Rotary AUV self-adjusting locking wireless charging device

Abstract

The embodiment of the present application provides a rotary AUV self-adjusting locking wireless charging device. The rotary AUV self-adjusting locking wireless charging device comprises an improved rotary AUV cabin, a combined modular AUV resident cabin, an AUV self-adaptive locking mechanism, an AUV wireless energy transmission self-adaptive adjustment device and a device total control device. The present application aims to realize the locking range of different diameters of the rotary AUV under the condition of simple control and structure design, and improve the applicable range of the device for locking the AUV type. At the same time, the device can adjust the position of the primary coil in the device according to the position of the wireless charging secondary coil in the AUV in real time, so that the device can match multiple types and different lengths of AUV models, and effectively expand the application range of the device.

Description

Technical Field

[0001] The present application relates to the technical field of underwater robot locking and wireless charging, and in particular to a rotary AUV self-adjusting locking wireless charging device. Background Art

[0002] Currently, the exploration and development of marine resources are receiving increasing attention from countries and governments. This requires advanced technology and equipment. Unmanned, cable-free, autonomous underwater vehicles (AUVs) can perform a variety of tasks, including marine environmental monitoring and resource sampling, and play a vital role in the utilization of marine resources.

[0003] AUVs require a power source to propel themselves underwater, but their limited energy capacity necessitates repeated recovery and recharging during missions. Currently, AUV recovery methods primarily include mothership recovery, underwater tank recovery, and torpedo tube recovery. Regarding AUV energy recharge, charging methods currently fall into two categories: wired and wireless. Wireless charging, with its advantages such as eliminating the need for wires, has attracted considerable research interest from scholars both domestically and internationally.

[0004] During the AUV recovery process, the AUV must be locked. Currently, there are various locking methods, but most are designed for a single type of AUV. Furthermore, depending on the AUV type, the location of the secondary wireless charging coil may vary depending on the type of AUV being used. Currently, the primary coil of most AUV charging devices is fixed to the charging unit, making it unsuitable for wireless charging of multiple AUV types. Summary of the Invention

[0005] To improve the charging suitability of rotary AUV locking and charging devices, the present invention proposes a self-adjusting, locking, and wireless charging device for rotary AUVs. This device, while maintaining minimal structural and control complexity, can lock AUVs of varying diameters, improving the locking device's suitability. Furthermore, by timely adjusting the position of the device's primary coil, the device enables wireless charging of AUVs of varying lengths, further enhancing the device's charging suitability. This represents a simple and feasible method for improving the locking and wireless charging suitability of underwater rotary AUVs.

[0006] The embodiment of the present application provides a rotary AUV self-adjusting and locking wireless charging device, comprising: an improved rotary AUV (1), a combined modular AUV resident cabin (2), an AUV adaptive locking mechanism (3), an AUV wireless energy transmission adaptive adjustment device (4), and a device master control device (5);

[0007] The improved rotary AUV (1) is designed with a wireless charging cabin (10) near the first end (81);

[0008] The combined modular AUV residence cabin (2) comprises a 1# AUV residence cabin support forging surface (21) and a 2# AUV residence cabin support forging surface (23) which are combined and connected via an AUV residence cabin support column (22); a first end surface of the combined modular AUV residence cabin (2) is connected to an AUV recovery cover connection flange (20) via the AUV residence cabin support column (22);

[0009] The AUV adaptive locking mechanism (3) is integrated with the support forging surface (21) of the 1# AUV residence cabin, and is used to lock the improved rotary AUV (1) via a locking stepping motor (33);

[0010] The wireless energy transmission primary coil (40) is embedded in the support forging surface (23) of the 2# AUV residence cabin to form one end surface of the AUV wireless energy transmission adaptive adjustment device (4), and the other end surface of the AUV wireless energy transmission adaptive adjustment device (4) is connected to the hydraulic adjustment mechanism (41);

[0011] One end of the hydraulic adjustment mechanism (41) is connected to one end face of the device master control device (5); a travel switch (50) is installed at the center of one end face of the device master control device (5), and a device master control device installation box (51) is provided at the other end face; the device master control device (5) can control the AUV adaptive locking mechanism (3) to lock the AUV, and can also control the AUV wireless energy transmission adaptive adjustment device (4) to adjust the original edge position;

[0012] Before the AUV enters the wireless charging device, the device master control device (5) adjusts the hydraulic system of the AUV wireless energy transmission adaptive adjustment device (4) according to the position of the AUV wireless charging secondary coil, so that the hydraulic adjustment mechanism (41) extends or contracts, thereby driving the device master control device installation box (51) to extend or contract, so that when the AUV enters the wireless charging device and is locked, the wireless energy transmission primary coil (40) and the AUV wireless charging secondary coil coincide with each other;

[0013] When the AUV touches the travel switch, the device master control device (5) controls the AUV adaptive locking mechanism (3) to lock the AUV.

