An underwater vehicle automatic posture correction, precise anchoring and docking equipment and method

Abstract

This invention discloses an automatic attitude correction and precise anchoring docking equipment and method for underwater vehicles. The equipment includes a power tensioning assembly mounted on a mother ship, which includes a scissor fork mechanism and a matching winch system mounted on the platform of the mother ship, and docking locking assemblies mounted on the mother ship and a B ship. The docking locking assemblies include a docking groove (4) and a wire rope clamping wheel (2) mounted on the mother ship (7), and a docking hook clamping device (5) mounted on the B ship (8). The mother ship (7) lifts the wire rope to the predetermined docking position with the cooperation of the scissor fork mechanism (1) and the winch system (3), and opens at the end to form sufficient docking space. The wire rope provides power to bring the two ships closer, inducing the docking anchor (61) to automatically correct the relative attitude of the two ships, and finally enters the accurate docking position to achieve anchoring docking of the two ships.

Description

Technical Field

[0001] This invention belongs to the field of underwater docking equipment technology, and more specifically, relates to an automatic attitude correction and precise anchoring docking equipment and method for underwater vehicles. Background Technology

[0002] With the advancement of science and technology, humanity's exploration of the unknown is constantly intensifying, especially the exploration of the ocean, which is accelerating and leading to the deployment of more and more underwater research vessels. However, due to the uncertainty of the marine environment and the energy limitations of the underwater research vessels themselves, they may become stranded at sea and unable to return, requiring rescue from a mother ship. Therefore, a reliable docking device between the mother ship and the underwater research vessel is of paramount importance.

[0003] Currently, there are many research results in this field both domestically and internationally. However, most docking mechanisms are quite complex and require a high degree of precision in the docking process. Therefore, an underwater docking device with a simple structure, low docking precision requirements, and high fault tolerance plays a crucial role in rescue operations. Summary of the Invention

[0004] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an automatic attitude correction and precise anchoring docking equipment and method for underwater vehicles. After the two vessels initially enter the predetermined position, the composite scissor fork mechanism of the mother vessel, with the assistance of a winch, lifts the steel wire rope to the predetermined docking position and opens at the end to form sufficient docking space. The docking hook of vessel B rotates out and approaches the steel wire rope, hooks it, and retracts and locks it. The composite scissor fork mechanism retracts, and the winch provides power through the steel wire rope to bring the two vessels closer. Subsequently, the docking anchor is guided by a horn-shaped docking groove, automatically correcting the relative attitude of the two vessels. Finally, after entering the accurate docking position, the docking anchor realizes the anchoring docking of the two vessels. This solves the technical problems of high-precision docking in existing technologies, such as complex equipment and difficulty in equipment installation, high cost, reliance on large positioning devices, and inability to meet the docking requirements of various vessel sizes.

[0005] To achieve the above objectives, according to one aspect of the present invention, an automatic attitude correction and precise anchoring docking device for underwater vehicles is provided, comprising:

[0006] A powered extension assembly mounted on the mother ship includes a scissor fork mechanism installed on a platform of the mother ship and a matching winch system.

[0007] The docking locking assembly is provided on the mother ship and the B ship. The docking locking assembly includes a docking groove and a wire rope clamping wheel provided on the mother ship, and a docking hook clamping device provided on the B ship. The docking hook clamping device includes a docking hook. The mother ship lifts the wire rope to the predetermined docking position with the cooperation of the scissor fork mechanism and the winch system, and opens at the end to form sufficient docking space.

[0008] And an anchoring and positioning assembly installed on vessel B, the anchoring and positioning assembly including a rigid anchoring structure installed on vessel B and matched with the docking slot, the rigid anchoring structure including a docking anchor rod, the docking hook of vessel B rotates out and approaches the wire rope and then hooks and locks it, the scissor fork mechanism retracts, the winch system provides power through the wire rope to bring the two vessels closer, and then the docking anchor rod is automatically corrected by the horn-shaped docking slot to guide the two vessels to enter the accurate docking position and finally the two vessels are anchored and docked by the docking anchor rod.

