Active docking device for underwater unmanned vehicle and underwater unmanned vehicle

Abstract

The present invention provides an underwater unmanned vehicle active docking device and an underwater unmanned vehicle, comprising a fixed base, a clamping claw chain, a lifting chain and a clamping platform; both the claw chain and the lifting chain are installed on the fixed base and can rotate around the central axis of the fixed base; both the claw chain and the lifting chain include a stacked parallelogram mechanism; the clamping platform is connected to the claw chain and the lifting chain respectively along the circumferential direction, and the end clamping assembly of the claw chain, the end lifting assembly of the lifting chain and the clamping platform cooperate to clamp the underwater unmanned vehicle. The present invention uses a nine-degree-of-freedom kinematic redundant parallel mechanism, which has a compact structure, good storage, high rigidity, high precision, high load capacity and other advantages, has good dynamic performance, is helpful to improve the motion accuracy and response speed of the underwater active docking device, is helpful to expand the working space, and thus is helpful to improve the operating efficiency of the underwater unmanned vehicle.

Description

Technical Field

[0001] The present invention relates to the field of underwater robots, and in particular to an active docking device for an underwater unmanned vehicle and an underwater unmanned vehicle. Background Art

[0002] The current bottleneck limiting the application of underwater unmanned vehicles is the underwater deployment and recovery of unmanned vehicles. After completing the mission, underwater unmanned vehicles need to return to the base station or mother ship regularly for recharging, equipment maintenance and data export. Due to the complex dynamic environment on the surface and underwater, underwater unmanned vehicles are subject to more interference during the recovery process, the positioning of the device is difficult, the success rate is low, and the manual recovery method increases the risk of life of the operator. These problems greatly limit the operating range of underwater unmanned vehicles and increase operating costs.

[0003] The existing underwater vehicle recovery method is mainly based on passive recovery, that is, the underwater vehicle docks with the recovery device through autonomous navigation. Due to the complex underwater dynamic environment and many interference factors, the computing performance of the onboard control equipment of the underwater unmanned vehicle is limited, and the unmanned vehicle's own propeller has poor attitude adjustment ability at slow speed. The docking method that relies on the unmanned vehicle's own movement has problems such as low docking accuracy, low success rate, and low automation level. The performance advantages of the control equipment of the underwater docking platform and the mother ship have not been brought into play. The existing active docking device needs to install a drive motor at the docking grasping device, which increases the mass and inertia of the overall structure of the gripper, increases the difficulty of waterproof sealing of the docking device, reduces the motion accuracy, and cannot achieve flexible tracking and capture of the unmanned vehicle in the underwater environment. It is urgent to develop a platform active capture docking technology with high motion performance and high precision to significantly improve deep-sea exploration and ocean-going combat capabilities.

[0004] The existing Chinese patent with publication number CN114394215A discloses a docking mechanism for actively capturing underwater submersibles and its working method, which belongs to the field of underwater docking technology and achieves the purpose of actively capturing underwater submersibles. The main features of the mechanism include: a clamping module, a six-degree-of-freedom parallel robot, an underwater base, a control module and a positioning module; the control module is connected to the six-degree-of-freedom parallel robot, the six-degree-of-freedom parallel robot is connected to the underwater base, a battery is provided on the underwater base, the battery is connected to the positioning module, the top of the six-degree-of-freedom parallel robot is connected to the clamping module, and the clamping module moves synchronously with the six-degree-of-freedom parallel robot through the control module; the positioning module can obtain the posture information of the underwater submersible, so that the control module controls the posture of the gripper accordingly to achieve the capture and energy replenishment of the underwater submersible.

[0005] The existing Chinese patent with publication number CN106741758B discloses an underwater docking mechanism with high redundancy, which belongs to the field of underwater docking technology and achieves the purpose of reducing the relative position and attitude error between the docking platform and the navigation equipment. The main features of the mechanism include: two docking sleeves and a driving mechanism, the two docking sleeves are installed at the end of the underwater operation driving mechanism, the two docking sleeves are connected to the driving mechanism through a connecting rod, the driving mechanism moves with the underwater moving body to approach the docking handle, and the driving mechanism drives the openings of the two docking sleeves to form a closed posture to capture the docking handle; when the docking sleeve reaches the relative position range with the docking handle under the drive mechanism, the two docking sleeves are relatively closed; when the inner wall of the sleeve opening of the docking sleeve contacts the edge of the handle body of the docking handle, the arc edge of the handle body will slide on the arc inner wall or the inclined inner wall of the sleeve opening and be introduced into the notch at the bottom of the sleeve opening.

