Butt joint device based on electromagnetic connection and underwater navigation device

Abstract

The invention provides a butt joint device based on electromagnetic connection and an underwater navigation device, and relates to the technical field of underwater vehicles, the butt joint device comprises a first butt joint assembly and a second butt joint assembly, the first butt joint assembly comprises a first nut and a magnetic driving part arranged on the first nut in a sleeving mode, the second butt joint assembly comprises a telescopic rod, a connecting rod, a second nut and a magnetic response part, one end of the connecting rod is connected with the telescopic end of the telescopic rod, the other end is in threaded connection with the second nut, and the magnetic response part sleeves the periphery of the second nut. The magnetic driving part is used for attracting the magnetic response part to preliminarily butt the first butt joint assembly and the second butt joint assembly, the fixed end of the telescopic rod is driven to rotate to drive the connecting rod to rotate, and the connecting rod rotates and moves in the axial direction of the second nut to be in threaded connection with the inner wall of the first nut so as to secondarily butt the first butt joint assembly and the second butt joint assembly. Radial and axial wandering is eliminated, the stability and anti-disturbance capability after butt joint are enhanced, and the overall operation quality and efficiency are improved.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle technology, and more specifically, to a docking device and an underwater navigation device based on electromagnetic connection. Background Technology

[0002] In recent years, underwater vehicles, as unmanned equipment for deep-sea operations, have achieved remarkable results in fields such as marine resource exploration, seabed topography mapping, and environmental monitoring due to their high efficiency and flexibility. However, the payload capacity, energy supply, and environmental adaptability of a single underwater vehicle are inherently limited. When performing large-scale, multi-regional, and long-endurance missions, operations are often interrupted due to insufficient endurance or excessive power load, making it difficult to meet the needs of long-distance deep-sea cruising and wide-area comprehensive exploration.

[0003] To overcome the performance bottlenecks of individual underwater vehicles (UAVs), the industry has proposed a new operational mode that links multiple UAVs end-to-end to form a "chain" formation. Integrating multiple UAVs into a single formation using low-drag docking devices effectively reduces overall fluid resistance, significantly improving propulsion efficiency and energy utilization. During navigation, the formation uses a "monolithic" configuration to withstand complex sea conditions. Upon reaching the target area, the formation can quickly disintegrate into independent units to conduct detailed operations such as exploration, mapping, or sampling. After completing the mission, it can be rapidly reassembled and return to port as a group. This "adaptive reassembly and disassembly" mode balances efficient navigation with flexible operation, greatly extending the cruising range and operational scope.

[0004] However, current technologies mostly employ purely mechanical structures for docking underwater vehicles, which makes it difficult to achieve high-precision mechanical docking quickly. Furthermore, after docking, significant radial or axial displacement often exists between the vehicles, increasing drag during formation navigation and affecting positioning accuracy and data acquisition quality. More importantly, under the influence of complex sea conditions such as waves and currents, the stability and disturbance resistance of this purely mechanical docking structure are poor, making it highly susceptible to docking instability, mechanism loosening, and even collision damage, failing to meet the high reliability and efficiency requirements of deep-sea operations. Summary of the Invention

[0005] The purpose of this application is to provide a docking device and an underwater navigation device based on electromagnetic connection, in order to address the shortcomings of the above-mentioned technologies.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows: In one aspect of this application, a docking device based on electromagnetic connection is provided, including a first docking assembly and a second docking assembly. The first docking assembly includes a first nut and a magnetic drive component sleeved on the first nut. The second docking assembly includes a telescopic rod, a connecting rod, a second nut, and a magnetic response component. One end of the connecting rod is connected to the telescopic end of the telescopic rod, and the outer wall of the other end is threadedly connected to the inner wall of the second nut. The magnetic response component is sleeved on the outer periphery of the second nut. The first nut and the second nut are coaxially arranged. The magnetic drive is used to attract the magnetic response element to initially mate the first docking assembly and the second docking assembly. The fixed end of the telescopic rod is driven to rotate to drive the connecting rod to rotate. The connecting rod rotates and moves along the axial direction of the second nut until it is threaded to the inner wall of the first nut to mate the first docking assembly and the second docking assembly a second time.

