A docking device between underwater vehicles

Abstract

The present invention provides a docking device for underwater vehicles, which is a docking device that can establish a transportation channel and reliable mechanical connection between a small manned vehicle and a large vehicle underwater, and provide mechanical assistance during the recovery and docking stage of the vehicle. The device includes a loading mechanism based on "dead point" self-locking, a "rod-cone" docking mechanism, and a docking skirt. Through the optimization design of the specific structure and installation layout of the device, the underwater vehicle is provided with a dry transportation channel on the basis of mechanical connection, and the reliability and automation of the small underwater vehicle in the loading, recovery and deployment stages are improved.

Description

Technical Field

[0001] The invention relates to a loading and docking device between underwater vehicles, which is used for loading, transporting, docking and deploying a small vehicle by a large underwater vehicle. Background Art

[0002] At present, small underwater vehicles of various countries are mostly used to perform tasks in waters with a depth of less than 60 feet, which makes the vehicle smaller in size and shorter in range. It often needs to be delivered by a mother platform to play a better role. At present, most of the small underwater vehicles equipped by various countries are wet vehicles, which can be delivered by ships, aircraft and submarines (considering the requirements of concealment, submarine delivery is mostly used). During the mission, the personnel on board the wet vehicle are in the seawater environment throughout the journey and will lose most of their physical strength. At the same time, the wet vehicle is not equipped with an automated recovery device. Divers are required to assist when delivering and recovering it using a submarine. The process is complicated and the operation time is long. Considering the limitations of the wet vehicles currently equipped, all countries are vigorously developing dry underwater small vehicles, and at the same time studying the automated recovery system of the vehicle to improve the deployment and recovery efficiency of the vehicle.

[0003] The present invention relates to a small underwater manned carrier carrying and docking device used for carrying, recovering and deploying a small carrier by a large underwater carrier. The device consists of a carrying mechanism and a docking mechanism, which are respectively installed on a frogman carrier and a transport mother platform, and are used to complete mechanical docking, docking retention and separation between the two, and simultaneously complete guidance correction, construction of dry channels, sealing and other tasks, so that the carrying, transportation and deployment and recovery processes of the carrier are more stable, more automated and more applicable.

[0004] The Chinese patent database can be retrieved for devices similar to the one provided by this patent, which are specifically used for docking with small underwater manned vehicles, but their structural composition and behavior are different from those of this patent. Chinese patent CN 108502129A provides a mountable device suitable for capturing and docking underwater moving targets. Unlike this patent, this patent includes a mechanical arm, a guide cover capture unit, a light source guide unit and a docking unit, which are different from the mounting mechanism and docking mechanism of this patent. This patent is designed to actively use a manipulator to capture underwater targets, and to move through the form of a plug to accurately dock the docking sockets equipped with underwater moving targets, which is different from the small underwater vehicle in this patent that actively docks with a large vehicle and adopts a "piggyback" "rod-cone" docking locking mechanism. The purpose of this patent is to capture a specific target, which is different from this patent for a large underwater vehicle to carry, transport, dock and deploy a small vehicle and establish a channel connection. Summary of the invention

[0005] The purpose of the present invention is to provide a docking device for underwater vehicles, which can establish a transportation channel and reliable mechanical connection between a small manned vehicle and a large vehicle underwater, and provide mechanical assistance during the recovery and docking stage of the vehicle. By optimizing the specific structure and installation layout of the device, the reliability and automation of the small underwater vehicle during the loading, recovery and deployment stages are improved.

[0006] The object of the present invention is achieved in this way: it includes a docking skirt arranged on a large underwater vehicle, a carrying mechanism and a rod-cone docking mechanism arranged between the large underwater vehicle and a small underwater vehicle, wherein there are at least four carrying mechanisms and they are arranged perpendicularly to each other around the docking skirt, there are at least two rod-cone docking mechanisms and they are located on the same straight line with the center of the docking skirt, the carrying mechanism provides all translation constraints and rotation constraints in the corresponding normal direction, and the rod-cone docking mechanism ensures the centration of the docking skirt.

[0007] The present invention also includes such structural features:

[0008] 1. The carrying mechanism comprises a capture frame arranged at the lower end of the small underwater vehicle, a locking ear shaft arranged at the lower end of the capture frame, a carrying base arranged on the large underwater vehicle, a crank arranged on the carrying base, a posture connecting rod hinged to the crank, a rocker hinged to the carrying base, a pre-tightening connecting rod hinged to the end of the rocker, and a claw hinged to the carrying base, the end of the pre-tightening connecting rod is connected to the claw, the end of the posture connecting rod is hinged to the middle position of the rocker, the crank is driven by a driving motor, and the locking ear shaft contacts the carrying base and cooperates with the claw to achieve locking.