[0006] The inventors believe that the docking methods in the prior art have problems such as low docking accuracy, low success rate, and low automation level. It is necessary to provide an underwater unmanned vehicle active docking device that can improve the motion accuracy and carrying capacity of the underwater unmanned vehicle active docking mechanism and can capture the underwater unmanned vehicle at any angle in the horizontal direction. Summary of the invention

[0007] In view of the defects in the prior art, an object of the present invention is to provide an active docking device for an underwater unmanned vehicle and an underwater unmanned vehicle.

[0008] According to the present invention, an active docking device for an underwater unmanned vehicle includes: a fixed base, a clamping claw branch chain, a lifting branch chain and a clamping platform; both the clamping claw branch chain and the lifting branch chain are installed on the fixed base and can rotate around the central axis of the fixed base; both the clamping claw branch chain and the lifting branch chain include a stacked parallelogram mechanism, and the end clamping component of the clamping claw branch chain and the end lifting component of the lifting branch chain are connected to the stacked parallelogram mechanism through a ball pair; the clamping platform is connected to the clamping claw branch chain and the lifting branch chain respectively along the circumferential direction, and the end clamping component of the clamping claw branch chain, the end lifting component of the lifting branch chain and the clamping platform cooperate to clamp the underwater unmanned vehicle.

[0009] Preferably, the fixed base includes a bottom base and a plurality of branch chain rotation drive devices, wherein the plurality of branch chain rotation drive devices are respectively installed on the bottom base through a center sleeve assembly and are rotationally matched with the bottom base; the axes of the motion output shafts of the plurality of branch chain rotation drive devices are all located on the center axis of the bottom base.

[0010] Preferably, two clamping claw branch chains are provided, and one lifting branch chain is provided, and the branch chain rotation driving device includes an upper branch chain rotation driving device, a middle branch chain rotation driving device, and a lower branch chain rotation driving device; the bottom of the lifting branch chain is fastened to the top of the upper branch chain rotation driving device; the bottoms of the two clamping claw branch chains are respectively fastened to the tops of the middle branch chain rotation driving device and the lower branch chain rotation driving device.

[0011] Preferably, the clamping claw branch chain includes a first branch chain rotating assembly, a first stacked parallelogram mechanism rotating driving device, a first stacked parallelogram mechanism and an end clamping claw; the first branch chain rotating assembly is tightly connected to the fixed base, and two of the first stacked parallelogram mechanism rotating driving devices are installed on both sides of the first branch chain rotating assembly; the bottom of the first stacked parallelogram mechanism is connected to the rotational motion output shafts of the two first stacked parallelogram mechanism rotating driving devices; the end clamping claw is connected to the top end of the first stacked parallelogram mechanism through a ball pair.

[0012] Preferably, the lifting branch chain includes a second branch chain rotating assembly, a second stacked parallelogram mechanism rotating driving device, a second stacked parallelogram mechanism and an end lifting assembly; the second branch chain rotating assembly is fastened to the fixed base, and two second stacked parallelogram mechanism rotating driving devices are installed on both sides of the second branch chain rotating assembly; the bottom of the second stacked parallelogram mechanism is connected to the rotational motion output shafts of the two second stacked parallelogram mechanism rotating driving devices; the end lifting assembly is connected to the top end of the second stacked parallelogram mechanism through a ball joint.

[0013] Preferably, the clamping platform is respectively connected to the end clamping claw and the end lifting assembly via a rotating joint, and the rotating joint includes a hinge.

[0014] Preferably, a lifting frame and an electromagnetic magnetic attraction device are provided on the clamping platform, and the clamping platform includes a hollow plate.

[0015] Preferably, the lifting frames include V-shaped frames, and the number of the lifting frames is greater than or equal to.