[0009] Furthermore, the scissor fork mechanism includes a scissor fork base;

[0010] A first link, a second link, and a third link are connected to each other on the scissor fork base, and a clamping wheel handle is connected to the first link and the third link;

[0011] The first link, the second link, the third link, and the clamping wheel handle together form a double-sided scissor fork structure that tapers inward toward the center.

[0012] Furthermore, the scissor fork mechanism includes a lead screw dynamically connected to the double-sided scissor fork structure.

[0013] Furthermore, the scissor fork mechanism includes a traction slider connected to the lead screw.

[0014] Furthermore, the scissor fork mechanism includes a motor connected to the traction slider.

[0015] Furthermore, the wire rope clamping wheel includes a circular base fixed to both sides of the clamping wheel handle, and the circular base is provided with a slide rail.

[0016] Furthermore, the wire rope clamping wheel includes an arc-shaped slider disposed within the slide rail and capable of sliding along it;

[0017] The arc-shaped slider is connected to the circular base by a spring.

[0018] Furthermore, the wire rope clamping wheel includes a fixed pulley disposed within the circular base.

[0019] Furthermore, the docking hook clamping device includes a guide frame and a grooved slider that is elastically connected to the guide frame via a clamping spring.

[0020] Furthermore, the docking hook clamping device includes a pressure wheel seat fixedly connected to the guide frame, and a pressure wheel matched with the pressure wheel seat.

[0021] Furthermore, the docking hook clamping device includes a docking hook connected to the pressure wheel and a worm gear movably connected to the docking hook;

[0022] The hook has a smooth curve shape, and its upper part is an arc-shaped component with a large radius, which can contact the wire rope over a large range.

[0023] Furthermore, the docking hook clamping device includes a sleeve disposed at one end of the guide frame;

[0024] The telescopic rod connected to the sleeve;

[0025] The motor drives the sleeve to rotate, and the telescopic rod retracts, causing the groove slider to move backward and release the docking hook.

[0026] Furthermore, the anchoring and positioning assembly includes a bullet-shaped telescopic docking rod, a wedge-shaped buckle, a hydraulic device, a flared docking groove, and a rigid anchoring structure.

[0027] Furthermore, the rigid anchoring structure includes a snap-fit ​​slider and an anchoring spring connected to the docking anchor rod;

[0028] The head of the anchor rod is bullet-shaped and connected to the ball bearing. The head has grooves distributed along the circumference on both sides and is connected to the limiting slider through an anchoring spring.

[0029] Furthermore, the hoisting system includes a pair of centrally symmetrical hoists and a guide pulley system.

[0030] According to a second aspect of the present invention, a method for automatic attitude correction and precise anchoring and docking of underwater vehicles is provided, comprising the following steps:

[0031] S100: After the two hulls initially enter the predetermined position, the scissor fork mechanism on the mother ship, with the cooperation of the winch system, lifts the steel wire rope to the predetermined docking position and opens at the end to form sufficient docking space.

[0032] S200: After the docking hook of vessel B rotates out and approaches the wire rope, it hooks and retracts and locks. The composite scissor fork mechanism retracts, and the winch provides power through the wire rope to bring the two vessels closer. Then, the docking anchor is guided through the horn-shaped docking slot, automatically correcting the relative attitude of the two vessels.

[0033] S300: When the flexible connection is completed and the two hulls are close together, the docking hook extends from the B ship. After the wedge-shaped buckle pops out naturally and approaches the mother ship, the docking hook contacts the trumpet-shaped docking groove on the surface of the mother ship. The winch provides tension through the wire rope to change the relative position of the two hulls. The docking hook slides in the trumpet-shaped docking groove of the mother ship through its head ball until it reaches the lowest position. The docking hook continues to extend its bullet-shaped head into the same groove at the bottom of the docking groove. The wedge-shaped buckle is compressed and shrinks until the docking bar is fully inserted. After that, the buckle pops out to achieve self-locking. The anchoring connection of the two ships is achieved by tightening the docking bar.