[0014] In some optional embodiments, the wireless charging compartment (10) includes a wireless charging secondary coil and a wireless charging secondary related control circuit.

[0015] In some optional embodiments, the combined modular AUV residence cabin (2) is assembled by modular standard components, and the standard components include: the AUV recovery cover connecting flange (20), the 1# AUV residence cabin support forging surface (21), the AUV residence cabin support column (22), and the 2# AUV residence cabin support forging surface (23);

[0016] The first end face of the AUV recovery cover connecting flange (20) is connected to the AUV recovery cover, and the second end face is connected to the first end face of the AUV residence cabin support column (22);

[0017] The second end face of the AUV resident cabin support column (22) is connected to the first end faces of the 1# AUV resident cabin support forging surface (21) and the 2# AUV resident cabin support forging surface (23), and the second end faces of the 1# AUV resident cabin support forging surface (21) and the 2# AUV resident cabin support forging surface (23) are connected to the AUV resident cabin support column (22) again, and the combined connection is performed in sequence.

[0018] In some optional embodiments, a threaded hole (200) for fixed connection with the AUV recovery cover is designed along the circumferential direction on the first end surface of the AUV recovery cover connection flange (20);

[0019] The second end surface of the AUV recovery cover connecting flange (20) is evenly distributed in a square structure around the periphery thereof, with threaded holes (201) for connecting to the support columns of the AUV residence cabin.

[0020] In some optional embodiments, the 1# AUV residence cabin support forging surface (21) includes two sets of 1# AUV residence cabin support members (210) and residence cabin support forging surface fixing connectors (24);

[0021] The 1# AUV residence cabin support (210) is a square outer and round inner structure, and the residence cabin support forging surface fixed connection piece (24) is respectively designed with threaded holes (211) connected to the AUV residence cabin support column, threaded holes (212) for mutually fixing the upper and lower support forging surfaces, and threaded holes (213) for cooperating with the AUV adaptive locking mechanism for fixed connection.

[0022] The distance between the two sides of the threaded hole (211) connected to the AUV residence cabin support column is the same as the distance between the two sides of the threaded hole (201) on the AUV recovery cover connection flange (20) for fixed connection with the AUV residence cabin support column, and is used for connection with the AUV residence cabin support column (22);

[0023] Two sets of the 1# AUV resident cabin support members (210) are connected in opposite directions and matched with the resident cabin support forging surface fixing connector (24) to form the 1# AUV resident cabin support forging surface (21);

[0024] After the 1# AUV residence cabin support forging surface (21) is assembled, a relative space is left at the outer edges of the two sets of the 1# AUV residence cabin support members (210), thereby reserving a locking activity space for the AUV adaptive locking mechanism (3).

[0025] In some optional embodiments, the 2# AUV resident cabin support forging surface includes the following structural parts: two sets of 2# AUV resident cabin support parts (230), and a resident cabin support forging surface fixing connection part (24);

[0026] The 2# AUV residence cabin support member (230) is designed as an outer square inner circle structure, and threaded holes (231) for connecting to the AUV residence cabin support column, threaded holes (232) for fixing the upper and lower support members to each other, and threaded holes (233) for fixing the wireless energy transmission primary coil are respectively designed on both sides of the support member;

[0027] The distance between the two sides of the threaded hole (231) connected to the AUV residence cabin support column is kept the same as the distance between the two sides of the threaded hole (201) for fixed connection with the AUV residence cabin support column, and is used for connection with the AUV residence cabin support column (22);

[0028] The two sets of the 2# AUV residence cabin support members (230) are connected in opposite directions and matched with the residence cabin support forging surface fixing connector (24) to form the 2# AUV residence cabin support forging surface (23);

[0029] After the 2# AUV residence cabin support forging surface (23) is assembled, the outer edges of the two sets of 2# AUV residence cabin support members (230) are completely closed.

[0030] In some optional embodiments, the AUV residence cabin support column (22) is designed as a cylindrical structure, and its first end face and second end face are both designed with threads, which are used to connect with the 1# AUV residence cabin support forging surface (21), the 2# AUV residence cabin support forging surface (23) and the AUV recovery cover connecting flange (20) to form the combined modular AUV residence cabin (2).