[0009] 2. The driving end of the crank is also provided with a manual operation interface structure.

[0010] 3. A disc spring group providing preload force is arranged in the piston cylinder of the rocker arm.

[0011] 4. A V-shaped guide groove is provided at the contact point between the mounting base and the locking ear shaft.

[0012] 5. The rod-cone docking mechanism comprises a rod assembly hinged to the small vehicle, a posture connecting rod hinged to the rod assembly, a structural connecting rod hinged to the posture connecting rod, an action cylinder hinged to the structural connecting rod, and a receiving cone portion arranged on the large vehicle, wherein the structural cylinder and the structural connecting rod are both hinged to the small vehicle, the rod assembly comprises a housing, a driving motor arranged on the housing, a synchronous belt mechanism installed on the output end of the driving motor and the housing, a lead screw connected to the output pulley shaft of the synchronous belt, a slider installed on the lead screw, a piston rod fixedly connected to the slider, and a ball head arranged at the end of the piston rod, the receiving cone portion comprises a conical receiving cover arranged on the large underwater vehicle, an electromagnet arranged in the large underwater vehicle, an electromagnetic action rod arranged in the middle of the electromagnet, a driving slider arranged at the upper end of the electromagnetic action rod, and three arc-shaped claws hinged to the large vehicle, the driving slider is provided with an inclined surface matching with the three arc-shaped claws, and a retaining spring is also provided at the hinge between the arc-shaped claw and the large vehicle.

[0013] 6. When the electromagnet is energized, the electromagnetic action rod is attracted to move upward, and the driving slider moves upward accordingly. Under the action of the inclined surface, the arc-shaped claw is driven to rotate inward to lock the ball head; when the electromagnet is powered off, the electromagnetic action rod and the driving slider lose driving force, and the arc-shaped claw rotates in the opposite direction under the action of the retaining spring at the pin shaft, while releasing the ball head, driving the electromagnetic action rod and the driving slider to move downward and return to the initial state.

[0014] 7. There are four carrying mechanisms, which are arranged vertically in pairs, and there are two rod-cone docking mechanisms.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention provides an underwater vehicle docking structure with a higher degree of automation and better stability, which can recover, transport and deploy the vehicle without direct human intervention, greatly reducing the restrictions on the recovery, transportation and deployment of various underwater vehicles. 2. The present invention can establish a dry transport channel between two underwater vehicles to complete the mutual transmission of personnel or items. 3. The carrying device adopts a claw ear shaft locking method, and the claw structure is composed of a connecting rod mechanism with a self-locking characteristic, and its dead point characteristics are used to achieve reliable locking of the vehicle. 4. The combined disc spring inside the rocker can provide sufficient pre-tightening force to ensure the structural strength of the docking device in the locked state. 5. The device is also designed with a manual locking / unlocking interface, which can be manually operated by the operator when the drive motor fails, so that the lock can be released in the first time when the fault occurs, greatly improving the safety of the device. 6. The carrying base is designed with a small-sized V-shaped guide groove at the contact part with the locking ear shaft, which can provide additional guiding ability for the vehicle when docking. 7. The docking device adopts a "rod-cone" structure, which can use a series of collision processes between the ball head at the end of the rod and the cone surface to correct the position and heading of the carrier. 8. The hydraulically powered connecting rod mechanism can retract the "rod" assembly to the bottom space of the carrier when not in operation, reducing the resistance of the "rod" assembly to the carrier during navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1a and Figure 1b They are schematic diagrams 1 and 2 of the overall structure of the docking device of a small underwater manned vehicle;

[0017] Figure 2 It is a schematic diagram of the structure of the carrying mechanism (excluding the carrying base);

[0018] Figure 3 It is a structural diagram of the mounting process of the mounting mechanism (complete connection);

[0019] Figure 4 It is a schematic diagram of the structure of the "rod" assembly (without part of the component shell);

[0020] Figure 5 It is a structural schematic diagram of the docking rod device during the retraction and extension process;

[0021] Figure 6 It is a structural schematic diagram of the docking process of the "rod-cone" docking mechanism;