[0007] Furthermore, the first docking assembly also includes a guide member connected to the first nut. The guide member has a tapered through hole, which is coaxially arranged with the first nut. The connecting rod moves along the axial direction of the second nut to pass through the enlarged end and the reduced end of the tapered through hole in sequence and is threadedly connected to the first nut.

[0008] Furthermore, the end of the connecting rod away from the telescopic rod is a tapered end. After the tapered end of the connecting rod passes through the first nut, the outer wall of the connecting rod is threadedly connected to the inner wall of the first nut.

[0009] Furthermore, the first docking assembly also includes a first mounting member, a first nut that slides axially through the first mounting member, an annular protrusion on the inner wall of the end of the first mounting member away from the second docking assembly, an annular elastic member between the end of the first nut and the annular protrusion, and when the connecting rod moves axially along the second nut to contact the first nut, it drives the first nut to move axially and compress the annular elastic member until the connecting rod is threadedly connected to the first nut.

[0010] Furthermore, the longitudinal section of the connecting rod is arranged in a stepped manner, and the cross-sectional diameter of the connecting rod near the telescopic rod is greater than the inner diameter of the annular protrusion and the cross-sectional diameter of the connecting rod away from the telescopic rod. When the connecting rod is threadedly connected to the first nut, the end of the connecting rod away from the telescopic rod passes through the annular protrusion, and the stepped surface of the connecting rod abuts against the annular protrusion.

[0011] Furthermore, a pressure sensor is installed on the contact surface between the annular elastic element and the first nut. The pressure sensor is used to test the pressure received by the annular elastic element and feed it back to the controller. The controller is used to control the movement of the connecting rod according to the pressure value measured by the pressure sensor.

[0012] Furthermore, the telescopic rod includes a sleeve and a sliding rod inserted inside the sleeve. An axially extending groove is provided on the inner wall of the sleeve, and an outwardly protruding slider is provided on the outer periphery of the sliding rod, with the slider slidably installed in the groove.

[0013] Furthermore, the second docking assembly also includes a drive source, which is driven to the fixed end of the telescopic rod.

[0014] Furthermore, the magnetic driving component is an electromagnet, and the magnetic response component is an armature.

[0015] Another aspect of this application provides an underwater navigation device, including a plurality of underwater vehicles and a docking device of any of the above, wherein two adjacent underwater vehicles are connected end to end through the docking device.

[0016] The beneficial effects of this application include: This application provides a docking device based on electromagnetic connection, including a first docking assembly and a second docking assembly. The first docking assembly includes a first nut and a magnetic drive component sleeved on the first nut. The second docking assembly includes a telescopic rod, a connecting rod, a second nut, and a magnetic response component. One end of the connecting rod is connected to the telescopic end of the telescopic rod, and the outer wall of the other end is threadedly connected to the inner wall of the second nut. The magnetic response component is sleeved on the outer periphery of the second nut, and the first nut and the second nut are coaxially arranged. The magnetic drive component is used to attract the magnetic response component to initially dock the first and second docking assemblies. The fixed end of the telescopic rod is driven to rotate, thereby driving the connecting rod to rotate. The rotating connecting rod moves along the axial direction of the second nut until it is threadedly connected to the inner wall of the first nut to perform a secondary docking of the first and second docking assemblies. In summary, the docking device provided by this application performs initial docking through magnetic attraction, achieving rapid matching and a large alignment range; subsequently, a threaded mechanism completes precise engagement, outputting high locking force and completely eliminating radial and axial misalignment. Furthermore, the combination of telescopic compensation and coaxial guiding design significantly enhances the stability and anti-disturbance capability after docking. Therefore, under wave impact and sudden changes in flow velocity, the docking device can maintain a tight lock, improving the positioning accuracy and reliability of formation navigation and independent operation of each vehicle, thereby improving the overall operation quality and efficiency. Attached Figure Description

