents and electromagnetic conditions prevent underwater unmanned vehicles from achieving precise positioning through wireless communication technology like aerial drones, machine vision technology is first used to ensure the positions of the active and passive components are within an acceptable error range for rough positioning, followed by precise positioning using mechanical structures. The docking block designed in this invention is much smaller than traditional docking stations, facilitating unmanned vessel transport and deployment into the sea. Threaded holes and threaded shafts are respectively provided at the outer ends of the two opposing universal joint forks of the docking block. Multiple docking blocks are quickly connected end-to-end via threads to form a long chain, which can meet the simultaneous charging needs of multiple AUVs performing missions in a squad formation. During charging, the AUV does not need to first sink to a seabed platform, reducing energy loss during the ascent process, improving charging efficiency, and enhancing the AUV's operational efficiency. This invention enables the AUV to complete continuous underwater missions through autonomous charging, avoiding frequent surfacing for manual charging or battery replacement. This technology not only extends the AUV's operating time but also improves mission continuity and the completeness of data collection. Attached Figure Description

[0017] Figure 1 This is an assembly diagram of a modular underwater autonomous docking and charging device for an AUV according to the present invention; Figure 2 This is a schematic diagram of the docking block structure; Figure 3 This is an assembly diagram of the internal plug-in block module and the plug-in block module cavity shell of the docking block; Figure 4 This is a schematic diagram of the cavity shell of the plug-in module; Figure 5 This is a schematic diagram of the assembly of the plug-in module with the plug-in module cavity shell and end cap; Figure 6 A structural schematic diagram of the plug-in module from one angle; Figure 7 This is a structural diagram of the plug-in module from another angle; Figure 8 This is an exploded view of the plug-in module; Figure 9 This is a schematic diagram of the diaphragm. Figure 10 This is an exploded view of the conductive slip ring module; Figure 11 This is a schematic diagram of the universal joint cross shaft; Figure 12 This is a schematic diagram of the charging clip; Figure 13 This is a schematic diagram of the internal structure of the charging clip; Figure 14 This is a schematic diagram of the upper linkage mechanism; Figure 15 This is a schematic diagram of the second link. Figure 16 This is a schematic diagram of a central linkage mechanism; Figure 17 This is a schematic diagram of the positioning block; Figure 18 This is a schematic diagram of the lower linkage mechanism; Figure 19 Diagram showing the state of the docking clamps before docking; Figure 20 This is a diagram showing the state of the docking clamps after the first step of docking is completed. Figure 21 A diagram showing the docking clamp status during charging after docking is complete. Among them, 1. docking block, 2. docking clamp; 10. Connector module; 11. Conductive slip ring module; 12. Positioning housing; 13. Connector module cavity housing; 14. End cap. 1001. Top cover; 1002. Docking hole; 1003. One-way valve; 1004. Large sealing gasket; 1005. Small sealing gasket; 1006. Base; 1007. Bottom cover; 1008. Power supply rod; 1009. Connecting rod; 1010. Adjusting spring; 1011. Spring threaded rod; 1012. Diaphragm; 1013. Upper connecting cover; 1014. Sealing ring; 1015. Lower connecting cover; 1016. Bolt; 1017. Sliding tongue; 1018. Gasket; 10120. Outer circle part; 10121. Semicircular part; 10122. Inner circle part; 1101. Upper bearing housing; 1102. Upper bearing bush; 1103. Upper universal joint fork; 1104. Universal joint cross shaft; 1105. Lower universal joint fork; 1106. Lower bearing bush; 1107. Lower bearing housing; 1108. Conductive slip ring; 11040. Threaded journal; 11041. Universal joint housing; 200. Upper linkage mechanism; 201. Middle linkage mechanism; 202. Lower linkage mechanism; 203. Positioning block; 204. Coarse spring; 205. Front push plate; 206. Fine spring; 207. Rear push plate; 208. Fixed rod; 209. Fixed frame; 210. Electric actuator. 2000, Upgrade the first link; 2001, Upgrade the second link; 2002, Upgrade the third link; 2003, Upgrade the fourth link; 2004, Upgrade the fifth link; 2005, Upgrade the sixth link; 2006, Upgrade the connecting rod. 2010, Middle First Link; 2011, Middle Second Link; 2012, Middle Third Link; 2013, Middle Fourth Link; 2014, Middle Fifth Link; 2015, Middle Sixth Link; 2016, Connecting Pin; 2017, Slider; 2018, Sliding Rod. 2020, Lower the first link; 2021, Lower the second link; 2022, Lower the third link; 2023, Lower the fourth link; 2024, Lower the fifth link; 2025, Lower the sixth link; 2026, Lower the connecting link. 2030, front shell; 2031, rear shell. Detailed Implementation

