Modular auv universal connection interface

Abstract

Modular AUV general connecting interface belongs to the technical field of underwater unmanned vehicles, and aims to solve the problems of complex connection and disassembly and low efficiency of each section of the existing modular AUV. The modular AUV general connecting interface comprises a first modular hatch, a second modular hatch and a quick-release clamp, any two sections of the modular AUV are set as a first to-be-connected cabin section and a second to-be-connected cabin section, the first modular hatch is sealingly installed at the end of the first to-be-connected cabin section, the second modular hatch is sealingly installed at the end of the second to-be-connected cabin section, and the first modular hatch and the second modular hatch are connected and fixed by the quick-release clamp. The modular AUV general connecting interface is used for connecting the split modular AUV cabin sections.

Description

TECHNICAL FIELD

[0001] The present application relates to a modular AUV (Autonomous Underwater Vehicle) universal connection interface, belonging to the technical field of underwater unmanned vehicles. BACKGROUND

[0002] The design of a universal connection interface for an autonomous underwater vehicle (AUV) is crucial to ensure efficient and reliable connection and communication between different modules. Here are some key points to consider when designing a modular AUV universal connection interface:

[0003] Sealing performance: When an AUV operates underwater, it must ensure the sealing of its internal electronic equipment and sensors and other critical components to prevent seawater from seeping in and causing damage. Therefore, the design of the hatch and quick-release clamp must consider its sealing performance to ensure that it maintains good sealing status during connection and disconnection.

[0004] Corrosion resistance: The salt and other chemicals in seawater can cause corrosion to metal materials, so the material selection of the hatch and quick-release clamp needs to consider its corrosion resistance. Generally, corrosion-resistant materials such as stainless steel, aluminum alloy, titanium alloy, etc. will be used for the manufacture of these components.

[0005] Quick disassembly performance: In order to facilitate the maintenance and upgrade of the AUV, the hatch and quick-release clamp need to have the ability of quick disassembly. This requires these components to be simple and clear in structure design, easy to operate, and to ensure that they will not cause damage to other parts of the AUV during disassembly.

[0006] Safety: During connection and disconnection, it must be ensured that the hatch and quick-release clamp will not cause harm to the operators of the AUV. Therefore, the design of these components needs to consider safety factors, such as avoiding sharp edges, providing a safe operation process, etc.

[0007] Chinese patent CN114465052A discloses a modular AUV module connecting device that simultaneously realizes sealing and electrical connection, but it has the following shortcomings: (1) Complexity: This connecting device may involve multiple components and a complex assembly process, which increases the difficulty of manufacturing and maintenance. The complex structure may result in higher manufacturing costs and longer production cycles. (2) Weight and resistance: As there is no reserved buoyancy material space, the modular connecting device may increase the overall weight of the AUV, which may affect its maneuverability and energy efficiency. At the same time, additional connecting components may increase the resistance of the AUV in water, further reducing its performance. (3) Assembly difficulty: This connecting device requires high assembly precision, and if it is not properly assembled, it may result in loose connection or sealing failure. This requires strict quality control during production, increasing manufacturing costs. (4) Maintenance cost: As the connecting device involves multiple components and complex structure, the maintenance cost may be relatively high. At the same time, if a component is damaged or needs to be replaced, the entire connecting device may need to be disassembled, increasing the complexity and time cost of maintenance. (5) Processing difficulty, assembly difficulty: Although this connecting device improves the connection reliability and stability between AUV modules, its connecting device form is not a conventional form, and the structure is complex and difficult to assemble. At the same time, the processing difficulty is great, the processing cycle is long, and the cost is high. (6) Assembly difficulty: This device needs to tighten or loosen the shell connecting screw, which is complicated and easy to lose parts. (7) Each section is not individually waterproof, and after disassembly, it is easy to enter mud and water.