[0022] Figure 7 It is a structural diagram of a butt skirt. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0024] Combination Figures 1a to 7 The object of the present invention is achieved as follows: it includes a carrying mechanism based on "dead point" self-locking and a "rod-cone" docking mechanism and a docking skirt, the carrying mechanism includes no less than four groups of carrying bases, locking ear shafts, capture frames, crank rockers and claws, the carrying base is fixed to the upper docking deck of the transport mother ship by screws, located inside the fairing, and serves as a base for the carrying device to provide support for the driving crank and each connecting rod, the upper end of the locking ear shaft is connected to the capture frame by a pin shaft, the crank rocker mechanism consists of a crank, a rocker, an attitude connecting rod and a pre-tightening connecting rod, the crank and the rocker are connected to the carrying base by screws, the attitude connecting rod connects the crank and the rocker, the pre-tightening connecting rod is connected to one end of the rocker, and the claw is connected to the carrying base and the other end of the pre-tightening connecting rod.

[0025] The "rod-cone" docking mechanism is composed of at least two groups of "docking rod" devices and "receiving cone" devices. The "docking rod" device is connected to the "rod" assembly and the small underwater vehicle by a connecting rod, and the action cylinder provides power to adjust the posture. The "rod" assembly has a drive motor driving the lead screw slider inside, and the top is fixedly connected to the ball head structure. The "receiving cone" device is fixed on the transport mother boat, and the main body is a "cone" shaped receiving cover. An electromagnet and an electromagnetic action rod are installed at the bottom of the receiving cover. The top of the rod is connected to the driving slider, and the outside of the slider has three claws with damping provided by retaining springs, and the claws are hinged to the transport mother boat.

[0026] The docking skirt is a rigid integrated docking skirt. The mounting base is provided with a manual operation interface on the outside of the crank pin. The mounting base is designed with a small-sized V-shaped guide groove at the contact portion with the locking ear shaft. The capture frame is fixedly connected to a large underwater vehicle. A high-rigidity disc spring group is built into the middle of the rocker. The "docking rod" device action cylinder is driven by hydraulic pressure. The electromagnet and the electromagnetic action rod are provided with a detachable protective cover on the outside. The arc-shaped claw is provided with a detachable protective cover on the outside.

[0027] That is, the present invention includes a carrying mechanism based on "dead point" self-locking, a "rod-cone" type docking mechanism and a docking skirt.

[0028] like Figure 1a and Figure 1b As shown, the present invention includes no less than 4 sets of mounting mechanisms I, no less than 2 sets of "rod-cone" type docking mechanisms II and a docking skirt III.

[0029] like Figure 2 , Figure 3As shown, the interior of the carrying mechanism Ⅰ in the present invention is composed of components such as a crank 1, a posture connecting rod 2, a rocker 3, a disc spring group 4, a claw 5, a pre-tightening connecting rod 6, a manual operation interface structure 7, a locking ear shaft 8, a capture frame 9 and a carrying base 10. The crank 1 is driven by a driving motor and is connected to the carrying base 10 by screws and bearings. It can rotate around its own pin and is responsible for providing power for the locking of the entire carrying mechanism; the rocker 3 is also connected to the carrying base 10 by screws and bearings and can rotate around its own pin; the attitude connecting rod 2 connects the crank 1 and the rocker 3, and together with the crank 1, the connecting rod 3 and the carrying base, it constitutes a crank rocker mechanism for controlling the angle of the rocker 3; the claw 5 indirectly connects the rocker 3 and the carrying base 10 and can rotate around the pin at the connection with the carrying base 10; the disc spring group 4 is built into the piston cylinder of the rocker 3 and is responsible for providing pre-tightening force for the claw 5; the locking ear shaft 8 is connected to the capture frame 9 by screws and pins and can rotate around its own pin. The capture frame 9 is fixed to the small underwater vehicle by screws; the carrying base 10 is fixed to the transport mother boat (large vehicle) by screws; the manual operation interface structure 7 is arranged on the outside of the crank 1 to manually drive the crank 1 under special circumstances. The mounting base 10 is designed with a small-sized V-shaped guide groove at the contact part with the locking ear shaft 8, which is used to provide a guide for the locking ear shaft 8 to smoothly enter the shaft groove. During operation (taking the recovery of a small underwater vehicle and the establishment of a mechanical connection process as an example), the claw 5 is controlled by the crank 1, the attitude link 2, the rocker 3, and the preload link 6, and is driven by the drive motor connected to the crank 1, and is kept in the initial open state; the locking ear shaft 8 and the capture frame 9 slowly descend with the small underwater vehicle, and the locking ear shaft 8 enters the designated position of the shaft groove by the small-sized V-shaped guide groove of the mounting base 10 and its own rotation around the pin shaft; the drive motor drives the crank 1 to rotate, and adjusts the attitude of the rocker 3 through the attitude link 2, thereby causing the claw 5 to rotate around its own pin shaft, and locks the locking ear shaft 8 under the action of the preload force provided by the disc spring group 4, and at the same time, the crank 1 and the attitude link 2 form a straight line, so that the mechanism is at the dead point position of the four-bar linkage, so that the mechanism can be reliably kept in a locked state. The unlocking process is the opposite of the locking process.