[0018] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0019] See Figures 1-18 The present invention provides a modular underwater autonomous docking and charging device for an AUV, comprising a docking block 1 and a docking clamp 2 mounted on the AUV; the docking block 1 is connected to an external power source, and the docking clamp 2 is connected to the battery of the AUV, and the AUV is charged by docking the docking clamp 2 with the docking block 1. The docking block 1 includes at least: plug-in module cavity shell 13; The plug-in module 10 is located inside the plug-in module cavity shell 13. The plug-in module 10 includes four modules, which are arranged in pairs. Two modules in one pair are positioned facing one end of the plug-in module cavity shell 13, and the two modules in the other pair are positioned facing the opposite end. The four plug-in modules 10 in the two pairs are arranged in a cross-shaped staggered manner. Each plug-in module 10 includes at least a power supply rod 1008 extending relative to the plug-in module cavity shell 13 and a connecting rod 1009 coaxially arranged with the power supply rod 1008. The connecting rod 1009 slides relative to the plug-in module 10, allowing one end of the connecting rod 1009 to connect or separate from one end of the power supply rod 1008. The other ends of the two power supply rods 1008 of the two plug-in modules 10 in each pair are respectively connected to the positive and negative terminals of an external power source. And positioning housings 12 located on the four sides of the plug-in block module cavity shell 13, each positioning housing 12 having an inwardly recessed spherical guide groove on its outer surface; The docking clamp 2 includes at least two positioning blocks 203 with relative opening and closing motion and two docking pins 2016. The positioning blocks 203 and the two spherical guide grooves of the positioning housing 12 are in contact and positioned. The two docking pins 2016 pass through the corresponding positioning blocks 203 to push the connecting rod 1009 to slide so that one end of the connecting rod 1009 is connected to one end of the power supply rod 1008. The other end of the docking pin 2016 is connected to the battery of the AUV.

[0020] The docking block 1 also includes: Two end caps 14 are disposed at both ends of the plug-in module cavity shell 13; And two conductive slip ring modules 11 respectively set on the two end caps 14. One end of each conductive slip ring module 11 is connected to the two power supply rods 1008 of the two plug block modules 10 located on the same side through a pin, and the other end is connected to an external power supply through a cable.

[0021] The plug-in module 10 includes: A base 1006 with an axial through hole in the middle is provided, and the through hole in the middle of the base 1006 and the connecting rod 1009 are in sliding fit. An upper connecting cover 1013 is located above the base 1006 and is fixedly connected to the upper end face of the base 1006 by bolts 1016. A small sealing gasket 1005 is provided between the upper end face of the base 1006 and the upper connecting cover 1013. A top cover 1001 is located above the upper connecting cover 1013. The upper connecting cover 1013 is fixedly connected to the lower end face of the top cover 1001 by bolts 1016. The lower end face of the top cover 1001 is provided with a receiving groove. The top cover 1001 is provided with a docking hole 1002 from one side to the other side. The docking hole 1002 passes through the receiving groove. A one-way valve 1003 is provided at one end of the docking hole 1002. A large sealing gasket 1004 is provided between the top cover 1001 and the upper connecting cover 1013. A lower connecting cover 1015 is located below the base 1006 and is fixedly connected to the lower end face of the base 1006 by bolts 1016. A sealing groove is provided on the lower surface of the lower connecting cover 1015, and a small sealing gasket 1005 is provided between the lower end face of the base 1006 and the lower connecting cover 1015. The sealing ring 1014 is located within the sealing groove; The diaphragm 1012 is located below the lower connecting cover 1015; The bottom cover 1007 is located below the diaphragm 1012. Bolts pass through the lower connecting cover 1015, the diaphragm 1012 and the bottom cover 1007 in sequence to fix them together. A gasket 1018 is provided between the diaphragm 1012 and the bottom cover 1007. The power supply rod 1008 is fixed to the lower surface of the bottom cover 1007 by the extension plate of the power supply rod 1008. A sliding tongue 1017 is located in the receiving groove on the lower surface of the top cover 1001 and slides up and down relative to the receiving groove. The upper surface of the sliding tongue 1017 is inclined, and the inclined surface faces the end of the docking hole 1002 where the one-way valve 1003 is not provided. The connecting rod 1009 passes through the sealing ring 1014, the lower connecting cover 1015, the base 1006 and the upper connecting cover 1013 from bottom to top and is connected and fixed with the threaded hole designed on the lower surface of the sliding tongue 1017. The lower end of the connecting rod 1009 passes through the diaphragm 1012 and the bottom cover 1007 and contacts or separates from the power supply rod 1008. In addition, there are adjusting springs 1010 and spring threaded rods 1011. One end of the multiple circumferentially distributed adjusting springs 1010 is fixedly connected to the lower surface of the sliding tongue 1017, and the other end is respectively connected to the spring threaded rods 1011. The other end of the multiple spring threaded rods 1011 is fixedly connected to the upper connecting rod 2006. The docking pin 2016 is inserted or pulled out through the docking hole 1002 of the top cover 1001. The sliding tongue 1017 and the connecting rod 1009 move up and down as a whole through the inclined surface of the sliding tongue 1017 to contact or separate from the power supply rod 1008.