[0031] In some optional embodiments, the AUV adaptive locking mechanism (3) comprises: an elastic locking member (30) and a stepping motor (33);

[0032] The elastic locking member (30) is designed as a semicircular structure, with an elastic locking material designed inside, parallel connecting platforms designed on both sides, and threaded holes (32) for stepping motors designed on the parallel connecting platforms on both sides. An elastic locking member center threaded hole (31) is designed at the center position of the elastic locking member (30) for fixedly connecting the elastic locking member (30) with the support forging surface (21) of the 1# AUV residence cabin;

[0033] Two sets of the elastic locking members (30) are respectively installed on the inner side of the circular hole of the support forging surface (21) of the 1# AUV residence cabin body, and the stepping motor (33) is installed on the parallel connecting platform on both sides of one set of the elastic locking members (30), and the central threaded hole (31) is fixed to the inner side of the support forging surface (21) of the 1# AUV residence cabin body by screws;

[0034] Another set of the elastic locking members (30) is symmetrically mounted on the 1# AUV station cabin support forging surface (21), and this set of elastic locking members is not fixed to the inner side of the 1# AUV station cabin support forging surface (21) by screws;

[0035] The screw rods of the two sets of stepper motors (33) respectively pass through the threaded holes (32) for the two sets of stepper motors, and the stepper motors (33) lock the AUV by controlling the up and down movement of the second set of elastic locking members.

[0036] In some optional embodiments, the wireless energy transmission primary coil (40) is designed with wireless energy transmission coil fixing threaded holes (400) on both the upper and lower sides;

[0037] The coil is installed on the inner side of the support forging surface (23) of the 2# AUV residence cabin and is fixed with screws through the wireless energy transmission coil fixing threaded hole (400).

[0038] In some optional embodiments, a travel switch (50) is designed and installed at the center of the first end face of the device master control device (5), and control device fixing threaded holes (52) for connecting to the threads of the second end face of the telescopic rod are designed around the device master control device (5);

[0039] A control box (51) is designed to be installed on the second end face of the device master control device (5), which is used to install the device master control device (5) and respectively control the AUV adaptive locking mechanism (3) and the AUV wireless energy transmission adaptive adjustment device (4).

[0040] In some optional embodiments, the hydraulic adjustment mechanism (41) is a telescopic rod structure, and the first end face and the second end face of the telescopic rod are both designed with threads, wherein the first end face thread is connected to the threaded hole (231) of the support forging surface (23) of the 2# AUV residence cabin body on which the wireless energy transmission coil (40) is installed, and the second end face thread is fixedly connected to the first end face control device fixing threaded hole (52) of the device general control device (5).

[0041] The beneficial effects of the above embodiments of the present application include:

[0042] The modular AUV residence cabin is used, and the AUV recovery cover connecting flange, AUV residence cabin support forging surface, AUV residence cabin support column and other modular structural parts can be flexibly configured according to different AUV lengths. The residence cabin structure is simple in design, easy to assemble and flexible in configuration;

[0043] Adopting the AUV adaptive locking mechanism, the stepper motor drags the elastic locking piece up and down to achieve adaptive locking of AUVs with different diameters;

[0044] An AUV wireless energy transmission adaptive adjustment device is adopted. The adjustment device can adjust the relative position of the primary coil in the device in time according to the position of the secondary coil of different AUVs through the hydraulic adjustment device, so that the primary coil of the device can be aligned with the secondary coil of the improved AUV in real time for charging. While improving the charging efficiency, it also improves the applicability of the invented device to different AUVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings illustrate generally, by way of example and not limitation, various embodiments discussed herein.

[0046] Figure 1 This is an outline diagram of a rotary AUV adaptive wireless charging device of the present invention;

[0047] Figure 2 This is a structural diagram of the improved rotary AUV cabin of a rotary AUV adaptive wireless charging device according to the present invention;

[0048] Figure 3 This is a structural diagram of the AUV wireless charging cabin of a rotary AUV adaptive wireless charging device of the present invention;

[0049] Figure 4 This is a structural diagram of the wireless energy transmission primary side adaptive adjustment device of a rotary AUV adaptive wireless charging device of the present invention;

[0050] Figure 5 This is a structural diagram of the wireless energy transmission primary coil of a rotary AUV adaptive wireless charging device of the present invention;

[0051] Figure 6 This is a structural diagram of the fixed baffle of the wireless energy transmission primary side adaptive adjustment device of a rotary AUV adaptive wireless charging device of the present invention;

[0052] Figure 7 This is a structural diagram of the wireless energy transfer controller of a rotary AUV adaptive wireless charging device of the present invention;

