An underwater docking station suitable for a variety of AUVs

Abstract

The application discloses an underwater dock cabin suitable for various AUVs, and belongs to the field of AUV dock cabins. The underwater dock cabin comprises a dock cabin shell, a damping device, a dock cabin framework, an energy supply module, a rotating clamp jaw device, a supporting base, a special-shaped clamping mechanism and a cabin door. The dock cabin shell wraps the whole dock cabin, and provides a protection function for core components of the dock cabin and a supporting action for spare parts. The application provides a design of a dock cabin capable of clamping various types of AUVs, and creatively changes the diameter of the clamp jaw and arranges the clamp jaw at multiple positions in the axial direction, so that only one universal type of dock cabin can be used to recycle and contain various AUVs. The application adopts multiple sets of different types of clamp jaws with variable diameters, and can clamp AUVs with different diameters and lengths, so that the utilization rate of the dock cabin is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of AUV docking stations and relates to an underwater docking station for gripping various types of AUVs. Specifically, it relates to an underwater docking station suitable for various types of AUVs. Background Technology

[0002] An AUV (Autonomous Underwater Vehicle) is an underwater robot with autonomous navigation and exploration capabilities, commonly used in marine scientific research, marine resource exploration and development, and marine environmental monitoring and protection. AUV swarms can complete deployed tasks more quickly and efficiently, while heterogeneous swarms can be tailored to specific AUV characteristics for specific missions. AUV docks provide energy supply, information exchange, and better maintenance for AUVs. However, existing AUV docks are only designed for a single type of AUV and cannot accommodate multiple types, leading to resource waste. Furthermore, if a dock for a particular model is damaged, the corresponding type of AUV cannot be docked for repair or wireless charging.

[0003] Existing AUV docks can only accommodate one type of AUV. For multiple AUV models, multiple different docks must be used, which not only wastes resources, but also prevents the AUV of that model from docking for repair and wireless charging if a dock for a particular model is damaged.

[0004] This invention provides a dock design that can grip multiple types of AUVs. By creatively changing the diameter of the grippers and arranging the grippers at multiple locations along the axial direction, multiple AUVs can be recovered and accommodated using only one universal dock design. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to provide a dock design that can accommodate multiple types of AUVs, enabling the use of only one AUV dock to dock AUVs of different lengths and diameters, thus solving the current problem that AUV docks can only dock one type of AUV.

[0006] Technical solution: The present invention provides an underwater dock suitable for various types of AUVs, including a dock shell (1) and a dock system enclosed inside the dock shell (1);

[0007] The dock system includes interconnected damping devices (2), dock frame (3), energy supply module (4), rotating gripper device (5), support base (6), irregular clamping mechanism (7), and hatch (8).

[0008] Furthermore, the damping device (2) includes a damping baffle (2-1), a damping spring (2-2), a damping column (2-3), and a buffer cover (2-4);

[0009] The damping baffle (2-1) is fixedly mounted on the outer shell of the dock (1);

[0010] The two ends of the damping column (2-3) are respectively connected to the damping baffle (2-1) and the buffer cover (2-4);

[0011] The damping spring (2-2) is mounted on the damping column (2-3).

[0012] Furthermore, the buffer cover (2-4) is connected to the dock frame (3);

[0013] The energy supply module (4) is located at the front end of the dock frame (3);

[0014] The rotating gripper device (5) is connected to the dock frame (3) in a rotating pair, and multiple rotating gripper devices (5) are installed on the entire dock system for gripping AUVs of different lengths and diameters.

[0015] Furthermore, the rotating gripper device (5) includes two pairs of grippers, specifically including a first gripper group (5-1), a rotating shaft (5-2), a rotating rod (5-3), a rotary wheel (5-4), and a second gripper group (5-5).

[0016] Both pairs of grippers are connected to the slewing wheel (5-4), and the (5-4) is connected to the dock frame (3) by a rotating joint;

[0017] The rotating rod (5-3) is connected to the rotary pair of the rotary wheel (5-4) and is perpendicular to the center plane of the rotary wheel (5-4);

[0018] The rotating shaft (5-2) is connected to the rotating rod (5-3) via a rotary joint, and is fixedly connected to the first gripper group (5-1) and the second gripper group (5-5) respectively.