[0022] The outer surface of the power supply rod 1008 is an insulator, with only the portion above the extension plate exposed. The middle and lower parts of the power supply rod 1008 are watertight, ensuring insulation when used with the wires. The wires can be connected to the power supply rod 1008 via a watertight connector. The power supply rod 1008 is bolted to the bottom cover 1007 and the gasket 1018, ensuring tight contact between the upper surface of the extension plate of the power supply rod 1008 and the grooved surface of the bottom cover 1007.

[0023] The plug-in module 10 is the core component of the docking block 1. Conductive slip ring modules 11 are distributed on the upper and lower surfaces of the docking block 1 and are fixed to the end cap 14 with bolts. Except for the upper and lower surfaces, the other four surfaces of the docking block 1 are composed of positioning shells 12. A spherical guide groove is designed at the center of the outer surface of the positioning shell 12 to facilitate positioning and adjustment during docking. The plug-in module cavity shell 13 is fixed to the positioning shell 12 with bolts. The plug-in module cavity shell 13 has a specially designed groove that can mate with the plug-in module 10. The end cap 14 presses the plug-in module 10 against the plug-in module cavity shell 13 with bolts. The plug-in module 10 connects to the seawater environment and the sealed power compartment via a connecting rod 1009, which has a sliding tongue 1017 at one end. The sliding tongue 1017 and the connecting rod 1009 are made of copper and serve to conduct electricity while triggering the closed circuit.

[0024] The plug-in module cavity shell 13 is a part obtained directly through machining. It has the same shape as the opposite side, with adjacent surfaces rotated 180 degrees. Specifically, it includes two parallel U-shaped structures, and the two adjacent end faces of the two U-shaped structures are connected to form an integral structure.

[0025] On the two opposite sides of the top cover 1001, there are through holes, and on the inner side, there is a one-way valve 1003, which allows the docking pin 2016 to be inserted to drain the water in the plug block module 10 during docking.

[0026] The diaphragm 1012 includes an outer circular portion 10120, an inner circular portion 10122, and a semi-circular portion 10121 connecting the outer circular portion 10120 and the inner circular portion 10122. The inner circular portion 10122 is a rigid structure, while the outer circular portion 10120 and the semi-circular portion 10121 are flexible membranes. The diaphragm 1012 is connected to the lower connecting cover 1015 and the bottom cover 1007 via the outer circular portion 10120. The inner circular portion 10122 and the semi-circular portion 10121 are movable parts. When the adjusting spring 1010 is in its natural state, the extension plate at the lower part of the connecting rod 1009 is tightly attached to the inner circular portion 10122 of the diaphragm 1012.

[0027] The conductive slip ring module 11 includes: Universal joint cross shaft 1104, the universal joint cross shaft 1104 includes a square annular universal joint housing 11041 and threaded journals 11040. Threaded holes are provided at the center of all four sides of the universal joint housing 11041. The four threaded journals 11040 are respectively connected to the threaded holes to form the universal joint cross shaft 1104. Upper universal joint fork 1103, which is connected to two opposite threaded journals 11040; The lower universal joint fork 1105 is connected to two other threaded journals 11040. Lower bearing 1106, the lower end of the lower universal joint fork 1105 is disposed on the lower bearing 1106 and rotates on the lower bearing 1106; The lower bearing housing 1107, wherein the lower bearing bush 1106 is disposed in the groove of the lower bearing housing 1107; Upper bearing shell 1102 is coaxially mounted on the upper surface of the lower end of the lower universal joint fork 1105 by bolts; Upper bearing housing 1101, which is pressed against the upper surface of upper bearing bush 1102; And a conductive slip ring 1108 located below the lower bearing housing 1107. One end of the conductive slip ring 1108 extends into the corresponding end cover 14, and the other end is pressed against the outer end face of the end cover 14. The bolt passes through the upper bearing housing 1101, the lower bearing housing 1107 and the conductive slip ring 1108 in sequence and is then threadedly connected to the end cover 14.

[0028] The conductive slip ring 1108 is hollow, allowing wires and cables to pass through. During installation, the wires and cables sequentially pass through the upper universal joint fork 1103 at the top of the docking block 1, the conductive slip ring 1108, then through the cavity shell 13 of the plug-in block module, and finally through the conductive slip ring 1108 and the upper universal joint fork 1103 at the bottom of the docking block 1. This completes the cable arrangement within one docking block 1, allowing the cable to proceed to the next docking block 1. At the conductive slip ring 1108, the cable branches into two wires, one positive and one negative, connecting to the stator on the conductive slip ring 1108. The positive wire from the rotor of the conductive slip ring 1108 connects to the power supply rod 1008 of the plug-in block module 10, and the negative wire connects to the power supply rod 1008 of the opposite plug-in block module 10.

