An underwater docking device applicable to an unmanned submersible

Abstract

The present invention relates to an underwater docking device, specifically an underwater docking device applicable to an unmanned submersible. The head of the docking device is a docking head, and a docking through-hole is opened above the docking head; the interior of the docking device is of a hollow structure, and there is a pressure-holding and sealing device in the hollow structure inside the docking head of the docking device; the head of the device to be docked is a guiding cover, a light source is provided on the guiding cover, the rear side of the guiding cover is a docking cylinder, and an electric gripper capable of clamping and releasing is arranged in the docking cylinder; there is also a pressure-holding and sealing device inside the device to be docked. The present invention is a front-head mobile docking, which solves the problems of poor mobility and poor directivity of underwater equipment, and meets the basic requirements of underwater structure control science; at the same time, the present invention can effectively set the use environment of precision instruments for the underwater unmanned submersible and ensure the stability during docking, and has the advantage of facilitating the information and energy transmission between the underwater unmanned submersible and other devices.

Description

Technical Field

[0001] The present invention relates to an underwater docking device, and more particularly to an underwater docking device suitable for an unmanned submersible. Background Art

[0002] Unmanned submersibles have become a special type of marine equipment. Whether they can be successfully recovered will directly affect the endurance support efficiency of unmanned submersibles. Therefore, an effective docking device is needed to provide energy replenishment and information transmission for them. Currently, a large number of domestic and foreign research scholars in related fields are researching and developing underwater docking devices that can transmit information and energy. However, looking at modern docking devices, there are certain problems. The sensors are relatively single, navigation and positioning are difficult, it is difficult to adjust the angle by changing its own motion posture, the motion accuracy requirements for unmanned submersibles are high, and the development cost is large. How to develop a docking device with a large docking fault tolerance, convenient docking operation, and capable of overcoming environmental problems has become a key issue for unmanned submersibles.

[0003] At present, according to the representative research results at home and abroad, the docking devices of most unmanned submersibles can be divided into three categories: a capture docking method with ropes and rods as docking targets, an inclusive docking method with conical guide covers and cage boxes as docking targets, and a seating docking method with underwater platforms as docking targets. Among them, the inclusive docking method with conical guide covers and cage boxes as docking targets is the most widely used. The Explorer developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, the Dolphin II developed by Zhejiang University, and the Hailing developed by Harbin Engineering University in China all adopt this docking structure. However, no one has developed a small docking device, which has led to relatively weak R & D strength in the underwater docking technology of unmanned submersibles and a lack of certain professional technical talents, seriously restricting the service life and overall performance improvement of underwater docking devices. Now, with the development of the underwater docking technology of unmanned submersibles, major domestic and foreign underwater instrument manufacturers are constantly pursuing more reliable, economical and simple underwater docking devices, which have higher requirements for the size, stability and operability of underwater docking devices. Traditional large docking devices no longer have obvious competitiveness, and the original product market and technical advantages are seriously threatened. Therefore, designing an underwater docking device with a small volume, convenient to carry, simple to operate and strong stability plays a crucial role in the development of unmanned submersibles. Summary of the Invention

[0004] The object of the present invention is to provide an underwater docking device suitable for an unmanned submersible. This underwater docking device can achieve up-and-down docking only by moving forward and backward, and conforms to underwater structural dynamics, and can reasonably set the environment required for precision instruments. Moreover, the present invention has the characteristics of small volume, convenient to carry, simple to operate and strong stability.

[0005] The object of the present invention is achieved by the following technical solutions:

[0006] The present invention includes a device to be docked, a guide cover, a draw taper docking head and a docking device. The docking device includes a docking rod and a pressure-holding sealing device A. The docking rod is of a hollow structure with a hollow channel A provided inside. The docking end of the draw taper docking head and the docking rod is an integral structure or the docking end of the draw taper docking head is directly connected to the docking rod. A pressure-holding sealing device A is provided inside the draw taper docking head. The pressure-holding sealing device A seals and separates the hollow channel A from the inside of the draw taper docking head, and the water in the hollow channel A is discharged through the pressure-holding sealing device A. A docking through hole communicating with the outside is provided on the draw taper docking head; the device to be docked includes a docking cylinder, a pressure-holding sealing device B and an electric gripper. The docking cylinder is of a hollow structure with a hollow channel B provided inside. The guide cover is connected to the docking end of the docking cylinder. An electric gripper is provided inside the docking cylinder behind the guide cover. A pressure-holding sealing device B is provided inside the hollow channel B. The pressure-holding sealing device B divides the hollow channel B into a sealed docking area and a pressure-holding area, and the water in the pressure-holding area is discharged to the docking area through the pressure-holding sealing device B; the draw taper docking head is located in the docking area after docking, the electric gripper tightly seals and clamps the docking rod after docking, and the water in the docking area between the electric gripper and the pressure-holding sealing device B is discharged through a drain hole with a solenoid valve C provided on the docking cylinder. The hollow channel A and the hollow channel B are connected through the pressure-holding sealing device A, the docking through hole and the pressure-holding sealing device B.