[0017] Figure 1 A schematic diagram of the installation of an electromagnetic connection-based docking device within an underwater navigation device, provided for the purposes of this application; Figure 2 A schematic diagram of the structure of the second docking component of a docking device based on electromagnetic connection provided in this application; Figure 3 A schematic diagram of the installation of the second docking component of an electromagnetic connection-based docking device within the tail hull of an underwater vehicle, as provided in this application. Figure 4 A schematic diagram of the structure of a telescopic rod for a docking device based on electromagnetic connection provided in this application; Figure 5 A schematic diagram of the structure of the first docking component of a docking device based on electromagnetic connection provided in this application; Figure 6 This is a schematic diagram showing the installation of the first docking component of an electromagnetic connection-based docking device within the head shell of an underwater vehicle.

[0018] Icons: 1-Drive source; 2-Second mounting plate; 3-Coupling; 4-Sleeve; 5-Flange; 6-Connecting rod; 7-Tail bearing component; 8-Magnetic response component; 9-Slide rod; 10-Second nut; 11-Guide component; 12-Magnetic drive component; 13-First mounting component; 14-First mounting plate; 15-First nut; 16-Annular elastic component; 17-Head bearing component. Detailed Implementation

[0019] One aspect of this application provides a docking device based on electromagnetic connection for connecting multiple underwater vehicles head-to-tail. The docking device includes a first docking component and a second docking component that cooperate with each other. The first docking component is installed at the head of the rear underwater vehicle, and the second docking component is installed at the tail of the front underwater vehicle. Figures 1 to 6 As shown, the first docking assembly includes a first nut 15 and a magnetic drive element 12 sleeved on the first nut 15. The magnetic drive element 12 is in the form of an electromagnet and can generate sufficient attraction force when energized. The second docking assembly includes a telescopic rod, a connecting rod 6, a second nut 10, a magnetic response element 8, and a drive source 1. The magnetic response element 8 is an armature, and the drive source 1 is a motor. The fixed end of the telescopic rod is connected to the output end of the motor, and the telescopic end of the telescopic rod is connected to one end of the connecting rod 6, so that the telescopic rod can drive the connecting rod 6 to rotate under the drive of the motor, and can also freely extend and retract according to the axial movement of the connecting rod 6. The other end of the connecting rod 6 passes through the second nut 10 and is threaded into the second nut 10. The magnetic response element 8 is sleeved on the outer periphery of the second nut 10. Thus, the second nut 10, the connecting rod 6, and the magnetic response element 8 form a coaxial assembly structure. In addition, the first nut 15 and the second nut 10 are the same size and are also coaxially arranged so that the connecting rod 6 can pass through the second nut 10 and then enter the inner wall of the first nut 15 for thread engagement.

[0020] When docking begins, the electromagnet is energized to generate a magnetic field, causing the magnetic drive component 12 and the armature to attract each other, enabling the first and second docking components to quickly achieve initial adsorption and coarse positioning over a large area. Subsequently, the fixed end of the telescopic rod is rotated by a motor, causing the connecting rod 6, which is rigidly connected to it, to rotate synchronously. Since the outer wall of the connecting rod 6 is threadedly engaged with the inner wall of the second nut 10, while the second nut 10 remains stationary, the connecting rod 6 moves axially towards the first nut 15 along the second nut 10 while rotating, until one end of the connecting rod 6 passes through the second nut 10 and enters the inner wall area of ​​the first nut 15, precisely engaging and tightly meshing with the threads of the first nut 15. At this point, the secondary precise docking is completed. The change in the length of the telescopic rod caused by the axial displacement of the connecting rod 6 is automatically compensated by the telescopic structure of the telescopic rod. The telescopic end can retract and extend synchronously along the trajectory without hindering the movement of the connecting rod 6, ensuring that the movement of the connecting rod 6 is continuous, smooth, and unrestricted.

[0021] In summary, the docking device provided in this application achieves initial docking through magnetic attraction, enabling rapid matching and a wide alignment range. Subsequently, a threaded mechanism completes precise engagement, outputting high locking force and completely eliminating radial and axial misalignment. Furthermore, the combination of telescopic compensation and coaxial guiding design significantly enhances post-docking stability and anti-disturbance capabilities. Therefore, even under wave impact and sudden changes in current velocity, this docking device can maintain a tightly locked state, improving the positioning accuracy and reliability of formation navigation and independent operations of individual vehicles, thereby enhancing overall operational quality and efficiency.