[0019] Furthermore, force control sensors are installed at the ends of both pairs of grippers; the force control sensors are connected to the monitoring switchboard via signals.

[0020] Furthermore, the first gripper assembly (5-1) includes a first gripper (5-1-1), a first slider (5-1-2), a first telescopic rod (5-1-3), and a first step shaft (5-1-4);

[0021] The first step shaft (5-1-4) is fixedly connected to one end of the rotating shaft (5-2);

[0022] The first telescopic rod (5-1-3) is fixedly connected to the other end of the rotating shaft (5-2);

[0023] The first slider (5-1-2) is connected to the first telescopic rod (5-1-3) by a sliding pair, and the first gripper (5-1-1) is driven by the different extension and retraction of the first telescopic rod (5-1-3);

[0024] The first gripper (5-1-1) and the first slider (5-1-2) are connected by a sliding groove, and the built-in differential screw mechanism causes the two grippers of the first gripper (5-1-1) to move towards each other.

[0025] Furthermore, the second gripper assembly (5-5) includes a drive link (5-5-1), a second slider (5-5-2), a second telescopic rod (5-5-3), a second step shaft (5-5-4), a third telescopic rod (5-5-5), a third slider (5-5-6), and a second gripper (5-5-7).

[0026] The second step shaft (5-5-4) is fixedly connected to one end of the rotating shaft (5-2);

[0027] The other end of the second telescopic rod (5-5-3) is fixedly connected to the rotating shaft (5-2);

[0028] The second slider (5-5-2) is connected to the second telescopic rod (5-5-3) by a sliding pair, and the position of the gripper is changed by the extension and retraction of the second telescopic rod (5-5-3);

[0029] The third telescopic rod (5-5-5) is fixedly connected to the second slider (5-5-2);

[0030] The second gripper (5-5-7) is connected to the second slider (5-5-2) via a rotary joint, and the second gripper (5-5-7) rotates around the boss of the second slider (5-5-2);

[0031] The third slider (5-5-6) is connected to the third telescopic rod (5-5-5) through a sliding joint, and the third slider (5-5-6) moves up and down through the extension and shortening of the third telescopic rod (5-5-5);

[0032] The two ends of the drive link (5-5-1) are respectively connected to the rotary joints of the third slider (5-5-6) and the second gripper (5-5-7), and the drive link (5-5-1) is driven to move by the up and down movement of the third slider (5-5-6).

[0033] Furthermore, an irregular gripper (7) is also installed on the inner wall of the dock shell (1). The irregular gripper (7) includes at least two guide rails (7-1), a frame (7-2), a scissor mechanism (7-3), a sliding rail (7-4), a U-shaped base plate (7-5), and a pin (7-6).

[0034] The two guide rails (7-1) are fixedly mounted on the dock shell (1);

[0035] The frame (7-2) is mounted on one side of the guide rail (7-1) and is connected to the guide rail (7-1) via a sliding pair;

[0036] The scissor mechanism (7-3) is connected to the frame (7-2) sliding joint, and the movement of the scissor mechanism drives the U-shaped base plate (7-5) to move up and down;

[0037] The movable slide rail (7-4) is connected to the other end of the scissor mechanism (7-3).

[0038] The U-shaped base plate (7-5) is movably connected to the upper end of the sliding rails (7-4) on both sides.

[0039] The ejector pin (7-6) is connected to the cylindrical hole on the U-shaped base plate (7-5) and an elastic element is placed inside it.

[0040] Furthermore, a hatch (8) is also installed at the other end of the dock frame (3).

[0041] Furthermore, a support base (6) is provided at the lower end of the dock frame (3), and the dock frame (3) is mounted on the support base (6).

[0042] Furthermore, the underwater dock and the AUV communicate before docking to determine whether the AUV is qualified to dock. If the AUV is qualified, the corresponding gripper is selected based on the AUV's length and diameter information.