[0007] Among them: The pressure-holding sealing device A includes a pressure-holding extension pipe A, a pressure-holding sealing end cover A and a sealing ring A. One end of the pressure-holding extension pipe A is provided with a sealing ring A, and the other end is installed with a switchable pressure-holding sealing end cover A. The sealing ring A is in sealing contact with the inner wall of the draw taper docking head or the inner wall of the hollow channel A; a drain pipe A communicating with both sides of the sealing ring A is provided on the sealing ring A, and a solenoid valve A for controlling the opening and closing of the drain pipe A is installed in the drain pipe A.

[0008] The pressure-holding sealing device B includes a pressure-holding extension pipe B, a pressure-holding sealing end cover B and a sealing ring B. One end of the pressure-holding extension pipe B is provided with a sealing ring B, and the other end is installed with a switchable pressure-holding sealing end cover B. The sealing ring B is in sealing contact with the inner wall of the hollow channel B; a drain pipe B communicating with both sides of the sealing ring B is provided on the sealing ring B, and a solenoid valve B for controlling the opening and closing of the drain pipe B is installed in the drain pipe B.

[0009] The pressure-holding sealing end cover B is located above the docking through hole after docking.

[0010] The docking rod is in an inverted "L" shape, and the hollow channel A inside it is also in an inverted "L" shape. The end of the horizontal side of the "L" shape is the docking end of the docking rod.

[0011] The docking cylinder is in an "L" shape, and the hollow channel B inside it is also in an "L" shape. The end of the horizontal side of the "L" shape is the docking end, and it is connected to the guiding cover.

[0012] The guiding cover is in a frustum shape, and the smaller-diameter end is connected to the docking cylinder; the guiding cover includes a plurality of concentrically arranged rings with gradually increasing diameters, and the rings are connected by a plurality of inclined rods; light sources for lighting and guiding are installed at the quadrant points on the outer side end face of the guiding cover.

[0013] A groove is provided on the inner wall of the hollow channel B at the rear side of the guiding cover. The electric gripper is accommodated in the groove. The gripper shaft of the electric gripper is fixed in the groove, and the electric gripper rotates around the gripper shaft to achieve sealing and clamping of the docking rod at the rear side of the mold release frustum docking head.

[0014] The mold release frustum docking head is in a frustum shape, and the docking through hole is opened at the top of the mold release frustum docking head.

[0015] The diameters of the tail ends of the docking rod and the docking cylinder are larger than those of other parts.

[0016] The advantages and positive effects of the present invention are as follows:

[0017] 1. The underwater docking device of the present invention is a front-head mobile docking, which solves the problems of poor mobility and poor directionality of underwater equipment, meeting the basic requirements of underwater structure control science; at the same time, the present invention can effectively set the usage environment of precision instruments for an underwater unmanned submersible and ensure stability during docking, having the advantage of facilitating information and energy transmission between the underwater unmanned submersible and other devices.

[0018] 2. During the docking process of the underwater unmanned submersible of the present invention, it has the advantages of being fast, efficient, highly stable, and widely applicable.

[0019] 3. The underwater docking device of the present invention is provided with a frustum-shaped docking head, which can effectively reduce the resistance during the docking process, meeting the basic requirements of structural design science.

[0020] 4. The guiding cover of the present invention is conical, which can perfectly conduct trajectory guidance, and the guiding cover is set in a spider web shape, meeting the basic requirements of underwater structure dynamics. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2Top view of the structure of the present invention;

[0023] Figure 3 is Figure 2 the A - A cross-sectional view in

[0024] Figure 4 Partial enlarged cross-sectional view at the docking joint of the draft - removing frustum of the present invention;

[0025] Figure 5 Partial enlarged cross-sectional view of the docking cylinder part of the present invention;

[0026] Figure 6 Schematic structural diagram after the docking device and the device to be docked of the present invention are docked;