[0022] Furthermore, such as Figures 2 to 4 As shown, the telescopic rod includes a sleeve 4 and a sliding rod 9 passing through the sleeve 4. An axially extending groove is formed on the inner wall of the sleeve 4, and a protruding slider is provided on the outer periphery of the sliding rod 9. The slider is slidably installed in the groove, allowing it to reciprocate freely within the groove and preventing the sliding rod 9 from rotating relative to the sleeve 4. The sleeve 4 is connected to the motor output end via a coupling 3, allowing the rotation of the motor output end to directly drive the sleeve 4 to rotate. The sliding rod 9 is fixedly connected to the connecting rod 6 via a flange 5, allowing the connecting rod 6 to simultaneously receive rotational power. While the connecting rod 6 moves axially along the threaded guide rail, the groove and slider cooperate to ensure that the sliding rod 9 advances smoothly and without twisting relative to the sleeve 4. This not only avoids interfering with the axial movement of the connecting rod 6 but also provides reliable guidance for the subsequent nut engagement of the connecting rod 6, significantly reducing the risk of jamming and rotational deviation.

[0023] Furthermore, such as Figure 2 and Figure 3As shown, the end of the connecting rod 6 furthest from the telescopic rod is tapered, which provides guidance and buffering for thread engagement during the secondary mating stage. The enlarged end of the tapered end transitions coaxially and to the same size as the body of the connecting rod 6, maintaining structural integrity and strength continuity; the tapered end gradually tapers to form an introductory ramp. When the connecting rod 6 passes through the second nut 10 and enters the inner wall area of ​​the first nut 15, the ramp of the tapered end first mates with the inside of the first nut 15, eliminating the jamming that may be caused by the initial misalignment of the first nut 15 and the second nut 10, so that the thread obtains an alignment mark before engagement, thereby reducing radial deviation.

[0024] In the specific implementation process, after the electromagnetic initial positioning is completed, when the connecting rod 6 rotates and moves axially, the tapered end first enters the inlet of the first nut 15. After the threaded grooves match, the threaded drive provides precise propulsion until the expanded end of the tapered end passes through the inner wall of the first nut 15. Then, the outer wall of the connecting rod 6 is threadedly connected to the inner wall of the first nut 15, achieving a high-locking-force mechanical self-locking. The entire process requires no additional centering operation and automatically completes a smooth transition from guiding to locking.

[0025] It should be noted that the angle and length of the tapered end can be optimized based on the nut's inner diameter and pitch parameters to ensure sufficient engagement buffering during the guiding phase without excessive interference with the thread structure. The geometric design of the bevel balances self-aligning reliability and low-friction characteristics, enabling connecting rod 6 to maintain an accurate engagement path under the impact of ocean currents and waves. In terms of materials, connecting rod 6 can be made of wear-resistant alloy or specially surface-treated steel to resist seawater corrosion and thread wear, extending the device's lifespan.

[0026] Overall, by combining the soft-landing guide at the tapered end with a high-locking-force threaded self-locking mechanism, the entire docking device effectively solves the problems of easy jamming, wear, and loosening after disturbance in mechanical docking. This design not only simplifies the docking process and improves connection stability, but also significantly increases the success rate of docking and the lifespan of the device in complex sea conditions.

[0027] Furthermore, such as Figure 5 and Figure 6As shown, the first docking assembly also includes a guide 11 connected to the first nut 15. The guide 11 has a tapered through hole, which is coaxially arranged with the first nut 15. The enlarged end of the tapered through hole faces the second nut 10, and the constricted end faces the first nut 15, so as to achieve a smooth transition after the connecting rod 6 is axially advanced through the threaded guide of the second nut 10. After the connecting rod 6 passes through the second nut 10, its tapered end first slides into the enlarged end of the tapered through hole, and automatically corrects minor offsets by contacting the inclined surface with the wall of the through hole; then, the tapered end of the connecting rod 6 moves along the gradually tapering part of the tapered through hole, passes through the constricted end of the tapered through hole, and finally enters the inner threaded area of ​​the first nut 15 to complete precise engagement. In order to ensure no jamming, the inner diameter of the constricted end of the tapered through hole is designed to be no less than the maximum outer diameter of the connecting rod 6, so that the connecting rod 6 always maintains free sliding when passing through the entire tapered through hole.

