Buffer locking separation device for underwater docking

Abstract

This invention provides a buffer locking and separation device for underwater docking, comprising a docking cylinder, outer shell guide rollers, buffer shell guide rollers, guide groove, locking mechanism, buffer mechanism, buffer unlocking mechanism, elastic lock, buffer positioning mechanism, and mounting plate. Both locking mechanisms are mounted on the outer surface of the docking cylinder, with their ends extending into the guide groove. The buffer mechanism is confined inside the docking cylinder by the mounting plate and the buffer shell guide rollers. The buffer unlocking mechanism is mounted on the buffer mechanism, and the elastic lock is also mounted on the buffer mechanism, capable of locking onto the buffer unlocking mechanism. The buffer positioning mechanism is mounted on the right end of the docking cylinder. This invention reduces the impact force of high-speed vehicle collisions on the entire docking cylinder device, resulting in a stable and reliable structure. By unlocking and releasing the potential energy stored in the buffer mechanism, this invention facilitates smoother vehicle exit and is simple to operate.

Description

Technical Field

[0001] This invention relates to the technical field of underwater docking of aircraft, and specifically to a buffer locking separation device used for underwater docking. Background Technology

[0002] With the continuous development of marine development, more and more underwater vehicles are being used in various sea areas. The increasing number of vehicles and mission requirements necessitate that they efficiently complete underwater docking. Therefore, docking technology for underwater vehicles has attracted great attention from experts in related fields. To ensure successful underwater docking and smooth exit from the docking device, the docking process must be sufficiently stable and maintain high docking accuracy even after multiple docking attempts. During the docking process, the cushioning after the vehicle impacts the docking device, the vehicle's positioning, and the separation of the vehicle from the docking device are crucial core technologies.

[0003] For example, Chinese patent application 202111644782.9 discloses a multi-type UUV docking device that uses a swing hydraulic cylinder to drive a connecting frame and a guide plate to guide and dock the UUV. By adjusting the angle of the guide plate and the position of the clamping arm, it can achieve rapid guidance and docking of various types of UUVs. However, when the UUV speed is slightly higher, the positioning accuracy after buffering is not high. When the UUV retracts, there is no auxiliary propulsion design, which is not conducive to the rapid retraction of the UUV. At the same time, the structure is large in size, which limits the application scenarios. Chinese patent application 201710378775.6 discloses a UUV underwater docking device under dynamic base conditions. This invention uses a hydraulic buffer module to stop the movement of the UUV. The buffer module structure is harsh, the volume is large, the positioning accuracy is not high, and there is no auxiliary propulsion design when the UUV retracts, which is not conducive to the rapid retraction of the UUV.

[0004] Therefore, a brand-new underwater vehicle buffer locking and separation system is needed, which can quickly absorb energy during docking and impact, quickly locate the working position and lock it, and at the same time have a certain boost function when the vehicle exits. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a buffer locking and separation device for underwater docking.

[0006] According to the present invention, a buffer locking and separation device for underwater docking includes a docking cylinder, an outer shell guide roller, a buffer shell guide roller, a guide groove, a locking mechanism, a buffer mechanism, a buffer unlocking mechanism, an elastic lock, a buffer positioning mechanism, and a mounting plate.

[0007] The outer shell guide roller is installed on the left side of the docking cylinder wall, the buffer shell guide roller is installed on the middle cylinder wall of the docking cylinder, and both guide grooves are installed on the inner cylinder wall of the docking cylinder.

[0008] Both locking mechanisms are mounted on the outer surface of the docking cylinder, and the ends of the locking mechanisms extend into the guide groove.

[0009] The mounting plate is installed inside the docking cylinder and is located to the right of the buffer shell guide roller. The buffer mechanism is confined inside the docking cylinder by the mounting plate and the buffer shell guide roller.

[0010] A buffer unlocking mechanism is installed on the buffer mechanism, and an elastic lock is also installed on the buffer mechanism. The elastic lock can be locked onto the buffer unlocking mechanism. A buffer positioning mechanism is installed on the right end of the docking cylinder.

[0011] Preferably, the docking cylinder includes a conical guide cover, a first cylinder, and a second cylinder, with the conical guide cover fixedly installed with the first cylinder and the first cylinder fixedly connected to the second cylinder.

[0012] Preferably, the outer casing guide roller includes a first roller, a first bearing, a retaining ring, a first wheel shaft, a first retaining ring, and a first roller base. The roller is mounted on the first roller base via the first bearing, the retaining ring, the first wheel shaft, and the first retaining ring.