[0016] Preferably, the stacked parallelogram mechanism comprises one or more parallelogram linkage mechanisms.

[0017] An underwater unmanned vehicle provided by the present invention can be captured by the above-mentioned underwater unmanned vehicle active docking device.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention uses a nine-degree-of-freedom kinematic redundant parallel mechanism, which has a compact structure, good storage, high rigidity, high precision, high load capacity and the like, and has good dynamic performance, which helps to improve the motion accuracy and response speed of the underwater active docking device, helps to expand the working space, and thus helps to improve the operating efficiency of the underwater unmanned vehicle.

[0020] 2. The present invention can realize infinite rotation of the clamping platform by utilizing its coaxial three-branch rotation drive device, so that the active docking device of the underwater unmanned vehicle can be aligned with the underwater unmanned vehicle at any angle in the horizontal direction, thereby having a large working space.

[0021] 3. The present invention controls the opening and closing degree of the end clamping claws and the pitch angle of the clamping platform by utilizing the redundant three degrees of freedom, thereby reducing the inertia of the top of the docking mechanism and improving the response speed and accuracy of the active docking device of the underwater unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1 This is a schematic diagram of the overall structure of the active docking device for underwater unmanned vehicles mainly embodied in the present invention;

[0024] Figure 2 This is a schematic diagram of the overall structure of the fixed base mainly embodied in the present invention;

[0025] Figure 3 This is a schematic diagram of the overall structure of the clamping claw branch chain mainly embodied in the present invention;

[0026] Figure 4 It is a schematic diagram of the overall structure of the lifting branch chain mainly embodied in the present invention.

[0027] As shown in the figure:

[0028] Fixed base 1 Upper branch chain rotation drive device 11

[0029] Middle branch chain rotation drive device 12 Lower branch chain rotation drive device 13

[0030] Bottom base 14 Clamping claw branch chain 2

[0031] First branch chain rotating assembly 21 First stacked parallelogram mechanism rotating driving device 22

[0032] First stacked parallelogram mechanism 23 End clamping claw 24

[0033] Lifting branch chain 3 Second stacked parallelogram mechanism rotation drive device 32

[0034] Second branch chain rotating assembly 31 Second stacked parallelogram mechanism 33

[0035] End support frame 34 Clamping platform 4 DETAILED DESCRIPTION

[0036] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0037] Example 1

[0038] like Figure 1 As shown, an active docking device for an underwater unmanned vehicle provided according to the present invention includes: a fixed base 1, a clamping claw branch chain 2, a lifting branch chain 3 and a clamping platform 4; the clamping claw branch chain 2 and the lifting branch chain 3 are both installed on the fixed base 1 and can rotate around the central axis of the fixed base 1; the clamping claw branch chain 2 and the lifting branch chain 3 both include a stacked parallelogram mechanism, and the end clamping component of the clamping claw branch chain 2 and the end lifting component of the lifting branch chain 3 are connected to the stacked parallelogram mechanism through a ball pair; the clamping platform 4 is connected to the clamping claw branch chain 2 and the lifting branch chain 3 along the circumferential direction, respectively, and the end clamping component of the clamping claw branch chain 2, the end lifting component of the lifting branch chain 3 and the clamping platform 4 cooperate to clamp the underwater unmanned vehicle.

[0039] The fixed base 1 is installed on the seabed, the bottom of a large underwater vehicle, a surface ship or an underwater floating platform. The nine-degree-of-freedom redundant parallel mechanism of the present application achieves the omnidirectional attitude adjustment capability of the active docking platform, the infinite rotation capability of the clamping platform 4 and the remote driving capability of the end clamping claw 24. The lifting branch chain 3 and the clamping platform 4 realize the active capture and charging of the underwater vehicle through relative movement, which improves the motion accuracy and response speed of the underwater active docking device, expands the working space, and improves the operating efficiency of the underwater unmanned vehicle.

[0040] like Figure 2 As shown, the fixed base 1 includes a bottom base 14 and a plurality of branch chain rotation drive devices, wherein the plurality of branch chain rotation drive devices are respectively installed on the bottom base 14 through a center sleeve assembly and are rotationally matched with the bottom base 14; the axes of motion output shafts of the plurality of branch chain rotation drive devices are all located on the center axis of the bottom base 14.

