Underwater vehicle charging device

Abstract

This invention discloses a charging device for an underwater vehicle. The charging device includes: a base with a receiving space for accommodating the underwater vehicle, one end of which is connected to the outside; a limiting part located at the other end of the receiving space; and a charging part located within the receiving space and spaced apart from the limiting part. The charging device of this invention, with its receiving part within the base, minimizes the contact between the underwater vehicle and the outside environment, and the limiting part can independently fix the underwater vehicle, thus ensuring its stability. This also reduces the impact of currents on the charging part when charging the underwater vehicle.

Description

Technical Field

[0001] This invention relates to the field of non-contact power transmission technology, specifically a charging device for an underwater vehicle. Background Technology

[0002] Autonomous Underwater Vehicles (AUVs) possess advantages such as high flexibility, automatic control, and stealth, making them an important part of maritime power. They play a crucial role in marine geological and geomorphological exploration, marine environmental monitoring, and marine resource exploration. AUVs also have numerous military applications, including underwater reconnaissance, intelligence gathering, and underwater attack. However, limitations in AUV size and payload capacity restrict the battery capacity, and endurance remains a significant obstacle to their development.

[0003] In the prior art, when the AUV is charged in the charging device, the charging unit fixes the AUV in place and charges it. This makes the AUV susceptible to the influence of sea currents during charging, which can cause the AUV to detach from the charging unit. In addition, the charging device is susceptible to the influence of sea currents. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a charging device for an underwater vehicle, wherein the charging device for the underwater vehicle has an independent fixing part, so that the charging part does not need to fix the underwater vehicle, thereby reducing the impact of undercurrents on the underwater vehicle during charging.

[0005] According to an embodiment of the present invention, a charging device for an underwater vehicle includes: a base, wherein the base has a housing space for accommodating the underwater vehicle, one end of the housing space being in communication with the outside; a limiting part located at the other end of the housing space; and a charging part located within the housing space and spaced apart from the limiting part.

[0006] According to the underwater vehicle charging device of the present invention, the receiving device provided in the base can reduce the contact between the underwater vehicle and the outside world, and the limiting part can fix the underwater vehicle separately, thereby ensuring the fixation effect of the underwater vehicle. This makes the charging part less affected by the undercurrent when charging the underwater vehicle.

[0007] According to some embodiments of the present invention, the charging device for an underwater vehicle includes a limiting portion comprising symmetrically arranged clamps adapted to move radially toward each other in the receiving space and to abut against the end of the underwater vehicle.

[0008] According to some embodiments of the present invention, the charging device for an underwater vehicle has a clamp adapted to rotate circumferentially within the receiving space.

[0009] According to some embodiments of the present invention, the charging device for an underwater vehicle includes a switch and a drive member in the limiting part. The switch controls the clamping plates to move towards each other, and the drive member controls the clamping plates to rotate.

[0010] According to some embodiments of the present invention, the charging device for an underwater vehicle includes multiple charging units arranged in the accommodating space at equal angular intervals, and the multiple charging units include at least one fixing part and multiple clamping parts.

[0011] According to some embodiments of the present invention, the charging device of an underwater vehicle is provided in both the fixing part and the clamping part, and the underwater vehicle is provided with a plurality of secondary magnetic couplers, the secondary magnetic couplers being adapted to couple with and charge the primary magnetic couplers.

[0012] According to some embodiments of the present invention, the charging device for an underwater vehicle has a clamping part movably disposed within the receiving space, and the clamping part can move toward the underwater vehicle and adhere to the outer shell of the underwater vehicle when the primary magnetic coupler is coupled to the secondary magnetic coupler.

[0013] According to some embodiments of the present invention, the charging device for an underwater vehicle includes a clamping part comprising a hydraulic cylinder and a push rod, the push rod being sleeved on the hydraulic cylinder and adapted to push the primary magnetic coupler closer to the underwater vehicle.

[0014] According to some embodiments of the present invention, the charging device for an underwater vehicle further includes a control module and a communication module within the base. The control module is communicatively connected to the limiting part and the charging part, and the control module can communicate with the underwater vehicle through the communication module.

[0015] According to some embodiments of the present invention, the charging device for an underwater vehicle further includes a buffer component in the limiting portion, the buffer component abutting against the end of the underwater vehicle.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1This is a cross-sectional view of an underwater vehicle located within a charging device according to some embodiments of the present invention;

[0019] Figure 2 for Figure 1 The charging device in the middle;

[0020] Figure 3 for Figure 1 A cross-sectional view from another perspective;

[0021] Figure 4 This is a schematic diagram showing the coupling between an underwater vehicle and a charging unit according to some embodiments of the present invention;

[0022] Figure 5 for Figure 4 A diagram from another perspective;

[0023] Figure 6 for Figure 1 A schematic diagram of the limiting part in the middle.