[0053] Figure 8 This is a structural diagram of the controller fixing device of a rotary AUV adaptive wireless charging device of the present invention;

[0054] Figure 9 This is a schematic diagram of the installation position of a rotary AUV adaptive wireless charging device of the present invention;

[0055] Figure 10 This is a schematic diagram of a rotary AUV adaptive wireless charging device according to the present invention, wherein the AUV enters a charging cabin;

[0056] Figure 11 This is a schematic diagram of a rotary AUV adaptive wireless charging device according to the present invention, wherein the AUV exits the charging cabin;

[0057] Figure 12 This is a schematic diagram of the working mode of a rotary AUV self-adjusting and locking wireless charging device of the present invention;

[0058] Figure 13 This is another schematic diagram of the working mode of a rotary AUV self-adjusting and locking wireless charging device of the present invention.

[0059] Explanation of symbols:

[0060] 1-Improved rotary AUV; 2-Combined modular AUV cabin; 3-AUV adaptive locking mechanism; 4-AUV wireless energy transmission adaptive adjustment device; 5-Device master; 10-Wireless charging cabin; 20-AUV recovery cover connection flange; 21-1# AUV resident cabin support forging surface; 22-AUV resident cabin support column; 23-2# AUV resident cabin support forging surface; 24-Resident cabin support forging surface fixing connector; 200-Threaded hole for fixing connection with AUV recovery cover; 201-Threaded hole for fixing connection with AUV resident cabin support column; 210-1# AUV resident cabin support; 211-Threaded hole for connecting with AUV resident cabin support column; 212-Threaded hole for fixing the upper and lower support forging surfaces to each other; 213-Threaded hole for fixing connection with AUV adaptive locking mechanism; 40-Wireless energy transmission primary coil; 41-Hydraulic adjustment Mechanism; 230-2# AUV residence cabin support; 231-threaded hole connected to the AUV residence cabin support column; 232-threaded hole for fixing the upper and lower support forging surfaces to each other; 233-threaded hole for fixing the wireless energy transmission primary coil; 30-elastic locking piece; 31-center threaded hole of the elastic locking piece; 32-threaded hole for stepper motor; 33-stepper motor; 400-threaded hole for fixing the wireless energy transmission coil; 50-travel switch; 51-control box; 52-threaded hole for fixing the control device; 81-first end. DETAILED DESCRIPTION

[0061] In order to enable a more detailed understanding of the features and technical contents of the embodiments of the present application, the implementation of the embodiments of the present application is described in detail below with reference to the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present application.

[0062] In the description of the embodiments of this application, it should be noted that, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, it can be an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meaning of the above terms can be understood according to the specific circumstances.

[0063] It should be noted that the terms "first, second, and third" in the embodiments of the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the terms "first, second, and third" can be interchanged to represent a specific order or precedence where permitted. It should be understood that the objects distinguished by "first, second, and third" can be interchanged where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0064] Combine Figure 1The present invention proposes a rotary AUV self-adjusting and locking wireless charging device, which includes:

[0065] The improved rotary AUV (1) is composed of a combined modular AUV residence cabin (2), an AUV adaptive locking mechanism (3), an AUV wireless energy transmission adaptive adjustment device (4), and a device overall control device (5).

[0066] Combine Figure 2 The improved rotary AUV (1) is designed with a wireless charging cabin (10) near the front end of the AUV, i.e., the first end (81).

[0067] Combine Figure 3 The combined modular AUV resident cabin (2) is designed to be connected by the AUV resident cabin support forging surface (21, 23) and the AUV resident cabin support column (22), wherein the first end face of the resident cabin is connected to the AUV recovery cover connection flange (20) through the AUV resident cabin support column (22). The AUV adaptive locking mechanism (3) is integrated with the resident cabin support forging surface (21) and is used to lock the improved rotary AUV (1) through the locking stepper motor (33); the wireless energy transmission primary coil (40) is embedded in the AUV resident cabin support forging surface (23) to form the first end face of the AUV wireless energy transmission adaptive adjustment device (4), and the second end face of the AUV wireless energy transmission adaptive adjustment device (4) is connected to the hydraulic adjustment mechanism (41) of the AUV wireless energy transmission adaptive adjustment device (4). The second end face of the hydraulic adjustment mechanism (41) is connected to the first end face of the device general control device (5). A travel switch (50) is installed in the center of the first end face of the device general control device (5), and a device general control device installation box (51) is designed to be installed on the second end face. The device general control device (5) can control the AUV adaptive locking mechanism (3) to lock the AUV on the one hand, and can control the AUV wireless energy transmission adaptive adjustment device (4) to adjust the primary position on the other hand. Before the AUV enters the device, the device general control device (5) adjusts the hydraulic system of the AUV wireless energy transmission adaptive adjustment device (4) according to the position of the AUV wireless charging secondary coil, so that the hydraulic adjustment mechanism (41) extends or contracts, thereby driving the device general control device installation box (51) to extend or contract, so that when the AUV enters the device and is locked, the device wireless energy transmission primary coil (40) and the AUV wireless charging secondary coil coincide with each other. When the AUV touches the travel switch, the device general control device (5) controls the AUV adaptive locking mechanism (3) to lock the AUV.

