An AUV battery underwater replacement system

Abstract

The application relates to an underwater battery replacement system of an AUV, which is used for replacing a battery pack of the AUV, the battery pack is provided with a docking port, the AUV is provided with a second docking head, and the replacement system comprises a main frame, a battery storage system arranged on one side in the main frame, a first docking head arranged on the battery storage system, a replacement mechanism arranged on the other side in the main frame and used for replacing the battery pack, a docking seat arranged on the replacement mechanism, a guide support arranged on the top of the main frame, wherein the docking seat is locked with one end of the docking port, the first docking head and the second docking head are the same in structure, are locked with the other end of the docking port, and the other end of the docking port is automatically unlocked while the one end of the docking port is locked with the docking seat. The application realizes the unlocking of the second docking head and the docking port and the locking of the docking seat and the docking port at the same time, the battery pack can be quickly replaced underwater, and the working time ratio of the AUV is increased.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of deep-sea unmanned underwater vehicles, and particularly relates to an AUV (Autonomous Underwater Vehicle) battery underwater replacement system. BACKGROUND

[0002] AUV (Autonomous Underwater Vehicle) large-range navigation and detection tasks have been very popular. At present, due to the matching of battery technology and AUV overall performance, the endurance of the AUV is relatively limited, and therefore the AUV often needs to be floated to the surface of a mother ship for charging or battery replacement, and the underwater charging mode can also be used to supplement the electric energy. Due to the limited charging power at present, the surface charging or underwater charging time is very long, so that the working time proportion of the AUV is low, which greatly affects the operation efficiency of the AUV and reduces the completion efficiency of the AUV task.

[0003] Therefore, the application provides an AUV battery underwater replacement system. SUMMARY

[0004] In view of the above-mentioned defects in the prior production technology, the application provides an AUV battery underwater replacement system, so that the battery pack of the AUV can be quickly replaced underwater, the working time proportion of the AUV is lengthened, and the completion efficiency of the AUV task is improved.

[0005] The technical scheme adopted by the application is as follows.

[0006] The AUV battery underwater replacement system is used for replacing the battery pack of the AUV, the battery pack is provided with a docking port, the AUV is provided with a second docking head, and the replacement system comprises:

[0007] a main frame;

[0008] a battery storage system arranged on one side in the main frame and used for storing and charging the battery pack, the battery storage system being provided with a first docking head;

[0009] a replacement mechanism arranged on the other side in the main frame and used for replacing the battery pack, the replacement mechanism being provided with a docking seat;

[0010] a guide support arranged on the top of the main frame and used for guiding and positioning the AUV;

[0011] The docking seat is locked with one end of the docking port, the first docking head and the second docking head are the same in structure and are locked with the other end of the docking port, and the other end of the docking port is automatically unlocked when the docking seat is locked with one end of the docking port.

[0012] Further features are as follows.

[0013] The docking interface comprises a docking interface shell, a docking interface bushing movable up and down in the docking interface shell, a second locking steel ball arranged on the circumference of the docking interface bushing, a disc spring arranged between the docking interface shell and the docking interface bushing, a first annular groove and a second annular groove arranged in the docking interface shell.

[0014] The second docking head comprises a first tapered structure arranged on the top, a shaft neck arranged at the bottom of the first tapered structure, an annular limiting groove arranged on the shaft neck, and a first horn opening arranged on the top of the docking interface shell and matched with the first tapered structure.

[0015] The docking seat comprises a docking seat push rod, a first locking steel ball and a docking seat base, the docking seat push rod is provided with a second tapered structure on the top, a second horn opening is arranged on the bottom of the docking interface shell and matched with the second tapered structure, the docking seat push rod is arranged in the docking seat base in a liftable manner, and the first locking steel ball is movably arranged in the docking seat push rod.

