A docking and charging device suitable for multiple types of underwater unmanned vehicles

Abstract

This invention belongs to the field of marine engineering technology, specifically disclosing a docking and charging device suitable for various types of underwater unmanned vehicles (UAVs). It includes a power supply end and a power receiving end. The power supply end has a docking cavity with a charging port inside, and a first valve sealing the charging port. A drainage assembly is provided between the first valve and the inlet of the docking cavity. The power receiving end includes a docking fixing plate, a telescopic rod, a probe, and a waterproof gasket. The docking fixing plate connects to the underwater UAV. The probe is inserted into and fixed within the docking cavity. An opening at the probe end is sealed with a charging head via a ball valve. The charging head can extend out of the probe to dock with the charging port. The waterproof gasket forms a seal during docking, and the drainage assembly drains water from the sealed docking cavity. The power receiving end of this invention is small in size, has good assembly adaptability, and provides a firm docking fit with the power receiving end. Furthermore, the use of wired charging ensures efficient power transmission.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering technology, and in particular relates to a docking and charging device suitable for various types of underwater unmanned vehicles. Background Technology

[0002] In recent years, with the increasing emphasis on marine resources worldwide and the growing demand for underwater reconnaissance, tracking, and communication missions in the military field, the development of unmanned underwater vehicles (UUVs) capable of conducting exploration and research in distant sea areas has been rapid. As an important tool for human development and utilization of marine resources, UUVs possess unique advantages in performing high-risk, long-term, and highly flexible tasks, replacing humans. Furthermore, as a new generation of underwater combat platforms, UUVs have great potential for military applications. However, energy is one of the main factors restricting the continuous long-term operation of UUVs in the ocean. The energy reserves carried by the UUV itself are insufficient to support its long-range voyages. Given the current limitations in improving the quality of power batteries, constructing underwater charging systems is the primary way to solve the energy shortage problem of UUVs, thereby increasing their operating radius, expanding their operational range, and improving their endurance. Currently, research is underway both domestically and internationally on using undersea energy networks to charge underwater vehicles. Among them, the underwater charging station can provide underwater power supply nodes for underwater vehicles. When the vehicle's pre-stored power is insufficient, the underwater vehicle can reach the nearest underwater base station and automatically dock with the base station to charge. This can greatly improve the stealth of UUVs and also help UUVs to work continuously underwater for a long time.

[0003] To address the underwater docking and charging problem of UUVs, several patent documents have proposed constructive methods, including:

[0004] Chinese invention patent document with publication number CN114475983A proposes an underwater docking and recovery mechanism for an underwater vehicle. The mechanism uses a cylindrical body connected to a flared guide shroud for UUV recovery and docking. However, this method is only applicable to a single model and fixed size UUV, and cannot meet the docking requirements when docking with UUVs of different types and sizes is required.

[0005] Chinese invention patent document with publication number CN114801793A proposes an energy replenishment device and method for underwater robots and unmanned vessels. The UUV recovery, docking, and charging process involves guiding the UUV into a charging container for charging. This method is relatively complex to implement and cannot guarantee that the UUV will enter the container accurately. At the same time, the method of converting solar energy into electrical energy and then storing it cannot guarantee a continuous supply of electricity, and there may be intermittent energy storage in the charging container.

[0006] Chinese invention patent document CN115378083A discloses an autonomous wireless charging device for underwater robots. This device uses wireless charging to charge underwater equipment. Compared to wired charging, wireless charging cannot guarantee high efficiency in power transmission, inevitably leading to energy waste. Furthermore, the electromagnetic energy generated by the wireless power supply during the wireless charging process can negatively impact the underwater equipment, potentially even affecting its normal operation. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention proposes a docking and charging device applicable to various types of underwater unmanned vehicles, aiming to improve the endurance of underwater unmanned vehicles without affecting their internal structural layout and navigation performance.

[0008] To achieve the above objectives, the present invention provides a docking and charging device applicable to various types of underwater unmanned vehicles, comprising:

[0009] The power supply end has a docking cavity, an inlet at the top of the docking cavity, a charging hole near the bottom, a first valve between the charging hole and the inlet of the docking cavity, and a drainage component between the first valve and the inlet of the docking cavity.