[0013] The first roller base is mounted on the docking cylinder, and the end of the first roller is located inside the docking cylinder;

[0014] When the external vehicle is located inside the docking cylinder, the first roller contacts the outer shell of the external vehicle.

[0015] Preferably, the buffer housing guide roller includes a second roller, a second bearing, a second snap ring, a second axle, and a second roller base;

[0016] The second roller is mounted on the second roller base via a second bearing, a second retaining ring, and a second wheel axle; the second roller base is mounted on the docking cylinder, and the end of the second roller is located inside the docking cylinder, and the second roller is in contact with the buffer mechanism.

[0017] Preferably, the guide groove includes a first guide inclined block, a second guide inclined block, a guide slide rail, and a limiting block; the number of guide slide rails is two, and they are arranged in parallel to each other, the first guide inclined block and the second guide inclined block are located at one end of different guide slide rails, and the limiting block is located at the other end of the two guide slide rails.

[0018] Preferably, the locking mechanism includes a bracket, a locking base, a locking link, a servo motor, a servo motor dial, a shoulder screw, a first inductive switch, a baffle, a seventh axis, a locking slider, and a first spring.

[0019] The servo motor is mounted on the bracket, the servo motor turntable is mounted on the servo motor output shaft end, and the locking link is composed of two non-collinear rod-shaped structures.

[0020] One end of the locking link is limited to the servo turntable by the shoulder screw. The junction of the two non-collinear rod-shaped structures in the locking link is fixed to the locking base by the seventh axis. The other end of the locking link is attached to the groove edge of the locking slider.

[0021] The locking slider includes a first spring, a locking pin, a rolling bearing, and a first shaft;

[0022] The locking base is located outside the docking cylinder, the locking pin is installed on the locking base, and one end of the locking pin extends into the interior of the docking cylinder;

[0023] One end of the locking pin is a ramp structure, and the end of the ramp structure is also provided with a groove, which can match the positioning pin of an external aircraft.

[0024] The first spring is installed between the other end of the locking pin and the baffle. Multiple rolling bearings are also installed on the locking pin via the first shaft and the set screw.

[0025] Preferably, the buffer mechanism includes a buffer shell, a buffer spring, a buffer base plate, and a buffer shaft; the buffer shaft is fixedly installed on the buffer shell, the end of the buffer shaft passes through the guide hole of the buffer base plate and is elastically locked to the end face of the buffer shaft of the buffer mechanism, and a buffer spring is also fitted in the middle of the buffer shaft; the buffer shell is in contact with the buffer shell guide roller.

[0026] Preferably, the buffer unlocking mechanism includes a lock groove structure, a second shaft, a second bearing, a buffer unlocking base plate, a pressure block, a baffle, an unlocking cylinder, a round block, a first plate, a fourth shaft, an unlocking connecting rod, a sixth shaft, a cylinder adapter, a ring block, a screw, a first magnetic box, a magnet, epoxy resin, and a third shaft.

[0027] Three sets of locking groove structures are installed on the buffer unlocking base plate. The locking groove structures are limited on the surface of the buffer unlocking base plate by the second bearing, the second shaft, the pressure block and the baffle. The locking groove structures can rotate around the second shaft.

[0028] The unlocking link is L-shaped. The middle part of the unlocking link is fixed in the groove in the middle of the buffer unlocking base plate through the sixth axis. One end of the unlocking link is connected to the lock groove structure through the third axis, and the other end is in contact with the inner surface of the ring block groove.

[0029] The unlocking cylinder is fixed to the buffer unlocking base plate by the first plate and the fourth shaft. The round block is installed on the end face of the unlocking cylinder. The cylinder adapter is installed on the shaft end of the unlocking cylinder. The ring block is fixed on the cylinder adapter by screws. The first magnetic box is installed on the screws. The magnet is sealed in the round groove of the first magnetic box by epoxy glue.

[0030] Before the unlocking cylinder is activated, the lock groove structure is in a relaxed state, and the elastic lock cannot be locked in the lock groove structure. When the unlocking cylinder moves to the left, the cylinder adapter and ring block drive the unlocking linkage to rotate, thereby pushing out the lock groove structure. At this time, the elastic lock can be locked in the lock groove structure.