[0068] Combine Figure 2 The improved rotary AUV (1) is designed with a wireless charging cabin (10) near the first end of the AUV, and the wireless charging cabin (10) contains a wireless charging secondary coil and a wireless charging secondary related control circuit.

[0069] Combine Figure 3 The modular AUV residence cabin (2) is assembled by modular standard components, and the standard components include: an AUV recovery cover connecting flange (20), a 1# AUV residence cabin support forging surface (21), an AUV residence cabin support column (22), and a 2# AUV residence cabin support forging surface (23). The first end face of the AUV recovery cover connecting flange (20) is connected to the AUV recovery cover, and the second end face is connected to the first end face of the AUV residence cabin support column (22). The second end face of the AUV residence cabin support column (22) is connected to the first end face of the AUV residence cabin support forging surface (21, 23), and the second end face of the AUV residence cabin support forging surface (21, 23) is connected to the AUV residence cabin support column (22) again. The combination and connection are performed in sequence, and the combination can be flexibly performed according to the length of different types of AUVs.

[0070] Combine Figure 4 The first end face of the flange is designed with threaded holes (200) along the circumferential direction for fixing the flange to the AUV recovery cover. The second end face of the flange is evenly distributed in a square structure around the flange to connect with the AUV residence cabin support column (22). The number of threaded holes (200) for fixing the AUV recovery cover and the number of threaded holes (201) for connecting with the AUV residence cabin support column (22) can be flexibly designed according to different needs.

[0071] Combine Figure 5 The 1#AUV resident cabin support forging surface includes the following structures: two sets of 1#AUV resident cabin support members (210) and support member (210) fixing connectors (24). The 1#AUV resident cabin support member (210) is designed as an outer square inner circle structure. The two sides of the support member are respectively designed with threaded holes (211) for connecting with the AUV resident cabin support column (22), threaded holes (212) for fixing the upper and lower support forging surfaces to each other, and threaded holes (213) for cooperating with the AUV adaptive locking mechanism (3) for fixed connection. The spacing between the two sides of the threaded hole (211) is the same as the spacing between the two sides of the threaded hole (201) on the upper surface of the AUV recovery cover connection flange (20), and is used to connect with the AUV resident cabin support column (22). The 1#AUV resident cabin support forging surface (21) is formed by the two sets of 1#AUV resident cabin support members (210) being connected in opposite directions and cooperating with the resident cabin support forging surface fixing connectors (24). After the 1# AUV residence cabin support forging surface (21) is assembled, a relative space is left at the outer edges of the two sets of 1# AUV residence cabin support members (210), thereby reserving a locking activity space for the AUV adaptive locking mechanism (3).

[0072] Combine Figure 6The 2#AUV residence cabin support forging surface includes the following structures: two sets of 1#AUV residence cabin support members (230) and support member (230) fixing connectors (24). The 2#AUV residence cabin support member (230) is designed as an outer square inner circle structure. The two sides of the support member are respectively designed with threaded holes (231) for connecting with the AUV residence cabin support column (22), threaded holes (232) for fixing the upper and lower support members to each other, and threaded holes (233) for fixing the wireless energy transmission primary coil (40). The spacing between the two sides of the threaded hole (231) is the same as the spacing between the two sides of the threaded hole (201) on the upper surface of the AUV recovery cover connection flange (20), and is used to connect with the AUV residence cabin support column (22). The 2#AUV residence cabin support forging surface (23) is formed by the two sets of 2#AUV residence cabin support members (230) being connected in opposite directions and cooperating with the residence cabin support forging surface fixing connectors (24). After the 2# AUV residence cabin support forging surface (23) is assembled, the outer edges of the two sets of 2# AUV residence cabin support members (230) are completely closed.

[0073] Combine Figure 7 The support column (22) is designed as a cylindrical structure, and its first end face and second end face are both designed with threads, which are used to connect with the 1# AUV residence cabin support forging surface, the 2# AUV residence cabin support forging surface and the AUV recovery cover connecting flange (20) to form a combined modular AUV residence cabin (2), such as Figure 3 shown.