[0010] The power receiving end includes a docking fixing plate, a probe connected to the docking fixing plate via a telescopic rod, and a waterproof pad located on the side of the docking fixing plate facing the probe. The docking fixing plate is connected to the underwater unmanned vehicle. The probe is used to extend into and be fixed in the docking cavity. The end of the probe is sealed with a charging head through a ball valve. The charging head can be extended to the outside of the probe and dock with the charging port.

[0011] When the probe is inserted into the docking cavity, the waterproof pad is squeezed at the entrance of the docking cavity to form a seal, and the drainage assembly drains water from the sealed docking cavity.

[0012] Preferably, the power receiving end further includes a heating coil disposed toward the probe, the heating coil drying the drained docking cavity.

[0013] Preferably, a humidity sensor is provided inside the docking cavity.

[0014] Preferably, the probe is equipped with at least two extendable wings that can be deployed to its periphery, and the inner wall of the docking cavity is provided with buckles that engage with the extendable wings.

[0015] Preferably, one end of the extendable wing is hinged inside the probe, and the other end is pivotally connected to a slider via a connecting rod. The slider slides outside the telescopic rod and is driven to slide up and down along the telescopic rod by a first linear motor.

[0016] Preferably, the probe is provided with a first charging rod, the charging head is disposed at the free end of the first charging rod, and a second push rod motor is connected to the root of the first charging rod to drive it to move toward the end of the probe.

[0017] Preferably, the power receiving end further includes a transmitting transducer facing the probe side, and the power supply end is provided with a transponder that is signal-connected to the transmitting transducer.

[0018] Preferably, the power supply end further includes a clamping device disposed around the inlet of the docking cavity. The clamping device includes at least a pair of clamping wing plates arranged in opposite directions. The two clamping wing plates are driven away from or towards each other by two third linear motors.

[0019] Preferably, the docking and charging device applicable to multiple types of underwater unmanned vehicles is characterized in that at least two locking components are distributed circumferentially on the inner side of the docking cavity inlet, the locking components include a second linear motor and a fixing rod, the docking fixing plate has insertion holes distributed along its circumference to cooperate with the fixing rod, and the second linear motor drives the fixing rod to insert into or disengage from the insertion holes.

[0020] Preferably, the drainage assembly includes a miniature vacuum water pump, a second valve, a drain hole, a water receiver, and a fourth linear motor. The drain hole is located above the first valve and is connected to the water receiver via a pipeline. The second valve is located at the drain hole and is opened and closed by the fourth linear motor.

[0021] Compared to traditional underwater unmanned vehicle (UUV) docking and charging devices, the docking and charging device of this invention, applicable to multiple types of UUVs, has the following technical advantages: The power receiving end of the docking and charging device is small in size and adaptable to various sizes and models of UUVs. It can be installed and fixed on the outside of the UUV, such as the lower abdomen, and its volume is much smaller than the UUV, so it does not affect the normal navigation of the UUV. The docking and matching form between the power supply end and the power receiving end is novel, and the clamping and fixing are firm, allowing the docking and charging device to withstand the impact of large ocean currents during operation. After the power supply end and the power receiving end are docked and fixed, the drainage component drains the inside of the docking cavity, and then the wired connection is completed. The wired charging method ensures efficient power transmission and avoids energy waste compared to wireless transmission. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 This is a schematic diagram showing the connection between the power receiving end and the underwater unmanned vehicle in the docking charging device of this embodiment of the invention.

[0024] Figure 2 This is a schematic diagram of the structure of the power receiving end in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the power supply end in an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the drain valve portion inside the power supply end in an embodiment of the present invention;

[0027] Figure 5 This is a process state diagram of the power receiving end entering the power supply end;

[0028] Figure 6 This is a diagram showing the state after the power receiving end receives power from the power supply end and is fixed.