[0031] Preferably, the buffer positioning mechanism includes a bracket, a fifth axis, a triangular plate, a third plate, a buffer moving positioning cylinder, a second plate, a guide shaft, a bushing, and a first block;

[0032] The buffer moving positioning cylinder is fixed to the docking cylinder by the third plate, the second plate, and the first block. The bracket is fixed to the shaft end of the buffer moving positioning cylinder by the fifth shaft and the triangular plate. The guide shaft is fixed to the triangular plate and passes through the inner hole of the bushing installed on the plate.

[0033] Preferably, the elastic lock includes a latch base, an elastic latch, a pin, and a second spring; the elastic latch is fixed to the latch base by a latch shaft, the pin is fixed to the elastic latch, and the second spring is installed between the latch base and the elastic latch.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention is provided with a locking mechanism and a buffer mechanism. The buffer mechanism can absorb and store the kinetic energy of the vehicle and reduce the impact force of the high-speed vehicle on the entire docking cylinder device. The locking mechanism can lock the vehicle in the buffer locking separation device used for underwater docking.

[0036] 2. This invention employs a unique buffer unlocking mechanism, which releases the potential energy stored in the buffer mechanism by unlocking, thus helping the vehicle to exit more smoothly and is easy to operate. In addition, this invention employs a unique buffer positioning mechanism design, which can make the vehicle accurately position itself on the locking pin of the locking mechanism by moving the buffer mechanism under docking collisions at different speeds.

[0037] 3. The present invention has high overall buffer efficiency and high positioning accuracy, convenient vehicle withdrawal, compact system structure, high reliability, and is suitable for high-precision underwater docking application scenarios in small spaces. Attached Figure Description

[0038] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0039] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0040] Figure 2 This is a schematic diagram of the cross-section of the structure of the present invention;

[0041] Figure 3 This is a three-dimensional structural schematic diagram of the docking cylinder of the present invention;

[0042] Figure 4 This is a schematic cross-sectional view of the guide roller of the present invention;

[0043] Figure 5 This is a schematic cross-sectional view of the buffer shell guide roller of the present invention;

[0044] Figure 6 This is a three-dimensional structural schematic diagram of the guide groove of the present invention;

[0045] Figure 7 This is a three-dimensional structural schematic diagram of the locking mechanism of the present invention;

[0046] Figure 8 This is a schematic cross-sectional view of the locking mechanism of the present invention;

[0047] Figure 9 This is a three-dimensional structural schematic diagram of the locking slider of the present invention;

[0048] Figure 10 This is a three-dimensional structural schematic diagram of the buffer mechanism of the present invention;

[0049] Figure 11 This is a three-dimensional structural schematic diagram of the buffer unlocking mechanism of the present invention;

[0050] Figure 12 This is a schematic cross-sectional view of the buffer unlocking mechanism of the present invention;

[0051] Figure 13 This is a three-dimensional structural schematic diagram of the buffer positioning mechanism of the present invention;

[0052] Figure 14 This is a schematic cross-sectional view of the elastic lock of the present invention;

[0053] Figure 15 This is a partial structural cross-sectional schematic diagram of the present invention;

[0054] Figure 16 This is a schematic cross-sectional view of the structure of the positioning pin lock of the aircraft of the present invention at the locking stop pin;

[0055] Figure 17 This is a schematic cross-sectional view of the buffer mechanism of the present invention after compression;

[0056] Figure 18 This is a schematic cross-sectional view of the structure of the aircraft during locking and positioning according to the present invention;

[0057] Figure 19 This is a schematic cross-sectional view of the system structure before the buffer unlocking mechanism of the present invention is unlocked and separated;

[0058] Figure 20 This is a schematic cross-sectional view of the buffer device when the buffer unlocking mechanism of the present invention is unlocked and separated;

[0059] Figure 21 This is a schematic cross-sectional view of the buffer device for the aircraft during exit from the present invention.

[0060] The diagram shows:

[0061]

[0062] Detailed Implementation

[0063] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0064] The present invention provides a buffer locking separation system, comprising: a docking cylinder 1, an outer shell guide roller 2, a buffer shell guide roller 3, a guide groove 4, a locking mechanism 5, a buffer mechanism 6, a buffer unlocking mechanism 7, an elastic lock 8, a buffer positioning mechanism 9, and a mounting plate 89.