[0016] The battery pack further comprises a battery pack frame, an underwater battery, a shell and a wet plug-in female electric connector, the underwater battery is arranged in the battery pack frame, the battery pack frame is arranged in the shell, the wet plug-in female electric connector is arranged on the top of the underwater battery, and two docking interfaces are arranged at the two ends of the shell.

[0017] The battery pack is arranged in the middle of the AUV, a second wet plug-in male electric connector matched with the wet plug-in female electric connector is arranged on the AUV, and two second docking heads are arranged on the AUV at positions corresponding to the docking interfaces.

[0018] The battery storage system further comprises a storage frame, a first wet plug-in male electric connector, a vertical motion platform and a drag chain, the first docking head and the first wet plug-in male electric connector are arranged on the storage frame, and the storage frame is arranged on the vertical motion platform.

[0019] The replacement mechanism further comprises a guide rail, a base, a swing arm, a swing arm driving oil cylinder and a plug-in driving oil cylinder, the base is arranged on the main frame through a connecting piece, the guide rail is arranged on the base, the plug-in driving oil cylinder is further arranged on the base, the plug-in driving oil cylinder and the guide rail are provided with a same supporting plate at one end, two docking seats are arranged at the top of the two ends of the supporting plate, one end of the swing arm is arranged on the base, and the other end of the swing arm is connected with the swing arm driving oil cylinder.

[0020] The shell adopts the same curved surface as the AUV.

[0021] The battery storage system is provided with three storage structures, and each storage structure comprises two first docking heads and a first wet plug-in male electric connector.

[0022] The battery storage system has the advantages that:

[0023] The application has the advantages that the application is compact and reasonable in structure, convenient to operate, and the docking and locking mechanism works as follows during the process of removing the battery pack from the AUV by the replacement mechanism: in the first step, the docking seat on the replacement mechanism is driven by the plug-in drive oil cylinder to move upward, so that the docking seat is inserted into the docking port from the bottom of the second horn mouth of the docking port, at this time, the first locking steel ball of the docking seat is in the circular groove of the docking seat push rod; in the second step, the docking seat push rod moves upward under the push of the hydraulic pressure, and at the same time, the docking seat push rod pushes the docking port bushing to move upward, the docking seat push rod makes the first locking steel ball move radially outward to abut against the second annular groove in the docking port, so as to realize the locking of the docking seat and the docking port, and at the same time, the second locking steel ball in the docking port bushing moves into the circular groove of the docking port bushing to be in a radial free state, at this time, the docking port and the second docking head are unlocked. The unlocking of the second docking head and the docking port is realized, and at the same time, the locking of the docking seat and the docking port is realized, so that the battery pack can be quickly disassembled and replaced, and then the battery pack can be quickly replaced underwater, so as to increase the working time ratio of the AUV.

[0024] Meanwhile, the application also has the following advantages:

[0025] (1) The first docking head, the second docking head, the docking port and the docking seat form a docking and locking mechanism, wherein the first docking head is arranged on the battery storage system, the second docking head is arranged on the AUV, the docking port is arranged on the battery pack, and the docking seat is arranged on the replacement mechanism. The docking and locking and unlocking of the battery pack and the AUV, the docking and locking and unlocking of the battery pack and the replacement mechanism, and the docking and locking and unlocking of the battery pack and the battery storage system can be realized, and only the hydraulic oil supply pressure on the docking seat is needed to realize the locking and unlocking functions among the three.

[0026] (2) The battery pack adopts a conformal design, and the shell adopts the same curved surface as the AUV; the battery pack frame is arranged in the shell, and the shell is provided with a docking port at both ends of the battery pack frame; the docking port can be docked and locked with the second docking head of the AUV and the first docking head of the battery storage system, and can also be docked and locked with the docking seat on the replacement mechanism; the underwater battery is arranged in the battery pack frame, and the top of the underwater battery is provided with a female wet plug-in electric connector for plug-in connection with a male wet plug-in electric connector on the AUV and a male wet plug-in electric connector on the battery storage system to realize charging and discharging.