[0024] Figure label:

[0025] Underwater vehicle 100, secondary magnetic coupler 101;

[0026] Charging device 200;

[0027] Base 10, storage space 11;

[0028] Limiting part 20, clamping plate 21, switch 22, driving component 23, second servo motor 231, transmission part 232;

[0029] Buffer component 24, first servo motor 25, chain 26, rotary bearing 27, baffle 28;

[0030] Charging unit 30, fixing unit 31, clamping unit 32, hydraulic cylinder 321, push rod 322, primary magnetic coupler 33. Detailed Implementation

[0031] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0032] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0033] The following is for reference. Figures 1-6 A charging device 200 for an underwater vehicle according to an embodiment of the present invention is described.

[0034] like Figures 1-6 As shown, the charging device 200 for an underwater vehicle according to an embodiment of the present invention includes: a base 10, a limiting part 20, and a charging part 30.

[0035] The base 10 has a housing space 11 for accommodating the underwater vehicle 100. One end of the housing space 11 is connected to the outside. The limiting part 20 is located at the other end of the housing space 11. The charging part 30 is located in the housing space 11 and is spaced apart from the limiting part 20.

[0036] It should be noted that when the underwater vehicle 100 needs to be charged, it will automatically enter the receiving space 11 inside the base 10. This reduces the contact between the underwater vehicle 100 and the outside world, thus minimizing the impact on it. The limiting part 20 can fix the underwater vehicle 100 after it reaches the preset position, preventing it from moving with the underwater currents. At the same time, the charging part 30 can charge the underwater vehicle 100 after it is fixed. This reduces the impact of the underwater currents on the underwater vehicle 100 during charging, making charging easier.

[0037] In this embodiment, the base 10 is constructed as a triangular prism, which allows the charging device 200 to remain relatively stable when fixed to the seabed and resisting undercurrents. The accommodating space 11 within the base 10 allows the underwater vehicle 100 to be completely located within the base 10, thereby making the underwater vehicle 100 less susceptible to the influence of undersea currents. At the same time, it also reduces the pressure on the limiting part 20, thereby increasing the service life of the limiting part 20.

[0038] Therefore, after the underwater vehicle 100 enters the receiving space 11 of the base 10, it can be fixed by the limiting part 20, so that it is not easily affected by the undercurrent. At the same time, the underwater vehicle 100 can be charged after it is fixed, and the underwater vehicle 100 is easier to charge at this time.

[0039] According to the underwater vehicle charging device 200 of the present invention, the receiving device provided in the base 10 can reduce the contact between the underwater vehicle 100 and the outside world, and the limiting part 20 can fix the underwater vehicle 100 alone, thereby ensuring the fixation effect of the underwater vehicle 100. This makes the charging part 30 less affected by the undercurrent when charging the underwater vehicle 100.

[0040] In some embodiments, such as Figure 1 and Figure 6 As shown, the limiting part 20 includes symmetrically arranged clamps 21, which are adapted to move towards each other in the radial direction of the receiving space 11 and abut against the end of the underwater vehicle 100.

[0041] It should be noted that after the underwater vehicle 100 enters the charging position, the symmetrically arranged clamps 21 will move towards each other, so that the clamps 21 can clamp the end of the underwater vehicle 100, thereby preventing the underwater vehicle 100 from moving with the current, and making the charging device 200 charge the underwater vehicle 100 more stably.

[0042] The clamp 21 gradually decreases in width in the direction toward the underwater vehicle 100. This allows the clamp 21 to change from point contact to surface contact when it comes into contact with the end of the underwater vehicle 100. The point contact allows for better positioning of the underwater vehicle 100, while the subsequent surface contact allows the clamp 21 to more firmly fix the underwater vehicle 100, making it less prone to swaying with the current. This makes the charging device 200 more stable when charging the underwater vehicle 100.

[0043] Furthermore, in this embodiment, the clamping plates 21 are symmetrically arranged, that is, the limiting part 20 is provided with two clamping plates 21 and the two clamping plates 21 are symmetrically arranged, which makes the structure of the limiting part 20 simpler. In other embodiments, more clamping plates 21 may be provided, such as three clamping plates 21, four clamping plates 21 or more clamping plates 21, which is not limited here.