[0074] Combine Figure 8 and Figure 3 The locking mechanism (3) includes an elastic locking member (30) and a stepper motor (33). The elastic locking member (30) is designed as a semicircular structure, with an elastic locking material designed inside, parallel connecting platforms designed on both sides, and threaded holes (32) for stepper motors designed on the parallel connecting platforms on both sides. A threaded hole (31) is designed at the center of the elastic locking member for fixing the elastic locking member (30) with the 1#AUV station cabin support forging surface (21). Two sets of elastic locking members are respectively installed on the inner side of the circular hole of the 1#AUV station cabin support forging surface (21). The stepper motor is installed on the parallel connecting platforms on both sides of one set of elastic locking members, and the center threaded hole (31) is fixed to the inner side of the 1#AUV station cabin support forging surface (21) by screws. The other set of elastic locking members is symmetrically installed on the 1#AUV station cabin support forging surface (21). This set of elastic locking members is not fixed to the inner side of the 1#AUV station cabin support forging surface (21) by screws. The two sets of stepper motor screws pass through the two sets of elastic locking member threaded holes (32) respectively, and the stepper motor locks the AUV by controlling the second set of elastic locking members to move up and down.

[0075] Combine Figure 9The wireless energy transmission primary coil (40) is designed with fixed threaded holes (400) on both the upper and lower sides. The coil is installed on the inner side of the support forging surface (23) of the 2# AUV station cabin and is fixed with screws through the fixed threaded holes (400).

[0076] Combine Figure 10 and Figure 3 The center of the first end face of the general control device (5) is designed to be installed with a travel switch (50), and threaded holes (52) are designed around the device for connecting to the threads of the second end face of the telescopic rod. The second end face of the general control device (5) is designed to be installed with a control box (51) for installing the general control device of the device, which controls the AUV adaptive locking mechanism (3) and the AUV wireless energy transmission adaptive adjustment device (4).

[0077] Combine Figure 11 and Figure 3 The hydraulic adjustment mechanism (41) is designed as a telescopic rod structure, and the first end face and the second end face of the telescopic rod are both designed with threads, wherein the first end face thread is connected to the threaded hole (231) of the support forging surface (23) of the 2# AUV residence cabin body on which the wireless energy transmission coil (40) is installed, and the second end face thread is fixedly connected to the first end face threaded hole (52) of the device general control device (5).

[0078] Combine Figures 12-13 In this embodiment, the specific working mode of the rotary AUV self-adjusting and locking wireless charging device is as follows:

[0079] Step 1: When the rotary AUV completes its mission or needs to return to the AUV station cabin for energy replenishment, when the AUV approaches the station cabin, the AUV sends a signal indicating the distance between the AUV wireless energy transmission secondary coil and the AUV top end position, or the signal indicating the distance between the AUV wireless energy transmission secondary coil and the AUV top end position is prefabricated according to the cabin.

[0080] Step 2: When the rotary AUV self-adjusting and locking wireless charging device receives the above signal, the device master controller (5) controls the AUV wireless energy transmission adaptive adjustment device (4) to operate, and the hydraulic adjustment mechanism (41) pushes the device master controller (5) control box to move forward and backward, so that when the AUV enters the device and the front end of the AUV touches the forming switch, the wireless energy transmission primary coil (40) in the AUV self-adjusting and locking wireless charging device matches the AUV secondary coil.

[0081] Step 3: When the rotary AUV enters the self-adjusting locking wireless charging device and the front end of the AUV touches the travel switch (50) located on the device master controller (5), the device master controller (5) controls the stepper motor (33) on the AUV adaptive locking mechanism (3) to operate. The stepper motor (33) drives the elastic locking member (30) on the AUV adaptive locking mechanism (3) to press against the AUV, thereby locking the AUV.

[0082] Step 4: When the rotary AUV is fully charged or needs to be deployed to perform a task, the device master controller (5) controls the stepper motor (33) on the AUV's adaptive locking mechanism (3) to operate. The stepper motor (33) drives the elastic locking member (30) on the AUV's adaptive locking mechanism (3) to move in the opposite direction of the AUV, thereby releasing the AUV.

[0083] The technical solutions described in the embodiments of this application can be combined arbitrarily unless there is any conflict.