[0043] Beneficial effects: Compared with the prior art, the present invention is characterized by the fact that current underwater docks can only be used for a single AUV. When facing unmanned surface vessel swarms, especially heterogeneous swarms, different types of docks are required, which wastes resources to a certain extent. Once a dock is damaged and unusable, the AUV cannot dock in the dock to perform mission transmission and reception, wireless charging and other operations. The present invention uses multiple sets of different types of variable diameter grippers to grip AUVs of different diameters and lengths, which greatly improves the utilization rate of the dock. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the overall structure of the dock in this invention;

[0045] Figure 2 This is a schematic diagram of the dock system in this invention;

[0046] Figure 3 This is a schematic diagram of the damping device in this invention;

[0047] Figure 4This is a schematic diagram of the rotating gripper device in this invention;

[0048] Figure 5 This is a schematic diagram of the structure of the first gripper group in this invention;

[0049] Figure 6 This is a schematic diagram of the structure of the second gripper group in this invention;

[0050] Figure 7 This is a schematic diagram of the irregular clamping mechanism in this invention;

[0051] Figure 8 This is an internal structural diagram of the irregular clamping mechanism in this invention;

[0052] Figure 9 This is a comparison diagram of the dock extension and retraction in this invention;

[0053] Figure 10 This is a schematic diagram of the dock logic flow in this invention;

[0054] Figure 11 This is a working diagram of using a rotating gripper to clamp an AUV in an embodiment of the present invention;

[0055] Figure 12 This is a working diagram of the collaborative clamping of the AUV in an embodiment of the present invention;

[0056] In the diagram: 1 represents the outer shell of the dock;

[0057] 2 is the damping device, 2-1 is the damping baffle, 2-2 is the damping spring, 2-3 is the damping column, and 2-4 is the buffer cover;

[0058] 3 is the dock frame; 4 is the energy supply module;

[0059] 5 is the rotating gripper device, 5-1 is gripper group 1, 5-2 is the rotating shaft, 5-3 is the rotating rod, 5-4 is the rotary wheel, 5-5 is gripper group 2, 5-1-1 is gripper 1, 5-1-2 is slider 1, 5-1-3 is telescopic rod 1, 5-1-4 is step shaft 1, 5-5-1 is the drive linkage, 5-5-2 is gripper 2, 5-5-3 is telescopic rod 2, 5-5-4 is step shaft 2, 5-5-5 is telescopic rod 3, 5-5-6 is slider 3, and 5-5-7 is gripper 2.

[0060] 6 is the supporting base;

[0061] 7 is the irregular clamping mechanism, 7-1 is the guide rail, 7-2 is the frame, 7-3 is the scissor mechanism, 7-4 is the moving slider, 7-5 is the U-shaped base plate, and 7-6 is the ejector pin;

[0062] 8 is the hatch. Detailed Implementation

[0063] To more clearly illustrate the technical solution of the present invention, the technical solution of the present invention will be further described in detail below with reference to the accompanying drawings:

[0064] like Figure 1-2 As shown, the present invention provides an underwater dock suitable for various types of AUVs, and provides a dock design that adapts to AUVs of different lengths and diameters. The structural design includes: dock shell 1, damping device 2, dock frame 3, energy supply module 4, rotating gripper device 5, support base 6, irregular clamping mechanism 7, and hatch 8.

[0065] The dock shell 1 encloses the entire dock, providing protection for the core components and support for the parts.

[0066] Furthermore, such as Figure 2-3 As shown, the damping device 3 consists of a damping baffle 2-1, a damping spring 2-2, a damping column 2-3, and a buffer cover 2-4;

[0067] The damping baffle 2-1 is fixed to the dock shell 1 and is used to support the entire damping device and limit the range of motion of the damping spring 2-2.

[0068] The damping spring 2-2 is mounted on the damping column 2-3 and is used to provide a counterforce to the buffer cover 2-4; the buffer cover 2-4 is used to receive the impact of the AUV, thereby decelerating the AUV.

[0069] Furthermore, such as Figure 2 As shown, the dock frame 3 is mounted on the support base 6 to accommodate the AUV and to provide installation positions for the energy supply module 4, the rotating gripper device 5 and the hatch 8.

[0070] Furthermore, such as Figure 5 As shown, the energy supply module 4 is installed at the front end of the dock frame 3 to wirelessly charge the AUV, thereby ensuring the AUV's endurance.

[0071] Furthermore, such as Figure 2 , 4 As shown, the rotating gripper device 5 is connected to the dock frame 3 in a rotating pair.

[0072] The entire dock is equipped with multiple rotating gripper devices 5, which are used to grip AUVs of different lengths and diameters.