[0030] like Figure 4As shown, the "rod" component of the "rod-cone" docking mechanism is composed of a drive motor 11, a pulley 12, a synchronous toothed belt 13, a slider 14, a lead screw 15, a piston rod 16 and a ball head 17. The drive motor is located inside the "rod" component and is fixedly connected to the housing. The output end is equipped with a pulley 12, and the two pulleys 12 are driven by the synchronous toothed belt 13; the load part of the pulley 12 is the lead screw 15, which is connected to the housing through a bearing and can rotate bidirectionally around its own axis; the slider 14 is connected to the lead screw 15 through a thread and can move up and down along the axis of the lead screw 15 under the rotation of the lead screw; the piston rod 16 is fixedly connected to the slider 14, and the ball head 17 is fixedly connected to the piston rod 16, and the piston rod 16 and the ball head 17 can move up and down with the slider 14. In the working state, the driving motor 11 rotates, and the synchronous toothed belt 13 and the load-end pulley 12 are driven by the output-end pulley 12 to rotate, and the load-end pulley 12 drives the lead screw 15 to rotate around its own axis together. The rotation of the lead screw 15 drives the slider 14 threadably connected thereto to move along the axis of the lead screw 15, and the piston rod 16 and the ball head 17 fixedly connected to the slider 14 move accordingly and generate power for the "rod" assembly.

[0031] like Figure 5 As shown, the "docking rod" device is composed of a structural link 18, an action cylinder 19, a posture link 20 and a "rod" assembly 21. The structural link 18 and the "rod" assembly 21 are hinged to the small underwater vehicle, the attitude link 20 connects the structural link 18 and the "rod" assembly 21, and forms a four-bar linkage, the action cylinder 19 is driven by hydraulic pressure and hinged to the structural link 18, and the structural link 18 is driven by the change in the length of the action cylinder 19. When in the non-working state, the action cylinder 19 contracts under hydraulic drive, driving the structural connecting rod 18 to rotate toward the side of the small underwater vehicle. Through the transmission of the attitude connecting rod 20, the "rod" assembly 21 also rotates toward the side of the small underwater vehicle, thereby achieving the effect of recovering the "rod" assembly in the non-working state and reducing the running resistance; when working, the action cylinder 19 extends under hydraulic drive, and finally extends the rod assembly 21 outward, and the structural connecting rod 18 and the attitude connecting rod 20 are in a straight line, reaching the position "dead point", ensuring the stability of the "docking rod" device during docking.

[0032] like Figure 6As shown, the "receiving cone" device is composed of an electromagnetic action rod 22, an electromagnet 23, a driving slider 24, an arc-shaped claw 25, a "cone"-shaped receiving cover 26, a claw housing 27 and an electromagnetic housing 28. The electromagnet 23 is fixedly connected to the transport mother boat (large carrier), the electromagnetic action rod 22 passes through the electromagnet 23 and a limit plate is installed at the lower end of the rod, the driving slider 24 is fixedly connected to the top of the electromagnetic action rod 22, and the three arc-shaped claws 25 are evenly distributed at 60 degrees and are fixedly connected to the transport mother boat (large carrier) through a pin shaft, and a retaining spring is installed at the pin shaft to provide damping. The "cone" shaped receiving cover 26 is fixedly connected to the transport mother boat (large carrier) through the lower support structure, the claw housing 27 and the electromagnet housing 28 are used to protect the electromagnetic action rod 22, the electromagnet 23, the driving slider 24 and the arc-shaped claws 25, and are hidden together with them inside the fairing of the transport mother boat. The "cone" shaped receiving cover 26 is located on the upper part of the "receiving cone" device and is installed outside the fairing of the transport mother boat, and can provide guidance when the "receiving cone" device is docked with the "docking rod" device. During operation, the "docking rod" device falls, and the ball head 17 reaches the specified position under the guidance of the "cone" receiving cover 26, and the electromagnet 23 is energized to attract the electromagnetic action rod 22 to move upward, and the driving slider 24 moves upward accordingly, and drives the arc-shaped claw 25 to rotate inward under the action of the inclined surface to lock the ball head 17; when unlocking, the electromagnet 24 is powered off, the electromagnetic action rod 22 and the driving slider 24 lose driving force, and the arc-shaped claw 25 rotates in the opposite direction under the action of the retaining spring at the pin shaft, while releasing the ball head 17, driving the electromagnetic action rod 22 and the driving slider 24 to move downward and return to the initial state.

