Flexible mechanism for deep sea narrow space

Abstract

The flexible mechanism for deep-sea narrow space is applied to underwater docking and connecting fields.The mechanism is divided into a connecting function module and a docking function module.The connecting function module can accurately adjust and lock the interface length, the adjusting stroke is 30mm, the maximum push-pull force is 80N, the repeat positioning accuracy is ±0.06mm, the maximum self-locking force is 110N, and the total length of the module is less than 150mm;an elastic deformation link is provided, the elastic passive deformation is realized through a universal ball hinge and a compression spring sliding rod assembly, and the over-constraint lightness in each direction can be effectively reduced.The docking function module has the functions of large tolerance of ±1mm in the lateral direction, high-precision positioning of ±0.01mm in the axial direction and ±0.05mm in the lateral direction, high-rigidity locking and connecting functions, the outer diameter of the module is less than 80mm, the end face pressing force is large, the reverse self-locking capability is provided, and the reverse self-locking is realized in a passive mode.

Description

TECHNICAL FIELD

[0001] The present application relates to a flexible mechanism design for deep-sea narrow space, and is applied to the technical field of underwater connection and docking. BACKGROUND

[0002] Since the 21st century, due to the growing demand for higher technology level caused by the growing population, the demand for natural resources of human society is increasing. The storage capacity of natural resources on the continent has already been unable to meet the requirements of human development, and the development of unknown marine areas has become the focus of the investment of the scientific and technological forces of various countries. Due to the flexible and variable working mode, small size and loading of various detection instruments, autonomous underwater vehicles are widely used in various practical activities.

[0003] The underwater vehicle uses lithium battery energy as the energy source, if the energy supply cannot be timely, it will cause the internal equipment of the vehicle to be damaged, the data to be wrong, and the underwater vehicle to be lost in serious cases, causing irreparable loss. Therefore, the realization of the high-reliable connection and docking locking technology of the autonomous underwater vehicle is the key technology to improve its engineering operation ability. However, the current docking locking technology mostly locks through electric control, which is easy to cause jamming; and the component connection mostly adopts rigid connection, which is easy to cause over-constrained strength. SUMMARY

[0004] In order to solve the problems in the prior art, the purpose of the present application is to overcome the deficiencies of the prior art, and provide a flexible mechanism for deep-sea narrow space, which includes docking and connection functions. The realization of the docking function relies on the mechanical characteristics of the mechanism itself to realize passive reverse self-locking, and the realization of the connection function relies on the compression spring and slide rod assembly to realize elastic connection, and the kinematics and dynamics simulation of the key components are carried out, which can improve the reliability and stability of underwater docking operation.

[0005] In order to achieve the above-mentioned purposes, the present application adopts the following technical solutions:

[0006] A flexible mechanism for deep-sea narrow space includes a connection function module and a docking function module, the connection function module includes a universal ball hinge for connecting two ends of a component, a micro servo electric push rod for driving, and a compression spring and slide rod assembly, the micro servo electric push rod is installed on the outer envelope of the compression spring and slide rod assembly through a motor support; the compression spring and slide rod assembly is composed of a linear bearing, a compression spring and a compression rod; the other end of the compression rod is fixed with the ball hinge; when the micro servo electric push rod is pulled, the compression spring can withstand a certain impact, providing the function of elastic connection, combined with the action of the universal ball hinge, reducing the over-constrained strength in each direction;

[0007] The docking functional module comprises a male and female interface for docking and a hook device for locking; the male and female interface comprises a male end, a female end and a positioning pin, wherein the positioning pin is installed on the end face of the male end, the female end face is provided with a guide positioning hole matched with the positioning pin, a groove is provided at the end face of the female end to satisfy the embedding of the hook for locking, the male end and the female end have the same outer contour size, and the end faces are flush;

[0008] The hook device comprises a hook, a top rod, a spring, a rotating shaft one and a rotating shaft two, wherein the spring is installed in a circular hole on the lateral side of the male end, the hook is connected to the male end through the rotating shaft two, and the top rod is connected to the hook through the rotating shaft one; the hook device is arranged at the end face of the male end; the hook devices are uniformly distributed at intervals of 120 degrees on the end face of the male end, so that the stress is uniform and shear stress is avoided; the male end and the female end are radially limited through the positioning pin and axially positioned through the locking of the hook; the male end is required to be installed vertically upward or close to vertically upward, and the top rod can release the supporting effect under the action of gravity after the hook is opened, so as to activate the compression effect of the hook.