[0084] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A rotary AUV self-adjusting and locking wireless charging device, characterized in that: include: An improved rotary AUV (1), a modular AUV resident cabin (2), an AUV adaptive locking mechanism (3), an AUV wireless energy transmission adaptive adjustment device (4), and a device overall control device (5); The improved rotary AUV (1) is designed with a wireless charging cabin (10) near the first end (81); The combined modular AUV residence cabin (2) comprises a 1# AUV residence cabin support forging surface (21) and a 2# AUV residence cabin support forging surface (23) which are combined and connected via an AUV residence cabin support column (22); a first end surface of the combined modular AUV residence cabin (2) is connected to an AUV recovery cover connection flange (20) via the AUV residence cabin support column (22); The AUV adaptive locking mechanism (3) is integrated with the support forging surface (21) of the 1# AUV residence cabin, and is used to lock the improved rotary AUV (1) via a locking stepping motor (33); The wireless energy transmission primary coil (40) is embedded in the support forging surface (23) of the 2# AUV residence cabin to form one end surface of the AUV wireless energy transmission adaptive adjustment device (4), and the other end surface of the AUV wireless energy transmission adaptive adjustment device (4) is connected to the hydraulic adjustment mechanism (41); One end of the hydraulic adjustment mechanism (41) is connected to one end face of the device master control device (5); a travel switch (50) is installed at the center of one end face of the device master control device (5), and a device master control device installation box (51) is provided at the other end face; the device master control device (5) can control the AUV adaptive locking mechanism (3) to lock the AUV, and can also control the AUV wireless energy transmission adaptive adjustment device (4) to adjust the original edge position; Before the AUV enters the wireless charging device, the device master control device (5) adjusts the hydraulic system of the AUV wireless energy transmission adaptive adjustment device (4) according to the position of the AUV wireless charging secondary coil, so that the hydraulic adjustment mechanism (41) extends or contracts, thereby driving the device master control device installation box (51) to extend or contract, so that when the AUV enters the wireless charging device and is locked, the wireless energy transmission primary coil (40) and the AUV wireless charging secondary coil coincide with each other; When the AUV touches the travel switch, the device master control device (5) controls the AUV adaptive locking mechanism (3) to lock the AUV.

2. The rotary AUV self-adjusting and locking wireless charging device according to claim 1, characterized in that: The wireless charging compartment (10) contains a wireless charging secondary coil and a wireless charging secondary related control circuit.

3. The rotary AUV self-adjusting and locking wireless charging device according to claim 1, characterized in that: The combined modular AUV residence cabin (2) is formed by combining modular standard components, and the standard components include: the AUV recovery cover connecting flange (20), the 1# AUV residence cabin support forging surface (21), the AUV residence cabin support column (22), and the 2# AUV residence cabin support forging surface (23); The first end face of the AUV recovery cover connecting flange (20) is connected to the AUV recovery cover, and the second end face is connected to the first end face of the AUV residence cabin support column (22); The second end face of the AUV resident cabin support column (22) is connected to the first end face of the 1# AUV resident cabin support forging surface (21) or the 2# AUV resident cabin support forging surface (23), and the second end faces of the 1# AUV resident cabin support forging surface (21) and the 2# AUV resident cabin support forging surface (23) are connected to the AUV resident cabin support column (22) again, and the combined connection is performed in sequence.

4. The rotary AUV self-adjusting and locking wireless charging device according to claim 3, characterized in that: The first end surface of the AUV recovery cover connecting flange (20) is provided with a threaded hole (200) along the circumferential direction for fixed connection with the AUV recovery cover; The second end surface of the AUV recovery cover connecting flange (20) is evenly distributed in a square structure around the periphery thereof, with threaded holes (201) for connecting to the support columns of the AUV residence cabin.

5. The rotary AUV self-adjusting and locking wireless charging device according to claim 3, characterized in that: The 1# AUV resident cabin support forging surface (21) includes two sets of 1# AUV resident cabin support members (210) and a resident cabin support forging surface fixing connector (24); The 1# AUV residence cabin support (210) is a square outer and round inner structure, and the residence cabin support forging surface fixed connection piece (24) is respectively designed with threaded holes (211) connected to the AUV residence cabin support column, threaded holes (212) for mutually fixing the upper and lower support forging surfaces, and threaded holes (213) for cooperating with the AUV adaptive locking mechanism for fixed connection. The distance between the two sides of the threaded hole (211) connected to the AUV residence cabin support column is the same as the distance between the two sides of the threaded hole (201) on the AUV recovery cover connection flange (20) for fixed connection with the AUV residence cabin support column, and is used for connection with the AUV residence cabin support column (22); Two sets of the 1# AUV resident cabin support members (210) are connected in opposite directions and matched with the resident cabin support forging surface fixing connector (24) to form the 1# AUV resident cabin support forging surface (21); After the 1# AUV residence cabin support forging surface (21) is assembled, a relative space is left at the outer edges of the two sets of the 1# AUV residence cabin support members (210), thereby reserving a locking activity space for the AUV adaptive locking mechanism (3).