[0073] The rotating gripper device 5 is controlled by the sensor to rotate according to the current pose of the AUV and the position sensor of the rotating gripper. This ensures that the rotating gripper device 5 uses the correct gripper to grip the AUV in the appropriate position. After successful gripping, the rotating gripper is rotated to straighten the AUV, thereby ensuring the charging efficiency when the AUV needs wireless charging in the future.

[0074] Furthermore, a force control sensor is installed at the end of the gripper to ensure the gripping force is appropriate and thus prevent damage to the AUV.

[0075] Furthermore, Figure 4-6 As shown, the rotating gripper device 5 has two pairs of grippers and includes the following components: gripper group 5-1, rotating shaft 5-2, rotating rod 5-3, rotary wheel 5-4, and gripper group 5-5.

[0076] The slewing wheel 5-4 is connected to the dock frame 3 by a rotating pair, so that the corresponding gripper group can be selected to grip and fix the AUV as needed;

[0077] The rotating rod 5-3 is connected to the rotary wheel 5-4 and is perpendicular to the center plane of the rotary wheel 5-4, which effectively prevents the AUV from entering the dock and impacting the gripper, thereby damaging the gripper;

[0078] The rotating shaft 5-2 is connected to the rotating rod 5-3 via a rotary joint, and is fixed to the first gripper group 5-1 and the second gripper group 5-5, thereby driving the grippers to effectively grip the AUV.

[0079] Furthermore, such as Figure 4-5 As shown, the first gripper group 5-1 is suitable for gripping unmanned surface vessels with a diameter of D / 2 (D refers to the inner diameter of the dock) and below, and includes the following components: first gripper 5-1-1, first slider 5-1-2, first telescopic rod 5-1-3 and first step shaft 5-1-4.

[0080] The first step shaft 5-1-4 is fixed to the rotating shaft 5-2, providing guidance and support for the first slider 5-1-2;

[0081] The first telescopic rod 5-1-3 is fixed to the rotating shaft 5-2, providing a supporting force for the telescopic rod 5-1-3;

[0082] The first slider 5-1-2 and the first telescopic rod 5-1-3 are connected by a sliding pair. The first gripper 5-1-1 is driven by the different extension and retraction of the first telescopic rod 5-1-3, thereby gripping AUVs of different diameters.

[0083] The first gripper 5-1-1 and the first slider 5-1-2 are connected by a sliding groove and have a built-in differential screw mechanism, which allows the two grippers of the first gripper 5-1-1 to move towards each other.

[0084] Furthermore, since the first gripper group 5-1 is suitable for gripping AUVs with a diameter of D / 2 (D refers to the inner diameter of the dock) and below, the energy supply module 4 is far away from the AUV, which affects the charging efficiency.

[0085] By extending the first telescopic rod 5-1-3, the AUV is forced to move downward, thereby shortening the distance between the AUV and the energy supply module 4, thus increasing charging efficiency.

[0086] Furthermore, such as Figure 4 , 6 As shown, the second gripper assembly 5-5 is suitable for gripping unmanned surface vessels with a diameter of D / 2 (D refers to the inner diameter of the dock) and above, and includes the following components: drive linkage 5-5-1, second slider 5-5-2, second telescopic rod 5-5-3, second step shaft 5-5-4, third telescopic rod 5-5-5, third slider 5-5-6, and second gripper 5-5-7.

[0087] The second step shaft 5-5-4 is fixed to the rotating shaft 5-2, providing support and guidance for the second slider 5-5-2 and the third slider 5-5-6;

[0088] The second telescopic rod 5-5-3 is fixed to the rotating shaft 5-2, which provides support for the second telescopic rod 5-5-3;

[0089] The second slider 5-5-2 and the second telescopic rod 5-5-3 are connected by a sliding pair. The position of the gripper is changed by the extension and retraction of the second telescopic rod 5-5-3, thereby gripping the AUV.

[0090] The third telescopic rod 5-5-5 is fixed to the second slider 5-5-2, providing support for the third telescopic rod 5-5-5;

[0091] The second gripper 5-5-7 is connected to the second slider 5-5-2 via a rotary joint, allowing the second gripper 5-5-7 to rotate around the boss of the second slider 5-5-2;

[0092] The third slider 5-5-6 is connected to the third telescopic rod 5-5-5 through a sliding joint. The extension and shortening of the third telescopic rod 5-5-5 drives the third slider 5-5-6 to move up and down.