[0009] Preferably, the docking functional module has a locking connection function and has the ability of reverse self-locking, and the reverse self-locking is realized in a passive manner.

[0010] Preferably, three positioning pins and three hook devices are arranged on the end face of the male end of the hook device, the three positioning pins are symmetrically distributed at intervals of 120 degrees on a circle, three guide holes and three locking grooves are arranged on the end face of the female end, the three guide holes and the three locking grooves are symmetrically distributed at intervals of 120 degrees on a circle, the outer diameters of the male end and the female end are the same, in the initial state of docking of the male end and the female end, the upper end of the hook is supported by the top rod and the lower end of the hook is supported by the spring, at this time, the spring retains a certain compression amount, so that the entire hook device is in a stable state. The docking functional module comprises an elastic deformation link and realizes elastic passive deformation through a universal ball hinge and a compression spring sliding rod assembly.

[0011] Preferably, the connection functional module can accurately adjust and lock the length of the interface, the adjustment stroke is within 30 mm, the maximum push-pull force is not less than 80 N, the repeat positioning accuracy is ±0.06 mm, the maximum self-locking force is not less than 110 N, and the total length of the module is not greater than 150 mm.

[0012] Preferably, the docking functional module has a large tolerance of ±1 mm in the lateral direction, high-precision positioning of ±0.01 mm in the axial direction and ±0.05 mm in the lateral direction, and high-rigidity locking connection function, and the outer diameter of the module is not greater than 80 mm.

[0013] The flexible mechanism for deep-sea narrow space is divided into a connecting function module and a docking function module. The connecting function module can accurately adjust and lock the interface length, the adjustment stroke is 30mm, the maximum push-pull force is 80N, the repeat positioning accuracy is ±0.06mm, the maximum self-locking force is 110N, the total length of the module is less than 150mm, an elastic deformation link is provided, elastic passive deformation is realized through a universal ball hinge and a compression spring sliding rod assembly, and over-constraint in each direction can be effectively reduced.

[0014] To achieve the above purpose, the technical scheme is adopted as follows:

[0015] a. Flexible mechanism connecting function module for deep-sea narrow space

[0016] The flexible mechanism connecting function module for deep-sea narrow space comprises a universal ball hinge for connecting two ends of a component, a micro servo electric push rod for driving and a compression spring sliding rod assembly. The micro servo electric push rod is installed on the outer envelope of the compression spring sliding rod assembly through a motor support. The compression spring sliding rod assembly is composed of a linear bearing, a compression spring and a compression rod. When the micro servo electric push rod is pulled, the compression spring can withstand a certain impact and provide the function of elastic connection, and the over-constraint strength in each direction is reduced in combination with the action of the universal ball hinge.

[0017] b. Inspection method for rationality of compression spring sliding rod assembly of connecting function module

[0018] The compression spring in the compression spring sliding rod assembly is a right-handed compression spring manufactured with 2-level precision with tight grinding and flat ends, and has the following requirements: installation load F1=50N, maximum working load F2=100N, working stroke f=5mm, free height of compression spring is not more than 25mm, outer diameter of compression spring is not more than 15mm, and the number of times of dynamic load cycle of the compression spring in a normal temperature environment is less than 10 5 times.