[0065] See Figure 1 and Figure 2 The outer shell guide roller 2 is installed on the left side of the docking cylinder 1 to guide the outer shell 100 of the external vehicle when it enters and exits the docking cylinder 1; the buffer shell guide roller 3 is installed on the middle cylinder wall of the docking cylinder 1 to provide guidance for the buffer mechanism 6 when it moves. The guide groove 4 is installed on both sides of the inner cylinder wall of the docking cylinder 1 to guide the positioning pin 101 of the external vehicle to move in a straight line, ensuring that the external vehicle does not roll radially.

[0066] The locking mechanism 5 is installed on both sides of the outer surface of the docking cylinder, and the end of the locking mechanism 5 extends into the guide groove 4. The locking mechanism 5 is used to limit the movement of the external vehicle when the docking cylinder 1 is stationary.

[0067] The mounting plate 89 is installed inside the docking cylinder 1 and is located to the right of the buffer shell guide roller 3. The buffer mechanism 6 is confined inside the docking cylinder by the mounting plate 89 and the buffer shell guide roller 3. The buffer mechanism 6 is used to provide buffer for the external vehicle when it enters the docking cylinder 1 and to provide initial kinetic energy for the external vehicle when it exits the docking cylinder 1.

[0068] The buffer unlocking mechanism 7 is installed on the buffer mechanism 6, and the elastic lock 8 is also installed on the buffer mechanism 6. The elastic lock 8 can be locked on the buffer unlocking mechanism 7. The buffer positioning mechanism 9 is installed on the right end of the docking cylinder 1 and can push the push buffer mechanism 6 and the external vehicle.

[0069] See Figure 3 The docking cylinder 1 includes a conical guide cover 11, a first cylinder 12 and a second cylinder 13. The conical guide cover 11 is fixedly installed with the first cylinder 12, and the first cylinder 12 is fixedly connected with the second cylinder 13.

[0070] See Figure 4 The outer casing guide roller 2 includes a first roller 15, a first bearing 16, a retaining ring 17, a first axle 18, a first retaining ring 19, and a first roller base 20. The roller 15 is mounted on the first roller base 20 via the first bearing 16, the retaining ring 17, the first axle 18, and the first retaining ring 19. The first roller base 20 is mounted on the docking cylinder 1, and the end of the first roller 15 is located inside the docking cylinder 1. When the external vehicle is located inside the docking cylinder 1, the first roller 15 is in contact with the outer casing 100 of the external vehicle.

[0071] See Figure 5 The buffer shell guide roller 3 includes a second roller 22, a second bearing 23, a second retaining ring 24, a second wheel axle 25, and a second roller base 26. The second roller 22 is mounted on the second roller base 26 via the second bearing 23, the second retaining ring 24, and the second wheel axle 25. The second roller base 26 is mounted on the docking cylinder 1, and the end of the second roller 22 is located inside the docking cylinder 1. The second roller 22 is in contact with the buffer mechanism 6.

[0072] See Figure 6 The guide groove 4 includes a first guide inclined block 28, a second guide inclined block 29, a guide rail 30, and a limiting block 31; there are two guide rails 30, which are arranged in parallel to each other. The first guide inclined block 28 and the second guide inclined block 29 are located at one end of different guide rails 30, and the limiting block 31 is located at the other end of the two guide rails 30.

[0073] See Figure 7 , Figure 8 as well as Figure 9The locking mechanism 5 includes a bracket 32, a locking base 33, a locking link 34, a servo motor 35, a servo motor turntable 36, a shoulder screw 37, a first inductive switch 38, a baffle 39, a seventh axis 40, a locking slider 41, and a first spring 42. The servo motor 35 is mounted on the bracket 32, and the servo motor turntable 36 is mounted on the output shaft end of the servo motor 35. The locking link 34 is composed of two non-collinear rod-shaped structures. One end of the locking link 34 is limited to the servo motor turntable 36 by the shoulder screw 37. The junction of the two non-collinear rod-shaped structures in the locking link 34 is fixed to the locking base 33 by the seventh axis 40. The other end of the locking link 34 is attached to the edge of the slot 47 of the locking slider 41.

[0074] The locking slider 41 includes a first spring 42, a locking pin 43, rolling bearings 44, and a first shaft 45. The locking base 33 is located outside the docking cylinder 1. The locking pin 43 is mounted on the locking base 33, with one end of the locking pin 43 extending into the interior of the docking cylinder 1. Specifically, one end of the locking pin 43 extends into the area between two guide rails 30. One end of the locking pin 43 is a ramp structure 411, and the end of the ramp structure 411 is also provided with a groove 412, which can match the positioning pin 101 of the external vehicle. The first spring 42 is mounted between the other end of the locking pin 43 and the baffle 39. Multiple rolling bearings 44 are also mounted on the locking pin 43 via the first shaft 45 and set screws 46.