[0008] Chinese patent CN115158532A discloses a modular AUV cabin section structure connected with split clamp assembly and assembly method, from one end to the other end in turn for multiple cabin section structures, the connection port of each cabin section structure is consistent, and the split clamp assembly is used for connection between adjacent two cabin section structures. However, it has the following disadvantages: (1) complexity: the design of split clamp assembly is more complex than the traditional connection mode, which increases the difficulty of manufacturing and assembly. At the same time, the complex structure may also lead to higher cost and maintenance requirement (2) sealing performance: the device only uses a single O-ring, which may cause some small sand to enter the O-ring, and if not cleaned properly, it may cause water leakage. (3) weight and resistance: as there is no space reserved for buoyancy material, the modular connection device may increase the overall weight of the AUV, which may affect its mobility and energy efficiency. At the same time, the additional connection components may increase the resistance of the AUV in water, further reducing its performance. (4) maintenance and replacement: although the split clamp assembly aims to improve the convenience of maintenance and replacement, it may not be the case in actual operation. The complex structure and connection mode may make maintenance and replacement difficult, especially in underwater environment. (5) cost consideration: although the split clamp assembly may improve the performance and reliability of the AUV, the cost of the device may also be relatively high. This may limit the use of this technology in cost-sensitive application scenarios. (6) assembly difficulty: the device needs to tighten or loosen the shell connection screw, which is complicated and easy to lose the device. (7) each section is not waterproof, and sand and water may enter after disassembly. (8) the tightening device is unevenly stressed. SUMMARY

[0009] In view of the problems of complex connection and disassembly, low efficiency of existing modular AUV sections, the present application provides a universal connection interface for modular AUV. It can realize quick disassembly and connection between modules, while ensuring the safety and stability of the connection.

[0010] The universal connection interface for modular AUV provided by the present application comprises a first modular hatch 1, a second modular hatch 14 and a quick release clamp 50. Any two sections of the modular AUV are set as a first to-be-connected cabin section 51 and a second to-be-connected cabin section 52. The first modular hatch 1 is sealingly installed at the end of the first to-be-connected cabin section 51, and the second modular hatch 14 is sealingly installed at the end of the second to-be-connected cabin section 52. The first modular hatch 1 and the second modular hatch 14 are connected and fixed by the quick release clamp 50.

[0011] Preferably, the first modular hatch cover 1 and the second modular hatch cover 14 are both cylindrical structures with a partition plate in the middle, and the cylinder wall and the partition plate are an integral part; the outer circumferences of the front ports of the two hatch covers are each provided with an annular half clamping block, which are the first annular half clamping block 69 and the second annular half clamping block 70, respectively; when the two hatch covers are docked, the two annular half clamping blocks form an entire annular clamping block, and the quick-release clamping hoop 50 connects the two hatch covers by clamping the entire annular clamping block;

[0012] The first annular half clamping block 69 and the second annular half clamping block 70 are each provided with a plurality of clamping hoop circumferential fixing grooves, which are the first clamping hoop circumferential fixing groove 3 and the second clamping hoop circumferential fixing groove 16, respectively, and the first clamping hoop circumferential fixing groove 3 and the second clamping hoop circumferential fixing groove 16 correspond to each other and are used for clamping the quick-release clamping hoop 50 together;

[0013] The front port of the first modular hatch cover 1 is circumferentially provided with a plurality of axial fixing grooves 7, and the front port of the second modular hatch cover 14 is circumferentially provided with a plurality of axial fixing pins 17; when the two hatch covers are docked, the position corresponding axial fixing grooves 7 are inserted into the axial fixing pins 17 to limit the circumferential position of the two hatch covers;

[0014] The central positions of the partition plates of the two hatch covers are each provided with a hexagonal fixing groove, which is used for installing a 16-core electrical connector male head 2 and a 16-core electrical connector female head 15, respectively; when the two hatch covers are docked and installed, the 16-core electrical connector male head 2 and the 16-core electrical connector female head 15 are inserted to realize the electrical connection of the two cabin sections.

[0015] Preferably, it also includes a quick drainage port, and the front ports of the first modular hatch cover 1 and the second modular hatch cover 14 are each circumferentially provided with a plurality of radially extending quick drainage ports; the cross section of the quick drainage port is a semicircle; the first quick drainage port 4 of the first modular hatch cover 1 corresponds to the second quick drainage port 20 of the second modular hatch cover 14; when the two hatch covers are docked, the first quick drainage port 4 and the second quick drainage port 20 form a radial drainage channel with a circular cross section.

[0016] Preferably, it also includes an O-ring, and the outer walls of the first modular hatch cover 1 and the second modular hatch cover 14 are each provided with two O-rings, which are used for sealing installation by being pressed against the inner walls of the two cabin sections.

[0017] Preferably, it also includes a buoyancy material, and after the two hatch covers are docked and locked by the quick-release clamping hoop 50, the inner cavities of the two hatch covers form a non-pressure-resistant area 68, and the buoyancy material is arranged in the non-pressure-resistant area 68.

[0018] Preferably, it also includes a hatch cover auxiliary dismounting groove, and the outer circumferences of the first modular hatch cover 1 and the second modular hatch cover 14 are each provided with a hatch cover auxiliary dismounting groove, which is used for dismounting by cooperating with an external tool.