[0041] This application takes the example that two clamping claw chain branches 2 are provided and one lifting chain branch 3 is provided. Accordingly, the chain branch rotation drive device includes an upper chain branch rotation drive device 11, a middle chain branch rotation drive device 12, and a lower chain branch rotation drive device 13. The upper chain branch rotation drive device 11, the middle chain branch rotation drive device 12, and the lower chain branch rotation drive device 13 are kept in relative rotation with the bottom base 14 through a center sleeve. The bottom of the lifting chain branch 3 is tightly connected to the top of the upper chain branch rotation drive device 11; the bottoms of the two clamping claw chain branches 2 are tightly connected to the tops of the middle chain branch rotation drive device 12 and the lower chain branch rotation drive device 13, respectively.

[0042] like Figure 3 As shown, the clamping claw branch chain 2 includes a first branch chain rotating component 21, a first stacked parallelogram mechanism rotating drive device 22, a first stacked parallelogram mechanism 23 and an end clamping claw 24; the first branch chain rotating component 21 is tightly connected to the fixed base 1, and two first stacked parallelogram mechanism rotating drive devices 22 are installed on both sides of the first branch chain rotating component 21; the bottom of the first stacked parallelogram mechanism 23 is connected to the rotational motion output shafts of the two first stacked parallelogram mechanism rotating drive devices 22; the end clamping claw 24 is connected to the top end of the first stacked parallelogram mechanism 23 through a ball pair.

[0043] like Figure 4 As shown, the lifting branch chain 3 includes a second branch chain rotating assembly 31, a second stacked parallelogram mechanism rotating driving device 32, a second stacked parallelogram mechanism 33 and an end lifting frame 34; the second branch chain rotating assembly 31 is fastened to the fixed base 1, and two second stacked parallelogram mechanism rotating driving devices 32 are installed on both sides of the second branch chain rotating assembly 31; the bottom of the second stacked parallelogram mechanism 33 is connected to the rotational motion output shafts of the two second stacked parallelogram mechanism rotating driving devices 32; the end lifting frame 34 is connected to the top end of the second stacked parallelogram mechanism 33 through a ball pair.

[0044] The ball joint includes a spherical joint or a compound spherical joint in which three vertical rotation axes intersect at a point.

[0045] The branch chain rotation drive device and the stacked parallelogram mechanism rotation drive device are one of a rotary motor and a hydraulic motor. The branch chain rotation drive device and the stacked parallelogram mechanism rotation drive device are servo motor systems including a reducer. The output shaft of the reducer is connected to the branch chain rotation assembly and the stacked parallelogram mechanism through a coupling.

[0046] The stacked parallelogram mechanism includes one or more parallelogram linkage mechanisms. The parallelogram linkage mechanism includes a bottom bar, a top bar and two side bars, which are connected to each other through a rotating joint to form a closed-loop mechanism; the bottom bar and the top bar are parallel to each other, and the two side bars are parallel to each other; when the number of parallelogram linkage mechanisms in the stacked parallelogram mechanism is greater than or equal to 2, in two adjacent parallelogram linkage mechanisms, the top bar of the parallelogram linkage located at the bottom is fixedly connected to the bottom bar of the parallelogram linkage located at the top as the same rod, and one of the side bars of the parallelogram linkage located at the bottom is fixedly connected to one of the side bars of the parallelogram linkage located at the top as the same rod. The end lifting frame 34 of the lifting branch chain 3 is connected to the top side rod of the parallelogram linkage mechanism at the top of the second stacked parallelogram mechanism 33 through a ball joint; the end clamping claw 24 of the clamping claw branch chain 2 is connected to the top side rod of the parallelogram linkage mechanism of the first stacked parallelogram mechanism 23 through a ball joint.

[0047] In the present application, the stacked parallelogram mechanism includes two parallelogram linkage mechanisms, namely, a parallelogram linkage mechanism located at the bottom and a parallelogram linkage mechanism located at the top. The branch chain rotating assembly is connected to the bottom side rod of the parallelogram linkage mechanism located at the bottom through a rotating joint, and the branch chain rotating assembly is connected to one of the side rods of the parallelogram linkage mechanism located at the bottom through a rotating joint. The top side rod of the parallelogram linkage mechanism located at the bottom and the bottom side rod of the parallelogram linkage mechanism located at the top are the same rod.