[0093] The drive link 5-5-1 is connected to the third slider 5-5-6 and the second gripper 5-5-7 via rotary joints. The up and down movement of the third slider 5-5-6 drives the drive link 5-5-1 to move, thereby causing the second gripper 5-5-7 to open and close, thus gripping the AUV.

[0094] Furthermore, the second telescopic rod 5-5-3 and the third telescopic rod 5-5-5 move independently. Through their coordinated movement, combined with data transmitted to the terminal by sensors or cameras, some special actions can be performed and the posture of the AUV can be corrected.

[0095] like Figure 2 , 9 As shown, the support base 6 provides a stress point for the entire dock frame 3;

[0096] When the length of the AUV entering the dock exceeds the initial length of the dock, the length of the dock can be increased by the axial displacement of the support base 6, thereby meeting the length requirements of the AUV.

[0097] like Figure 2 , 7 As shown in Figure 8, the irregular gripper 7 is suitable for situations where AUVs have side wings or shapes that are difficult to grip with grippers, or for new types of unmanned surface vessels that do not have corresponding grippers for gripping; it includes the following components: guide rail 7-1, frame 7-2, scissor mechanism 7-3, moving slide rail 7-4, U-shaped base plate 7-5, and ejector pin 7-6.

[0098] The guide rail 7-1 is fixed on the dock shell 1, providing support and axial translation for the entire irregular gripper mechanism;

[0099] The frame 7-2 is connected to the guide rail 7-1 via a sliding pair;

[0100] The scissor mechanism 7-3 is connected to the frame 7-2 via a sliding joint, and the movement of the scissor mechanism drives the U-shaped base plate 7-5 to move up and down.

[0101] The ejector pin 7-6 and the cylindrical hole on the U-shaped base plate 7-5 are mutually matched, and the ejector pin has an elastic element inside.

[0102] When gripping an AUV, the ejector pin contracts inward under force, and the elastic element has an outward reaction force, thus gripping the AUV.

[0103] Furthermore, after successful clamping, it is determined whether wireless charging is needed based on the AUV signal. If so, the sensor detects whether the current position of the AUV meets the requirements for wireless charging.

[0104] If the AUV is detected to have not yet reached the charging position on the axis, first use the irregular gripper 7 to clamp it, then use the rotating gripper device 5 to release it, and use the linear motor to drive the irregular gripper mechanism 7 to move on the guide rail 7-1 to send the AUV to the specified distance, and then use the rotating gripper device to clamp it again.

[0105] If the radial distance is detected to be insufficient for wireless charging, the radial distance of the AUV is adjusted using the telescopic rod of the gripper assembly to ensure the charging efficiency of the AUV.

[0106] Furthermore, when the AUV fails to dock at the designated position in the dock, it can be pre-clamped by the irregular clamp, and then the AUV can be moved by the translation of the frame 7-2 on the guide rail 7-1. After it is moved to the correct position, the rotating gripper device 5 can be used for formal clamping.

[0107] Furthermore, such as Figure 12 As shown, the AUV can be clamped in conjunction with the irregularly shaped gripper 7 and the rotating gripper device 5.

[0108] Furthermore, such as Figure 2 As shown, the hatch 8 identifies the AUVs that need to enter the dock, and only AUVs authorized to enter the dock can open the hatch 8.