[0027] Figure 7 is Figure 6 the left view of the structure of

[0028] Figure 8 Partial enlarged cross-sectional view at the docking part of the docking device and the device to be docked of the present invention;

[0029] Figure 9 Cross-sectional view of the structure after the docking device and the device to be docked of the present invention are docked;

[0030] Figure 10 Schematic diagram of the working state of the present invention;

[0031] Wherein: 1 is the device to be docked, 2 is the guiding cover, 3 is the light source, 4 is the draft - removing frustum docking head, 5 is the docking device, 6 is the docking rod, 7 is the hollow channel A, 8 is the pressure - maintaining extension pipe A, 9 is the pressure - maintaining sealing end - cover A, 10 is the sealing ring A, 11 is the drainage pipe A, 12 is the docking through - hole, 13 is the jaw shaft, 14 is the electric jaw, 15 is the docking cylinder, 16 is the hollow channel B, 17 is the pressure - maintaining extension pipe B, 18 is the pressure - maintaining sealing end - cover B, 19 is the sealing ring B, 20 is the drainage pipe B, 21 is the circular ring, 22 is the inclined rod, 23 is the unmanned submersible, 24 is the docking platform. Detailed implementation manners

[0032] The present invention will be further described in detail below with reference to the accompanying drawings.

[0033] As shown in Figures 1 to 10As shown in the figure, the present invention includes a device to be docked 1, a guiding cover 2, a draft cone docking head 4, and a docking device 5. The docking device 5 includes a docking rod 6 and a pressure-holding sealing device A. The docking rod 6 is of a hollow structure with a hollow channel A7 provided inside. The docking end of the draft cone docking head 4 and the docking rod 6 is an integral structure, or the docking end of the draft cone docking head 4 is directly connected to the docking rod 6. A pressure-holding sealing device A is provided inside the draft cone docking head 4. The pressure-holding sealing device A seals and separates the hollow channel A7 from the inside of the draft cone docking head 4, and the water in the hollow channel A7 is discharged through the pressure-holding sealing device A. A docking through-hole 12 communicating with the external environment is provided on the draft cone docking head 4, which can be used as an information management transmission channel after the docking device 1 and the device to be docked 5 are docked. The device to be docked 1 includes a docking cylinder 15, a pressure-holding sealing device B, and an electric gripper 14. The docking cylinder 15 is of a hollow structure with a hollow channel B16 provided inside. The guiding cover 2 is connected to the docking end of the docking cylinder 15. The guiding cover 2 is used to guide and align the draft cone docking head 4. An electric gripper 14 is provided inside the docking cylinder 15 behind the guiding cover 2. A pressure-holding sealing device B is provided inside the hollow channel B16. The pressure-holding sealing device B divides the hollow channel B16 into a sealed docking area and a pressure-holding area, and the water in the pressure-holding area is discharged to the docking area through the pressure-holding sealing device B. The pressure-holding sealing device A and the pressure-holding sealing device B are used to isolate the instrument environment from the external environment and can completely block the influence of the external environment. After docking, the draft cone docking head 4 is located in the docking area. The electric gripper 14 tightly clamps the docking rod 6 in a sealed manner after docking. The water in the docking area between the electric gripper 14 and the pressure-holding sealing device B is discharged through a drain hole with a solenoid valve C provided on the docking cylinder 15. The hollow channel A7 and the hollow channel B16 are connected through the pressure-holding sealing device A, the docking through-hole 12, and the pressure-holding sealing device B.

[0034] In this embodiment, the docking rod 6 is in an inverted "L" shape, and the internal hollow channel A7 is also in an inverted "L" shape. The end of the horizontal side of the "L" shape is the docking end of the docking rod 6. The draft cone docking head 4 in this embodiment is a hollow frustum shape. The docking through-hole 12 is provided at the top of the draft cone docking head 4. The draft cone docking head 4 will directly extend into the docking cylinder 15 for docking. The draft cone docking head 4 and the docking rod 6 in this embodiment are integrally formed, and the diameter of the tail end of the draft cone docking head 4 is larger than the diameter of the horizontal side of the "L" shape of the docking rod 6.