[0028] By using the tapered through-hole and tapered end, a seamless transition from coarse to fine positioning is achieved in the mechanical structure, and buffer guidance and self-centering functions are also integrated. When the connecting rod 6 rotates and pushes, the initial axial displacement is first generated by the thread engagement of the second nut 10 end, and then the concentric contact between the tapered through-hole and the tapered end of the connecting rod 6 automatically corrects the micro-deviation, ensuring that the coaxiality of the two reaches the optimal state when entering the first nut 15, thereby minimizing radial displacement and jamming risk.

[0029] To further improve the tight connection of the underwater vehicle after docking and effectively solve the jamming problem caused by thread asynchrony or slight misalignment in traditional rigid threaded docking, an elastic buffer structure was also introduced into the first docking assembly. For example... Figure 5 and Figure 6 As shown, the first docking assembly also includes a first mounting member 13, which provides controllable axial movement space for the first nut 15. The first nut 15 slides axially through the interior of the first mounting member 13 and can move back and forth within a limited range within it. An annular protrusion is provided on the inner wall of the end of the first mounting member 13 away from the second docking assembly, which serves as an axial limiting reference for the first nut 15.

[0030] To achieve a flexible connection and prevent rigid impact, an annular elastic element 16 is provided between the end of the first nut 15 and the annular protrusion. The annular elastic element 16 can be a spring ring, a wave washer, or other structural elements with axial elasticity. The function of the annular elastic element 16 is that when the connecting rod 6 is pushed from the second docking assembly, passes through the first docking assembly, and contacts the first nut 15, even if the threads of the connecting rod 6 and the first nut 15 do not immediately and precisely engage, the axial pushing force of the connecting rod 6 can still push the first nut 15 as a whole to move away from the second nut 10, and compress the annular elastic element 16 in the process, thereby buffering the docking force and automatically adjusting its position. This structural design allows the first nut 15 to have a certain "yielding" ability if it cannot immediately achieve thread engagement with the connecting rod 6, avoiding jamming, mis-engagement, or equipment damage caused by hard collision. As the connecting rod 6 continues to rotate, the thread at the end of the connecting rod 6 can eventually align and engage with the internal thread of the first nut 15, completing the standard engagement process.

[0031] It should be noted that the first nut 15 can maintain its correct sliding posture within the first mounting part 13 through a limiting ring, anti-loosening plate, or guide groove structure, preventing rotation or deflection during thread engagement or elastic compression. The selection and compression stroke of the annular elastic element 16 are matched with the range of thread engagement errors that may occur in the connecting rod 6 to ensure stable docking even with minor axial or radial errors.

[0032] In summary, by combining the advantages of flexible mechanical adjustment and high-precision threaded locking, the adaptability of the docking device in complex marine environments has been enhanced. Especially under conditions of water current disturbance or slight deviations in the relative attitude of the vehicle, it can tolerate a certain degree of docking error and achieve adaptive correction. Through this flexible auxiliary mechanism, the smoothness and success rate of the docking process are significantly improved, solving the problems of jamming, wear, and mismatch caused by rigid interfaces in traditional structures. This enhances the overall stability, disturbance resistance, and service life of the docking system in complex deep-sea missions.

[0033] Furthermore, such as Figure 1 As shown, the longitudinal section of connecting rod 6 is arranged in a stepped manner to achieve precise control of limiting, guiding, and threaded engagement during the docking process. Furthermore, the cross-sectional diameter of the end of connecting rod 6 near the telescopic rod is larger than the cross-sectional diameter of the end away from the telescopic rod, and the two sections are connected by a stepped transition surface, thus forming an axial step. This structure, in conjunction with the annular protrusion, effectively separates the limiting and driving functions during the threaded connection between connecting rod 6 and the first nut 15.