[0019] Preferably, the hatch cover and the cabin section fixing screw holes are further included, and the outer periphery of the two hatch covers is uniformly distributed with at least three hatch cover and cabin section fixing screw holes, and the two cabin sections are correspondingly provided with hatch cover and cabin section fixing screw holes to realize the fixed connection of the hatch cover and the cabin section.

[0020] Preferably, the quick release clamp 50 includes a quick release clamp left half ring 27, a quick release clamp right half ring 28 and a quick release clamp lock 36, the quick release clamp left half ring 27 and the quick release clamp right half ring 28 are movably connected through a rotating shaft and are connected or disconnected through the quick release clamp lock 36, the inner walls of the two half rings are provided with clamping grooves, and a plurality of quick drainage openings corresponding to the positions of the two hatch covers are arranged along the circumferences of the inner walls to ensure that the water in the non-pressure-resistant area 68 is communicated with the outside; a plurality of circumferential fixing pins are uniformly distributed along the circumferences of the inner walls and are used for clamping in the circumferential fixing grooves of the two hatch covers.

[0021] Preferably, the clamping grooves of the inner walls of the quick release clamp 50 are 45° inclined clamping grooves, and the two annular half clamping blocks of the two hatch covers have a 45° inclined contour, and when cooperating with the quick release clamp 50, the 45° inclined surface of the inner walls of the quick release clamp 50 is matched with the 45° inclined contour of the two annular half clamping blocks.

[0022] Preferably, the quick release clamp lock 36 adopts a hand buckle mode.

[0023] The modular AUV universal connection interface provided by the application includes a main body connection structure, a quick locking mechanism and a sealing and waterproof assembly. The main body connection structure is made of high-strength material and has universality and interchangeability, which can adapt to the connection requirements of various AUV modules. The quick locking mechanism can realize quick locking and unlocking between modules through simple operation, which significantly improves the disassembly and assembly efficiency. The sealing and waterproof assembly ensures that the connection interface has good waterproof performance in deep sea environment, and protects the normal work of the internal equipment of the AUV. In specific implementation, the application has the advantages of simple design structure and convenient use. When the universal connection interface is assembled, only three screws are needed to realize the interface assembly. When the AUV module is connected, the structure and electrical connection are realized, and no screw is needed to complete the quick disassembly and assembly. This innovation also makes the interface suitable for more severe use environment, avoiding the inconvenience caused by tool shortage or missing fixing screws when disassembling and assembling the AUV module. The modular AUV universal connection interface has the advantages of simple structure, convenient operation, stable connection, good waterproof performance and wide application in the modular design, maintenance and upgrading of AUV, which is of great significance to improve the reliability and use efficiency of AUV. It also makes the application scene of the modular AUV more extensive.

[0024] The modular AUV universal connection interface designed by the application comprises mechanical interface universalization and electrical interface universalization, the mechanical interface universalization is that a more universal AUV hatch design method is adopted, and subsequently only the mechanical interface size needs to be changed to adapt to modular AUVs of different sizes; and the electrical interface universalization is that a corresponding type of underwater connector can be selected according to the number of lines required by different modular AUVs. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a structural schematic diagram of connecting an AUV cabin section by using the modular AUV universal connection interface described in the application;

[0026] Figure 2 is an isometric side view of the modular AUV universal connection interface described in the application, in a disassembled state;

[0027] Figure 3 is an isometric side view of the modular AUV universal connection interface described in the application, in a connected state;

[0028] Figure 4 is a sectional view of the modular AUV universal connection interface described in the application;

[0029] Figure 5 is a side view of a No. 1 hatch;

[0030] Figure 6 is a front view of the No. 1 hatch;

[0031] Figure 7 is a rear view of the No. 1 hatch;

[0032] Figure 8 is a side view of a No. 2 hatch;

[0033] Figure 9 is an isometric side view of the No. 2 hatch;

[0034] Figure 10 is a front view of the No. 2 hatch;

[0035] Figure 11 is an interface schematic diagram of a 16-core electrical connector;

[0036] Figure 12 is an installation schematic diagram of a hatch O-ring;

[0037] Figure 13 is a local schematic diagram of a non-pressure-resistant area;

[0038] Figure 14 is an isometric side view of a quick-release clamp, in an open state;

[0039] Figure 15 is a side view of the quick-release clamp, in a closed state;

[0040] Figure 16 is the fast release clamp (right half ring) isometric view;

[0041] Figure 17 is the fast release clamp (right half ring) front view;

[0042] Figure 18 is the fast release clamp (left half ring) isometric view;

[0043] Figure 19 is the fast release clamp (left half ring) isometric view;

[0044] Figure 20 is the fast release clamp isometric view, closed condition;

[0045] Figure 21 is the tightening chute installation schematic;

[0046] Figure 22 is the tightening chute principle diagram.