[0035] The pressure-holding and sealing device A of this embodiment includes a pressure-holding extension pipe A8, a pressure-holding sealing end cover A9, and a sealing ring A10. The pressure-holding extension pipe A8 is located inside the "L"-shaped horizontal side of the docking rod 6 and is coaxially arranged. One end of the pressure-holding extension pipe A8 is provided with a sealing ring A10, and the other end of the pressure-holding extension pipe A8 is installed with a switchable pressure-holding sealing end cover A9 located below the docking through-hole 12. The pressure-holding sealing end cover A9 can be driven by its own electric cylinder to achieve a 90° flip. The pressure-holding sealing end cover A9 is the switch for the entire docking rod 6 to communicate with the outside world. The sealing ring A10 is in sealing contact with the inner wall of the mold release frustum docking head 4 or the inner wall of the hollow channel A7. A drainage pipe A11 communicating both sides of the sealing ring A10 is opened on the sealing ring A10 to adjust the medium and pressure of the environment. An electromagnetic valve A for controlling the switch of the drainage pipe A11 is installed in the drainage pipe A11. The sealing ring A10 of this embodiment is used to isolate the complex underwater environment outside and arrange the conditions for precise docking.

[0036] The docking cylinder 15 of this embodiment is "L"-shaped, and the internal hollow channel B16 is also "L"-shaped. The end of the "L"-shaped horizontal side is the docking end and is connected to the guiding cover 2. The guiding cover 2 of this embodiment is a spider-web-shaped conical guiding cover, that is, the guiding cover 2 is in a frustum shape, and the end with a smaller diameter is connected to the docking end of the docking cylinder 15. The guiding cover 2 includes a plurality of (four in this embodiment) concentrically arranged rings with gradually increasing diameters, and the rings are connected by a plurality of diagonal rods. Light sources 3 for lighting and guiding are installed at each quadrant point on the outer end face of the guiding cover 2. The light sources 3 can be bulbs and are respectively distributed at the four quadrant points on the outer end face of the spider-web-shaped conical guiding cover for lighting and guiding.

[0037] The pressure-holding and sealing device B of this embodiment includes a pressure-holding extension pipe B17, a pressure-holding sealing end cover B18, and a sealing ring B19. The pressure-holding extension pipe B17 is located inside the "L"-shaped vertical side of the docking cylinder 15 and is coaxially arranged. One end of the pressure-holding extension pipe B17 is provided with a sealing ring B19, and the other end of the pressure-holding extension pipe B17 is installed with a switchable pressure-holding sealing end cover B18. The pressure-holding sealing end cover B18 can be driven by its own electric cylinder to achieve a 90° flip. The pressure-holding sealing end cover B18 is the switch for the entire docking cylinder 15 to communicate with the outside world. After docking, the pressure-holding sealing end cover B18 is located above the docking through-hole 12. The sealing ring B19 is in sealing contact with the inner wall of the hollow channel B16. A drainage pipe B20 communicating both sides of the sealing ring B19 is opened on the sealing ring B19 for adjusting the medium and pressure of the environment. An electromagnetic valve B for controlling the switch of the drainage pipe B20 is installed in the drainage pipe B20. The sealing ring B19 of this embodiment is used to isolate the complex underwater environment outside and arrange the conditions for precise docking.

[0038] A groove is formed in the inner wall of the hollow channel B16 at the rear side of the guide cover 2 in this embodiment. The electric gripper 14 is accommodated in the groove. The gripper shaft 13 of the electric gripper 14 is fixed in the groove. The electric gripper 14 rotates around the gripper shaft 13 to achieve sealed clamping of the docking rod 6 at the rear side of the draft cone docking head 4.

[0039] A drain hole is formed at the bottom of the "L"-shaped horizontal side of the docking cylinder 15 in this embodiment, and a solenoid valve C is installed in the drain hole. A contact induction relay is installed on the inner wall of the "L"-shaped vertical side of the docking cylinder 15 on the side far from the guide cover 2 in this embodiment. The solenoid valve A, solenoid valve B, solenoid valve C, electric gripper 14, contact induction relay, and electric cylinder on the pressure-holding and sealing end cover in this embodiment are all connected to the control unit. The underwater control unit communicates wirelessly with the above-water wireless control terminal. The underwater control unit controls the actions of the solenoid valve A, solenoid valve B, solenoid valve C, electric gripper 14, contact induction relay, and electric cylinder according to the instructions sent by the above-water wireless control terminal.

[0040] The diameters of the tail ends of the docking rod 6 and the docking cylinder 15 in this embodiment are larger than those of other parts to increase the strength of the docking rod 6 and the docking cylinder 15 and avoid breakage due to excessive length.

[0041] The pressure-holding and sealing end cover A9, pressure-holding and sealing end cover B18, and electric gripper 14 in this embodiment are all prior arts. The control of the opening and closing of the solenoid valve A, solenoid valve B, and solenoid valve C by the underwater control unit is a prior art. The control of the opening and closing of the pressure-holding and sealing end cover A9 and pressure-holding and sealing end cover B18 by the underwater control unit and the control of the action of the electric gripper 14 are all prior arts, which will not be elaborated here.