[0044] Therefore, the symmetrically arranged clamps 21 can fix the underwater vehicle 100 that enters the receiving space 11, so that it will not swing with the flow of the undercurrent, thereby making the charging device 200 charge the underwater vehicle 100 more stably.

[0045] In some embodiments, such as Figure 1 and Figure 6As shown, the limiting part 20 is also equipped with a switch 22 and a first servo motor 25. The switch 22 is set towards the underwater vehicle 100, and when the underwater vehicle 100 is in the charging position, its end will touch the switch 22. The switch 22 will communicate with the first servo motor 25. The first servo motor 25 is connected to the clamping plate 21 through the chain 26. In this way, after the switch 22 is triggered, the first servo motor 25 will run and drive the clamping plate 21 to move, so that the underwater vehicle 100 can be fixed by the clamping plate 21 when it is in the charging position.

[0046] Furthermore, the limiting part 20 is also provided with a baffle 28. When the clamping plate 21 is connected to the baffle 28, it can be connected by a rotary bearing 27. In this way, when the first servo motor 25 drives the clamping plate 21 through the chain 26, the clamping plate 21 can move towards each other and thus clamp the underwater vehicle 100.

[0047] In some embodiments, the clamp 21 is adapted to rotate circumferentially within the receiving space 11.

[0048] It should be noted that after the underwater vehicle 100 enters the receiving space 11 of the base 10 and is fixed by the clamp 21, there may be a situation where the charging interface of the underwater vehicle 100 is not aligned with the charging part 30 of the base 10. This will cause unstable charging. At this time, the clamp 21 can rotate in the circumferential direction of the receiving space 11, thereby driving the underwater vehicle 100 to rotate to a certain extent, so that the charging interface of the underwater vehicle 100 can be aligned with the charging part 30 of the base 10 and charging can be performed. This makes the charging device 200 more stable when charging the underwater vehicle 100.

[0049] Therefore, after fixing the underwater vehicle 100, the clamp 21 can rotate in the circumferential direction of the accommodating space 11, thereby driving the underwater vehicle 100 to rotate. This allows the charging interface of the underwater vehicle 100 to be directly aligned with the charging part 30 of the base 10, making the charging device 200 more stable when charging the underwater vehicle 100.

[0050] In some embodiments, such as Figure 1 As shown, the limiting part 20 is provided with a switch 22 and a driving member 23. The switch 22 controls the clamping plates 21 to move towards each other, and the driving member 23 controls the clamping plates 21 to rotate.

[0051] It should be noted that a control unit is provided in the limiting part 20, and the control unit is communicatively connected to the switch 22. When the underwater vehicle 100 is in the charging position, its end will touch the switch 22, and the control unit will cause the clamp 21 to start moving towards each other according to the information of the switch 22, so that the clamp 21 can abut against the end of the underwater vehicle 100 and thus fix the underwater vehicle 100.

[0052] The switch 22 can be configured as a mechanical switch 22 or an electronic switch 22, and no limitation is made in this embodiment.

[0053] Furthermore, a gyroscope is installed inside the underwater vehicle 100. After the underwater vehicle 100 is fixed by the clamp 21, the gyroscope will detect the deflection angle of the underwater vehicle 100 and send the deflection angle information to the control unit of the limiting part 20. The control unit controls the drive member 23 to drive the clamp 21 to rotate according to the deflection angle, so that the charging interface of the underwater vehicle 100 is aligned with the charging part 30 in the base 10, thereby eliminating the deflection angle of the underwater vehicle 100.

[0054] The drive unit 23 includes a second servo motor 231 and a transmission part 232. The transmission part 232 can be constructed as a hollow steel pipe. The second servo motor 231 is connected to the hollow steel pipe, and the hollow steel pipe is also connected to the baffle 28. In this way, when the second servo motor 231 is running, it can transmit power to the baffle 28 through the hollow steel pipe, thereby driving the baffle 28 to rotate. This allows the clamping plate 21 connected to the baffle 28 to rotate, thereby enabling the clamping plate 21 to drive the underwater vehicle 100 to rotate.

[0055] Therefore, when the underwater vehicle 100 is in the charging position, it will touch the switch 22, which will cause the clamping plate 21 of the limiting part 20 to move towards each other and clamp the underwater vehicle 100, so that it can be kept in the charging position and will not sway with the current. The driving member 23 in the limiting part 20 can drive the clamping plate 21 to rotate the underwater vehicle 100, so that the charging interface of the underwater vehicle 100 can be aligned with the charging part 30 of the base 10.