[0034] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0035] 1. In the device of the present invention, after the two hulls initially enter the predetermined position, the composite scissor fork mechanism of the mother ship, with the cooperation of the winch, lifts the steel wire rope to the predetermined docking position and opens at the end to form sufficient docking space. The docking hook of the B ship rotates out and approaches the steel wire rope, hooks it, and retracts and locks it. The composite scissor fork mechanism retracts, and the winch provides power through the steel wire rope to bring the two ships closer. Subsequently, the docking anchor is guided by the horn-shaped docking groove, automatically correcting the relative attitude of the two ships. Finally, after entering the accurate docking position, the docking anchor realizes the anchoring and docking of the two ships. This solves the technical problems of high-precision docking in the prior art, such as complex equipment and difficult equipment installation, high cost, reliance on large positioning devices and inability to meet the docking requirements of hulls of various sizes.

[0036] 2. The device of the present invention, with a scissor fork and crank rocker mechanism, realizes a single-drive, large-stroke lifting motion, which has the advantages of simple operation and reliable motion. Through the power tensioning component, it realizes the tensioning and retraction of the wire rope, has a large docking space between the wire rope and the docking hook, and has a certain stroke, docking redundancy and stiffness against ocean disturbance.

[0037] 3. The device of the present invention employs mechanical self-locking in multiple places. The self-locking and buffering mechanisms ensure the reliability and high flexibility of the docking. The docking locking assembly realizes the pulling and locking of the wire rope. The use of multiple locking devices ensures reliability. The wire rope connection has high flexibility and will not cause damage to the ship's mechanical parts.

[0038] 4. The device of this invention achieves a rigid connection between hulls through the anchoring and positioning components, possessing a certain degree of precision and redundancy. The attitude of hull B can be adjusted by the contact between the docking anchor bolts and the docking slots, making the docking more stable.

[0039] 5. The device of the present invention changes the direction of the wire rope from horizontal to the extension and retraction direction of the scissor fork. The scissor fork is arranged in an inward retracting manner. A fixed motor drives the lead screw to raise and lower the traction slider. During the movement, the clamping wheel handle rises from a near-horizontal position to a position perpendicular to the installation plane, realizing a larger docking space between the wire rope and the docking hook, and reducing the collision between the docking hook and the scissor fork connecting rod during the docking process. The wire rope is located in the center plane of the clamping wheel. The scissor fork moves upward in conjunction with the winch to force the wire rope and press the slider inside the clamping wheel. The slider retracts inward to compress the spring until the wire is inserted into the clamping wheel, and then the slider returns to its original position to prevent the wire from slipping out.

[0040] 6. In the device of the present invention, the groove surface of the groove slider and the corresponding contact surface of the docking hook have the same curvature, which can achieve contact with less resistance, which is conducive to the smooth pressing back and popping out of the slider. At the same time, the bottom surface of the groove slider is horizontal, and it can self-lock after pressing the head of the docking hook, so that it will not be pressed back again and cause the docking hook to be dislodged by force.

[0041] 7. In the method of the present invention, the docking rod extends from ship B when the flexible connection is completed and the two hulls are close together. The wedge-shaped buckle pops out naturally. After approaching the mother ship, the docking rod contacts the funnel-shaped docking groove on the surface of the mother ship's hull. The winch provides tension through the wire rope, changing the relative position of the two hulls. The docking bar slides in the funnel-shaped docking groove of the mother ship's hull by the ball bearing at its head until it reaches the lowest position. The docking bar continues to extend, and the bullet-shaped head extends into the corresponding groove at the bottom of the docking groove. The wedge-shaped buckle contracts under the pressure. After the docking bar is fully extended, the buckle pops out, achieving self-locking. The anchoring connection of the two ships is achieved by tightening the docking rod. This method can adapt to docking situations of hulls of different sizes. It has a wide range of adaptability and low requirements for the positioning accuracy of the docking mechanism. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of a lifting-type adaptive underwater docking device according to an embodiment of the present invention;