[0075] See Figure 10 The buffer mechanism 6 includes a buffer housing 48, a buffer spring 49, a buffer base plate 50, and a buffer shaft 51. The buffer shaft 51 is fixedly mounted on the buffer housing 48, and an elastic lock 8 is located on the end face of the buffer shaft 51 of the buffer mechanism 6. The end of the buffer shaft 51 passes through the guide hole of the buffer base plate 50, and the buffer spring 49 is also fitted in the middle of the buffer shaft 51. The buffer housing 48 is in contact with the buffer housing guide roller 3.

[0076] See Figure 11 and Figure 12 The buffer unlocking mechanism 7 includes a lock groove structure 53, a second shaft 54, a second bearing 55, a buffer unlocking base plate 56, a pressure block 57, a baffle 58, an unlocking cylinder 59, a round block 60, a first plate 61, a fourth shaft 62, an unlocking connecting rod 64, a sixth shaft 65, a cylinder adapter 66, a ring block 67, a screw 68, a first magnetic box 69, a magnet 70, epoxy resin 71, and a third shaft 90.

[0077] Three sets of locking groove structures 53 are installed on the buffer unlocking base plate 56. The locking groove structures 53 are limited on the surface of the buffer unlocking base plate 56 by the second bearing 55, the second shaft 54, the pressure block 57, and the baffle 58. The locking groove structures 53 can rotate a small range around the second shaft 54. The unlocking connecting rod 64 is L-shaped. The middle part of the unlocking connecting rod 64 is fixed in the groove in the middle of the buffer unlocking base plate 56 by the sixth shaft 65. One end of the unlocking connecting rod 64 is connected to the locking groove structure 53 by the third shaft 90, and the other end is in contact with the inner surface of the annular groove of the ring block 67. The unlocking cylinder 59 is fixed on the buffer unlocking base plate 56 by the first plate 61 and the fourth shaft 62. The round block 60 is installed on the end face of the unlocking cylinder 59. The cylinder adapter 66 is installed on the shaft end of the unlocking cylinder 59. The ring block 67 is fixed on the cylinder adapter 66 by the screw 68. The magnetic box 69 is installed on the screw 68. The magnet 70 is sealed in the round groove of the magnetic box 69 by epoxy glue 71. Before the unlocking cylinder 59 is activated, the lock groove structure 53 is in a relaxed state, and the elastic lock 8 cannot be locked in the lock groove structure 53. When the unlocking cylinder 59 moves to the left, the cylinder adapter 66 and the ring block 67 drive the unlocking connecting rod 64 to rotate, so as to push out the lock groove structure 53. At this time, the elastic lock 8 can be locked in the lock groove structure 53.

[0078] See Figure 13 The buffer positioning mechanism 9 includes a bracket 75, a fifth shaft 76, a triangular plate 77, a third plate 78, a buffer moving positioning cylinder 79, a second plate 80, a guide shaft 81, a bushing 82, and a first block 83.

[0079] The buffer moving positioning cylinder 79 is fixed to the docking cylinder 1 by the third plate 78, the second plate 80, and the first block 83. The bracket 75 is fixed to the shaft end of the buffer moving positioning cylinder 79 by the fifth shaft 76 and the triangular plate 77. The guide shaft 81 is fixed on the triangular plate 77 and passes through the inner hole of the bushing 82 installed on the plate 78.

[0080] See Figure 14 The elastic lock 8 includes a latch base 85, an elastic latch 86, a pin 88, and a second spring 92; the elastic latch 86 is fixed to the latch base 85 by a latch shaft 87, the pin 88 is fixed to the elastic latch 86, and the second spring 92 is installed between the latch base 85 and the elastic latch 86.

[0081] See Figure 15 The underwater docking buffer locking separation device also includes a second inductive switch 93, an inductive switch 94, and a second magnetic box 98. The second inductive switch 93 is installed below the cylinder wall of the cylinder 13 with the sensing end facing upwards, and the second magnetic box 98 is installed below the bracket 75. The inductive switch 94 is mounted on the buffer base plate 50 via the support 95.

[0082] See Figure 16The buffer locking and separation device used for underwater docking also includes a first inductive switch 38, which is installed on one side of the locking base 33. The locking pin 43 extends out and cooperates with the positioning pin 101 of the vehicle.