[0019] The calculation formula of spring stiffness is as follows:

[0020]

[0021] Therefore, the spring stiffness

[0022]

[0023] According to the working load calculation formula

[0024]

[0025] The deformation amount under the maximum working load is

[0026]

[0027] Therefore, the compression spring with the specification of YA 1.8*12*24 is selected, wherein the maximum working load F n = 134 N, and the maximum working deformation amount f = 10 mm. The rationality of the selected compression spring is verified: the maximum working load F2 = 100 N < F n = 134 N, which meets the requirement; the deformation amount under the maximum working load f = 10 mm ≤ f n = 10 mm, which meets the requirement; the outer diameter of the spring 1.8 + 12 = 13.8 mm < 15 mm, which meets the requirement; and the height of the spring 24 mm < 25 mm, which meets the design requirement.

[0028] c. Flexible mechanism docking functional module design for deep-sea narrow space

[0029] The flexible mechanism docking functional module for deep-sea narrow space designed by the application comprises a male and female interface for docking and a lock hook device for locking. The male and female interface comprises a sub-end interface, a female-end interface and a positioning pin, wherein the positioning pin is installed on the end face of the sub-end interface, the female-end interface is provided with a guide positioning hole matched with the positioning pin on the end face, a groove is arranged at the end face of the female-end interface to meet the embedding of the lock hook to realize locking, and the outer contour size of the sub-end interface and the female-end interface is the same, and the end faces are flush.

[0030] The lock hook device comprises a lock hook, a top rod, a spring, a rotating shaft one and a rotating shaft two, wherein the spring is installed in the lateral circular hole of the sub-end, the lock hook is connected with the sub-end through the rotating shaft two, and the top rod is connected with the lock hook through the rotating shaft one. The lock hook device is arranged at the end face of the sub-end. The lock hook devices are uniformly distributed at an interval of 120 degrees on the end face of the sub-end interface, so that the stress is uniform and shear stress is avoided. The sub-end interface and the female-end interface are radially limited through the positioning pin and axially positioned through the locking of the lock hook. The sub-end interface is required to be installed vertically upward or close to vertically upward, and the top rod can release the supporting effect under the action of gravity after the lock hook is opened, so as to activate the compression effect of the lock hook.

[0031] d. Method for checking working load of spring of lock hook device of docking functional module

[0032] The shear modulus G of the spring steel used in the lock hook device is 79000 MPa, the material diameter d is 2 mm, the spring diameter D is 10 mm, and the number of turns n is 2.5. It is known that the deformation amount of the spring is f = 2.17 mm during the engagement.

[0033] The maximum working load of the spring steel is as follows:

[0034]

[0035] Therefore the maximum working load F that the selected spring of the hook device can bear n =185.89N. The actual spring working load is calculated as follows:

[0036]

[0037] Therefore the working load of the spring during the engagement process is 137.14N. The allowable shear stress of the spring steel

[0038] [τ] =740MPa

[0039] The calculation formula of the shear stress is as follows:

[0040]

[0041] When the load is a static load, the value of K is 1; when the load is a dynamic load, the calculation formula of the value of K is

[0042]

[0043] Therefore the shear stress of the spring is calculated as τ =436MPa<[τ], and thus the shear stress of the spring meets the check.

[0044] The calculation formula of the maximum working deformation of the spring steel is as follows:

[0045]

[0046] Therefore the maximum deformation of the selected spring is 2.94mm, and the actual spring deformation is within the check range.

[0047] Compared with the prior art, the present application has the following outstanding features and significant advantages:

[0048] 1. The flexible mechanism designed by the present application for deep-sea narrow space has a connection function module and a docking function module.

[0049] 2. The connection function module of the flexible mechanism designed by the present application for deep-sea narrow space can accurately adjust and lock the interface length, the adjustment stroke is 30mm, the maximum push-pull force is 80N, the repeat positioning accuracy is ±0.06mm, the maximum self-locking force is 110N, and the total length of the module is less than 150mm.

[0050] 3. The connection function module of the flexible mechanism designed by the present application for deep-sea narrow space provides an elastic deformation link, realizes elastic passive deformation through a universal ball hinge and a compression spring sliding rod assembly, and can effectively reduce the over-constraint in each direction.