[0034] Specifically, the annular protrusion is located on the inner wall of the first mounting component 13. Its inner diameter is smaller than the outer diameter of the large-diameter section of the connecting rod 6, but larger than the outer diameter of the small-diameter section. Therefore, during the docking process, after the connecting rod 6 passes through the second nut 10, its small-diameter section can smoothly pass through the annular protrusion. When the connecting rod 6 continues to advance until its stepped transition surface contacts the annular protrusion, the stepped surface makes positive contact with the annular protrusion, forming an axial limit. At this point, the connecting rod 6 has completed the threaded engagement with the first nut 15, and due to the physical obstruction of the stepped surface, it cannot advance further along the axial direction, thus structurally locking the position of the connecting rod 6.

[0035] After the connecting rod 6 is rotated by the motor and completes the threaded connection with the first nut 15, its stepped surface is in close contact with the annular protrusion, preventing further axial displacement from the rotation of the connecting rod 6. At this point, the reverse axial force generated by the thread engagement is transmitted to the first nut 15, causing it to retract to its initial position, thus completing the reset action. Through this design, the system cleverly utilizes the relative displacement generated by the rotation of the connecting rod 6 to achieve the passive reset of the first nut 15, eliminating the need for an additional reset drive structure, simplifying the overall assembly and control logic, and ensuring the stability of the connection.

[0036] It should be noted that the connecting rod 6 includes a threaded section and a smooth section connected in sequence. Initially, the threaded section engages with the internal thread of the second nut 10, enabling axial propulsion as the connecting rod 6 rotates under the drive of the motor. As the connecting rod 6 continues to move, the threaded section gradually disengages from the engagement area of ​​the second nut 10 and enters the internal thread area of ​​the first nut 15, forming a new threaded connection. Simultaneously, the smooth section gradually enters the interior of the second nut 10. At this point, the relationship between the inner wall of the second nut 10 and the smooth surface of the connecting rod 6 is no longer a threaded engagement, but rather a freely rotatable sliding fit. This dynamic switching relationship between the threaded and smooth sections forms a clear motion control logic. In the initial stage of the connecting rod 6's rotational movement, the threaded engagement of the threaded section with the second nut 10 provides its axial propulsion capability, and this segment controls the initial accuracy of the entire docking process. As the connecting rod 6 is further advanced until its threaded section disengages from the second nut 10 and engages with the first nut 15, the connection between the connecting rod 6 and the second nut 10 transitions to a smooth fit. This ensures that as the connecting rod 6 continues to rotate and engage the first nut 15, it no longer generates any torque transmission or axial force on the second nut 10, thereby effectively ensuring the static state of the second nut 10.

[0037] The stepped connecting rod 6 and the annular protrusion design not only achieve self-limiting and self-resetting functions during docking, but also improve the overall mechanical reliability and control precision. In practical applications, this structure can effectively prevent assembly interference caused by excessive advancement of connecting rod 6, enhance the operational stability of the docking mechanism under high load and complex disturbance environments, and further improve the connection efficiency and operational reliability of underwater vehicles during mission formation, separation, and reassembly processes.

[0038] To achieve a more intelligent, efficient, and adaptable underwater vehicle docking process in complex marine environments, a pressure sensing and control feedback mechanism has been introduced. Specifically, a pressure sensor is integrated at the contact surface between the annular elastic element 16 and the first nut 15 to monitor the pressure changes of the annular elastic element 16 in real time during the compression process. The pressure sensor is electrically connected to the controller and transmits the sensed pressure value to the controller in real time, enabling accurate determination of the docking status and closed-loop adjustment of the drive response.

[0039] As the core control unit of the system, the controller intelligently adjusts the motor's operating state based on the pressure signal fed back by the pressure sensor, thereby controlling the rotational behavior of the connecting rod 6. After the connecting rod 6 is pushed forward by the second nut 10 and begins to contact the first nut 15, its continued rotation will push the first nut 15 to move axially and compress the annular elastic element 16. During this process, the pressure sensor begins to detect the gradually increasing clamping force. At the same time, the electromagnet remains energized to ensure that the first docking assembly and the second docking assembly remain in an adsorption and positioning state during the docking process, avoiding displacement or mis-docking caused by environmental disturbances.