[0027] (3) The first docking head and the second docking head are the same in structure, and after the battery pack on the AUV is disassembled, it can be installed on the battery storage system, because the first docking head and the second docking head are the same in structure and operation mode, the operation is simple and fast.

[0028] (4) The replacement mechanism has two degrees of freedom of extension and swing, the docking seat can be connected and locked and unlocked with the docking interface of the battery pack, in the battery pack replacement process of the AUV, the plug-in drive oil cylinder moves vertically upward, the docking seat is docked with the docking interface of the battery pack and is locked by hydraulic pressure, at the same time, the docking interface of the battery pack can be unlocked with the second docking head on the AUV, at this time, the plug-in drive oil cylinder is retracted downward to take out the battery pack from the bottom of the AUV, the female head of the wet plug-in electric connector of the battery pack is disconnected with the male head of the second wet plug-in electric connector of the AUV, the swing arm is rotated under the drive of the swing arm drive oil cylinder, so that the plug-in drive oil cylinder and the battery pack are rotated to be horizontal, the battery pack on the AUV can be disassembled and installed on the battery storage system through the replacement mechanism, and the battery full of electricity on the battery storage system can be installed on the AUV.

[0029] (5) Before the replacement mechanism takes down the battery pack of the AUV, the docking interface of the battery pack and the second docking head on the AUV are in a locked state, the second docking head is inserted into the shell of the docking interface, and the shaft neck of the second docking head is inserted into the bushing of the docking interface, the bushing of the docking interface is clamped with the annular limiting groove of the shaft neck of the second docking head under the action of the disc spring, and locking is realized. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 The whole schematic of the present application Figure 1 .

[0031] Figure 2 The whole schematic of the present application Figure 2 .

[0032] Figure 3 The schematic of the battery pack of the present application Figure 1 .

[0033] Figure 4 The schematic of the battery pack of the present application Figure 2 .

[0034] Figure 5 The schematic of the AUV and the battery pack of the present application.

[0035] Figure 6 The schematic of the battery storage system and the battery pack of the present application.

[0036] Figure 7 The schematic of the replacement mechanism of the present application.

[0037] Figure 8 The schematic of the first docking head of the present application.

[0038] Figure 9 The schematic of the docking interface of the present application.

[0039] Figure 10 The schematic of the docking seat of the present application.

[0040] Figure 11 This is a schematic diagram of the locking process between the docking seat and the mating interface of the present invention.

[0041] The components include: 1. Main frame; 2. Battery storage system; 201. Storage rack; 202. First connector; 203. First wet-plug electrical connector male; 204. Vertical motion platform; 205. Cable chain; 3. Changing mechanism; 301. Connecting seat; 3011. Connecting seat push rod; 3012. First locking ball; 3013. Connecting seat base; 3014. Second conical structure; 302. Guide rail; 303. Base; 304. Swing arm; 305. Swing arm drive cylinder; 306. Plug-in drive cylinder; 4. AUV; 401. Second wet-plug electrical connector male; 402. Second connector; 4021. 1. First conical structure; 4022. Journal; 4023. Annular limiting groove; 5. Guide bracket; 6. Battery pack; 601. Battery pack frame; 602. Underwater battery; 603. Interface; 6031. Interface housing; 6032. Interface bushing; 6033. Second locking ball; 6034. Disc spring; 6035. First annular groove; 6036. Second annular groove; 6037. First flared mouth; 6038. Second flared mouth; 604. Housing; 605. Wet plug-in electrical connector female head. Detailed Implementation

[0042] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0043] like Figures 1-2 As shown, an underwater battery replacement system for an AUV can be deployed on an underwater mother platform or placed on the seabed. The entire system is designed to be watertight, pressure-resistant, and corrosion-resistant. It mainly includes a main frame 1, a battery storage system 2, a replacement mechanism 3, an AUV 4, a guide support 5, and a battery pack 6.