[0029] Figure 7 This is a schematic diagram of the clamping device in an embodiment of the present invention;

[0030] Figure 8 A schematic diagram of the probe's interior when the extended wings are retracted and the charging port is closed;

[0031] Figure 9 A schematic diagram of the probe's interior when the extension wings are open and the charging port is open;

[0032] Figure 10 This is a schematic diagram of the ball valve inside the probe;

[0033] Figure 11 This is a diagram showing the internal structure of the two frustum sections of the power receiving terminal.

[0034] Figure 12 Flowchart for system docking and charging.

[0035] Among them: 1. Power supply end; 2. Power receiving end; 3. Underwater unmanned vehicle;

[0036] 100. Docking cavity; 101. Supply end body; 102. Clamping device; 103. Drainage assembly; 104. First valve; 105. Fifth linear motor; 106. Charging port; 107. Second charging rod; 108. Controller; 109. Second linear motor; 110. Fixing rod; 111. Transponder; 112. Humidity sensor; 113. Buckle;

[0037] 10201, Third linear motor; 10202, Connecting rod;

[0038] 10301, Miniature vacuum water pump; 10302, Drain hole; 10303, Second valve; 10304, Water collector; 10305, Fourth linear motor;

[0039] 200. Socket; 201. Docking and fixing plate; 202. Waterproof pad; 203. Probe; 204. Telescopic rod; 205. Extending wing; 206. Transmitting transducer; 207. Heating coil;

[0040] 20301, ball valve; 20302, charging head; 20303, first charging rod; 20304, fixing block; 20305, first linear motor; 20306, slider; 20307, ​​stepper motor; 20308, first push rod motor; 20309, second push rod motor. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] The following combination Figures 1-12 The present invention describes a docking and charging device applicable to various types of underwater unmanned vehicles.

[0044] The docking charging device of this embodiment includes a power supply end 1 and a power receiving end 2, wherein the power receiving end 2 is connected to the underwater unmanned vehicle 3, such as... Figure 1As shown, the power receiving end 2 is installed on the lower abdomen of the underwater unmanned vehicle 3, and its volume is much smaller than that of the underwater unmanned vehicle 3. Therefore, the power receiving end 2 of the docking charging device in this embodiment will not affect the normal navigation of the underwater unmanned vehicle 3. The power supply end 1 is used to dock with the power receiving end 2 to charge the power receiving end 2. The structure of the power supply end 1 can be referred to Figure 3 As shown.

[0045] Specifically, such as Figure 2 As shown, the power receiving end 2 includes a docking fixing plate 201, a waterproof gasket 202, a probe 203, and a telescopic rod 204. The docking fixing plate 201 includes a mounting surface and a docking surface. The mounting surface is used to connect with the underwater unmanned vehicle 3, and the docking surface is used to dock with the power supply end 1. A waterproof gasket 202, made of corrosion-resistant rubber, is provided on the docking surface, providing a sealing and waterproof function after docking. The docking fixing plate 201 has two symmetrical insertion holes 200 along its circumference. Figure 2 (Only the front-facing socket is shown in the current view). This socket 200 is used to fix the power supply end 1 to the power receiving end 2 during docking. A telescopic assembly is fixed on one side of the docking surface of the docking fixing plate 201. The telescopic assembly includes a telescopic base and a telescopic rod 204. The telescopic base is fixed to the center of the docking fixing plate 201, and the telescopic rod 204 is fixed to the middle of the telescopic base and extends outward along the central axis of the telescopic base. The other end of the telescopic rod 204 is connected to a probe 203. The probe 203 has a hemispherical connector at the end. An extendable wing 205 that can be deployed to its circumference is installed inside the probe 203. Before the probe 203 is docked, the extendable wing 205 retracts into the probe 203 without affecting the probe 203. After docking is completed, the probe 203 enters the docking cavity 100 of the power supply end 1, and the extendable wing 205... Driven by the first linear motor 20305, it expands radially along the probe 203 and is locked in place by the buckle 113 inside the docking cavity 100. The power receiving end 2 also includes a transmitting transducer 206 fixed on the telescopic base and facing the probe 203. The transmitting transducer 206 is used to transmit underwater acoustic signals to the power supply end 1. The transponder 111 in the power supply end 1 receives and responds to the underwater acoustic signals, thereby guiding the UUV to drive the entire power receiving end 2 into the docking cavity 100 of the power supply end 1. The power receiving end 2 also includes a heating coil 207. The heating coil 207 is used to dry the charging environment of the entire docking cavity 100. Charging can only be performed after drying. The heating coil 207 is set on the part of the power receiving end 2 that can extend into the docking cavity 100, preferably on the telescopic base.