[0029] The docking clamp 2 also includes A mounting bracket 209 is installed on the AUV; the mounting bracket 209 is fixed to the bow of the AUV; A front push plate 205 is installed inside the AUV; The rear push plate 207 is located inside the AUV; The upper linkage mechanism 200 and the lower linkage mechanism 202 are arranged opposite each other. The upper first link 2000 of the upper linkage mechanism 200 and the lower first link 2020 of the lower linkage mechanism 202 pass through the fixed frame 209, the front wall of the AUV bow, and the front push plate 205 in sequence, and are fixedly connected to the end face of the rear push plate 207. The other end drives the two positioning blocks 203 to open and close. A middle linkage mechanism 201 is located between the upper linkage mechanism 200 and the lower linkage mechanism 202; the middle first linkage 2010 of the middle linkage mechanism 201 passes through the fixed frame 209 and the front wall of the AUV bow in sequence and is fixedly connected to the end face of the front push plate 205, and the other end drives the two docking pins 2016 to open and close. Two thin springs 206 are located between the front push plate 205 and the rear push plate 207. The two thin springs 206 are respectively sleeved on the upper first connecting rod 2000 and the lower first connecting rod 2020. The two ends of the two thin springs 206 are in contact with the end faces of the front push plate 205 and the rear push plate 207, respectively. A coarse spring 204 is sleeved on the first connecting rod 2010. One end of the coarse spring 204 contacts the end face of the front push plate 205, and the other end contacts the inner wall of the front wall of the AUV. The stiffness coefficient of the coarse spring 204 is greater than that of the two thin springs 206. The fixing rod 208 has threads at both ends, and there are four of them in total, two on the left and two on the right, symmetrically arranged in pairs. The fixing rod 208 passes through the upper part of the fixing frame 209, the upper fourth link 2003 of the upper linkage mechanism 200, the middle fourth link 2013 of the middle linkage mechanism 201, the lower fourth link 2023 of the lower linkage mechanism 202, and the lower part of the fixing frame 209 from top to bottom, and is fixed to the fixing frame 209 on both sides by bolts. And an electric actuator 210 fixed inside the AUV, the output end of which is connected to the rear push plate 207.

[0030] The upper linkage mechanism 200 includes an upper first linkage 2000, an upper second linkage 2001, an upper third linkage 2002, an upper fourth linkage 2003, an upper fifth linkage 2004, an upper sixth linkage 2005, and an upper connecting rod 2006; the upper first linkage 2000 is a telescopic rod, which is similar to a spring shock absorber. The telescopic rod is equipped with a spring inside. When it is subjected to a certain pressure, the spring will be compressed. When the pressure is removed, the spring will return to its original shape, thereby driving the telescopic rod to extend and retract. The upper end of the telescopic rod is threaded, passes through the front push plate 205 and is fixedly connected to the rear push plate 207. The lower end is hinged to one end of the two upper second connecting rods 2001 by a pin. The upper end of the upper second connecting rod 2001 has an asymmetrical double fork lug. The two upper second connecting rods 2001 are not completely symmetrical when installed. The connection structure of the other end of the two upper second connecting rods 2001 is the same, specifically: the other end of the upper second connecting rod 2001 is hinged to one end of the upper third connecting rod 2002 and the upper fourth connecting rod 2003 by a pin, respectively. The other end of the upper third connecting rod 2002 and the upper fourth connecting rod 2003 are also hinged to one end of the upper third connecting rod 2002 and the upper fourth connecting rod 2003 by a pin. One end of the upper fifth link 2004, which is arranged in parallel with 003, is hinged. One end and the middle part of the upper sixth link 2005 are designed with slots. One end of the upper sixth link 2005 is hinged to the other end of the upper fifth link 2004 by a pin. The middle part of the upper sixth link 2005 is hinged to the other end of the upper fourth link 2003 by a pin. The other end of the upper sixth link 2005 is designed with a threaded hole and is threaded to one end of the upper connecting rod 2006. The opposite ends of the two upper connecting rods 2006 are provided with threads and are respectively connected and fixed to the corresponding positioning blocks 203.