[0048] The clamping platform 4 is connected to the end clamping claw 24 and the end lifting frame 34 through a rotating joint, and the rotating joint includes a hinge. The clamping platform 4 is provided with a lifting frame and an electromagnetic magnetic device, and the electromagnetic magnetic device is fixedly installed in the center of the clamping platform. The clamping platform 4 includes a hollow plate, which can reduce weight and enhance movement performance. The lifting frame includes a V-shaped frame, and the number of the lifting frames is greater than or equal to 1.

[0049] This application includes the following steps:

[0050] S1: When the underwater vehicle moves into the capture workspace of the underwater unmanned vehicle active docking device, the positioning module detects the position information of the underwater vehicle and transmits it to the underwater unmanned vehicle active docking device;

[0051] S2: According to the position and posture of the underwater vehicle, the rotation drive device of the underwater unmanned vehicle active docking device is operated to move the clamping platform 4 to the position and posture of the underwater vehicle;

[0052] S3: The rotation drive device of the underwater unmanned vehicle active docking device continues to operate, and the end clamping claw 24 is retracted toward the underwater vehicle while the position of the clamping platform 4 remains unchanged. The underwater vehicle is fixed by the end clamping claw 24 and the end lifting frame, thereby achieving the capture of the underwater vehicle;

[0053] S4: The underwater unmanned vehicle actively docks and returns to its initial position, and turns on the wireless charging device, which recharges the underwater vehicle.

[0054] This application adopts a nine-degree-of-freedom kinematic redundant parallel mechanism, which significantly improves the motion accuracy and load-bearing capacity of the active docking mechanism of the underwater unmanned vehicle through the parallel mechanism, so that the active docking mechanism of the underwater unmanned vehicle has the advantages of high rigidity, high precision, high load capacity, etc., has a compact structure, good storage capacity, good dynamic performance, and can stably dock the underwater unmanned vehicle.

[0055] The present application has a large working space. The underwater unmanned vehicle active docking device can realize infinite rotation of the clamping platform 4 by utilizing its coaxial three-branch rotation drive device, so that the underwater unmanned vehicle active docking device can be aligned with the underwater unmanned vehicle at any angle in the horizontal direction.

[0056] The present application has the characteristics of kinematic redundancy. In addition to being able to realize the three-dimensional rotation and three-dimensional movement of the clamping platform 4, the active docking device of the underwater unmanned vehicle can also use the redundant three degrees of freedom to realize the control of the opening and closing degree of the end clamping claw 24 and the pitch angle of the clamping platform 4, avoiding the installation of a motor on the top of the parallel robot to control the opening and closing degree of the end clamping claw 24 and the pitch angle of the clamping platform 4, reducing the inertia of the top of the docking mechanism, and improving the response speed and accuracy of the active docking device of the underwater unmanned vehicle; the redundant degrees of freedom can also avoid the problem of singular locking of the branch chain that occurs in traditional parallel robots, so that the active docking device of the underwater unmanned vehicle can ensure its own normal movement performance within a large range and actively capture the underwater unmanned vehicle.

[0057] Example 2

[0058] An underwater unmanned vehicle provided by the present invention can be captured by the underwater unmanned vehicle active docking device described in Example 1 to achieve precise docking.

[0059] How it works

[0060] By driving the branch chain rotating assembly and the stacked parallelogram mechanism through a servo motor, the clamping platform 4 has six degrees of freedom, namely three-dimensional rotation and three-dimensional movement. The parallel mechanism is then used to form kinematic redundancy under the premise of realizing six-degree-of-freedom movement, thereby controlling the opening and closing of the end clamping claw 24 and the pitch adjustment of the clamping platform 4, and actively avoiding locking or loss of control of the parallel mechanism in a singular position during the movement.