[0047] Reference signs:

[0048] 1, No. 1 modular hatch, 2, 16-core electrical connector male, 3, No. 1 hoop circumferential fixed groove, 4, No. 1 quick drain, 5, No. O-ring groove, 6, No. 2 O-ring groove, 7, axial fixed groove, 8, buoyancy material fixing screw hole, 9, No. 1 hatch auxiliary disassembly groove, 10, No. 1 electrical connector gasket, 11, No. 1 electrical connector fixing nut, 12, No. 1 hatch and cabin section fixing screw hole, 13, No. 1 circuit board fixing screw hole, 14, No. 2 modular hatch, 15, 16-core electrical connector female, 16, No. 2 hoop circumferential fixed groove, 17, axial fixed pin, 18, No. 3 O-ring groove, 19, No. 4 O-ring groove, 20, No. 2 quick drain, 21, No. 2 hatch auxiliary disassembly groove, 22, No. 2 hatch and cabin section fixing screw hole, 23, No. 2 circuit board fixing screw hole, 24, No. 3 circuit board fixing screw hole, 25, No. 2 electrical connector gasket, 26, No. 2 electrical connector fixing nut, 27, quick-release clamp left half ring, 28, quick-release clamp right half ring, 29, quick-release clamp shaft mounting port, 30, quick-release clamp left half ring quick drain, 31, quick-release clamp left half ring circumferential fixed pin, 32, quick-release clamp left half ring hatch radial fixed groove, 33, quick-release clamp left half ring hatch clamping inclined groove, 34, quick-release clamp lock roller groove, 35, quick-release clamp lock roller fixed groove, 36, quick-release clamp lock, 37, quick-release clamp shaft groove, 38, quick-release clamp right half ring hatch axial fixed groove, 39, quick-release clamp chamfer, 40, quick-release clamp lock installation position, 41, quick-release clamp lock switch groove, 42, quick-release clamp lock shaft installation position, 43, quick-release clamp right half ring quick drain, 44, quick-release clamp right half ring hatch clamping inclined groove, 45, quick-release clamp right half ring shaft groove, 46, quick-release clamp lock buckle, 47, quick-release clamp lock switch, 48, quick-release clamp lock switch shaft, 49, quick-release clamp lock buckle shaft, 50, quick-release clamp, 51, No. 1 to be connected cabin section, 52, No. 2 to be connected cabin section, 53, No. 3 hatch and cabin section fixing screw hole, 54, shaft 1 countersunk head, 55, shaft 3 countersunk head, 56, O-ring, 57, No. 1 shaft sleeve, 58, No. 1 shaft screw, 59, No. 2 shaft sleeve, 60, No. 2 shaft screw, 61, No. 3 shaft sleeve, 62, No. 3 shaft screw, 63, mesh, 64, power channel, 65, No. 1 CAN channel, 66, No. 2 CAN channel, 67, No. 3 CAN channel, 68, non-pressure-resistant area, 69, No. 1 annular half clamping block, 70, No. 2 annular half clamping block. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of the present application.

[0050] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0051] The present application will be further described below in combination with the drawings and specific embodiments, but is not limited by the present application.

[0052] Specific implementation method one: the following will be described in combination with Figures 1 to 22 The present embodiment is described, and the modular AUV universal connection interface is described in the present embodiment, referring to Figures 1 to 4 The modular AUV universal connection interface comprises a first modular hatch 1, a second modular hatch 14 and a quick-release clamp 50. Any two sections of the modular AUV are set as a first to-be-connected cabin section 51 and a second to-be-connected cabin section 52. The first modular hatch 1 is sealingly installed at the end of the first to-be-connected cabin section 51, and the second modular hatch 14 is sealingly installed at the end of the second to-be-connected cabin section 52. The first modular hatch 1 and the second modular hatch 14 are connected and fixed by the quick-release clamp 50.

[0053] The first modular hatch 1 and the second modular hatch 14 are both cylindrical structures with a partition plate arranged in the middle, and the cylinder wall and the partition plate are an integral piece. The outer circumferences of the front ports of the two hatches are both provided with an annular half clamp, which are a first annular half clamp 69 and a second annular half clamp 70. When the two hatches are butted, the two annular half clamps form an entire annular clamp, and the quick-release clamp 50 connects the two hatches by clamping the entire annular clamp.