[0031] The lower linkage mechanism 202 includes a lower first linkage 2020, a lower second linkage 2021, a lower third linkage 2022, a lower fourth linkage 2023, a lower fifth linkage 2024, a lower sixth linkage 2025, and a lower connecting rod 2026. The lower first linkage 2020 is a telescopic rod with a threaded upper end, passing through the front push plate 205 and fixedly connected to the rear push plate 207. Its lower end is hinged to one end of each of the two upper second linkages 2001 via a pin. The upper end of the lower second linkage 2021 has an asymmetrical double-forked lug. The two lower second linkages 2021 are not completely symmetrical when installed. The connection structure of the other ends of the two lower second linkages 2021 is the same, specifically: the other ends of the lower second linkages 2021 are respectively connected to the lower third linkage 2022 and the lower connecting rod 2026. One end of connecting rod 2022 and lower fourth connecting rod 2023 is hinged by a pin; the other end of lower third connecting rod 2022 is hinged to one end of lower fifth connecting rod 2024, which is parallel to lower fourth connecting rod 2023; one end and the middle part of lower sixth connecting rod 2025 are designed with slots; one end of lower sixth connecting rod 2025 is hinged to the other end of lower fifth connecting rod 2024 by a pin; the middle part of lower sixth connecting rod 2025 is hinged to the other end of lower fourth connecting rod 2023 by a pin; the other end of lower sixth connecting rod 2025 is designed with a threaded hole and is threaded to one end of lower connecting rod 2026; the opposite ends of the two lower connecting rods 2026 are threaded and are respectively connected and fixed to the corresponding positioning blocks 203.

[0032] The central linkage mechanism 201 is a symmetrical multi-link structure, including a central first link 2010, a central second link 2011, a central third link 2012, a central fourth link 2013, a central fifth link 2014, a central sixth link 2015, a connecting pin 2016, a slider 2017, and a sliding rod 2018; the upper end of the central first link 2010 is threaded and fixed to the front push plate 205, and the lower end is hinged to the two central second links 2011 by a pin; the connection structure of the other end of the two central second links 2011 is the same, specifically: The other end of the second connecting rod 2011 is hinged to one end of the third connecting rod 2012 and the fourth connecting rod 2013 respectively by a pin; the other end of the third connecting rod 2012 is hinged to one end of the fifth connecting rod 2014, which is parallel to the fourth connecting rod 2013; the sixth connecting rod 2015 has a slot at one end and in the middle; one end of the sixth connecting rod 2015 is hinged to the other end of the fifth connecting rod 2014 by a pin; and the middle part of the sixth connecting rod 2015 is connected to the other end of the fourth connecting rod 2013. The connection is via a pin hinge; the other end of the sixth connecting rod 2015 is vertically fixedly connected to one end of the slide rod 2018. The slider 2017 slides on the slide rod 2018. One end of the docking pin 2016 is threaded and threadedly connected to the slider 2017. When the two positioning blocks 203 are engaged with the two opposite surfaces of the docking block 1 and clamped together, the positions of the two docking pins 2016 are opposite to the docking holes 1002 of the top cover 1001 of the corresponding plug-in block module 10 and the inclined surface of the sliding tongue 1017. The docking pins 2016, sliders 2017, and slide rods 2018 ensure that the connecting rod mechanism 201 can only transmit axial movement to the docking pins 2016.

[0033] The positioning block 203 has a hemispherical structure, including a hemispherical bowl-shaped front shell 2030 and a circular plate-shaped rear shell 2031 detachably connected to the front shell 2030. A through hole is designed at the center of the front shell 2030 and the rear shell 2031 to position the docking pin 2016 and allow it to pass through the positioning block 203. The front shell 2030 has a slight deformation capability, enabling it to seal against the positioning outer shell 12 through slight deformation, thus isolating seawater from the outside.

[0034] The two upper universal joint forks 1103 of the docking block 1 are respectively provided with threaded holes and threaded shafts at their outer ends. Multiple docking blocks 1 are connected end to end by threads to form a long chain, which falls from the unmanned vessel and is captured by the docking clamp 2. The docking clamp 2 consists of two sets of grippers. The first set, composed of the upper linkage mechanism 200 and the lower linkage mechanism 202, is responsible for positioning and clamping. The second set, composed of the middle linkage mechanism 201, is responsible for conducting the circuit for charging. The energy required for the movement of the docking clamp 2 is provided by the AUV.

[0035] See Figure 19-21During docking, the AUV communicates with the bow's capture device to capture the cable, and then raises and lowers the position of docking block 1. The electric actuator 210 extends to push the front push plate 205. The elastic force of the coarse spring 204 is greater than the combined elastic force of the two fine springs 206. The upper first linkage 2000 and the lower first linkage 2020 begin to move, which in turn drives the other linkages of the upper linkage mechanism 200 and the lower linkage mechanism 202 to move, causing the positioning block 203 to continuously approach the docking block 1, and the positioning convex surface of the positioning block 203 to approach the positioning concave surface of the docking block 1, until slight deformation occurs due to compression, forming a seal. The electric actuator 210 continues to push the front push plate 205, which in turn pushes the rear push plate 207. The upper first link 2000 and the lower first link 2020 begin to shorten, while the middle first link 2010 begins to move, driving the other links of the middle link mechanism 201 to move. This causes the docking pin 2016 to insert into the plug-in module 10, pushing the sliding tongue 1017 and causing the connecting rod 1009 to move downwards until its lower end contacts the power supply rod 1008, closing the circuit and initiating charging. Once fully charged, the electric actuator 210 begins to retract, while the upper first link 2000 and the lower first link 2020 begin to extend. The middle first link 2010 begins to move, driving the other links of the middle link mechanism 201 to move, causing the docking pin 2016 to gradually move away from the plug-in module. The sliding tongue 1017 then rebounds, causing the connecting rod 1009 to move upwards, disconnecting the circuit and stopping charging. When the docking pin 2016 returns to its pre-dock position, the upper first link 2000 and the lower first link 2020 begin to move, which in turn drives the other links of the upper link mechanism 200 and the lower link mechanism 202 to move, causing the positioning block 203 to move away from the docking block 1 until it returns to its pre-dock position, and the AUV continues to perform its task.