[0061] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0062] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An active docking device for an underwater unmanned vehicle, characterized in that: include: A fixed base (1), a clamping claw support chain (2), a lifting support chain (3) and a clamping platform (4); The clamping claw branch chain (2) and the lifting branch chain (3) are both mounted on the fixed base (1) and are capable of rotating around the central axis of the fixed base (1); The clamping claw branch chain (2) and the lifting branch chain (3) both comprise a stacked parallelogram mechanism, and the end clamping assembly of the clamping claw branch chain (2) and the end lifting assembly of the lifting branch chain (3) are both connected to the stacked parallelogram mechanism via a ball pair; The clamping platform (4) is connected to the clamping claw branch chain (2) and the lifting branch chain (3) along the circumferential direction respectively. The end clamping component of the clamping claw branch chain (2), the end lifting component of the lifting branch chain (3) and the clamping platform (4) cooperate to clamp the underwater unmanned vehicle.

2. The active docking device for underwater unmanned vehicles according to claim 1, characterized in that: The fixed base (1) comprises a bottom base (14) and a plurality of branch chain rotation drive devices, wherein the plurality of branch chain rotation drive devices are respectively mounted on the bottom base (14) through a central sleeve assembly and are rotationally matched with the bottom base (14); The axes of the motion output shafts of the plurality of branch chain rotation drive devices are all located on the central axis of the bottom base (14).

3. The active docking device for underwater unmanned vehicles according to claim 2, characterized in that: The clamping claw branch chains (2) are provided with two, the lifting branch chain (3) is provided with one, and the branch chain rotation driving device comprises an upper branch chain rotation driving device (11), a middle branch chain rotation driving device (12), and a lower branch chain rotation driving device (13); The bottom of the lifting branch chain (3) is tightly connected to the top of the upper branch chain rotation drive device (11); The bottoms of the two clamping claw chain branches (2) are respectively firmly connected to the tops of the middle chain branch rotation drive device (12) and the lower chain branch rotation drive device (13).

4. The active docking device for underwater unmanned vehicles according to claim 1, characterized in that: The clamping claw branch chain (2) comprises a first branch chain rotating assembly (21), a first stacked parallelogram mechanism rotating driving device (22), a first stacked parallelogram mechanism (23) and an end clamping claw (24); The first branch chain rotating assembly (21) is tightly connected to the fixed base (1), and two first stacked parallelogram mechanism rotating drive devices (22) are installed on both sides of the first branch chain rotating assembly (21); The bottom of the first stacked parallelogram mechanism (23) is connected to the rotational motion output shafts of two first stacked parallelogram mechanism rotation driving devices (22); The end clamping claw (24) is connected to the top end of the first stacked parallelogram mechanism (23) via a ball joint.

5. The active docking device for underwater unmanned vehicles according to claim 4, characterized in that: The lifting branch chain (3) comprises a second branch chain rotating assembly (31), a second stacked parallelogram mechanism rotating driving device (32), a second stacked parallelogram mechanism (33) and an end lifting frame (34); The second branch chain rotating assembly (31) is tightly connected to the fixed base (1), and two second stacked parallelogram mechanism rotating drive devices (32) are installed on both sides of the second branch chain rotating assembly (31); The bottom of the second stacked parallelogram mechanism (33) is connected to the rotational motion output shafts of two second stacked parallelogram mechanism rotation driving devices (32); The end lifting frame (34) is connected to the top end of the second stacked parallelogram mechanism (33) via a ball joint.

6. The active docking device for underwater unmanned vehicles according to claim 5, characterized in that: The clamping platform (4) is respectively connected to the end clamping claw (24) and the end lifting frame (34) via a rotating joint, and the rotating joint includes a hinge.

7. The active docking device for underwater unmanned vehicles according to claim 1, characterized in that: The clamping platform (4) is provided with a lifting frame and an electromagnetic magnetic attraction device, and the clamping platform (4) comprises a hollow plate.

8. The active docking device for underwater unmanned vehicles according to claim 7, characterized in that: The lifting frames include V-shaped frames, and the number of the lifting frames is greater than or equal to 1.

9. The active docking device for underwater unmanned vehicles according to claim 1, characterized in that: The stacked parallelogram mechanism includes one or more parallelogram linkage mechanisms.

10. An underwater unmanned vehicle, characterized in that: Capable of being captured by the underwater unmanned vehicle active docking device described in any one of claims 1-9.

Images