[0042] The working principle of the present invention is as follows:

[0043] As Figure 10 shown, in order to make the docking structure reasonably designed, this embodiment completes the docking through two underwater docking devices before and after. Since pure floating and sinking require the adjustment of the ballast tank, but due to the immaturity of the ballast tank adjustment technology, the adjustment accuracy is insufficient, and the adjustment method is complex. Therefore, the present invention completes the docking through the front and rear structures.

[0044] Before docking, the underwater control unit controls the electromagnetic valve A and the electromagnetic valve B to open respectively, and the seawater / lake water in the internal environment of the hollow channel A7 and the middle channel B16 is emptied until it is exhausted to vacuum or the pressure in the hollow channel A7 and the hollow channel B16 is the same as the atmospheric pressure; after setting the relevant environment, the electromagnetic valve A and the electromagnetic valve B are closed under the control of the underwater control unit. Keep the docking device 5 below the docked device 1, and start the docking of the two underwater docking devices after the docking device 5 moves forward. Since it is necessary to move forward straight, the docking devices 5 in the two underwater docking devices are designed to be of different lengths, which is convenient for staggering them and ensuring smooth docking. Since the guide cover 2 of the first underwater docking device is larger and the "L"-shaped horizontal side of the docking rod 6 where the draft cone docking joint 4 is located is longer, the docking of the first underwater docking device will be faster than that of the second underwater docking device. Therefore, the first underwater docking device can be guided and positioned in a large range. After the successful guidance of the guide cover 2 in the first underwater docking device, the two underwater docking devices are guided to dock together.

[0045] The unmanned submersible will dock the docking device 5 with the guide cover 2 only by simple propulsion movement. The guide cover 2 is designed to be conical, which can be docked more conveniently. The conical guide cover 2 can navigate and locate the draft cone docking joint 4, so that the draft cone docking joint 4 can complete the positioning in all directions by the speed in one direction, and smoothly reach the docking tube 15 on the rear side of the conical guide cover 2; at the same time, the conical guide cover 2 is designed to be spider web-shaped, which can greatly reduce the resistance of the unmanned submersible movement. First, the draft cone docking joint 4 will be guided and positioned by the guide cover 2, and then the draft cone docking joint 4 will be introduced into the docking tube 15 by the guide cover 2. When the draft cone docking joint 4 hits the contact induction relay set on the inner wall of the docking tube 15, the underwater control unit controls the electric clamp 14 to clamp the docking rod 6 on the rear side of the draft cone docking joint 4, so that the docking rod 6 is fixed to the docking tube 15, thereby fixing the unmanned submersible 23 and the docking platform 24. The area between the sealing ring B19 and the electric clamp 14 is a sealed docking area. The underwater control unit controls the electromagnetic valve C to open and drain the water in the docking area. The electromagnetic valve C is closed to form a sealed space in the docking area. Then, the underwater control unit controls the electric cylinder of the pressure-maintaining sealing end cover A9 and the electric cylinder of the pressure-maintaining sealing end cover B18 to respectively flip the pressure-maintaining sealing end cover A9 and the pressure-maintaining sealing end cover B18 by 90°. The hollow channel A7 is connected to the hollow channel B16 through the pressure-maintaining extension tube A8, the pressure-maintaining sealing end cover A9, the docking through hole 12, the pressure-maintaining sealing end cover B18, and the pressure-maintaining extension tube B17. The unmanned submersible 23 and the docking platform 24 allow the relevant lines for information transmission to be connected.