Claims

1. A modular underwater autonomous docking and charging device for AUVs, characterized in that, It includes a docking block (1) and a docking clip (2) mounted on the AUV; the docking block (1) is connected to an external power source, and the docking clip (2) is connected to the battery of the AUV. The AUV is charged by docking the docking clip (2) and the docking block (1). The docking block (1) includes at least: plug-in module cavity shell (13); The plug-in module (10) is located inside the plug-in module cavity shell (13). The plug-in module (10) includes four modules, with two modules in each group. Two modules in one group are positioned facing one end of the plug-in module cavity shell (13), and two modules in the other group are positioned facing the opposite end. The four plug-in modules (10) in the two groups are arranged in a cross-shaped staggered manner. Each plug-in module (10) includes at least a power supply rod (1008) extending relative to the plug-in module cavity shell (13) and a connecting rod (1009) coaxially arranged with the power supply rod (1008). The connecting rod (1009) is slidably fitted relative to the plug-in module (10) so that one end of the connecting rod (1009) is connected to or separated from one end of the power supply rod (1008). The other ends of the two power supply rods (1008) of the two plug-in modules (10) in each group are respectively connected to the positive and negative terminals of the external power supply. And positioning shells (12) located on the four sides of the plug-in block module cavity shell (13), each positioning shell (12) having an inwardly recessed spherical guide groove on its outer surface; The docking clamp (2) includes at least two positioning blocks (203) with relative opening and closing motion and two docking pins (2016). The positioning blocks (203) and the positioning housing (12) are positioned and clamped by contacting the two spherical guide grooves opposite to each other. The two docking pins (2016) pass through the corresponding positioning blocks (203) to push the connecting rod (1009) to slide so that one end of the connecting rod (1009) is connected to one end of the power supply rod (1008). The other end of the docking pin (2016) is connected to the battery of the AUV. The plug-in module (10) includes: A base (1006) with an axial through hole in the middle is provided, and the through hole in the middle of the base (1006) and the connecting rod (1009) are in sliding fit; An upper connecting cover (1013) is located above the base (1006) and is fixedly connected to the upper end face of the base (1006) by bolts (1016). A small sealing gasket (1005) is provided between the upper end face of the base (1006) and the upper connecting cover (1013). A top cover (1001) is located above the upper connecting cover (1013). The upper connecting cover (1013) is fixedly connected to the lower end face of the top cover (1001) by bolts (1016). The lower end face of the top cover (1001) is provided with a receiving groove. The top cover (1001) is provided with a docking hole (1002) from one side to the other side. The docking hole (1002) passes through the receiving groove. A one-way valve (1003) is provided at one end of the docking hole (1002). A large sealing gasket (1004) is provided between the top cover (1001) and the upper connecting cover (1013). A lower connecting cover (1015) is located below the base (1006) and is fixedly connected to the lower end face of the base (1006) by bolts (1016). A sealing groove is provided on the lower surface of the lower connecting cover (1015), and a small sealing gasket (1005) is provided between the lower end face of the base (1006) and the lower connecting cover (1015). A sealing ring (1014) located within the sealing groove. The diaphragm (1012) is located below the lower connecting cover (1015). The bottom cover (1007) located below the diaphragm (1012) is fixedly connected by bolts passing through the lower connecting cover (1015), the diaphragm (1012) and the bottom cover (1007) in sequence. A gasket (1018) is provided between the diaphragm (1012) and the bottom cover (1007). The power supply rod (1008) is fixed to the lower surface of the bottom cover (1007) by the extension plate of the power supply rod (1008). A sliding tongue (1017) is located in the receiving groove on the lower surface of the top cover (1001) and slides up and down relative to the receiving groove. The upper surface of the sliding tongue (1017) is a slope. The slope faces the end of the docking hole (1002) where no one-way valve (1003) is provided. The connecting rod (1009) passes through the sealing ring (1014), the lower connecting cover (1015), the base (1006) and the upper connecting cover (1013) from bottom to top and is connected and fixed with the threaded hole designed on the lower surface of the sliding tongue (1017). The lower end of the connecting rod (1009) passes through the diaphragm (1012) and the bottom cover (1007) and contacts or separates from the power supply rod (1008). In addition to adjusting springs (1010) and spring threaded rods (1011), one end of multiple circumferentially distributed adjusting springs (1010) is fixedly connected to the lower surface of the sliding tongue (1017), and the other end is connected to multiple spring threaded rods (1011) respectively. The other end of the multiple spring threaded rods (1011) is fixedly connected to the upper connecting rod (2006) of the docking clamp (2). The docking pin (2016) is inserted or pulled out through the docking hole (1002) of the top cover (1001). The sliding tongue (1017) and the connecting rod (1009) move up and down as a whole through the inclined surface of the sliding tongue (1017) to contact or separate from the power supply rod (1008).