[0044] The main frame 1 integrates all system equipment components. A V-shaped guide bracket 5, positioned at the top of the main frame 1, guides and positions the AUV4. The AUV4 is guided by sound and light to its fixed battery replacement position on the guide bracket 5. The battery storage system 2, located on the left side of the main frame 1, stores the battery pack 6 and charges it. The replacement mechanism 3, located on the right side of the main frame 1 and adjacent to the battery storage system 2, removes the battery pack 6 from the AUV4 and transfers it to the battery storage system 2, and then installs the battery pack 6 from the battery storage system 2 onto the AUV4. The AUV battery replacement system also includes a charging cable and a hydraulic power source for battery charging and mechanism drive.

[0045] like Figures 3-4As shown, the battery pack 6 includes a battery pack frame 601, underwater batteries 602, a docking port 603, a shell 604, and a wet plug-in female electric connector 605. The battery pack 6 can realize mechanical and electrical connection and disconnection with the AUV 4 and the battery storage system 2. The battery pack 6 adopts a conformal design, and the shell 604 adopts the same curved surface as the AUV 4. The battery pack frame 601 is arranged in the shell 604, and the shell 604 is provided with a docking port 603 at each end of the battery pack frame 601. The docking port 603 can be docked and locked with the second docking head 402 of the AUV 4 and the first docking head 202 of the battery storage system 2, and can also be docked and locked with the docking seat 301 on the replacement mechanism 3. The underwater batteries 602 are arranged in the battery pack frame 601, and the top of the underwater batteries 602 is provided with the wet plug-in female electric connector 605, which is used for plug-in connection with the second wet plug-in male electric connector 401 on the AUV 4 and the first wet plug-in male electric connector 203 on the battery storage system 2, so as to realize charging and discharging.

[0046] As shown in Figure 5 , the battery pack 6 is installed in the middle of the AUV 4 from the lower direction. The AUV 4 is provided with the second wet plug-in male electric connector 401 corresponding to the wet plug-in female electric connector 605 of the battery pack 6. The wet plug-in female electric connector 605 can be connected with the second wet plug-in male electric connector 401. The AUV 4 is also provided with two second docking heads 402 corresponding to the two docking ports 603 of the battery pack 6. The docking port 603 and the second docking head 402 are connected.

[0047] As shown in Figure 6 , the battery storage system 2 includes a storage rack 201, a first docking head 202, a first wet plug-in male electric connector 203, a vertical movement platform 204, and a drag chain 205. The battery storage system 2 is used for storing the battery pack 6 and charging the battery pack 6. The battery storage system 2 can store three battery packs 6, that is, it includes three storage structures. The three storage structures are vertically arranged, and each storage structure includes two first docking heads 202 and one first wet plug-in male electric connector 203. The first docking head 202 and the first wet plug-in male electric connector 203 are arranged on the storage rack 201. The first docking head 202 is connected with the docking port 603 of the battery pack 6. The first wet plug-in male electric connector 203 is connected with the wet plug-in female electric connector 605 of the battery pack 6, and is used for charging the battery pack 6. The storage rack 201 is installed on the vertical movement platform 204. The storage rack 201 is driven to move up and down by the vertical movement platform 204, so that the three vertically arranged storage structures can reach the position for replacing the battery pack 6. The vertical movement platform 204 is installed on the main frame 1. The charging cable moves in the drag chain 205.