[0054] The first annular half clamp 69 and the second annular half clamp 70 are both provided with a plurality of clamp circumferential fixing grooves, which are a first clamp circumferential fixing groove 3 and a second clamp circumferential fixing groove 16. The first clamp circumferential fixing groove 3 corresponds to the second clamp circumferential fixing groove 16, and they are both used for clamping the quick-release clamp 50. The first modular hatch 1 and the second modular hatch 14 are designed with clamp circumferential fixing grooves to limit the circumferential movement of the clamp. The quick-release clamp is designed with a circumferential fixing pin, which cooperates with the clamp circumferential fixing grooves designed on the first modular hatch 1 and the second modular hatch 14 to limit the circumferential movement and also provide convenience for installation and fixation.

[0055] The first modular hatch 1 is provided with a plurality of axial fixing grooves 7 distributed along the circumferential direction of the positive port, and the second modular hatch 14 is provided with a plurality of axial fixing pins 17 distributed along the circumferential direction of the positive port. When the two hatches are docked, the axial fixing grooves 7 at corresponding positions are inserted into the axial fixing pins 17 to limit the circumferential position of the two hatches. The axial fixing grooves and the axial fixing pins designed between the first modular hatch 1 and the second modular hatch 14 limit the circumferential and radial degrees of freedom between the two hatches.

[0056] The center of the partition plate of the two hatches is provided with a hexagonal fixing groove for mounting a 16-core male electrical connector 2 and a 16-core female electrical connector 15. When the two hatches are docked, the 16-core male electrical connector 2 and the 16-core female electrical connector 15 are inserted to realize electrical connection between the two hatch sections. Since the hexagonal fixing groove is arranged at the center of the partition plate, the bending moment of the electrical connector is minimized, and the latch also offsets part of the bending moment, so that the 16-core electrical connector does not need to bear the supporting force, greatly improving the service life of the device. The hexagonal fixing groove limits the circumferential and radial degrees of freedom, and the 16-core electrical connector is assembled and cannot rotate. The 16-core electrical connector is divided into a male head and a female head, and the connector can support up to 16 channels of transmission at the same time. Among them, 4 channels are network channels (network port 63), 6 channels are combined into 3 power channels (power channel 64), and 6 channels are combined into 3 CAN channels (first CAN channel 65, second CAN channel 66, and third CAN channel 67). See Figure 11 The first CAN channel 65 is used to read information of each modular hatch section, including temperature information, current size, water leakage check feedback, and working state information. The working state information is detected by a fault detection system, and if a fault is found, an error code is fed back. The second CAN channel 66 is used to read sensor information, and the third CAN channel 67 is used to control the actuators of the modular AUV. The four network ports can be used for network cameras, image sonar, and high-frequency signal transmission.

[0057] The positive ports of the first modular hatch 1 and the second modular hatch 14 are both provided with a plurality of radially extending quick drainage ports distributed along the circumferential direction. The cross section of the quick drainage port is a semicircle. The first quick drainage port 4 of the first modular hatch 1 corresponds to the second quick drainage port 20 of the second modular hatch 14. When the two hatches are docked, the first quick drainage port 4 and the second quick drainage port 20 form a radial drainage channel with a circular cross section.

[0058] The outer wall of the first modular hatch 1 and the second modular hatch 14 is provided with two O-rings, which are sealed and installed by being pressed against the inner wall of the two cabin sections. The outer wall of the first modular hatch 1 is provided with a first O-ring groove 5 and a second O-ring groove 6, and the outer wall of the second modular hatch 14 is provided with a third O-ring groove 18 and a fourth O-ring groove 19. One O-ring 56 is arranged in each groove. See Figure 12 The O-rings are selected according to the national standard (GB3452.1-88 / 92), and each hatch is provided with double-layer O-rings. The first layer of O-rings plays a role in preventing sand and water, and the second layer of O-rings plays a role in double protection, which better ensures the safety of devices in the cabin section and has higher environmental adaptability.

[0059] The first modular hatch 1 is provided with multiple screw holes and grooves, including a hexagonal fixing groove in the middle of the first modular hatch 1 for fixing a male head of a 16-core electrical connector 2. At the same time, a first clamp circumferential fixing groove 3, a first quick drainage port 4, a first O-ring groove 5, a second O-ring groove 6, an axial fixing groove 7, a buoyancy material fixing screw hole 8, a first hatch auxiliary dismounting groove 9, a first hatch and cabin section fixing screw hole 12, and a first circuit board fixing screw hole 13 are designed. The male head of the 16-core electrical connector 2 is embedded in the hexagonal fixing position and is fixed to the partition plate of the first modular hatch 1 through a first electrical connector gasket 10 and a first electrical connector fixing nut gasket 11.