[0043] Figure 2 This is an isometric view of hull A in an embodiment of the present invention;

[0044] Figure 3 This is an isometric view of hull B in an embodiment of the present invention;

[0045] Figure 4 This is a top view of the docking process between hull A and hull B in an embodiment of the present invention;

[0046] Figure 5 This is a partial enlarged view of the composite scissor fork according to an embodiment of the present invention;

[0047] Figure 6 This is a side view of the composite scissor fork according to an embodiment of the present invention;

[0048] Figure 7 This is a side view of the hoisting system according to an embodiment of the present invention;

[0049] Figure 8 This is an isometric view of the wire rope clamping wheel according to an embodiment of the present invention;

[0050] Figure 9 This is a top view of the wire rope clamping wheel according to an embodiment of the present invention;

[0051] Figure 10 This is a cross-sectional view of the wire rope clamping wheel of the present invention;

[0052] Figure 11 This is an isometric view of the docking hook clamping device of the present invention;

[0053] Figure 12 This is a partially enlarged view of the docking hook clamping device of the present invention;

[0054] Figure 13 For the implementation of this invention Figure 12 A magnified view of a portion of the image;

[0055] Figure 14 This is a partial view of the docking hook clamping device of the present invention;

[0056] Figure 15 This is a partial view of the locking device in the docking hook clamping device of the present invention;

[0057] Figure 16 This is a partial view of the head of the rigid anchoring structure implemented in this invention;

[0058] Figure 17 This is a cross-sectional view of the docking groove of the present invention.

[0059] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-scissor fork mechanism, 11-first link, 12-second link, 13-third link, 14-clamping wheel handle, 15-scissor fork base, 16-traction slider, 17-lead screw, 18-motor, 2-wire rope clamping wheel, 21-arc slider, 22-spring, 23-circular base, 24-fixed pulley, 3-hoisting system, 31 - Winch, 32- Steering pulley block, 4- Dating groove, 5- Dating hook clamping device, 51- Worm gear, 52- Dating hook, 53- Pressure wheel, 54- Pressure wheel seat, 55- Pipe sleeve, 56- Telescopic rod, 57- Guide frame, 58- Clamping spring, 59- Groove slider; 6- Rigid anchoring structure, 61- Dating anchor rod, 62- Snap-on slider, 63- Ball bearing, 64- Anchoring spring, 7- Mother ship, 8- B ship. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0061] like Figure 1-3 As shown, this embodiment of the invention provides an underwater vehicle automatic attitude correction and precise anchoring docking equipment, which includes a power tensioning assembly mounted on a mother ship 7, a docking locking assembly mounted on both the mother ship 7 and a B ship 8, and an anchoring positioning assembly mounted on the B ship 8. The power tensioning assembly includes a scissor fork mechanism 1 and a matching winch system 3. The docking locking assembly includes a docking groove 4 and a wire rope clamping wheel 2 mounted on the mother ship 7, and a docking hook clamping device 5 mounted on the B ship 8. The anchoring positioning assembly includes a rigid anchoring structure 6 mounted on the B ship 8. The scissor fork mechanism 1 and the winch system 3 are mounted on the platform of the mother ship 7. The wire rope clamping wheel 2 is mounted at the end of the scissor fork mechanism 1. The docking groove 4 is located on both sides of the platform of the mother ship 7. The docking hook clamping device 5 is mounted on the platform of the B ship 8. The rigid anchoring structure 6 is located on both sides of the platform of the B ship 8, corresponding exactly to the docking groove 4, thus providing a rigid connection between the mother ship 7 and the B ship 8. In the device of this invention, after the two hulls initially enter the predetermined position, the composite scissor fork mechanism of the mother ship, with the cooperation of the winch, lifts the steel wire rope to the predetermined docking position and opens at the end to form sufficient docking space. The docking hook of the B ship rotates out and approaches the steel wire rope, hooks it, and retracts and locks it. The composite scissor fork mechanism retracts, and the winch provides power through the steel wire rope to bring the two ships closer. Subsequently, the docking anchor is guided by the horn-shaped docking groove, automatically correcting the relative attitude of the two ships. Finally, after entering the accurate docking position, the docking anchor realizes the anchoring and docking of the two ships. This solves the technical problems of high-precision docking in the prior art, such as complex equipment and difficult equipment installation, high cost, reliance on large positioning devices and inability to meet the docking requirements of hulls of various sizes.