2. The modular underwater autonomous docking and charging device for AUVs according to claim 1, characterized in that, The docking block (1) further includes: Two end caps (14) are provided at both ends of the plug-in module cavity shell (13); And two conductive slip ring modules (11) respectively set on the two end caps (14), one end of each conductive slip ring module (11) is connected to the two power supply rods (1008) of the two plug block modules (10) located on the same side through pins, and the other end is connected to the external power supply through a cable.

3. The modular underwater autonomous docking and charging device for AUVs according to claim 1, characterized in that, The diaphragm (1012) includes an outer circular portion (10120), an inner circular portion (10122), and a semi-circular portion (10121) connected between the outer circular portion (10120) and the inner circular portion (10122). The inner circular portion (10122) is a rigid structure, while the outer circular portion (10120) and the semi-circular portion (10121) are flexible membranes. The diaphragm (1012) is connected to the outer circular portion (10120), the lower connecting cover (1015), and the bottom cover (1007). The inner circular portion (10122) and the semi-circular portion (10121) are movable parts. When the adjusting spring (1010) is in its natural state, the extension plate at the lower part of the connecting rod (1009) is tightly attached to the inner circular portion (10122) of the diaphragm (1012).

4. The modular underwater autonomous docking and charging device for AUVs according to claim 2, characterized in that, The conductive slip ring module (11) includes: Universal joint cross shaft (1104), the universal joint cross shaft (1104) includes a square annular universal joint housing (11041) and threaded journals (11040). Threaded holes are provided at the center of each of the four sides of the universal joint housing (11041). The four threaded journals (11040) are respectively connected to the threaded holes to form the universal joint cross shaft (1104). The upper universal joint fork (1103) is connected to two opposing threaded journals (11040). The lower universal joint fork (1105) is connected to two other threaded journals (11040) on the opposite side. The lower bearing shell (1106) has the lower end of the lower universal joint fork (1105) mounted on the lower bearing shell (1106) and rotating on the lower bearing shell (1106); The lower bearing housing (1107) has the lower bearing bush (1106) disposed in the groove of the lower bearing housing (1107); Upper bearing shell (1102), which is coaxially mounted on the upper surface of the lower end of the lower universal joint fork (1105) by bolts; Upper bearing housing (1101) is pressed against the upper surface of upper bearing shell (1102); And a conductive slip ring (1108) located below the lower bearing seat (1107). One end of the conductive slip ring (1108) extends into the corresponding end cover (14), and the other end is pressed against the outer end face of the end cover (14). The bolt passes through the upper bearing seat (1101), the lower bearing seat (1107) and the conductive slip ring (1108) in sequence and is then threadedly connected to the end cover (14).

5. The modular underwater autonomous docking and charging device for AUVs according to claim 1, characterized in that, The docking clamp (2) also includes Mounting bracket (209) for AUV; A front push plate (205) is installed inside the AUV. A rear push plate (207) is located inside the AUV. The upper linkage mechanism (200) and the lower linkage mechanism (202) are arranged opposite each other. The upper first link (2000) of the upper linkage mechanism (200) and the lower first link (2020) of the lower linkage mechanism (202) pass through the fixed frame (209), the front wall of the AUV bow, and the front push plate (205) respectively, and are fixedly connected to the end face of the rear push plate (207). The other end drives the two positioning blocks (203) to open and close. A middle linkage mechanism (201) is located between the upper linkage mechanism (200) and the lower linkage mechanism (202); the middle first link (2010) of the middle linkage mechanism (201) passes through the fixed frame (209) and the front wall of the AUV bow in sequence and is fixedly connected to the end face of the front push plate (205), and the other end drives the two docking pins (2016) to open and close; Two thin springs (206) are located between the front push plate (205) and the rear push plate (207). The two thin springs (206) are respectively sleeved on the upper first connecting rod (2000) and the lower first connecting rod (2020). The two ends of the two thin springs (206) are in contact with the end faces of the front push plate (205) and the rear push plate (207) respectively. A thick spring (204) is fitted on the first connecting rod (2010), with one end in contact with the end face of the front push plate (205) and the other end in contact with the inner wall of the front wall of the AUV bow. The stiffness coefficient of the thick spring (204) is greater than that of the two thin springs (206). The fixing rod (208) has threads at both ends, with a total of four threads, two on the left and two on the right, symmetrically arranged in pairs; And an electric actuator (210) fixed inside the AUV, the output end of which is connected to the rear push plate (207).