[0060] The second modular hatch 14 is provided with multiple screw holes and grooves, including a hexagonal fixing groove in the middle of the second modular hatch 14 for fixing a female head of a 16-core electrical connector 15. At the same time, a second clamp circumferential fixing groove 16, a second quick drainage port 20, a third O-ring groove 18, a fourth O-ring groove 19, an axial fixing pin 17, a buoyancy material fixing screw hole 8, a second hatch auxiliary dismounting groove 21, a second hatch and cabin section fixing screw hole 22, and a second circuit board fixing screw hole 23 are designed. The female head of the 16-core electrical connector 15 is embedded in the hexagonal fixing position and is fixed to the partition plate of the second modular hatch 14 through a second electrical connector gasket 25 and a second electrical connector fixing nut 26.

[0061] The back of the first modular hatch 1 and the second modular hatch 14 is designed with a circuit board fixing screw hole, which expands the function of the hatch, reserves the fixing position of the circuit board while providing waterproof protection, and facilitates cooperation with the 16-core electrical connector, saves cabin space, and improves the functionality of the modular universal connection interface.

[0062] When the two hatch covers are docked and locked by the quick-release clamp 50, the inner cavities of the two hatch covers form a non-pressure-resistant area 68, and a buoyancy material is arranged in the non-pressure-resistant area 68, which is fixed by the buoyancy material fixing screw holes 8 and screw fixing positions on the two hatch covers. Therefore, the hatch cover and the quick-release clamp both have a quick water outlet. The advantage of this design is that when the modular AUV universal connection interface enters the water, the water can be quickly filled; when the water is discharged, the water in the connection interface can be quickly discharged, which greatly helps the overall modular AUV recovery and deployment. This design also makes the overall modular AUV more adaptive, and the overall buoyancy can be changed by adjusting the volume of the carried buoyancy material.

[0063] The outer circumferences of the first modular hatch cover 1 and the second modular hatch cover 14 are both provided with a hatch cover auxiliary dismounting groove for cooperating with external tools for dismounting. The first modular hatch cover 1 and the second modular hatch cover 14 are both provided with a hatch cover auxiliary dismounting groove around the periphery. Since the design adopts double O-rings, the problem of large friction is caused while providing waterproof protection, and a flat plate hand notch is designed to facilitate dismounting.

[0064] The outer circumferences of the two hatch covers are both provided with at least three hatch cover and cabin section fixing screw holes (first hatch cover and cabin section fixing screw hole 13, second hatch cover and cabin section fixing screw hole 22), and the two cabin sections are correspondingly provided with a third hatch cover and cabin section fixing screw hole 53 to realize the fixed connection of the hatch cover and the cabin section. The first modular hatch cover 1 and the second modular hatch cover 14 are both provided with a hatch cover and cabin section fixing screw hole around the periphery to facilitate the installation of the hatch cover.

[0065] Further, another technical point of the present application is to adopt a quick-release clamp 50 operated by a hand buckle, as shown in Figures 14 to 20 The quick-release clamp 50 includes a quick-release clamp left half ring 27, a quick-release clamp right half ring 28 and a quick-release clamp lock 36. The quick-release clamp left half ring 27 and the quick-release clamp right half ring 28 are movably connected through a rotating shaft and are connected or disconnected through the quick-release clamp lock 36. The inner walls of the two half rings are both provided with a clamping groove, and a plurality of quick water outlets corresponding to the positions of the two hatch covers are arranged along the circumferences of the inner walls to ensure the communication between the water in the non-pressure-resistant area 68 and the outside. The quick-release clamp 50 is designed in cooperation with the first modular hatch cover 1 and the second modular hatch cover 14, and has a quick water outlet to facilitate the quick discharge of the internal water and the quick entry of the external water, quickly discharge the gas remaining in the non-pressure-resistant area, and reduce the influence on the floating state of the modular AUV. The quick-release clamp left half ring 27 is provided with a quick-release clamp left half ring quick water outlet 30, and the quick-release clamp right half ring 28 is provided with a quick-release clamp right half ring quick water outlet 43.