[0062] like Figure 4-6As shown, in an embodiment of the present invention, the power stretching assembly includes a scissor fork mechanism 1 and a matching winch system 3. The scissor fork mechanism 1 is a double-sided scissor fork that tapers inward towards the center, including a first connecting rod 11, a second connecting rod 12, a third connecting rod 13, a clamping wheel handle 14, a scissor fork base 15, a traction slider 16, a lead screw 17, and a motor 18. The traction slider 16 has a through hole in its center, containing an internal thread, which connects to the lead screw 17. The traction slider 16 has protruding guide rods on both sides, which can slide along the grooves on the scissor fork base 15. One end of the lead screw 17 is connected to the motor. When the motor operates, it drives the lead screw to rotate, thereby moving the slider on it, thus extending the scissor fork and giving it a certain stroke. The front end of the scissor fork has a specific linkage mechanism that allows the clamping wheels to open at a certain angle. The distance between the two clamping wheels is approximately one meter, which can effectively capture the hook.

[0063] like Figure 7 As shown, in an embodiment of the present invention, the winch system 3 includes a pair of centrally symmetrical winches 31 and a steering pulley group 32. The winch system 3 is centrally symmetrically arranged about the scissor fork base 15. The steering pulley group 32 consists of two mutually perpendicular fixed pulleys, changing the direction of the wire rope from horizontal to the extension and retraction direction of the scissor fork. The scissor fork is arranged in an inward retracting manner. A fixed motor drives the lead screw to raise and lower the traction slider. During the movement, the clamping wheel handle rises from a near-horizontal position to a position perpendicular to the installation plane, achieving a larger docking space between the wire rope and the docking hook, and reducing the collision between the docking hook and the scissor fork connecting rod during docking. The wire rope is located in the central plane of the clamping wheel. The scissor fork moves upward in conjunction with the winch to force the wire rope and press the slider inside the clamping wheel. The slider retracts inward to compress the spring until the wire rope is engaged with the clamping wheel, after which the slider returns to its original position to prevent the wire rope from slipping out. The overall lifting mechanism occupies little space during underwater docking.

[0064] like Figure 8-10 As shown, in an embodiment of the present invention, the wire rope clamping wheel 2 includes an arc-shaped slider 21, a spring 22, a circular base 23, and a fixed pulley 24. The circular base 23 is fixed on both sides of the clamping wheel handle 14 and has a slide rail for the arc-shaped slider 21 to slide. The arc-shaped slider 21 and the circular base 23 are connected by the spring 22. When the wire rope is tightened by the hoisting system 3, the wire rope exerts a force on the arc-shaped slider 21, causing the spring 22 to compress and the arc-shaped slider 21 to slide. After the wire rope enters the wire rope clamping wheel 2, the spring 22 and the arc-shaped slider 21 return to their initial positions, thus limiting the movement of the wire rope.