[0051] 4. The docking function module of the flexible mechanism facing the deep-sea narrow space has a large tolerance of ±1mm in the lateral direction, high-precision positioning of ±0.01mm in the axial direction and ±0.05mm in the lateral direction, and high-rigidity locking connection function;

[0052] 5. The docking function module of the flexible mechanism facing the deep-sea narrow space has an outer diameter less than 80mm, large end face pressing force, and the ability of reverse self-locking, and the reverse self-locking is realized in a passive manner. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0054] Figure 2 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0055] Figure 3 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0056] Figure 4 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0057] Figure 5 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0058] Figure 6 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0059] Figure 7 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0060] Figure 8 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0061] Figure 9 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0062] Figure 10 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0063] Figure 11 The flexible mechanism connection function module provided by the preferred embodiment of the present application is shown in the figure.

[0064] Figure 12The Z-direction displacement curve of the flexible mechanism docking function module's lock hook in the docking process is provided for the preferred embodiment of the present application.

[0065] Figure 13 The X-direction force curve of the flexible mechanism docking function module's lock hook in the docking process is provided for the preferred embodiment of the present application.

[0066] Figure 14 The Y-direction force curve of the flexible mechanism docking function module's lock hook in the docking process is provided for the preferred embodiment of the present application.

[0067] Figure 15 The Z-direction force curve of the flexible mechanism docking function module's lock hook in the docking process is provided for the preferred embodiment of the present application. DETAILED DESCRIPTION

[0068] In order to better illustrate the present application, a preferred embodiment is provided, and the present application is described in detail in conjunction with the drawings, as follows:

[0069] Embodiment One

[0070] A flexible mechanism for deep-sea narrow space, as shown in Figure 1 , Figure 2 , Figures 4-6 It includes a connecting function module and a docking function module. The connecting function module includes a universal ball hinge for connecting both ends of the component, a micro servo electric push rod for driving, and a compression spring sliding rod assembly. The micro servo electric push rod is installed on the outer envelope of the compression spring sliding rod assembly through a motor support. The compression spring sliding rod assembly is composed of a linear bearing, a compression spring, and a compression rod. The other end of the compression rod is fixed with the ball hinge. When the micro servo electric push rod is pulled, the compression spring can withstand a certain impact, providing the function of elastic connection, combined with the action of the universal ball hinge, reducing the over-constraint strength in all directions.

[0071] The docking function module includes a male-female interface for docking and a lock hook device for locking. The male-female interface includes a sub-end interface, a mother-end interface, and a positioning pin. The positioning pin is installed on the end face of the sub-end interface. The mother-end interface end face is provided with a guide positioning hole matched with the positioning pin. The end face of the mother end is provided with a groove to meet the embedding of the lock hook to achieve locking. The outer contour size of the sub-end interface and the mother-end interface is the same, and the end faces are flush.

[0072] The hook device comprises a hook, a top rod, a spring, a rotating shaft 1 and a rotating shaft 2, wherein the spring is installed in a lateral circular hole of the sub-end, the hook is connected to the sub-end through the rotating shaft 2, and the top rod is connected to the hook through the rotating shaft 1; the hook device is arranged at the end face of the sub-end; the hook devices are uniformly distributed at an interval of 120 degrees on the end face of the sub-end interface, so that the stress is uniform and shear stress is avoided; the sub-end interface and the female end interface are radially limited by the positioning pin and axially positioned by the hook locking; the sub-end interface is required to be installed vertically upward or close to vertically upward, and the top rod can release the supporting effect under the action of gravity after the hook is opened, so as to activate the compression effect of the hook.

[0073] The flexible mechanism for deep-sea narrow space in the embodiment includes two functions of docking and connection. The docking function is realized by the mechanical characteristics of the mechanism itself to achieve passive reverse self-locking, and the connection function is realized by the compression spring sliding rod assembly to achieve elastic connection. The kinematics and dynamics simulation of key components is carried out to improve the reliability and stability of underwater docking operation.