[0040] When the connecting rod 6 is advanced to the point where its stepped surface abuts against the annular protrusion of the first mounting member 13, the connecting rod 6 can no longer move due to the limiting effect of the stepped structure. The continuous rotation of the connecting rod 6 is converted into a reverse driving force on the first nut 15, causing the first nut 15 to gradually reset under the reaction force of the elastic element. During this process, the pressure sensor continues to detect the compression state of the elastic element until the measured pressure value reaches the preset reference signal threshold. At this point, the system determines that the docking is complete, and the controller immediately issues a stop command, terminates the motor output, and controls the working state of the electromagnet according to the environmental mode.

[0041] Under normal sea conditions, to save energy, the controller can de-energize the electromagnet. In this case, stable mechanical locking can be achieved by the high-strength thread engagement between the connecting rod 6 and the first nut 15. However, in complex environments such as those with severe waves or sudden changes in current velocity, the controller can extend the energizing time of the electromagnet, allowing the electromagnetic attraction force and the mechanical thread locking force to work together to further enhance the stability and anti-disturbance capability of the docking structure and prevent any potential micro-displacement or loosening.

[0042] This integrated sensing, feedback, and environmental adaptive control technology not only achieves intelligent recognition and high-precision termination of the movement of link 6 and the reset action of the first nut 15, but also effectively enhances the adaptive adjustment capability of the docking device under various environmental conditions. This system design significantly improves the reliability and automation level of underwater docking operations, providing a solid technical guarantee for the efficient and safe docking of underwater vehicles in scenarios such as formation cruising, separate operations, and mission reconfiguration.

[0043] Another aspect of this application provides an underwater navigation device, such as... Figure 1 As shown, the system includes multiple underwater vehicles and any of the aforementioned docking devices, with adjacent underwater vehicles connected end-to-end via the docking device. Since the underwater vehicles utilize the aforementioned docking device, they also possess the same beneficial effects as the docking device, which will not be elaborated further here. The underwater vehicles can be autonomous underwater vehicles (AUVs).

[0044] Specifically, such as Figure 6 As shown, the first docking assembly is fixed at the head position of the underwater vehicle and includes a first mounting member 13, a first nut 15, a guide member 11, and a magnetic drive member 12. These components are stably connected to the head support member 17 and the head shell through two front and rear first mounting plates 14. The first mounting plates 14 are respectively located at the front and rear ends of the first mounting member 13, and their peripheries are fixedly connected to the head shell of the underwater vehicle by fastening bolts. During installation, some bolts pass through the head support member 17, the rear first mounting plate 14, and the first mounting member 13 in sequence to complete the positioning and installation of the first mounting member 13; other bolts pass through the guide member 11, the front first mounting plate 14, and the first mounting member 13 in sequence to securely set the guide member 11 at the front end of the first mounting member 13, thereby forming a complete guide channel structure. The magnetic drive member 12 is located on the side of the front first mounting plate 14 facing the second docking assembly, so that it can be precisely aligned with the magnetic response member 8 on the docking side and form a magnetic attraction connection.

[0045] like Figure 3As shown, the second docking assembly is installed at the stern of the forward underwater vehicle and is structurally matched with the first docking assembly. The second docking assembly includes a second nut 10, a magnetic response element 8, a motor, and related mounting structures. The second nut 10 and the magnetic response element 8 are jointly mounted and fixed to the stern housing of the underwater vehicle via a second mounting plate 2 and a stern support member 7. Two second mounting plates 2 are located at the front and rear ends of the stern housing, respectively, and are fixed to the stern housing by fastening bolts. The rearmost second mounting plate 2 (closer to the first docking assembly) is used to fix the magnetic response element 8. Its position allows the magnetic response element 8 to attract relative to the magnetic drive element 12 in the forward first docking assembly, achieving initial docking attraction and positioning. The installation of the second nut 10 relies on a bolt structure. Some bolts pass through the second nut 10 and the rearmost second mounting plate 2 in sequence, while other bolts pass through the stern support member 7 and the rearmost second mounting plate 2 in sequence, enhancing the rigidity and load-bearing capacity of the connection area. This ensures that the docking device maintains reliable connection and structural stability even under repeated start-stop operations and wave impacts. The second mounting plate 2 at the front end is used for mounting and fixing the motor. The motor is connected to the connecting rod 6, telescopic rod and other power components, driving the connecting rod 6 to achieve rotation and axial movement, thereby completing the second stage of thread engagement and fastening.