[0065] like Figure 11-15As shown, in an embodiment of the present invention, the docking hook clamping device 5 includes a worm gear 51, a docking hook 52, a pressure wheel 53, a pressure wheel seat 54, a sleeve 55, a telescopic rod 56, a guide frame 57, a clamping spring 58, and a grooved slider 59. The clamping rollers 53 and clamping roller boxes are symmetrically distributed at the head of the docking hook 52. When the docking hook 52 falls to the end position, the axis of the fixed clamping roller is in the same horizontal plane as the axis of the clamping roller arranged at the head of the docking hook 52. The clamping spring 58 is concentrically arranged with the movable frame column. The docking hook 52 is generally smooth and curved, with a large-radius arc-shaped component at the top, which can contact the wire rope over a large range, improving the success rate of docking when there is slight movement between the two hulls and expanding the working range of the docking device. The lower part is fixedly connected to the worm gear 51 shaft. The clamping roller is installed at the point of maximum curvature at the head of the docking hook 52, ensuring that the wire rope slides naturally to the top of the clamping roller after entering. Sloping baffles are arranged on both sides of the locking device to prevent the wire rope from being hooked when sliding on the hull surface. Furthermore, the docking locking mechanism is located inside the hull and protected by a hatch. The recessed arrangement of the overall mechanism prevents it from affecting the normal navigation function of the hull. Furthermore, in the locking device, the protruding post at one end of the telescopic rod 56 is tangentially contacted with the sliding groove and the spiral groove of the rotating sleeve on the mounting base, while the other end is fixedly connected to the guide frame 57. When the docking is disengaged, the motor 18 drives the sleeve 55 to rotate, the telescopic rod 56 retracts, and the groove slider 59 moves backward, releasing the docking hook 52. The groove surface of the groove slider 59 has the same curvature as the corresponding contact surface of the docking hook 52, which can achieve contact with less resistance, which is conducive to the smooth pressing back and ejection of the slider. At the same time, the bottom surface of the groove slider is horizontal, and after pressing the head of the docking hook, it can self-lock, preventing it from being pressed back again and causing the docking hook to be disengaged by force.

[0066] like Figure 16-17 As shown, in an embodiment of the present invention, the anchoring and positioning assembly includes a bullet-shaped telescopic docking rod, a wedge-shaped buckle, a hydraulic device, and a trumpet-shaped docking groove. The rigid anchoring structure 6 includes a docking anchor rod 61, a buckle slider 62, a ball bearing 63, and an anchoring spring 64. The head of the docking anchor rod 61 is bullet-shaped and connected to the ball bearing 63. There are three slots distributed along the circumferential direction on both sides of the head, which are connected to the limiting slider 62 through the anchoring spring 64. When the mother ship 7 docks with the B ship 8, the rigid anchoring structure 6 extends. Under the action of the winch system 3, the distance between the mother ship 7 and the B ship 8 is reduced, and the docking anchor rod 61 contacts the docking groove 4. When it is pulled closer, the ball bearing 63 moves along the surface of the docking groove 4. When the ball bearing 63 contacts the docking groove 4, under the action of force, the ball bearing 63 enters the slot along the inclined surface, and the anchoring spring 64 begins to contract until the head of the docking anchor rod 61 is fully entered into the slot. The anchoring spring 64 returns to its original shape. At this time, the top of the buckle slider 62 contacts the mother ship 7, which plays the role of rigid connection.

[0067] In another embodiment of the present invention, a method for automatic attitude correction and precise anchoring and docking of underwater vehicles is provided, comprising the following steps:

[0068] S100: After the two hulls initially enter the predetermined position, the scissor fork mechanism on the mother ship, with the cooperation of the winch system, lifts the steel wire rope to the predetermined docking position and opens at the end to form sufficient docking space.

[0069] S200: After the docking hook of vessel B rotates out and approaches the wire rope, it hooks and retracts and locks. The composite scissor fork mechanism retracts, and the winch provides power through the wire rope to bring the two vessels closer. Then, the docking anchor is guided through the horn-shaped docking slot, automatically correcting the relative attitude of the two vessels.