[0083] The main working principle of this invention is as follows:

[0084] As the vehicle passes through docking cylinder 1, the outer shell 100 of the vehicle rolls forward along the outer shell guide rollers 2 arranged inside docking cylinder 1. The positioning pins 101 on both sides slide forward along guide grooves 4, ensuring no radial roll of the vehicle. The positioning pins 101 then compress the locking pins 43 of the locking mechanism 5. Simultaneously, the head of the vehicle impacts the buffer shell 48, whose outer periphery rolls forward along the buffer shell guide rollers 3, compressing the buffer spring 49. As the buffer spring 49 is compressed, the buffer shaft 51 also moves forward, and the elastic lock 8 installed at the end also moves forward. When the vehicle stops moving forward, its kinetic energy is converted into the potential energy of the spring. Simultaneously, the elastic locking tongue 86 of the elastic lock 8 engages in the corresponding position of the locking groove structure 53, keeping the buffer spring 49 compressed. (Reference) Figure 15 and Figure 17 .

[0085] After the aircraft stops, the buffer positioning cylinder 79 is activated and pushed to the left, moving the buffer mechanism 6 and the aircraft. Through calculation and design, the buffer positioning cylinder 79 is advanced such that the positioning pins 101 on both sides of the aircraft reach the grooves of the locking pins 43. Figure 16 and 18 At this point, the aircraft has completed buffering and axial positioning.

[0086] Before the vehicle prepares to exit docking cylinder 1, the buffer positioning cylinder 79 first retracts to the right. Then, the vehicle moves forward, bringing its nose into contact with the buffer housing 48 and the buffer base plate 50 into contact with the mounting plate 89. Subsequently, the unlocking cylinder 59 extends to the left, unlocking the elastic locking tongue 86. Simultaneously, the servo motor 35 drives the locking linkage 34, causing the locking pin 43 to move backward, unlocking the locking pin 43. Furthermore, the induction magnetic box 69 moves to the left, triggering the induction switch 94. Upon receiving the signal, the induction switch 94 automatically reverses the vehicle's propeller. During the instantaneous release of spring potential energy, the buffer housing 48 provides the vehicle with initial kinetic energy, assisting the vehicle in smoothly exiting docking cylinder 1. (Reference) Figure 19 , Figure 20 and Figure 21 .

[0087] This invention features a docking cylinder device with internal guide rollers for guidance, a guide groove on the inner side of the docking cylinder, and two sets of vehicle positioning pin locking mechanisms mirrored on both sides of the docking cylinder. A buffer mechanism and a buffer unlocking mechanism are designed on the vehicle's head inside the docking cylinder, along with a movable positioning mechanism for the buffer mechanism. This invention employs a buffer mechanism capable of absorbing and storing the vehicle's kinetic energy, along with an elastic lock and locking groove structure, reducing the impact force of high-speed vehicle collisions on the entire docking cylinder device, resulting in a stable and reliable structure. The invention utilizes a unique buffer unlocking mechanism, releasing the potential energy stored within the buffer mechanism by unlocking, facilitating smoother vehicle exit, and is easy to operate. Furthermore, the invention employs a unique buffer positioning mechanism design, ensuring that under docking impacts at different speeds, the movable buffer mechanism allows the vehicle to be precisely positioned on the locking pins of the locking mechanism, achieving millimeter-level docking accuracy at any UUV speed and reliable locking at the docking position. In summary, the buffer locking and separation device for underwater docking proposed in this invention can fully buffer the vehicle and accurately position it after buffering, while also providing a certain boost when the vehicle exits.

[0088] This invention is simple to operate. When the vehicle enters the conical guide shield of the docking device, it is precisely guided by the guide rollers and guide grooves of the docking cylinder device. The positioning pins on both sides of the vehicle slide forward along the guide grooves, compressing the passive locking pin of the locking mechanism. Simultaneously, the head of the vehicle impacts the buffer shell of the buffer mechanism. The buffer spring absorbs the impact kinetic energy, and the elastic locking tongue of the buffer unlocking mechanism is passively locked in the locking groove. After the vehicle stops moving forward, the buffer positioning mechanism activates, pushing the buffer mechanism and the vehicle so that the positioning pin of the vehicle accurately stops at the locking pin position. Before the vehicle completes its docking and prepares to leave, the buffer positioning mechanism resets, starts the vehicle to move forward and stop, then the locking mechanism unlocks, the buffer unlocking mechanism unlocks, and the buffer mechanism releases potential energy, converting it into the kinetic energy of the vehicle, assisting the vehicle in exiting the docking device. The entire buffering process is highly efficient and has high positioning accuracy. The vehicle exits easily, the system structure is compact, and the reliability is high, making it suitable for high-precision underwater docking applications in small spaces.