[0074] Embodiment two:

[0075] The embodiment is basically the same as embodiment one, and the difference is that:

[0076] In the embodiment, the flexible mechanism for deep-sea narrow space provided in the embodiment is divided into a connection function module and a docking function module. The connection function module can accurately adjust and lock the interface length, the adjustment stroke is 30 mm, the maximum push-pull force is 80 N, the repeat positioning accuracy is ±0.06 mm, the maximum self-locking force is 110 N, and the total length of the module is less than 150 mm. An elastic deformation link is provided, which is passively deformed through a universal ball hinge and a compression spring sliding rod assembly, which can effectively reduce the over-constraint in each direction. The docking function module has a large tolerance of ±1 mm laterally, high-precision positioning of ±0.01 mm axially and ±0.05 mm laterally, high-rigidity locking connection function, the outer diameter of the module is less than 80 mm, the end face compression force is large, has the ability of reverse self-locking, and the implementation of reverse self-locking is passive.

[0077] a. Design of flexible mechanism connection function module for deep-sea narrow space

[0078] The flexible mechanism connection function module for deep-sea narrow space designed in the embodiment includes a universal ball hinge for connecting the two ends of the component, a micro servo electric push rod for driving, and a compression spring sliding rod assembly, as shown in Figure 1 、 2 . The micro servo electric push rod is installed on the outer envelope of the compression spring sliding rod assembly through a motor support. The standard parameters of the micro servo electric push rod are shown in Figure 3 .

[0079] The compression spring slide rod assembly is composed of a linear bearing, a compression spring and a compression rod. The other end of the compression rod is fixed with a spherical hinge. When the micro servo electric push rod is pulled, the compression spring can withstand a certain impact, providing the function of elastic connection, combined with the action of the universal spherical hinge, reducing the over-constrained strength in all directions.

[0080] b. Test method for rationality of compression spring slide rod assembly of connection function module

[0081] The compression spring in the compression spring slide rod assembly is selected as a right-handed compression spring manufactured with 2-level precision with tight grinding and flattening. The requirements are as follows: installation load F1 = 50N, maximum working load F2 = 100N, working stroke f = 5mm, free height of compression spring not more than 25mm, outer diameter of compression spring not more than 15mm, and the number of cycles of compression spring under dynamic load at room temperature is less than 10 times. 5

[0082] The calculation formula of spring stiffness is as follows:

[0083]

[0084] Therefore, the stiffness of the compression spring

[0085]

[0086] According to the working load calculation formula

[0087]

[0088] The deformation under the maximum working load is

[0089]

[0090] Therefore, the compression spring specification is selected as YA 1.8×12×24, in which the maximum working load F n = 134N, and the maximum working deformation f = 10mm. Verify the rationality of the selected compression spring: the maximum working load F2 = 100N < F n = 134N, which meets the requirements; the deformation under the maximum working load f = 10mm ≤ f n = 10mm, which meets the requirements; the spring outer diameter 1.8+12 = 13.8mm < 15mm, which meets the requirements; and the spring height 24mm < 25mm, which meets the design requirements.

[0091] c. Kinematics and dynamics analysis of compression spring slide rod assembly in driving state

[0092] ​The three-dimensional model of the flexible mechanism connection function module is established in Catia software, and is converted into stp format and imported into Adams software for kinematics and dynamics simulation. The outer envelope of the compression spring and slide rod assembly is set as a fixed constraint, the slide rod is set as a moving pair, and a spring is created between the outer envelope and the slide rod. The spring stiffness value is set to 10000 N / mm, and the damping value is set to 0.003. The slide rod is added with an initial speed of 6 mm / s, the solving time is set to 0.2 seconds, and the solving step is set to 50 steps, and the simulation is performed. The displacement, velocity and acceleration changes of the compression spring during the driving process are as shown in Figure 7 、 8 、9.