[0056] In some embodiments, such as Figures 3-5 As shown, multiple charging units 30 are provided in the accommodating space 11 and are arranged at equal angular intervals. Each charging unit 30 includes at least one fixing part 31 and multiple clamping parts 32.

[0057] It should be noted that providing multiple charging units 30 in the accommodating space 11 can accelerate the charging speed of the underwater vehicle 100 and shorten the charging time, thus allowing the underwater vehicle 100 to have more time to sail. At the same time, the multiple charging units 30 can be divided into at least one fixing part 31 and multiple clamping parts 32. That is, the multiple clamping parts 32 can abut against the outer shell of the underwater vehicle 100 and push the underwater vehicle 100 to the fixing part 31. This can help the clamping plate 21 fix the underwater vehicle 100, thereby making the underwater vehicle 100 more stable during charging and less susceptible to the influence of undercurrents.

[0058] For example, in this embodiment, the base 10 is provided with three charging units 30, and the three charging units 30 are arranged on the same plane with a rotation interval of 120° around the axis of the underwater vehicle 100 when it is in the charging state. The three charging units 30 are one fixing part 31 and two clamping parts 32. After the two clamping parts 32 abut against the underwater vehicle 100, they will push the underwater vehicle 100 toward the fixing part 31 and make the fixing part 31 abut against the shell of the underwater vehicle 100, thereby playing a certain role in fixing the underwater vehicle 100. This can help the clamping plate 21 to fix the underwater vehicle 100 in the receiving space 11.

[0059] Therefore, by providing multiple charging units 30 in the housing space 11, the charging speed of the underwater vehicle 100 is accelerated, allowing it to have more time to navigate underwater. At the same time, the multiple clamping parts 32 can abut against the underwater vehicle 100 and push the underwater vehicle 100 to abut against the fixing part 31, thereby assisting the clamping plate 21 in fixing the underwater vehicle 100 and making it less susceptible to the influence of undercurrents during charging.

[0060] In some embodiments, such as Figures 3-5 As shown, both the fixing part 31 and the clamping part 32 are provided with primary magnetic couplers 33, and the underwater vehicle 100 is provided with multiple secondary magnetic couplers 101. The secondary magnetic couplers 101 are adapted to couple with and charge the primary magnetic couplers 33.

[0061] It should be noted that after AC power is input into the primary magnetic coupler 33, an alternating magnetic field is generated within the primary magnetic coupler 33. This magnetic field can then couple with the secondary magnetic coupler 101, allowing the primary magnetic coupler 33 to adhere to the outer shell of the underwater vehicle 100. Simultaneously, when the magnetic field changes, an electromotive force is induced within the secondary magnetic coupler 101, which, after transformation, can charge the underwater vehicle 100. Thus, the underwater vehicle 100 is charged using non-contact magnetic coupling, eliminating the need for a dedicated charging connector on the outer shell of the underwater vehicle 100, thereby improving the sealing performance of the underwater vehicle 100's outer shell.

[0062] For example, the underwater vehicle 100 has an overall cylindrical structure, while the primary magnetic coupler 33 has a concave arc surface on the side facing the underwater vehicle 100 that matches the arc surface of the underwater vehicle 100's outer shell. In this way, the primary magnetic coupler 33 can better fix the underwater vehicle 100 after contacting the outer shell of the underwater vehicle 100, and can also reduce the gap between the primary magnetic coupler 33 and the secondary magnetic coupler 101, thereby maintaining a larger charging power and higher charging efficiency.

[0063] Thus, the primary magnetic coupler 33 generates a magnetic field after AC power is applied and can couple with the secondary magnetic coupler 101. The alternating magnetic field can induce an electromotive force in the secondary magnetic coupler 101, thereby charging the underwater vehicle 100. This eliminates the need for a separate charging interface on the outer shell of the underwater vehicle 100, resulting in better sealing of the outer casing of the underwater vehicle 100.

[0064] In some embodiments, such as Figures 1-5 As shown, the clamping part 32 is movably disposed in the accommodating space 11. When the primary magnetic coupler 33 is coupled with the secondary magnetic coupler 101, the clamping part 32 can move toward the underwater vehicle 100 and stick to the outer shell of the underwater vehicle 100.