6. The modular underwater autonomous docking and charging device for AUVs according to claim 5, characterized in that, The upper linkage mechanism (200) includes an upper first linkage (2000), an upper second linkage (2001), an upper third linkage (2002), an upper fourth linkage (2003), an upper fifth linkage (2004), an upper sixth linkage (2005), and an upper connecting rod (2006); the upper first linkage (2000) is a telescopic rod with a threaded upper end, passing through the front push plate (205) and fixedly connected to the rear push plate (207), and its lower end is hinged to one end of the two upper second linkages (2001) by a pin; the connection structure of the other end of the two upper second linkages (2001) is the same, specifically: The other end of the upper second link (2001) is hinged to one end of the upper third link (2002) and the upper fourth link (2003) by a pin; the other end of the upper third link (2002) is hinged to one end of the upper fifth link (2004) which is parallel to the upper fourth link (2003); one end of the upper sixth link (2005) is hinged to the other end of the upper fifth link (2004) by a pin; the middle part of the upper sixth link (2005) is hinged to the other end of the upper fourth link (2003) by a pin; the other end of the upper sixth link (2005) is designed with a threaded hole and is threaded to one end of the upper connecting rod (2006); the opposite ends of the two upper connecting rods (2006) are threaded and are respectively connected and fixed to the corresponding positioning blocks (203).

7. The modular underwater autonomous docking and charging device for AUVs according to claim 6, characterized in that, The lower linkage mechanism (202) includes a lower first link (2020), a lower second link (2021), a lower third link (2022), a lower fourth link (2023), a lower fifth link (2024), a lower sixth link (2025), and a lower connecting rod (2026); the lower first link (2020) is a telescopic rod with a threaded upper end, passing through the front push plate (205) and fixedly connected to the rear push plate (207), and its lower end is hinged to one end of the two upper second links (2001) by a pin; the connection structure of the other end of the two lower second links (2021) is the same, specifically: The other end of the lower second link (2021) is hinged to one end of the lower third link (2022) and the lower fourth link (2023) by a pin; the other end of the lower third link (2022) is hinged to one end of the lower fifth link (2024) which is parallel to the lower fourth link (2023); one end of the lower sixth link (2025) is hinged to the other end of the lower fifth link (2024) by a pin; the middle part of the lower sixth link (2025) is hinged to the other end of the lower fourth link (2023) by a pin; the other end of the lower sixth link (2025) is designed with a threaded hole and is threaded to one end of the lower connecting rod (2026); the opposite ends of the two lower connecting rods (2026) are threaded and are respectively connected and fixed to the corresponding positioning blocks (203).

8. The modular underwater autonomous docking and charging device for AUVs according to claim 7, characterized in that, The central linkage mechanism (201) is a symmetrical multi-link structure, including a central first link (2010), a central second link (2011), a central third link (2012), a central fourth link (2013), a central fifth link (2014), a central sixth link (2015), a connecting pin (2016), a slider (2017), and a sliding rod (2018); the upper end of the central first link (2010) is threaded and fixed to the front push plate (205), and the lower end is hinged to the two central second links (2011) by a pin; the connection structure of the other end of the two central second links (2011) is the same, specifically: The other end of the second connecting rod (2011) is hinged to one end of the third connecting rod (2012) and the fourth connecting rod (2013) by a pin; the other end of the third connecting rod (2012) is hinged to one end of the fifth connecting rod (2014) which is parallel to the fourth connecting rod (2013); one end of the sixth connecting rod (2015) is hinged to the other end of the fifth connecting rod (2014) by a pin; the middle part of the sixth connecting rod (2015) is hinged to the other end of the fourth connecting rod (2013) by a pin; the other end of the sixth connecting rod (2015) is vertically fixedly connected to one end of the slide rod (2018); the slider (2017) slides on the slide rod (2018) and slides with the slide rod (2018); one end of the connecting pin (2016) is designed with a thread and is threadedly connected to the slider (2017); The fixed rod (208) passes through the upper part of the fixed frame (209), the upper fourth link (2003) of the upper linkage mechanism (200), the middle fourth link (2013) of the middle linkage mechanism (201), the lower fourth link (2023) of the lower linkage mechanism (202) and the lower part of the fixed frame (209) from top to bottom, and is fixed to the fixed frame (209) on both sides by bolts.

9. A modular underwater autonomous docking and charging device for AUVs according to claim 5, characterized in that, The positioning block (203) is a hemispherical structure, including a hemispherical bowl-shaped front shell (2030) and a circular plate-shaped rear shell (2031) that is detachably connected to the front shell (2030).

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