[0093] d. Flexible mechanism docking function module for deep-sea narrow space

[0094] As shown in Figure 4 , the flexible mechanism docking function module for deep-sea narrow space provided in the embodiment comprises a female end interface and a male end interface. The female end interface is additionally provided with a guide hole and a locking groove on the end face, and the male end interface is provided with a positioning pin and a locking hook device on the end face, as shown in Figure 5 、 6 . Specifically, the locking hook device comprises a top rod, a shaft, a shaft, a locking hook and a spring. The top rod and the locking hook are connected through the shaft, and the locking hook is connected to the male end interface through the shaft. Three positioning pins and three locking hook devices are arranged on the end face of the male end interface, and the three positioning pins are symmetrically distributed at an interval of 120 degrees on a circle. Three guide holes and three locking grooves are arranged on the end face of the female end interface, and the three guide holes and the three locking grooves are symmetrically distributed at an interval of 120 degrees on a circle. The outer diameters of the female end interface and the male end interface are the same. In the initial state of the docking of the female end interface and the male end interface, the upper end of the locking hook is supported by the top rod, and the lower end of the locking hook is supported by the spring, and at this time the spring retains a certain compression amount. The entire locking hook device is in a stable state.

[0095] e. Method for checking the working load of the spring of the locking hook device of the docking function module

[0096] The shear modulus G of the spring steel used in the locking hook device is 79000 MPa, the material diameter d is 2 mm, the spring diameter D is 10 mm, and the number of turns n is 2.5. It is known that the deformation amount f of the spring during engagement is 2.17 mm.

[0097] The maximum working load of the spring steel is as follows:

[0098]

[0099] Therefore, the maximum working load F n of the spring selected for the locking hook device is 185.89 N. The actual spring working load calculation formula is as follows:

[0100]

[0101] So the working load of the spring in the joint process is 137.14N. The allowable shear stress of the spring steel is

[0102] [τ] = 740MPa

[0103] The calculation formula of the shear stress is as follows:

[0104]

[0105] When the load is static load, the value of K is 1; when the load is dynamic load, the calculation formula of the value of K is

[0106]

[0107] So the calculation can get the shear stress of the spring τ = 436MPa < [τ], so the shear stress of the spring meets the check.

[0108] The calculation formula of the maximum working deformation of the spring steel is as follows:

[0109]

[0110] So the maximum deformation of the selected spring can be generated 2.94mm, the actual generated spring deformation is within the check range.

[0111] f. Kinematics and dynamics analysis of the lock hook in the realization of the docking process

[0112] In the docking process of the flexible mechanism docking function module, the sub-end interface and the mother-end interface are first positioned through the positioning pin and the guide hole. In the process of the continuous approach of the sub-end interface and the mother-end interface, the mother-end interface first contacts the upper inclined surface of the lock hook, and then the lock hook is pried open, allowing the lock hook to turn open around the pivot shaft. The top rod turns around the pivot shaft to the spring of the sub-end interface under the action of gravity. In the final locking state of the small envelope high stiffness passive self-locking axial docking interface, the lock hook is finally embedded in the groove of the mother-end interface. Three lock hooks simultaneously exert a locking force on the end face of the mother-end interface, and the entire mother-end interface is locked with the sub-end interface. Further as shown in Figure 10 、 11 , 12, 13, 14, 15, the kinematics and dynamics analysis results of the key components lock hook in the three-axis direction in the docking process. It can be known that the resistance of the lock hook in the three-axis direction in the docking process is -13N, 7.5N, 7.5N respectively.

[0113] In summary, the present application faces the flexible mechanism of deep-sea narrow space, applied to underwater docking and connection field. The mechanism is divided into connection function module and docking function module. The connection function module can accurately adjust and lock the interface length, the adjustment stroke is 30mm, the maximum push-pull force is 80N, the repeat positioning accuracy is ±0.06mm, the maximum self-locking force is 110N, and the total length of the module is less than 150mm; the elastic deformation link is provided, the elastic passive deformation is realized through the universal ball hinge and the compression spring sliding rod assembly, and the over-constraint lightness in each direction can be effectively reduced. The docking function module has the functions of large tolerance of ±1mm in the lateral direction, high-precision positioning of ±0.01mm in the axial direction and ±0.05mm in the lateral direction, high-rigidity locking connection, the outer diameter of the module is less than 80mm, the end face pressing force is large, has the ability of reverse self-locking, and the implementation mode of the reverse self-locking is passive.