[0065] It should be noted that the primary magnetic coupler 33 of the clamping part 32 generates a magnetic field after AC power is applied. When the primary magnetic coupler 33 on the clamping part 32 couples with the secondary magnetic coupler 101 on the underwater vehicle 100, it will drive the clamping part 32 to move toward the underwater vehicle 100. When the accommodating space 11 is large, the clamping part 32 can also contact the outer shell of the underwater vehicle 100, thereby ensuring that the gap between the primary magnetic coupler 33 and the secondary magnetic coupler 101 is small, thus maintaining a large charging power and high charging efficiency.

[0066] Furthermore, the clamping part 32 can accommodate the movement in the space 11, making the space 11 larger. This allows the underwater vehicle 100 to more easily enter the base 10 when there are strong undercurrents on the seabed, thus extending the service life of the underwater vehicle 100.

[0067] Therefore, when the primary magnetic coupler 33 on the clamping part 32 is energized, it can couple with the secondary magnetic coupler 101 inside the underwater vehicle 100, thereby driving the clamping part 32 to move toward the underwater vehicle 100 and fit against the outer shell of the underwater vehicle 100. This ensures that the gap between the primary magnetic coupler 33 and the secondary magnetic coupler 101 is small, thereby maintaining a large charging power and high charging efficiency.

[0068] In this embodiment, when the clamp 21 fixes the end of the underwater vehicle 100, the distance between the underwater vehicle 100 and the fixing part 31 is relatively close. In this way, the magnetic field generated by the primary magnetic coupler 33 in the fixing part 31 after the input of alternating current can attract the underwater vehicle 100 to adhere to the fixing part 31.

[0069] In some embodiments, such as Figures 3-5 As shown, the clamping part 32 includes a hydraulic cylinder 321 and a push rod 322. The push rod 322 is sleeved on the hydraulic cylinder 321 and is adapted to push the primary magnetic coupler 33 closer to the underwater vehicle 100.

[0070] It should be noted that a pressure sensor is also installed on the push rod 322. After the deflection angle of the underwater vehicle 100 is eliminated, the hydraulic cylinder 321 drives the push rod 322 to move the primary magnetic coupler 33 of the clamping part 32 toward the underwater vehicle 100. The pressure sensor on the push rod 322 monitors the degree of compression between the primary magnetic coupler 33 of the clamping part 32 and the outer shell of the underwater vehicle 100. After reaching the preset value, the push rod 322 stops moving. At this time, the clamping part 32 can assist the clamping plate 21 in fixing the underwater vehicle 100, so that the underwater vehicle 100 is not easily affected by the undercurrent. At the same time, the primary magnetic coupler 33 of the clamping part 32 adheres to the outer shell of the underwater vehicle 100 under the action of the hydraulic cylinder 321 and the push rod 322, which can make the adhesion speed faster and make the underwater vehicle 100 less affected by the undercurrent.

[0071] Therefore, the primary magnetic coupler 33 of the clamping part 32 can fit into the outer shell of the underwater vehicle 100 more quickly under the action of the hydraulic cylinder 321 and the push rod 322, so that the underwater vehicle 100 is less affected by the undercurrent. At the same time, the clamping part 32 can also play the role of assisting the clamping plate 21 to fix the underwater vehicle 100 through the hydraulic cylinder 321 and the push rod 322, thereby making the charging device 200 more stable when charging the underwater vehicle 100.

[0072] In some embodiments, the base 10 further includes a control module and a communication module. The control module is communicatively connected to the limiting part 20 and the charging part 30, and the control module can communicate with the underwater vehicle 100 through the communication module.

[0073] It should be noted that the control module can control the clamp 21 of the limiting part 20 to fix the underwater vehicle 100, and can obtain the deflection angle of the underwater vehicle 100 through the communication module to control the clamp 21 to rotate and eliminate the deflection angle of the underwater vehicle 100. At the same time, the control module can also control the clamping part 32 to move toward the underwater vehicle 100 and fit against the shell of the underwater vehicle 100, and can control the primary magnetic coupler 33 of the charging part 30 to pass AC power to charge the underwater vehicle 100.

[0074] Thus, the charging device 200 can exchange information with the underwater vehicle 100 through the communication module and can charge the underwater vehicle 100 through the control module, thereby realizing the automatic operation of the charging device 200.

[0075] In some embodiments, the limiting part 20 is further provided with a buffer member 24, which abuts against the end of the underwater vehicle 100.

[0076] It should be noted that after the end of the underwater vehicle 100 comes into contact with the limiting part 20, the buffer part 24 acts as a buffer for the underwater vehicle 100, which reduces the speed of the underwater vehicle 100, so that the clamp 21 of the limiting part 20 can keep the underwater vehicle 100 in the charging position when fixing the underwater vehicle 100.