[0066] The quick-release clamp 50 is uniformly distributed with a plurality of circumferential fixing pins along the inner wall, used for clamping in the circumferential fixing slots of the two hatch covers, wherein the quick-release clamp left half ring 27 is provided with a quick-release clamp left half ring circumferential fixing pin 31. The quick-release clamp left half ring 27 is also provided with a quick-release clamp left half ring hatch cover radial fixing slot 32, and the quick-release clamp right half ring 28 is also provided with a quick-release clamp right half ring hatch cover axial fixing slot 38, used for the axial fixing pin 17 to be accommodated and clamped on the axial fixing pin 17 when the two hatch covers are connected.

[0067] The quick-release clamp 50 is designed to cooperate with the design of the two hatch covers. The quick-release clamp left half ring 27 is designed with a plurality of grooves, holes and screw holes. The clamp shaft mounting port, the quick drainage port, the circumferential fixing pin, the axial fixing slot, the hatch cover clamping inclined slot, the roller groove and the roller fixing groove are designed. The quick-release clamp right half ring 28 is designed with a plurality of grooves, holes and screw holes. The clamp shaft groove, the hatch cover axial fixing slot, the clamp lock mounting position, the clamp lock switch groove, the clamp lock shaft mounting position, the quick drainage port, the hatch cover clamping inclined slot and the shaft groove are designed. Specifically, it includes the quick-release clamp left half ring hatch cover clamping inclined slot 33, the quick-release clamp lock roller groove 34, the quick-release clamp lock roller fixing groove 35, the quick-release clamp lock 36, the quick-release clamp shaft groove 37, the quick-release clamp right half ring hatch cover axial fixing slot 38, the quick-release clamp chamfer 39, the quick-release clamp lock mounting position 40, the quick-release clamp lock switch groove 41, the quick-release clamp lock shaft mounting position 42, the quick-release clamp right half ring quick drainage port 43, the quick-release clamp right half ring hatch cover clamping inclined slot 44. When the quick-release clamp 50 realizes modular connection and disassembly, it can be quickly disassembled without a screw, which is the advantage of the interface. Without screws, the universal interface can be used in harsh environments such as high sea conditions, with higher mobility.

[0068] The clamping groove of the inner wall of the quick-release clamp 50 is a 45° inclined clamping inclined slot, and the two annular half clamping blocks of the two hatch covers have a 45° inclined profile. When cooperating with the quick-release clamp 50, the 45° inclined surface of the inner wall of the quick-release clamp 50 is fitted with the 45° inclined profile of the two annular half clamping blocks. This design makes the clamp more tightly installed and provides additional radial tension, better participating in the longitudinal bending of the robot, improving the longitudinal bending strength, and the 45° design also makes the stress more uniform.

[0069] The quick-release clamp lock buckle 36 adopts a hand buckle mode. The quick-release clamp lock buckle 36 is designed by four parts of a buckle, a switch shaft, a switch and a buckle shaft, and specifically comprises a quick-release clamp right half ring shaft recess 45, a quick-release clamp lock buckle buckle 46, a quick-release clamp lock buckle switch 47, a quick-release clamp lock buckle switch shaft 48, a quick-release clamp lock buckle buckle shaft 49, a shaft 1 countersunk head 54, a shaft 3 countersunk head 55, a first shaft sleeve 57, a first shaft screw 58, a second shaft sleeve 59, a second shaft screw 60, a third shaft sleeve 61 and a third shaft screw 62. The structure is simple and reliable, a hand buckle is designed at the switch to facilitate disassembly, a user can realize switching by fingers without any tool; the design has high integrity, installation and disassembly only need one-step operation on the switch, and no parts are lost, and it is more suitable in high sea conditions or emergency situations.

[0070] The quick-release clamp is designed with a shaft 1 countersunk head 54 and a shaft 3 countersunk head 55. The design has the following advantages: the shaft is embedded to reduce wear and tear and improve the service life of the device, and the embedded design can prevent the shaft from falling off due to accidental collision of the AUV and cause disintegration of the modular AUV.

[0071] The device installation process of the present application is as follows:

[0072] (1) Clean two O-rings and install them in the first O-ring recess 5 and the second O-ring recess 6 of the first modular hatch 1.

[0073] (2) Install the first modular hatch 1 into the first connecting cabin section 51, align the third hatch and cabin section fixing screw hole 53 around the first connecting cabin section 51 with the first hatch and cabin section fixing screw hole of the first modular hatch 1, and screw the screw to fix.

[0074] (3) Clean two O-rings and install them in the third O-ring recess 18 and the fourth O-ring recess 19 of the second modular hatch 14.