[0046] Furthermore, such as Figures 8-10As shown, the probe 203 includes a first charging rod 20303 disposed inside, with a charging head 20302 at its end. An opening for the charging head 20302 to extend from the end of the probe 203 is provided at this opening. A ball valve 20301 is provided at this opening. The ball valve 20301 is driven to rotate by a stepper motor 20307, ​​thereby opening or closing the opening. The end of the first charging rod 20303 furthest from the charging head 20302 is inserted into a telescopic rod 204, and its end is connected to a second push rod motor 20309 that drives it to move towards the opening. The second push rod motor 20309 pushes the first charging rod 20303 and its charging head 20302 downwards, completing the electrical connection between the charging head and the charging port, and initiating charging. The entire docking and charging process is as follows: Figure 12 As shown. The probe 203 also has at least two extendable wings 205 that can expand outwards. These wings are evenly distributed around the perimeter of the probe 203. The upper end of each extendable wing 205 is hinged to the probe 203 via a fixing block 20304, and the lower end of each extendable wing 205 is pivotally connected to a slider 20306. The slider 20306 is located at the point where the probe 203 connects to the telescopic rod 204, sliding outside the telescopic rod 204. The slider 20306 is driven by a first linear motor 20305, which pushes the slider 20306, located outside the telescopic rod 204, to move. The slider 20306 is connected to the lower end of the extendable wing 205. Moving the slider 20306 upwards with the first linear motor 20305 opens the extendable wing 205, and moving it downwards closes it. The telescopic rod 204 is driven to extend or retract by a first push rod motor 20308 located inside the probe 203, such as... Figure 5 As shown, the first push rod motor 20308 shortens the exposed telescopic rod 204, thereby driving the entire power receiving end 2 downward to fully enter the docking cavity 100.

[0047] Specifically, such as Figure 3As shown, the power supply terminal 1 includes a supply terminal body 101, which has a horizontal docking surface. A docking cavity 100 is recessed into the supply terminal body 101 from this docking surface. A second charging rod 107 and a controller 108 are disposed within the docking cavity 100. The second charging rod 107 has two charging holes 106 facing the entrance of the docking cavity 100. The controller 108 is located at the bottom of the docking cavity 100, and the second charging rod 107 is located above the controller 108. Above the second charging rod 107 is a first valve 104 for isolating the docking cavity 100 and a fifth linear actuator for opening / closing the first valve 104. Before the water in the upper docking cavity 100 is drained, the first valve 104 is closed, isolating and protecting the lower second charging rod 107 and charging port 106. After the water in the docking cavity 100 is drained and drying is complete, the first valve 104 on the second charging rod 107 and its charging port 106 is opened by the fifth linear motor 105. At this time, the second push rod motor 20309 inside the two conical truncated cones of the power receiving end 2 pushes the first charging rod 20303 and its charging head 20302 downwards, completing the electrical connection between the charging head 20302 and the charging port 106 for charging. Specifically, as follows... Figure 11 As shown. The operation of the power supply terminal 1 is controlled by the controller 108, and the control flow of the controller 108 is as follows. Figure 12 As shown, see the detailed description below.