[0070] S300: When the flexible connection is completed and the two hulls are close together, the docking hook extends from the B ship. After the wedge-shaped buckle pops out naturally and approaches the mother ship, the docking hook contacts the trumpet-shaped docking groove on the surface of the mother ship. The winch provides tension through the wire rope to change the relative position of the two hulls. The docking hook slides in the trumpet-shaped docking groove of the mother ship through its head ball until it reaches the lowest position. The docking hook continues to extend its bullet-shaped head into the same groove at the bottom of the docking groove. The wedge-shaped buckle is compressed and shrinks until the docking bar is fully inserted. After that, the buckle pops out to achieve self-locking. The anchoring connection of the two ships is achieved by tightening the docking bar.

[0071] In this invention, the docking rod extends from ship B when the flexible connection is completed and the two hulls are close together. The wedge-shaped latch pops out naturally. After approaching the mother ship, the docking rod contacts the trumpet-shaped docking groove on the surface of the mother ship's hull. The winch provides tension through a steel wire rope, changing the relative position of the two hulls. The docking bar slides within the trumpet-shaped docking groove on the mother ship's hull by the ball bearing at its head until it reaches its lowest position. The docking bar continues to extend, and the bullet-shaped head extends into the corresponding groove at the bottom of the docking groove. The wedge-shaped latch contracts under pressure until the docking bar is fully inserted, at which point the latch pops out, achieving self-locking. The anchoring connection of the two ships is achieved by tightening the docking rod. This method can adapt to docking situations of hulls of different sizes. It has a wide range of adaptability and low requirements for the positioning accuracy of the docking mechanism.

[0072] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An underwater vehicle automatic posture correction precision anchoring docking equipment, characterized in that, The utility model relates to a kind of ship docking system, including: Power stretching assembly arranged on mother ship (7), the power stretching assembly includes scissor fork mechanism (1) installed on the platform of the mother ship (7) and matching winch system (3) arranged with it, Butt joint locking assembly arranged on mother ship (7) and B ship (8), the butt joint locking assembly includes butt joint slot (4) and steel wire rope clamping wheel (2) arranged on the mother ship (7), and butt joint hook clamping device (5) arranged on the B ship (8), the butt joint hook clamping device (5) includes butt joint hook (52), the mother ship (7) is lifted steel wire rope to predetermined butt joint position under the cooperation of the scissor fork mechanism (1) and winch system (3), and forms enough butt joint space after end opening; And anchor fixing position assembly arranged on B ship (8), the anchor fixing position assembly includes rigid anchoring structure (6) arranged on B ship (8) and matching the butt joint slot (4), the rigid anchoring structure (6) includes butt joint anchor rod (61), the B ship (8) butt joint hook (52) turns out and is close to steel wire rope after hooking up and locking back, the scissor fork mechanism (1) is retracted, and two ships are close by winch system (3) through steel wire rope power supply, and subsequently through horn-shaped butt joint slot (4) induction butt joint anchor rod (61) automatically corrects two ships relative attitude, finally enters accurate butt joint position by butt joint anchor rod (61) and realizes two ships anchoring butt joint; The scissor fork mechanism (1) includes scissor fork base (15); First connecting rod (11), second connecting rod (12) and third connecting rod (13) are arranged on the scissor fork base (15) and connected with each other, Clamping wheel handle (14) connected with the first connecting rod (11) and the third connecting rod (13); The first connecting rod (11), the second connecting rod (12), the third connecting rod (13) and the clamping wheel handle (14) jointly constitute a double-side scissor fork structure that is inwardly retracted to the center; The steel wire rope clamping wheel (2) includes circular base (23) fixed on both sides of the clamping wheel handle (14), and the circular base (23) is provided with a slide way; The steel wire rope clamping wheel (2) includes arc-shaped sliding block (21) arranged in the slide way and slidable along the slide way; The arc-shaped sliding block (21) is connected with the circular base (23) through a spring (22); The steel wire rope clamping wheel (2) includes a fixed pulley (24) arranged in the circular base (23); The anchor fixing position assembly includes butt joint anchor rod (61), buckle sliding block (62), hydraulic device, horn-shaped butt joint slot (4) and rigid anchoring structure (6); The rigid anchoring structure (6) includes buckle sliding block (62) and anchoring spring (64) connected with the butt joint anchor rod (61); The head of the butt joint anchor rod (61) is bullet-shaped and connected with a ball (63), and both sides of the head are provided with slots distributed in the circumferential direction, and are connected with the buckle sliding block (62) through the anchoring spring (64).