[0046] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An underwater docking device applicable to an unmanned submersible, characterized in that: It includes a device to be docked (1), a guiding cover (2), a die-drawing frustum docking head (4) and a docking device (5). The docking device (5) includes a docking rod (6) and a pressure-holding sealing device A. The docking rod (6) has a hollow structure with a hollow channel A (7) inside. The docking end of the die-drawing frustum docking head (4) and the docking rod (6) is an integral structure or the docking end of the die-drawing frustum docking head (4) is directly connected to the docking rod (6). The die-drawing frustum docking head (4) is internally provided with a pressure-holding sealing device A. The hollow channel A (7) and the inside of the die-drawing frustum docking head (4) are sealed and separated by the pressure-holding sealing device A, and the water in the hollow channel A (7) is discharged through the pressure-holding sealing device A. A docking through-hole (12) communicating with the outside is provided on the die-drawing frustum docking head (4). The device to be docked (1) includes a docking cylinder (15), a pressure-holding sealing device B and an electric gripper (14). The docking cylinder (15) has a hollow structure with a hollow channel B (16) inside. The guiding cover (2) is connected to the docking end of the docking cylinder (15). An electric gripper (14) is provided inside the docking cylinder (15) behind the guiding cover (2). The hollow channel B (16) is internally provided with a pressure-holding sealing device B. The hollow channel B (16) is divided into a sealed docking area and a pressure-holding area by the pressure-holding sealing device B, and the water in the pressure-holding area is discharged to the docking area through the pressure-holding sealing device B. The die-drawing frustum docking head (4) is located in the docking area after docking. The electric gripper (14) tightly clamps the docking rod (6) in a sealed manner after docking. The water in the docking area between the electric gripper (14) and the pressure-holding sealing device B is discharged through a drain hole with a solenoid valve C provided on the docking cylinder (15). The hollow channel A (7) and the hollow channel B (16) are connected through the pressure-holding sealing device A, the docking through-hole (12) and the pressure-holding sealing device B. The pressure-holding sealing device A includes a pressure-holding extension pipe A (8), a pressure-holding sealing end cover A (9) and a sealing ring A (10). One end of the pressure-holding extension pipe A (8) is provided with a sealing ring A (10), and the other end is equipped with a switchable pressure-holding sealing end cover A (9). The sealing ring A (10) is in sealed contact with the inner wall of the die-drawing frustum docking head (4) or the inner wall of the hollow channel A (7). A drainage pipe A (11) communicating both sides of the sealing ring A (10) is provided on the sealing ring A (10). A solenoid valve A for controlling the opening and closing of the drainage pipe A (11) is installed in the drainage pipe A (11). The pressure-holding and sealing device B includes a pressure-holding extension pipe B (17), a pressure-holding and sealing end cover B (18), and a sealing ring B (19). One end of the pressure-holding extension pipe B (17) is provided with a sealing ring B (19), and the other end is installed with a switchable pressure-holding and sealing end cover B (18). The sealing ring B (19) is in sealing contact with the inner wall of the hollow channel B (16); a drainage pipe B (20) communicating both sides of the sealing ring B (19) is provided on the sealing ring B (19), and a solenoid valve B for controlling the opening and closing of the drainage pipe B (20) is installed in the drainage pipe B (20).

2. The underwater docking device applicable to an unmanned submersible according to claim 1, characterized in that: The pressure-holding and sealing end cover B (18) is located above the docking through hole (12) after docking.

3. The underwater docking device applicable to an unmanned submersible according to claim 1, characterized in that: The docking rod (6) is in an inverted "L" shape, and the hollow channel A (7) inside it is also in an inverted "L" shape. The end of the horizontal side of the "L" shape is the docking end of the docking rod (6).

4. The underwater docking device applicable to an unmanned submersible according to claim 1, characterized in that: The docking cylinder (15) is in an "L" shape, and the hollow channel B (16) inside it is also in an "L" shape. The end of the horizontal side of the "L" shape is the docking end and is connected to the guide cover (2).

5. The underwater docking device applicable to an unmanned submersible according to claim 1, characterized in that: The guide cover (2) is frustum-shaped, and the end with a smaller diameter is connected to the docking cylinder (15); the guide cover (2) includes a plurality of concentrically arranged rings with gradually increasing diameters, and the rings are connected by a plurality of inclined rods; light sources (3) for lighting and guiding are installed at the quadrant points on the outer side end face of the guide cover (2).

6. The underwater docking device applicable to an unmanned submersible according to claim 1, characterized in that: A groove is provided on the inner wall of the hollow channel B (16) at the rear of the guide cover (2). The electric gripper (14) is accommodated in the groove. The gripper shaft (13) of the electric gripper (14) is fixed in the groove, and the electric gripper (14) rotates around the gripper shaft (13) to achieve sealing and clamping of the docking rod (6) at the rear of the draft taper docking head (4).

7. The underwater docking device applicable to an unmanned submersible according to claim 1, characterized in that: The draft taper docking head (4) is frustum-shaped, and the docking through hole (12) is provided at the top of the draft taper docking head (4).

8. The underwater docking device applicable to an unmanned submersible according to claim 1, characterized in that: The diameters of the tail ends of the docking rod (6) and the docking cylinder (15) are larger than the diameters of other parts.

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