[0048] Specifically, the power supply end 1 also includes a drainage assembly 103 for draining water from the docking cavity 100 after the initial docking is completed. The drainage assembly 103 specifically includes a miniature vacuum water pump 10301, a second valve 10303, a drain hole 10302, a water collector 10304, and a fourth linear motor 10305. Among these, for example... Figure 3 and Figure 4 As shown, the fourth linear motor 10305 drives the second valve 10303 to open the drain hole 10302 located at the bottom of the docking cavity 100. Simultaneously, the miniature vacuum water pump 10301 drains the water in the cavity into the water receiver 10304 through a pipe. After the water is drained, the miniature vacuum water pump 10301 stops working and the drain hole 10302 closes. Then, as... Figure 6 The heating coil 207 shown will operate to heat and dry the cavity. Simultaneously, the humidity sensor 112, located within the docking cavity 100, detects the air humidity. Once sufficient dryness is achieved, the heating coil 207 stops operating, and electrical connection is established. When the water level in the water reservoir 10304 reaches a certain limit, high-pressure air will be used to pressurize the water reservoir 10304 and discharge the water into the sea, thus ensuring that the water level in the water reservoir 10304 does not exceed the specified limit. The above drainage process is carried out by... Figure 3 The controller 108 in the middle controls it.

[0049] Specifically, the power supply end 1 also includes a latch 113 for forming a limiting engagement with the extension wing 205. The number and position of the latches 113 are adapted to the extension wing 205. When the probe 203 extends to the bottom of the docking cavity, the extension wing 205 inside the probe 203 opens and engages with the latch 113. Figure 5 As shown.

[0050] Furthermore, the power supply end 1 also includes a transponder 111 connected to the transmitting transducer 206. The transponder 111 is preferably located in the docking cavity 100. The power receiving end 2 transmits underwater acoustic signals through the transmitting transducer 206, and the transponder 111 located in the cavity of the power supply end 1 responds, thereby guiding the UUV to drive the entire power receiving end 2 into the docking cavity 100 of the power supply end 1.

[0051] Furthermore, such as Figure 5 and Figure 6 As shown, on the mating surface of the supply end body 101, clamping devices 102 are provided on both sides of the mating cavity 100. These clamping devices 102 are used to lock and fix the power receiving end 2 and the power supply end 1 after mating. To achieve better fixing, a pair of locking components distributed circumferentially along the entrance of the mating cavity 100 are also provided at the entrance of the mating cavity 100. Each locking component includes a second linear motor 109 and a fixing rod 110. The proximal ends of the two fixing rods 110 are close to each other and facing each other. The two second linear motors 109 are located at the distal ends of the fixing rods 110 and are used to drive the fixing rods 110 to extend to the opposite side. After the power supply end 1 and the power receiving end 2 complete mating, the second linear motors 109 insert the fixing rods 110 into the insertion hole 200 of the power receiving end 2 for fixing. Furthermore, to achieve better fixing, as... Figure 6 As shown.

[0052] Furthermore, such as Figure 7 As shown, the clamping device 102 includes two clamping wing plates arranged opposite each other. The two clamping wing plates are located on both sides of the entrance of the docking cavity 100. The two clamping wing plates are equipped with a third linear motor 10201 and a connecting rod 10202. The third linear motor 10201 pushes the clamping wing plates to narrow through the connecting rod 10202, thereby clamping and fixing the UUV as a whole.

[0053] like Figure 12 As shown, the charging process of this invention is as follows: the power receiving end 2 is connected to the power supply end 1, the connection is completed and fixed, drainage is performed, drying is performed, and charging is performed. The overall operation flowchart is shown below. Figure 12 As shown.

[0054] Working principle of the invention:

[0055] When the underwater unmanned vehicle (UUV) is navigating normally, the power receiver 2 is installed on the underside of the UUV, and the extendable wing 205 inside the probe 203 of the power receiver 2 is in a retracted state. Figure 1 As shown. The UUV clamping device 102 at the power supply end 1 is in a relaxed state, as... Figure 3 As shown.