[0046] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A docking device based on electromagnetic connection, characterized in that, The assembly includes a first docking component and a second docking component. The first docking component includes a first nut and a magnetic drive component sleeved on the first nut. The second docking component includes a telescopic rod, a connecting rod, a second nut, and a magnetic response component. One end of the connecting rod is connected to the telescopic end of the telescopic rod, and the other end is threaded to the second nut. The magnetic response component is sleeved on the outer periphery of the second nut. The first nut and the second nut are coaxially arranged. The magnetic drive is used to attract the magnetic response element to initially mate the first docking assembly and the second docking assembly. The fixed end of the telescopic rod is driven to rotate to drive the connecting rod to rotate. The connecting rod rotates and moves along the axial direction of the second nut until it is threadedly connected to the first nut to mate the first docking assembly and the second docking assembly a second time.

2. The docking device according to claim 1, characterized in that, The first docking assembly also includes a guide member connected to the first nut. The guide member has a tapered through hole, which is coaxially arranged with the first nut. The connecting rod moves along the axial direction of the second nut until it passes through the enlarged end and the constricted end of the tapered through hole in sequence and is threadedly connected to the first nut.

3. The docking device according to claim 1 or 2, characterized in that, The end of the connecting rod away from the telescopic rod is a tapered end. The connecting rod moves axially along the second nut until the tapered end of the connecting rod passes through the first nut, and then the outer wall of the connecting rod is threadedly connected to the inner wall of the first nut.

4. The docking device according to claim 1 or 2, characterized in that, The first docking assembly also includes a first mounting member. A first nut is slidably inserted through the first mounting member along the axial direction. An annular protrusion is provided on the inner wall of the end of the first mounting member away from the second docking assembly. An annular elastic member is provided between the end of the first nut and the annular protrusion. When the connecting rod moves along the axial direction of the second nut to contact the first nut, it drives the first nut to move along the axial direction and compresses the annular elastic member until the connecting rod is threadedly connected to the first nut.

5. The docking device according to claim 4, characterized in that, The longitudinal section of the connecting rod is arranged in a stepped manner, and the cross-sectional diameter of the connecting rod near the telescopic rod is greater than the inner diameter of the annular protrusion and the cross-sectional diameter of the connecting rod away from the telescopic rod. When the connecting rod is threadedly connected to the first nut, the end of the connecting rod away from the telescopic rod passes through the annular protrusion, and the stepped surface of the connecting rod abuts against the annular protrusion.

6. The docking device according to claim 4, characterized in that, A pressure sensor is installed on the contact surface between the annular elastic element and the first nut. The pressure sensor is used to test the pressure received by the annular elastic element and feed it back to the controller. The controller is used to control the movement of the connecting rod according to the pressure value measured by the pressure sensor.

7. The docking device according to claim 1 or 2, characterized in that, The telescopic rod includes a sleeve and a sliding rod inserted inside the sleeve. An axially extending groove is provided on the inner wall of the sleeve, and an outwardly protruding slider is provided on the outer periphery of the sliding rod. The slider is slidably installed in the groove.

8. The docking device according to claim 1 or 2, characterized in that, The second docking assembly also includes a drive source, which is driven to the fixed end of the telescopic rod.

9. The docking device according to claim 1 or 2, characterized in that, The magnetic driving component is an electromagnet, and the magnetic response component is an armature.

10. An underwater navigation device, characterized in that, It includes multiple underwater vehicles and a docking device according to any one of claims 1 to 9, wherein two adjacent underwater vehicles are connected end to end by the docking device.

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