[0048] As shown in Figure 7As shown, the replacement mechanism 3 includes a docking seat 301, a guide rail 302, a base 303, a swing arm 304, a swing arm drive oil cylinder 305, and a plug-in drive oil cylinder 306. The replacement mechanism 3 has two degrees of freedom of extension and swing. The base 303 is mounted on the main frame 1 through a connecting piece. The guide rail 302 is arranged on the base 303. The plug-in drive oil cylinder 306 is also arranged on the base 303. The plug-in drive oil cylinder 306 and the guide rail 302 are provided with a same support plate at one end. The two docking seats 301 are arranged at the top of the two ends of the support plate. The swing arm 304 is arranged at one end of the base 303. The other end of the swing arm 304 is connected with the swing arm drive oil cylinder 305. The docking seat 301 can be connected, locked and unlocked with the docking port 603 of the battery pack 6. In the battery pack 6 replacement process of the AUV 4, the plug-in drive oil cylinder 306 moves vertically upward, so that the docking seat 301 is docked with the docking port 603 of the battery pack 6 and is hydraulically locked. At the same time, the docking port 603 of the battery pack 6 can be unlocked with the second docking head 402 on the AUV 4. At this time, the plug-in drive oil cylinder 306 is retracted downward to take out the battery pack 6 from the bottom of the AUV 4. The female wet plug-in electric connector 605 of the battery pack 6 is disconnected with the male wet plug-in electric connector 401 of the AUV 4. The swing arm 304 is rotated by 90 degrees under the drive of the swing arm drive oil cylinder 305, so that the plug-in drive oil cylinder 306 and the battery pack 6 are rotated to be horizontal. The plug-in drive oil cylinder 306 is horizontally extended, so that the docking port 603 of the battery pack 6 is docked into the first docking head 202 on the storage rack 201. Hydraulic drive is used to unlock the docking seat 301 with the docking port 603. At the same time, the docking port 603 is locked with the first docking head 202. The female wet plug-in electric connector 605 of the battery pack 6 is connected with the male wet plug-in electric connector 203 of the battery storage system 2.

[0049] As shown in the drawings, Figures 8-11 The first docking head 202, the second docking head 402, the docking port 603 and the docking seat 301 constitute a docking locking mechanism. The first docking head 202 is arranged on the battery storage system 2. The second docking head 402 is arranged on the AUV 4. The docking port 603 is arranged on the battery pack 6. The docking seat 301 is arranged on the replacement mechanism 3. The docking locking and unlocking of the battery pack 6 and the AUV 4, the docking locking and unlocking of the battery pack 6 and the replacement mechanism 3, and the docking locking and unlocking of the battery pack 6 and the battery storage system 2 can be realized. Only hydraulic oil supply pressure is needed on the docking seat 301, so that the locking and unlocking functions among the three can be realized. Specifically, the first docking head 202 and the second docking head 402 are the same in structure. The second docking head 402 is provided with a first tapered structure 4021. A shaft neck 4022 is arranged at the bottom of the first tapered structure 4021. A ring-shaped limiting groove 4023 is formed in the shaft neck 4022.

[0050] As shown in the drawings, Figure 9As shown, the interface 603 includes an interface housing 6031, an interface bushing 6032, second locking steel balls 6033, and a disc spring 6034. The upper part of the interface housing 6031 is provided with a first flared opening 6037, which mates with the first conical structure 4021 of the second connector 402. The bottom of the interface housing 6031 is provided with a second flared opening 6038, which mates with the mating seat 301. The interface bushing 6032 is movably disposed within the interface housing 6031. Multiple second locking steel balls 6033 are mounted on the circumference of the interface bushing 6032; the number of second locking steel balls 6033 can be six or other numbers. The interface bushing 6032 can move up and down, thereby causing the second locking steel balls 6033 to move up and down. The second locking steel balls 6033 can engage and lock with the annular limiting groove 4023 on the journal 4022 of the second connector 402. The disc spring 6034 pushes the interface bushing 6032 downward to provide a locking force. The interface housing 6031 is provided with a first annular groove 6035 and a second annular groove 6036. The first annular groove 6035 cooperates with the second locking ball 6033.