[0109] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. An underwater dock suitable for various types of AUVs, characterized in that: Includes the dock shell (1) and the dock system enclosed inside the dock shell (1); The dock system includes interconnected damping devices (2), dock frame (3), energy supply module (4), rotating gripper device (5), support base (6), irregular gripper (7) and hatch (8). The damping device (2) includes a damping baffle (2-1), a damping spring (2-2), a damping column (2-3), and a buffer cover (2-4). The damping baffle (2-1) is fixedly mounted on the outer shell of the dock (1); The two ends of the damping column (2-3) are respectively connected to the damping baffle (2-1) and the buffer cover (2-4); The damping spring (2-2) is fitted onto the damping column (2-3); The buffer cover (2-4) is connected to the dock frame (3); The energy supply module (4) is located at the front end of the dock frame (3); The rotating gripper device (5) is connected to the dock frame (3) in a rotating pair, and multiple rotating gripper devices (5) for gripping different types of AUVs of different lengths and diameters are installed on the entire dock system. The rotating gripper device (5) includes two pairs of grippers, specifically including a first gripper group (5-1), a rotating shaft (5-2), a rotating rod (5-3), a rotary wheel (5-4), and a second gripper group (5-5). Both pairs of grippers are connected to the slewing wheel (5-4), and the slewing wheel (5-4) is connected to the dock frame (3) by a rotating pair; The rotating rod (5-3) is connected to the rotary pair of the rotary wheel (5-4) and is perpendicular to the center plane of the rotary wheel (5-4); The rotating shaft (5-2) is connected to the rotating rod (5-3) through a rotary joint, and is fixedly connected to the first gripper group (5-1) and the second gripper group (5-5) respectively; On the inner wall of the dock shell (1), there is also a shaped gripper (7), which includes at least two guide rails (7-1), a frame (7-2), a scissor mechanism (7-3), a sliding rail (7-4), a U-shaped base plate (7-5), and a pin (7-6). The two guide rails (7-1) are fixedly mounted on the outer shell of the dock (1); The frame (7-2) is mounted on one side of the guide rail (7-1) and is connected to the guide rail (7-1) via a sliding pair; One end of the scissor mechanism (7-3) is connected to the sliding pair of the frame (7-2), and the movement of the scissor mechanism drives the U-shaped base plate (7-5) to move up and down. The movable slide rail (7-4) is connected to the other end of the scissor mechanism (7-3). The U-shaped base plate (7-5) is movably connected to the upper end of the sliding rails (7-4) on both sides. The ejector pin (7-6) is connected to the cylindrical hole opened on the U-shaped base plate (7-5) and an elastic element is placed inside it.

2. The underwater dock suitable for various types of AUVs according to claim 1, characterized in that: Force control sensors are installed at the ends of both pairs of grippers; the force control sensors are connected to the monitoring switchboard via signals.

3. The underwater dock suitable for various types of AUVs according to claim 1, characterized in that: The first gripper assembly (5-1) includes a first gripper (5-1-1), a first slider (5-1-2), a first telescopic rod (5-1-3), and a first step shaft (5-1-4). One end of the first step shaft (5-1-4) is fixedly connected to the rotating shaft (5-2); the other end of the first telescopic rod (5-1-3) is fixedly connected to the rotating shaft (5-2). The first slider (5-1-2) is connected to the first telescopic rod (5-1-3) by a sliding pair, and the first gripper (5-1-1) is driven by the different extension and retraction of the first telescopic rod (5-1-3). The first gripper (5-1-1) and the first slider (5-1-2) are connected by a slide groove, and the built-in differential screw mechanism causes the two grippers of the first gripper (5-1-1) to move towards each other.

4. An underwater dock suitable for various types of AUVs according to claim 1, characterized in that: The second gripper assembly (5-5) includes a drive link (5-5-1), a second slider (5-5-2), a second telescopic rod (5-5-3), a second step shaft (5-5-4), a third telescopic rod (5-5-5), a third slider (5-5-6), and a second gripper (5-5-7). The second step shaft (5-5-4) is fixedly connected to one end of the rotating shaft (5-2); the second telescopic rod (5-5-3) is fixedly connected to the other end of the rotating shaft (5-2); The second slider (5-5-2) is connected to the second telescopic rod (5-5-3) by a sliding pair, and the position of the gripper is changed by the extension and retraction of the second telescopic rod (5-5-3); The third telescopic rod (5-5-5) is fixedly connected to the second slider (5-5-2); The second gripper (5-5-7) is connected to the second slider (5-5-2) rotary joint, and the second gripper (5-5-7) rotates around the boss of the second slider (5-5-2); The third slider (5-5-6) is connected to the third telescopic rod (5-5-5) through a sliding joint, and the third slider (5-5-6) moves up and down through the extension and shortening of the third telescopic rod (5-5-5); The two ends of the drive link (5-5-1) are respectively connected to the rotating joints of the third slider (5-5-6) and the second gripper (5-5-7), and the drive link (5-5-1) is driven to move by the up and down movement of the third slider (5-5-6).

5. An underwater dock suitable for various types of AUVs according to claim 1, characterized in that: A hatch (8) is also installed at the other end of the dock frame (3).

6. An underwater dock suitable for various types of AUVs according to claim 1, characterized in that: A support base (6) is installed at the lower end of the dock frame (3), and the dock frame (3) is mounted on the support base (6).

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