[0033] like Figure 7 As shown, the docking skirt is a rigid integrated docking skirt 29, which is fixedly connected and sealed to the small underwater vehicle by bolts; during docking, the docking skirt 29 covers the hatch of the transport mother boat under the action of the carrying mechanism and the "rod-cone" docking mechanism, and is sealed by a sealing ring.

[0034] like Figure 1a , Figure 1b and Figure 3 As shown, each set of carrying mechanisms I limits the movement in the vertical direction and one horizontal direction. The four sets of carrying mechanisms I are arranged vertically in pairs, which can provide all translation constraints and rotation constraints in the corresponding normal directions; the two sets of "rod-cone" docking mechanisms II and the center of the docking skirt III are located in the same straight line, ensuring the centration of the docking skirt.

[0035] Before the docking work begins, the claws of the carrying device I are in an open state, the "rod-cone" docking mechanism II is recovered in the small underwater vehicle, and the piston rod 16 is in the shortest extension length state. At the beginning of the docking work, the "rod-cone" docking mechanism II is extended outward to reach the working position under the hydraulic drive, and the piston rod 16 is extended to the maximum position under the action of the drive motor 11 and the screw slider mechanism, and slowly descends with the small underwater vehicle; when the ball head 17 reaches the specified position under the guidance of the "cone" receiving cover 26, the "receiving cone" device is energized, the arc-shaped claw 25 locks the ball head, and the piston rod 16 contracts, so that the small underwater vehicle continues to descend until the locking ear shaft 8 of the carrying mechanism reaches the specified position under the guidance of the small-sized V-shaped guide groove of the carrying base 10, and the claw 5 rotates and mechanically fixes the locking ear shaft 8 under the structural action of the crank rocker, and at the same time, the docking skirt 29 covers the hatch of the transport mother ship to form a seal, establish a mechanical connection, and complete the docking work. The deployment of small underwater vehicles is the opposite of the above process.

[0036] In summary, the present invention provides a docking device between carriers, which is a docking device that can establish a transportation channel and reliable mechanical connection between a small manned carrier and a large carrier underwater, and provide mechanical assistance during the recovery and docking stage of the carrier. The device includes a loading mechanism based on "dead point" self-locking, a "rod-cone" docking mechanism, and a docking skirt. Through the optimization design of the specific structure and installation layout of the device, the underwater carrier is provided with a dry transportation channel on the basis of mechanical connection, and the reliability and automation of the small underwater carrier in the loading, recovery and deployment stages are improved.