[0051] like Figure 10 As shown, the docking seat 301 includes a docking seat push rod 3011, first locking steel balls 3012, and a docking seat base 3013. The top of the docking seat push rod 3011 is provided with a second conical structure 3014, which cooperates with the second flared opening 6038 of the docking interface 603 to facilitate guidance and insertion into the docking interface 603. The docking seat push rod 3011 is hydraulically driven and can move up and down. Multiple first locking steel balls 3012 are installed around the docking seat base 3013. The number of first locking steel balls 3012 is six or other numbers. The first locking steel balls 3012 can move radially during the up and down movement of the docking seat push rod 3011, locking and unlocking with the docking interface 603. The first locking steel balls 3012 cooperate with the second annular groove 6036.

[0052] like Figure 11 As shown, before the battery pack 6 of the AUV4 is removed by the replacement mechanism 3, the interface 603 of the battery pack 6 and the second connector 402 on the AUV4 are in a locked state. The second connector 402 is inserted into the interface housing 6031, and the journal 4022 of the second connector 402 is inserted into the interface bushing 6032. Under the action of the disc spring 6034, the interface bushing 6032 locks the second locking ball 6033 and the annular limiting groove 4023 of the journal 4022 of the second connector 402, thereby achieving locking.

[0053] During the process of the replacement mechanism 3 removing the battery pack 6 from the AUV4, the working process of the docking and locking mechanism is as follows:

[0054] Firstly, the docking seat 301 on the replacement mechanism 3 is driven by the plug-in drive cylinder 306 to move upward, so that the docking seat 301 is inserted into the docking port 603 from the bottom of the second horn mouth 6038 of the docking port 603, at this time, the first locking steel ball 3012 of the docking seat 301 is in the circular groove of the docking seat push rod 3011;

[0055] Secondly, the docking seat push rod 3011 is driven by the hydraulic pressure to move upward, at the same time, the docking seat push rod 3011 drives the second annular groove 6036 in the docking port 603 to move upward, the first locking steel ball 3012 of the docking seat push rod 3011 is driven to move radially outward, and the second locking steel ball 6033 in the docking port bushing 6032 is just moved to the circular groove of the docking port bushing 6032 to be in a radial free state, at this time, the docking port 603 and the second docking head 402 are unlocked. The unlocking of the second docking head 402 and the docking port 603 is completed, and the locking of the docking seat 301 and the docking port 603 is completed. The battery pack 6 is taken out from the AUV 4 by the downward movement of the plug-in drive cylinder 306, and the battery pack 6 is locked with the replacement mechanism 3.

[0056] The swing arm 304 is driven by the swing arm drive cylinder 305 to rotate 90 degrees, so that the plug-in drive cylinder 306 and the battery pack 6 are rotated to be horizontal, and the working process of the docking locking mechanism is operated in reverse to realize the installation of the battery pack 6 on the replacement mechanism 3 to the battery storage system 2. By lifting or lowering the storage rack 201, the fully charged battery pack 6 is opposite to the replacement mechanism 3, and the replacement mechanism 3 is operated in reverse, so that the fully charged battery on the storage rack 201 is installed on the AUV 4, which facilitates the quick replacement of the battery pack 6, increases the working time ratio of the AUV 4, and improves the working efficiency of the AUV 4.

[0057] The above description is an explanation of the application, not a limitation of the application, the scope of the application is defined in the claims, within the protection scope of the application, any form of modification can be made.