[0089] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0090] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A buffer locking separation device for underwater docking, characterized in that, It includes a docking cylinder (1), an outer shell guide roller (2), a buffer shell guide roller (3), a guide groove (4), a locking mechanism (5), a buffer mechanism (6), a buffer unlocking mechanism (7), an elastic lock (8), a buffer positioning mechanism (9), and a mounting plate (89); The outer shell guide roller (2) is installed on the left side of the cylinder wall of the docking cylinder (1), the buffer shell guide roller (3) is installed on the middle cylinder wall of the docking cylinder (1), and the two guide grooves (4) are installed on the inner cylinder wall of the docking cylinder (1). Both locking mechanisms (5) are installed on the outer surface of the docking tube, and the ends of the locking mechanisms (5) extend into the guide groove (4). The locking mechanisms (5) are used to limit the movement of external vehicles when the docking tube (1) is stationary. The mounting plate (89) is installed inside the docking cylinder (1) and is located to the right of the buffer shell guide roller (3). The buffer mechanism (6) is confined inside the docking cylinder by the mounting plate (89) and the buffer shell guide roller (3). The buffer unlocking mechanism (7) is installed on the buffer mechanism (6), the elastic lock (8) is also installed on the buffer mechanism (6), and the elastic lock (8) can be locked on the buffer unlocking mechanism (7). The buffer positioning mechanism (9) is installed on the right end of the docking cylinder (1) and can push the buffer mechanism (6) and the external vehicle. The buffer mechanism (6) includes a buffer shell (48), a buffer spring (49), a buffer base plate (50), and a buffer shaft (51); the buffer shaft (51) is fixedly installed on the buffer shell (48), the end of the buffer shaft (51) passes through the guide hole of the buffer base plate (50), the elastic lock (8) is on the end face of the buffer shaft (51) of the buffer mechanism (6), and the buffer spring (49) is also fitted in the middle of the buffer shaft (51); the buffer shell (48) is in contact with the buffer shell guide roller (3); The buffer unlocking mechanism (7) includes a lock groove structure (53) and an unlocking cylinder (59); Before the unlocking cylinder (59) is activated, the lock groove structure (53) is in a relaxed state, and the elastic lock (8) cannot be locked in the lock groove structure (53). When the unlocking cylinder (59) moves to the left, the elastic lock (8) can be locked in the lock groove structure (53).

2. The buffer locking separation device for underwater docking according to claim 1, characterized in that, The docking cylinder (1) includes a conical guide cover (11), a first cylinder (12) and a second cylinder (13). The conical guide cover (11) is fixedly installed with the first cylinder (12), and the first cylinder (12) is fixedly connected with the second cylinder (13).

3. The buffer locking separation device for underwater docking according to claim 1, characterized in that, The outer casing guide roller (2) includes a first roller (15), a first bearing (16), a retaining ring (17), a first wheel axle (18), a first retaining ring (19), and a first roller base (20). The roller (15) is mounted on the first roller base (20) via the first bearing (16), the retaining ring (17), the first wheel axle (18), and the first retaining ring (19). The first roller base (20) is mounted on the docking cylinder (1), and the end of the first roller (15) is located inside the docking cylinder (1); When the external vehicle is located inside the docking cylinder (1), the first roller (15) is in contact with the outer shell (100) of the external vehicle.

4. The buffer locking and separation device for underwater docking according to claim 1, characterized in that, The buffer shell guide roller (3) includes a second roller (22), a second bearing (23), a second snap ring (24), a second wheel axle (25), and a second roller base (26). The second roller (22) is mounted on the second roller base (26) via the second bearing (23), the second snap ring (24), and the second wheel axle (25); the second roller base (26) is mounted on the docking cylinder (1), and the end of the second roller (22) is located inside the docking cylinder (1), and the second roller (22) is in contact with the buffer mechanism (6).

5. The buffer locking separation device for underwater docking according to claim 1, characterized in that, The guide groove (4) includes a first guide inclined block (28), a second guide inclined block (29), a guide rail (30), and a limiting block (31); there are two guide rails (30), which are arranged in parallel to each other. The first guide inclined block (28) and the second guide inclined block (29) are located at one end of different guide rails (30), and the limiting block (31) is located at the other end of the two guide rails (30).