[0056] The docking process is as follows: Figure 5 As shown, the power receiver 2 transmits underwater acoustic signals through the transmitting transducer 206, and the transponder 111 located inside the power supply end 1 responds. This guides the UUV to move the entire power receiver 2 into the docking cavity of the power supply end 1. When the probe 203 reaches the bottom of the docking cavity, the extension wing 205 inside the probe 203 opens and engages with the latch 113, as shown. Figure 5 As shown. The opening and closing principle of the extendable wing 205 is as follows. Figure 8 and Figure 9 As shown, the fixing block 20304 is used to fix the top of the extendable wing 205 and allow the extendable wing 205 to rotate around the top. The first linear motor 20305 pushes the slider 20306 located outside the telescopic rod 204 to move. The slider 20306 is connected to the lower end of the extendable wing 205. The first linear motor 20305 drives the slider 20306 to move upward to open the extendable wing 205, and drives the slider 20306 to move downward to close the extendable wing 205. Then Figure 11 The first push rod motor 20308, located inside the two truncated cones at the power receiving end 2, will cause the telescopic rod 204 to shorten, that is... Figure 5 The telescopic rod 204 exposed to the outside, as shown, shortens, thereby causing the entire power receiving end 2 to fully enter the docking cavity. Once the power receiving end 2 is fully inside the cavity, the power supply end 1 and the receiving end need to be locked, as shown in the locking mechanism. Figure 6 As shown. That is, the second linear motor 109 inserts the fixing rod 110 into the socket 200 located at the power receiving end 2 for fixation. Furthermore, to achieve a better fixing effect, Figure 7 The third linear motor 10201 located in the power supply end 1 pushes the clamping device 102 to narrow through the connecting rod 10202, thereby clamping and fixing the UUV as a whole.

[0057] After docking is completed, the docking cavity 100 is first drained. The drainage process is as follows: Figure 3 and Figure 4 As shown, the fourth linear motor 10305 drives the second valve 10303 to open the drain hole 10302 located at the bottom of the docking cavity. At the same time, the micro vacuum water pump 10301 works to drain the water in the cavity into the water collector 10304 through the pipe. After the water is drained, the micro vacuum water pump 10301 stops working and the drain hole 10302 is closed.

[0058] After drainage is completed, drying is carried out. The drying process is as follows: heating coil 207 is turned on to heat and dry the cavity, while humidity sensor 112 detects the air humidity. When it is sufficiently dry, heating coil 207 stops working and electrical connection is established.

[0059] The electrical connection process is as follows: Stepper motor 20307 controls the rotation of ball valve 20301. The spherical surface of ball valve 20301 aligns with the opening at the top of probe 203, thus sealing the opening. Ball valve 20301, driven by stepper motor 20307, ​​can align its hollow portion with the opening at the top of probe 203, thereby opening the opening. Figure 9 As shown. Meanwhile, located in Figure 3 The first valve 104 on the second charging rod 107 and its charging port 106 is opened by the fifth linear motor 105. Once both valves are open... Figure 11 The second push rod motor 20309, located inside the two truncated cones at the power receiving end 2, pushes the first charging rod 20303 and its charging head 20302 downwards, completing the electrical connection between the charging head and the charging port, and initiating charging. The entire docking and charging process is as follows: Figure 12 As shown.

[0060] After the underwater unmanned vehicle (UUV) has finished charging, the docking charging system operates in the reverse order of the above steps to disconnect the power supply end 1 from the power receiving end 2. First, the second push rod motor 20309 drives the charging head 20302 and charging port 106 to disconnect the power connection, stopping charging. Then, the first valve 104 closes under the action of the fifth linear motor 105, and the stepper motor 20307 controls the ball valve 20301 to rotate, closing the opening. Next, the second linear motor 109 pulls the fixing rod 110 out of the insertion hole 200, and at the same time, the third linear motor 10201 releases the clamping of the 5 pairs of UUVs through the connecting rod 10202, finally completing the physical disintegration of the power supply end 1 and the power receiving end 2. Finally, the underwater UUV can surface and adjust to its initial position to continue its journey.

[0061] Beneficial effects of the embodiments of the present invention:

[0062] 1. The power receiving end of the docking charging device is installed on the lower abdomen of the UUV and its volume is much smaller than that of the UUV, which ensures that the docking charging device will not affect the normal navigation of the UUV.

[0063] 2. This docking charging device can charge UUVs of various sizes and types;

[0064] 3. This docking charging device uses wired charging, which ensures efficient power transmission and avoids energy waste;

[0065] 4. The clamping and fixing method of this device is quite unique, which can effectively fix the UUV during docking and charging, thus preventing the UUV from being affected by ocean currents.