Claims

1. A docking device between underwater vehicles, characterized in that: It comprises a docking skirt arranged on a large underwater vehicle, a carrying mechanism and a rod-cone docking mechanism arranged between the large underwater vehicle and the small underwater vehicle, wherein the carrying mechanisms are at least four and are arranged perpendicularly to each other around the docking skirt, the rod-cone docking mechanisms are at least two and are located on the same straight line as the center of the docking skirt, the carrying mechanism provides all translation constraints and rotation constraints corresponding to the normal direction, and the rod-cone docking mechanism ensures the centering of the docking skirt; The carrying mechanism comprises a capture frame arranged at the lower end of the small underwater vehicle, a locking ear shaft arranged at the lower end of the capture frame, a carrying base arranged on the large underwater vehicle, a crank arranged on the carrying base, a posture connecting rod hinged to the crank, a rocker hinged to the carrying base, a pre-tightening connecting rod hinged to the end of the rocker, and a claw hinged to the carrying base, the end of the pre-tightening connecting rod is connected to the claw, the end of the posture connecting rod is hinged to the middle position of the rocker, the crank is driven by a driving motor, the locking ear shaft is in contact with the carrying base, and a V-shaped guide groove is arranged at the contact point between the carrying base and the locking ear shaft; a disc spring group providing pre-tightening force is arranged in the piston cylinder of the rocker; During operation, the claw is driven by a driving motor connected to the crank under the joint control of the crank, attitude connecting rod, rocker, and preload connecting rod, and is kept in the initial open state; the locking ear shaft and the capture frame slowly descend with the small underwater vehicle, and the locking ear shaft enters the specified position of the shaft groove with the help of the V-shaped guide groove of the carrying base and its own rotation around the pin shaft; the driving motor drives the crank to rotate, and adjusts the attitude of the rocker through the attitude connecting rod, so that the claw rotates around its own pin shaft, and locks the locking ear shaft under the action of the preload force provided by the disc spring group, and at the same time, the crank and the attitude connecting rod form a straight line, so that the carrying mechanism is at the dead point position of the four-bar linkage and is kept in a locked state; The rod-cone docking mechanism is composed of a docking rod device and a receiving cone device; the docking rod device is composed of a structural connecting rod, an action cylinder, a posture connecting rod and a rod assembly assembly; the structural connecting rod and the rod assembly assembly are hinged to the small underwater vehicle, and the posture connecting rod connects the structural connecting rod and the rod assembly assembly to form a four-bar linkage; the action cylinder is driven by hydraulic pressure and is hinged to the structural connecting rod; in a non-working state, the action cylinder contracts under hydraulic drive, driving the structural connecting rod to rotate toward the small underwater vehicle side, and through the transmission of the posture connecting rod, the rod assembly assembly also rotates toward the small underwater vehicle side, so as to achieve the effect of recovering the rod assembly in a non-working state and reducing the running resistance; when working, the action cylinder is extended under hydraulic drive, and the rod assembly assembly is extended outward, and the structural connecting rod and the posture connecting rod are in a straight line state, reaching the position "dead point", ensuring the stability of the docking rod device during docking; The receiving cone device is composed of an electromagnetic action rod, an electromagnet, a driving slider, an arc-shaped claw, a conical receiving cover, a claw housing and an electromagnetic housing; the electromagnet is fixedly connected to the large underwater vehicle, the electromagnetic action rod passes through the electromagnet and a limit plate is installed at the lower end of the rod; the driving slider is fixedly connected to the top of the electromagnetic action rod, and the three arc-shaped claws are evenly distributed at 60 degrees and fixedly connected to the large underwater vehicle through a pin shaft, and a retaining spring is installed at the pin shaft to provide damping; the conical receiving cover is fixedly connected to the large underwater vehicle through a lower support structure, and the claw housing and the electromagnet housing are used to protect the electromagnetic action rod, the electromagnet, the driving slider and the arc-shaped claw, and are connected to the large underwater vehicle. The two are hidden together inside the fairing of a large underwater vehicle, and the conical receiving cover is located on the upper part of the receiving cone device and is installed outside the fairing of the large underwater vehicle; when working, the docking rod device falls, and the ball head reaches the specified position under the guidance of the conical receiving cover, the electromagnet is energized, attracting the electromagnetic action rod to move upward, and the driving slider moves upward accordingly, and the arc-shaped claw is driven to rotate inward under the action of the inclined surface to lock the ball head; when unlocking, the electromagnet is powered off, the electromagnetic action rod and the driving slider lose driving force, and the arc-shaped claw rotates in the opposite direction under the action of the retaining spring at the pin shaft, while releasing the ball head, driving the electromagnetic action rod and the driving slider to move downward and return to the initial state.

2. The docking device for underwater vehicles according to claim 1, characterized in that: The driving end of the crank is also provided with a manual operation interface structure.

3. The docking device for underwater vehicles according to claim 1, characterized in that: The docking skirt is a rigid integrated docking skirt, which is fixedly connected and sealed to the small underwater vehicle by bolts; during docking, the docking skirt covers the hatch of the large underwater vehicle under the action of the carrying mechanism and the rod-cone docking mechanism, and is sealed by a sealing ring.

4. The docking device for underwater vehicles according to claim 1, characterized in that: There are four groups of carrying mechanisms, each group of carrying mechanisms limits movement in the vertical direction and one horizontal direction. The four groups of carrying mechanisms are arranged vertically in pairs, providing all translation constraints and rotation constraints in the corresponding normal directions; there are two groups of rod-cone docking mechanisms, and the two groups of rod-cone docking mechanisms are located in the same straight line as the center of the docking skirt, ensuring the centration of the docking skirt.

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