2. The automatic posture correcting and precision anchoring docking equipment for underwater vehicles according to claim 1, characterized in that, The scissor fork mechanism (1) includes lead screw (17) dynamically connected with the double-side scissor fork structure.

3. The automatic posture correcting and precision anchoring docking equipment for underwater vehicles according to claim 2, characterized in that, The scissor fork mechanism (1) includes traction sliding block (16) connected with the lead screw (17).

4. The automatic posture correcting and precision anchoring docking equipment for underwater vehicles according to claim 3, characterized in that, The scissor fork mechanism (1) comprises a motor (18) connected with the traction sliding block (16).

5. The automatic posture correcting and precision anchoring docking equipment for underwater vehicles according to claim 4, characterized in that, The docking hook clamping device (5) comprises a guide frame (57), and a groove sliding block (59) elastically connected with the guide frame (57) through a clamping spring (58).

6. The automatic posture correcting and precision anchoring docking equipment for underwater vehicles according to claim 5, characterized in that, The docking hook clamping device (5) comprises a pressing wheel seat (54) fixedly connected with the guide frame (57), and a pressing wheel (53) matched with the pressing wheel seat (54).

7. The automatic posture correcting and precision anchoring docking equipment for underwater vehicles according to claim 6, characterized in that, The docking hook clamping device (5) comprises a docking hook (52) connected with the pressing wheel (53), and a worm gear (51) movably connected with the docking hook (52). The docking hook (52) is in a smooth curve shape as a whole, and the upper part is an arc part with a large radius, which can contact with the steel wire rope in a large range.

8. The automatic posture correcting and precision anchoring docking equipment for underwater vehicles according to claim 7, characterized in that, The docking hook clamping device (5) comprises a pipe sleeve (55) arranged at one end of the guide frame (57). A telescopic rod (56) connected with the pipe sleeve (55); The motor (18) drives the pipe sleeve (55) to rotate, and the telescopic rod (56) is retracted to drive the groove sliding block (59) to retreat and release the docking hook (52).

9. The automatic posture correcting and precision anchoring docking equipment for underwater vehicles according to claim 8, characterized in that, The winch system (3) comprises a pair of center-symmetrical winches (31) and a steering pulley block (32).

10. An underwater vehicle automatic posture correction precision anchoring docking method, characterized in that, The application of the underwater vehicle automatic posture correction and precise anchoring docking equipment according to any one of claims 1-9 comprises the following steps: S100: After the two hulls preliminarily enter the predetermined position, the scissor fork mechanism on the mother ship is lifted by the winch system to the predetermined docking position, and is opened at the end to form sufficient docking space; S200: After the docking hook of the B ship is turned out and approaches the steel wire rope, it is hooked and retracted to lock, the compound scissor fork mechanism is retracted, the two ships are approached by the winch through the steel wire rope, and then the docking anchor rod is induced through the horn-shaped docking groove to automatically correct the relative posture of the two ships; S300: The docking hook is extended from the B ship when the flexible connection is completed and the two hulls approach, the buckle sliding block is naturally popped out to approach the mother ship, the docking anchor rod contacts with the horn-shaped docking groove on the surface of the mother ship, the relative position of the two hulls is changed by the pulling force of the winch through the steel wire rope, the docking anchor rod slides in the horn-shaped docking groove of the mother ship through the head ball, the bullet-shaped head of the docking anchor rod is inserted into the bottom of the docking groove, the buckle sliding block is squeezed to contract to the rigid anchoring structure, the buckle is popped out to realize self-locking, and the two ships are anchored and connected by tightening the rigid anchoring structure.

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