[0066] All aspects not detailed in this invention are conventional technical means known to those skilled in the art.

[0067] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0068] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A docking and charging device suitable for various types of underwater unmanned vehicles, characterized in that, include: The power supply end (1) has a docking cavity (100), the docking cavity (100) has an opening at the top and a charging hole (106) near the bottom. A first valve (104) is provided between the charging hole (106) and the inlet of the docking cavity (100), and a drainage assembly (103) is provided between the first valve (104) and the inlet of the docking cavity (100). The power receiving end (2) includes a docking fixing plate (201), a probe (203) connected to the docking fixing plate (201) via a telescopic rod (204), and a waterproof pad (202) located on the side of the docking fixing plate (201) facing the probe (203). The docking fixing plate (201) is connected to the underwater unmanned vehicle. The probe (203) can be inserted into and fixed in the docking cavity (100). The probe (203) has an opening at its end and is sealed with a charging head (20302) through a ball valve (20301). The charging head (20302) can be extended to the outside of the probe (203) and dock with the charging port (106). The probe (203) is equipped with at least two extendable wings (205) that can be deployed to its periphery. The inner wall of the docking cavity (100) is provided with a buckle (113) that engages with the extendable wings (205). One end of the extendable wing (205) is hinged to the probe (203), and the other end is pivotally connected to a slider (20306) via a connecting rod. The slider (20306) slides outside the telescopic rod (204) and is driven to slide up and down along the telescopic rod (204) by a first linear motor (20305). When the probe (203) is inserted into the docking cavity (100), the waterproof pad (202) is squeezed at the entrance of the docking cavity (100) to form a seal, and the drainage assembly (103) drains water from the sealed docking cavity (100).

2. The docking and charging device applicable to multiple types of underwater unmanned vehicles according to claim 1, characterized in that, The power receiving end (2) also includes a heating coil (207) arranged in the direction of the probe (203), which dries the drained docking cavity (100).

3. The docking and charging device applicable to multiple types of underwater unmanned vehicles according to claim 2, characterized in that, A humidity sensor (112) is installed inside the docking cavity (100).

4. The docking and charging device applicable to multiple types of underwater unmanned vehicles according to claim 1, characterized in that, The probe (203) is provided with a first charging rod (20303), and the charging head (20302) is located at the free end of the first charging rod (20303). The root of the first charging rod (20303) is connected to a second push rod motor (20309) that drives it to move toward the end of the probe (203).

5. The docking and charging device applicable to multiple types of underwater unmanned vehicles according to claim 1, characterized in that, The power receiving end (2) also includes a transmitting transducer (206) facing the probe (203), and the power supply end (1) is provided with a transponder (111) that is signal-connected to the transmitting transducer (206).

6. The docking and charging device applicable to multiple types of underwater unmanned vehicles according to claim 1, characterized in that, The power supply end (1) also includes a clamping device (102) disposed on the periphery of the inlet of the docking cavity (100). The clamping device (102) includes at least a pair of clamping wing plates arranged in opposite directions. The two clamping wing plates are driven away from or close to each other by two third linear motors (10201).

7. The docking and charging device applicable to multiple types of underwater unmanned vehicles according to claim 1, characterized in that, At least two locking components are distributed circumferentially on the inner side of the inlet of the docking cavity (100). The locking components include a second linear motor (109) and a fixing rod (110). The docking fixing plate (201) has insertion holes (200) distributed along its circumference that cooperate with the fixing rod (110). The second linear motor (109) drives the fixing rod (110) to insert into or disengage from the insertion holes (200).

8. The docking and charging device applicable to multiple types of underwater unmanned vehicles according to claim 1, characterized in that, The drainage assembly (103) includes a miniature vacuum water pump (10301), a second valve (10303), a drain hole (10302), a water receiver (10304), and a fourth linear motor (10305). The drain hole (10302) is located above the first valve (104) and is connected to the water receiver (10304) through a pipeline. The second valve (10303) is provided at the drain hole (10302), and the second valve (10303) is driven to open and close by the fourth linear motor (10305).

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