[0077] The buffer component 24 can be constructed as a spring, which makes the structure of the buffer component 24 simpler and can achieve a better buffering effect.

[0078] Therefore, the buffer member 24 provided on the limiting part 20 can slow down the speed at which the underwater vehicle 100 approaches the limiting part 20, so that the clamp 21 can be located at the charging position when fixing the underwater vehicle 100.

[0079] According to some embodiments of the present invention, the charging device 200 for an underwater vehicle 100, when needing charging, enters the receiving space 11 within the base 10. After the end of the underwater vehicle 100 touches the switch 22 of the limiting part 20, the clamping plate 21 clamps the end of the underwater vehicle 100. At this time, the gyroscope inside the underwater vehicle 100 measures the current deflection angle and sends the data to the control module. The control module controls the clamping plate 21 to rotate according to the deflection angle so that the deflection angle of the underwater vehicle 100 returns to zero. Then, the push rod 322 of the clamping part 32 is engaged by the hydraulic cylinder 3. Under the action of 21, the primary magnetic coupler 33 of the clamping part 32 is driven to approach the underwater vehicle 100. At this time, both the primary magnetic coupler 33 of the clamping part 32 and the fixing part 31 will input AC power and generate a magnetic field, thereby coupling with the secondary magnetic coupler 101 inside the underwater vehicle 100. When the primary magnetic coupler 33 of the clamping part 32 is attached to the shell of the underwater vehicle 100 and pushes the underwater vehicle 100 against the fixing part 31, the alternating magnetic field generated by the primary magnetic coupler 33 can induce an electromotive force in the secondary magnetic coupler 101, thereby charging the underwater vehicle 100.

[0080] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention 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 invention.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0082] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0083] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0084] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0085] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A charging device (200) for an underwater vehicle, characterized in that, include: The base (10) has a housing space (11) for accommodating an underwater vehicle (100), and one end of the housing space (11) is connected to the outside. A limiting part (20) is located at the other end of the receiving space (11); The charging unit (30) is located within the accommodating space (11) and is spaced apart from the limiting part (20). The limiting part (20) includes symmetrically arranged clamping plates (21). The clamping plates (21) are adapted to move towards each other in the radial direction of the accommodating space (11) and the clamping plates (21) will abut against the end of the underwater vehicle (100). The clamping plates (21) are adapted to rotate in the circumferential direction of the accommodating space (11). The limiting part (20) is provided with a switch (22) and a drive member (23). The switch (22) controls the clamping plates (21) to move towards each other, and the drive member (23) controls the clamping plates (21) to rotate.

2. The charging device (200) for an underwater vehicle according to claim 1, characterized in that, The charging unit (30) is provided in the accommodating space (11) in a plurality of ways, and the plurality of charging units (30) are arranged at equal angular intervals. The plurality of charging units (30) include at least one fixing part (31) and a plurality of clamping parts (32).

3. The charging device (200) for an underwater vehicle according to claim 2, characterized in that, Both the fixing part (31) and the clamping part (32) are provided with primary magnetic couplers (33), and the underwater vehicle (100) is provided with multiple secondary magnetic couplers (101). The secondary magnetic couplers (101) are adapted to couple with and charge the primary magnetic couplers (33).

4. The charging device (200) for the underwater vehicle according to claim 3, characterized in that, The clamping part (32) is movably disposed within the accommodating space (11). When the primary magnetic coupler (33) and the secondary magnetic coupler (101) are coupled, the clamping part (32) can move toward the underwater vehicle (100) and attach to the outer shell of the underwater vehicle (100).

5. The charging device (200) for an underwater vehicle according to claim 4, characterized in that, The clamping part (32) includes a hydraulic cylinder (321) and a push rod (322). The push rod (322) is sleeved on the hydraulic cylinder (321) and is adapted to push the primary magnetic coupler (33) closer to the underwater vehicle (100).

6. The charging device (200) for an underwater vehicle according to any one of claims 1-5, characterized in that, The base (10) also includes a control module and a communication module. The control module is communicatively connected to the limiting part (20) and the charging part (30), and the control module can communicate with the underwater vehicle (100) through the communication module.

7. The charging device (200) for an underwater vehicle according to claim 6, characterized in that, The limiting part (20) is also provided with a buffer component (24), which abuts against the end of the underwater vehicle (100).

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