6. The rotary AUV self-adjusting and locking wireless charging device according to claim 3, characterized in that: The 2#AUV resident cabin support forging surface includes the following structural parts: two sets of 2#AUV resident cabin support parts (230), and a resident cabin support forging surface fixing connector (24); The 2# AUV residence cabin support member (230) is designed as an outer square inner circle structure, and threaded holes (231) for connecting to the AUV residence cabin support column, threaded holes (232) for fixing the upper and lower support members to each other, and threaded holes (233) for fixing the wireless energy transmission primary coil are respectively designed on both sides of the support member; The distance between the two sides of the threaded hole (231) connected to the AUV residence cabin support column is kept the same as the distance between the two sides of the threaded hole (201) for fixed connection with the AUV residence cabin support column, and is used for connection with the AUV residence cabin support column (22); The two sets of the 2# AUV residence cabin support members (230) are connected in opposite directions and matched with the residence cabin support forging surface fixing connector (24) to form the 2# AUV residence cabin support forging surface (23); After the 2# AUV residence cabin support forging surface (23) is assembled, the outer edges of the two sets of 2# AUV residence cabin support members (230) are completely closed.

7. The rotary AUV self-adjusting and locking wireless charging device according to claim 3, characterized in that: The AUV residence cabin support column (22) is designed as a cylindrical structure, and its first end face and second end face are both designed with threads, and are used to connect with the 1# AUV residence cabin support forging surface (21), the 2# AUV residence cabin support forging surface (23) and the AUV recovery cover connecting flange (20) to form the combined modular AUV residence cabin (2).

8. The rotary AUV self-adjusting and locking wireless charging device according to claim 1, characterized in that: The AUV adaptive locking mechanism (3) comprises: an elastic locking member (30) and a stepping motor (33); The elastic locking member (30) is designed as a semicircular structure, with an elastic locking material designed inside, parallel connecting platforms designed on both sides, and threaded holes (32) for stepping motors designed on the parallel connecting platforms on both sides. An elastic locking member center threaded hole (31) is designed at the center position of the elastic locking member (30) for fixedly connecting the elastic locking member (30) with the support forging surface (21) of the 1# AUV residence cabin; Two sets of the elastic locking members (30) are respectively installed on the inner side of the circular hole of the support forging surface (21) of the 1# AUV residence cabin body, and the stepping motor (33) is installed on the parallel connecting platform on both sides of one set of the elastic locking members (30), and the central threaded hole (31) is fixed to the inner side of the support forging surface (21) of the 1# AUV residence cabin body by screws; Another set of the elastic locking members (30) is symmetrically mounted on the 1# AUV station cabin support forging surface (21), and this set of elastic locking members is not fixed to the inner side of the 1# AUV station cabin support forging surface (21) by screws; The screw rods of the two sets of stepper motors (33) respectively pass through the threaded holes (32) for the two sets of stepper motors, and the stepper motors (33) lock the AUV by controlling the up and down movement of the second set of elastic locking members.

9. The rotary AUV self-adjusting and locking wireless charging device according to claim 1, characterized in that: Wireless energy transmission coil fixing threaded holes (400) are designed on both the upper and lower sides of the wireless energy transmission primary coil (40); The coil is installed on the inner side of the support forging surface (23) of the 2# AUV residence cabin and is fixed with screws through the wireless energy transmission coil fixing threaded hole (400).

10. The rotary AUV self-adjusting and locking wireless charging device according to claim 1, characterized in that: A travel switch (50) is designed and installed at the center of the first end face of the device master control device (5), and control device fixing threaded holes (52) for connecting to the threads of the second end face of the telescopic rod are designed around the device master control device (5); A control box (51) is designed to be installed on the second end face of the device master control device (5), which is used to install the device master control device (5) and respectively control the AUV adaptive locking mechanism (3) and the AUV wireless energy transmission adaptive adjustment device (4).

11. The rotary AUV self-adjusting and locking wireless charging device according to claim 10, characterized in that: The hydraulic adjustment mechanism (41) is a telescopic rod structure, and the first end face and the second end face of the telescopic rod are both designed with threads, wherein the first end face thread is connected to the threaded hole (231) of the support forging surface (23) of the 2# AUV residence cabin body on which the wireless energy transmission coil (40) is installed, and the second end face thread is fixedly connected to the first end face control device fixing threaded hole (52) of the device general control device (5).

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