Claims

1. An AUV battery underwater replacement system for replacing a battery pack (6) of an AUV (4), characterized in that The battery pack (6) is provided with a docking interface (603), and the AUV (4) is provided with a second docking head (402), and the replacement system comprises: a main frame (1); a battery storage system (2) arranged on one side of the main frame (1) and used for storing and charging the battery pack (6), wherein the battery storage system (2) is provided with a first docking head (202); a replacement mechanism (3) arranged on the other side of the main frame (1) and used for replacing the battery pack (6), wherein the replacement mechanism (3) is provided with a docking seat (301); a guide support (5) arranged on the top of the main frame (1) and used for guiding and positioning the AUV (4); wherein the docking seat (301) is locked with one end of the docking interface (603), the first docking head (202) and the second docking head (402) are the same in structure, and are both locked with the other end of the docking interface (603), and the docking seat (301) is locked with one end of the docking interface (603) while the other end of the docking interface (603) is automatically unlocked; the battery pack (6) further comprises a battery pack frame (601), an underwater battery (602), an outer shell (604) and a wet plug-in electric connector female head (605), the underwater battery (602) is arranged in the battery pack frame (601), the battery pack frame (601) is arranged in the outer shell (604), and the wet plug-in electric connector female head (605) is arranged on the top of the underwater battery (602), the docking interface (603) is provided with two and arranged at two ends of the outer shell (604); the battery pack (6) is installed in the middle of the AUV (4), the AUV (4) is provided with a second wet plug-in electric connector male head (401) matched with the wet plug-in electric connector female head (605), and the AUV (4) is provided with two second docking heads (402) at positions corresponding to the docking interface (603); the battery storage system (2) further comprises a storage rack (201), a first wet plug-in electric connector male head (203), a vertical movement platform (204) and a drag chain (205), the first docking head (202) and the first wet plug-in electric connector male head (203) are both arranged on the storage rack (201), and the storage rack (201) is installed on the vertical movement platform (204); the replacement mechanism (3) further comprises a guide rail (302), a base (303), a swing arm (304), a swing arm driving oil cylinder (305) and a plug-in driving oil cylinder (306), the base (303) is installed on the main frame (1) through a connecting piece, the guide rail (302) is arranged on the base (303), the plug-in driving oil cylinder (306) is further arranged on the base (303), one end of the plug-in driving oil cylinder (306) and the guide rail (302) is provided with a same support plate, two docking seats (301) are arranged at two ends on the top of the support plate, one end of the swing arm (304) is arranged on the base (303), and the other end of the swing arm (304) is connected with the swing arm driving oil cylinder (305); the swing arm (304) rotates 90 degrees under the driving of the swing arm driving oil cylinder (305).

2. An AUV battery underwater replacement system as claimed in claim 1, wherein: The docking interface (603) comprises a docking interface shell (6031), a docking interface bushing (6032) movable up and down in the docking interface shell (6031), a second locking steel ball (6033) arranged on the circumference of the docking interface bushing (6032), a disc spring (6034) arranged between the docking interface shell (6031) and the docking interface bushing (6032), and a first annular groove (6035) and a second annular groove (6036) arranged in the docking interface shell (6031).

3. An AUV battery underwater replacement system as claimed in claim 2, wherein: The second docking head (402) comprises a first tapered structure (4021) arranged on the top, a shaft neck (4022) arranged at the bottom of the first tapered structure (4021), an annular limiting groove (4023) formed in the shaft neck (4022), and a first horn opening (6037) formed in the top of the docking interface shell (6031) and matched with the first tapered structure (4021).

4. An AUV battery underwater replacement system as claimed in claim 3, wherein: The docking seat (301) comprises a docking seat push rod (3011), a first locking steel ball (3012), and a docking seat base (3013), the docking seat push rod (3011) is provided with a second tapered structure (3014) at the top, the bottom of the docking interface shell (6031) is provided with a second horn opening (6038) matched with the second tapered structure (3014), the docking seat push rod (3011) is arranged in the docking seat base (3013) in a lifting manner, and the first locking steel ball (3012) is movably arranged in the docking seat push rod (3011).

5. The AUV battery underwater replacement system of claim 1, wherein: The shell (604) adopts the same shape curve as the AUV (4).

6. An underwater AUV battery replacement system as claimed in claim 1, wherein: The battery storage system (2) is provided with three storage structures, each of which comprises two first docking heads (202) and a first wet pluggable electrical connector male head (203).

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