6. The buffer locking separation device for underwater docking according to claim 1, characterized in that, The locking mechanism (5) includes a first bracket (32), a locking base (33), a locking link (34), a servo motor (35), a servo motor turntable (36), a shoulder screw (37), a first inductive switch (38), a first baffle (39), a seventh axis (40), a locking slider (41), and a first spring (42). The servo motor (35) is mounted on the first bracket (32), the servo motor turntable (36) is mounted on the output shaft end of the servo motor (35), and the locking link (34) is composed of two non-collinear rod-shaped structures; One end of the locking link (34) is limited on the servo turntable (36) by the shoulder screw (37). The junction of the two non-collinear rod-shaped structures in the locking link (34) is fixed on the locking base (33) by the seventh axis (40). The other end of the locking link (34) is attached to the edge of the slot (47) of the locking slider (41). The locking slider (41) includes a first spring (42), a locking pin (43), a rolling bearing (44), and a first shaft (45); The locking base (33) is located outside the docking cylinder (1), and the locking pin (43) is installed on the locking base (33), with one end of the locking pin (43) extending into the interior of the docking cylinder (1). One end of the locking pin (43) is a ramp structure (411), and the end of the ramp structure (411) is also provided with a groove (412), which can match the positioning pin (101) of the external vehicle. The first spring (42) is installed between the other end of the locking pin (43) and the first baffle (39). Multiple rolling bearings (44) are also installed on the locking pin (43) via the first shaft (45) and the set screw (46).

7. The buffer locking separation device for underwater docking according to claim 1, characterized in that, The buffer unlocking mechanism (7) includes a second shaft (54), a third bearing (55), a buffer unlocking base plate (56), a pressure block (57), a second baffle (58), an unlocking cylinder (59), a round block (60), a first plate (61), a fourth shaft (62), an unlocking connecting rod (64), a sixth shaft (65), a cylinder adapter (66), a ring block (67), a screw (68), a first magnetic box (69), a magnet (70), epoxy resin (71), and a third shaft (90). Three sets of locking groove structures (53) are installed on the buffer unlocking base plate (56). The locking groove structure (53) is limited on the surface of the buffer unlocking base plate (56) by the third bearing (55), the second shaft (54), the pressure block (57), and the second baffle (58). The locking groove structure (53) can rotate around the second shaft (54). The unlocking link (64) is L-shaped. The middle part of the unlocking link (64) is fixed in the groove in the middle of the buffer unlocking base plate (56) through the sixth shaft (65). One end of the unlocking link (64) is connected to the lock groove structure (53) through the third shaft (90), and the other end is in contact with the inner surface of the ring groove of the ring block (67). The unlocking cylinder (59) is fixed on the buffer unlocking base plate (56) by the first plate (61) and the fourth shaft (62). The round block (60) is installed on the end face of the unlocking cylinder (59). The cylinder adapter (66) is installed on the shaft end of the unlocking cylinder (59). The ring block (67) is fixed on the cylinder adapter (66) by the screw (68). The first magnetic box (69) is installed on the screw (68). The magnet (70) is sealed in the round groove of the first magnetic box (69) by epoxy glue (71).

8. The buffer locking separation device for underwater docking according to claim 1, characterized in that, The buffer positioning mechanism (9) includes a second bracket (75), a fifth shaft (76), a triangular plate (77), a third plate (78), a buffer moving positioning cylinder (79), a second plate (80), a guide shaft (81), a bushing (82), and a first block (83); The buffer moving positioning cylinder (79) is fixed on the docking cylinder (1) by the third plate (78), the second plate (80), and the first block (83). The second bracket (75) is fixed on the shaft end of the buffer moving positioning cylinder (79) by the fifth shaft (76) and the triangular plate (77). The guide shaft (81) is fixed on the triangular plate (77) and passes through the inner hole of the bushing (82) installed on the plate (78).

9. The buffer locking separation device for underwater docking according to claim 1, characterized in that, The elastic lock (8) includes a latch base (85), an elastic latch (86), a pin (88), and a second spring (92); the elastic latch (86) is fixed to the latch base (85) by a latch shaft (87), the pin (88) is fixed to the elastic latch (86), and the second spring (92) is installed between the latch base (85) and the elastic latch (86).

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