[0114] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any deformation or replacement of the present application within the technical range disclosed by the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A flexible mechanism for deep-sea narrow space, comprising a connecting function module and a docking function module, characterized in that: The connecting function module comprises universal ball hinges for connecting two ends of a component, a micro servo electric push rod for driving, and a compression spring sliding rod assembly, the micro servo electric push rod being installed on the outer envelope of the compression spring sliding rod assembly through a motor support; the compression spring sliding rod assembly is composed of a linear bearing, a compression spring, and a compression rod; the other end of the compression rod is fixed with the ball hinge; when the micro servo electric push rod is pulled, the compression spring can withstand a certain impact and provide the function of elastic connection, in combination with the effect of the universal ball hinge, the over-constraint strength in each direction is reduced. The docking function module comprises male and female interfaces for docking and a locking hook device for locking; the male and female interfaces comprise a sub-end interface, a mother-end interface, and a positioning pin, wherein the positioning pin is installed on the end face of the sub-end interface, the end face of the mother-end interface is provided with a guide positioning hole matched with the positioning pin, a groove is arranged at the end face of the mother-end to satisfy the embedding of the locking hook to realize locking, the outer contour size of the sub-end interface and the mother-end interface is the same, and the end faces are flush. The locking hook device comprises a locking hook, a jack, a spring, a rotating shaft one, and a rotating shaft two, wherein the spring is installed in a circular hole on the lateral side of the sub-end, the locking hook is connected with the sub-end through the rotating shaft two, and the jack is connected with the locking hook through the rotating shaft one; the locking hook device is arranged at the end face of the sub-end; the locking hook devices are uniformly distributed at an interval of 120 degrees on the end face of the sub-end interface, so that the stress is uniform and shear stress is avoided; the sub-end interface and the mother-end interface are radially limited through the positioning pin and axially positioned through the locking; the sub-end interface is required to be installed vertically upward or close to vertically upward, and the jack can release the supporting effect under the action of gravity after the locking hook is opened, so that the compression effect of the locking hook is activated.

2. The flexible mechanism for deep-sea narrow space according to claim 1, characterized in that: The docking function module has the locking connection function and the ability of reverse self-locking, and the reverse self-locking is realized in a passive manner.

3. The flexible mechanism for deep-sea narrow space according to claim 1, characterized in that: The end face of the sub-end interface of the locking hook device is provided with three positioning pins and three locking hook devices, the three positioning pins are symmetrically distributed at an interval of 120 degrees on a circle; the end face of the mother-end interface is provided with three guide holes and three locking grooves, the three guide holes and the three locking grooves are symmetrically distributed at an interval of 120 degrees on a circle; the outer diameter of the mother-end interface and the sub-end interface is the same; in the initial state of the docking of the mother-end interface and the sub-end interface, the upper end of the locking hook is supported by the jack and the lower end of the locking hook is supported by the spring, at this time, the spring retains a certain compression amount, so that the whole locking hook device is in a stable state; the docking function module comprises an elastic deformation link and realizes elastic passive deformation through the universal ball hinge and the compression spring sliding rod assembly.

4. The flexible mechanism for deep-sea narrow space according to claim 1, characterized in that: The connecting function module can accurately adjust and lock the interface length, the adjustment stroke is within 30 mm, the maximum push-pull force is not less than 80 N, the repeat positioning accuracy is ±0.06 mm, the maximum self-locking force is not less than 110 N, and the total length of the module is not greater than 150 mm.

5. The flexible mechanism for deep-sea narrow space according to claim 1, characterized in that: The docking function module has the functions of large tolerance of ±1 mm in the lateral direction, high-precision positioning of ±0.01 mm in the axial direction and ±0.05 mm in the lateral direction, and high-rigidity locking connection, and the outer diameter of the module is not greater than 80 mm.

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