[0075] (4) Install the second modular hatch 14 into the second connecting cabin section 52, align the third hatch and cabin section fixing screw hole 53 around the second connecting cabin section 52 with the second hatch and cabin section fixing screw hole 22 of the second modular hatch 14, and screw the screw to fix.

[0076] (5) Fit the quick-release clamp left half ring 27 and the quick-release clamp right half ring 28, embed the third shaft sleeve 61 into the fitted shaft 3 countersunk head 55, and then screw the third shaft screw 62 to complete the fitting.

[0077] (6) The right half ring 28 of the quick release clamp is matched with the quick release clamp shaft groove 37, the first shaft sleeve 57 is embedded into the matched shaft 1 counterbore hole 54, and the first shaft screw 58 is screwed, and the matching is completed;

[0078] (7) The switch shaft 48 of the quick release clamp lock is matched with the switch 47 of the quick release clamp lock, the second shaft sleeve 59 is embedded into the matched shaft, and the second shaft screw 60 is screwed, and the matching is completed;

[0079] (8) The 16-core electrical connector male head 2 of the first modular hatch cover 1 is matched with the 16-core electrical connector female head 15 of the second modular hatch cover 14, at the same time the axial fixing groove 7 of the first modular hatch cover 1 is matched with the axial fixing pin 17 of the second modular hatch cover 14, the assembly of the first modular hatch cover 1 and the second modular hatch cover 14 is completed, and the radial and circumferential fixation and electrical connection of the first to-be-connected cabin section 51 and the second to-be-connected cabin section 52 are realized;

[0080] (9) The quick release clamp 50 is matched with the clamp circumferential fixing groove of the first modular hatch cover 1 and the second modular hatch cover 14 when installed, the axial fixing groove 7 is matched with the axial fixing pin 17, the clasp 46 of the quick release clamp lock is embedded into the quick release clamp lock roller groove 34, the switch 47 of the quick release clamp lock is pulled down and embedded into the quick release clamp lock switch groove 41, and the locking is completed.

[0081] Although the present application is described herein with reference to particular embodiments, it is to be understood that these embodiments are merely exemplary of the principles and applications of the present application. It is therefore to be understood that numerous modifications can be made to the illustrative embodiments and that other arrangements can be devised without departing from the spirit and scope of the present application as defined by the appended claims. It is to be understood that different dependent claims and features described herein can be combined with each other in ways not explicitly described. It is also to be understood that features described in relation to one embodiment can be used in other embodiments.

Claims

1. Modular AUV universal connection interface, characterized in that, The application relates to a modular AUV, which comprises a first modular hatch (1), a second modular hatch (14) and a quick-release clamp (50), any two sections of the modular AUV are set as a first to-be-connected cabin section (51), a second to-be-connected cabin section (52) and buoyancy material, the first modular hatch (1) is sealingly arranged at the end of the first to-be-connected cabin section (51), the second modular hatch (14) is sealingly arranged at the end of the second to-be-connected cabin section (52), the first modular hatch (1) and the second modular hatch (14) are connected and fixed by the quick-release clamp (50), the inner cavities of the two hatches form a non-pressure-resistant area (68) after the two hatches are butted and locked by the quick-release clamp (50), and the buoyancy material is arranged in the non-pressure-resistant area (68). The first modular hatch (1) and the second modular hatch (14) are both cylindrical structures with a partition plate arranged in the middle, and the cylinder wall and the partition plate are an integral piece; the outer circumferences of the front ports of the two hatches are both provided with an annular half clamping block, which are a first annular half clamping block (69) and a second annular half clamping block (70) respectively, the two annular half clamping blocks form an entire annular clamping block when the two hatches are butted, and the quick-release clamp (50) connects the two hatches by clamping the entire annular clamping block. The first annular half clamping block (69) and the second annular half clamping block (70) are both provided with a plurality of clamp circumferential fixing grooves, which are a first clamp circumferential fixing groove (3) and a second clamp circumferential fixing groove (16) respectively, and the first clamp circumferential fixing groove (3) and the second clamp circumferential fixing groove (16) correspond to each other and are used for clamping the quick-release clamp (50) together. The front port of the first modular hatch (1) is provided with a plurality of axial fixing grooves (7) in the circumferential direction, the front port of the second modular hatch (14) is provided with a plurality of axial fixing pins (17) in the circumferential direction, and the axial fixing pins (17) corresponding in position are inserted into the axial fixing grooves (7) when the two hatches are butted to limit the circumferential position of the two hatches. The partition plates of the two hatches are both provided with a hexagonal fixing groove at the center position and are used for mounting a 16-core electrical connector male head (2) and a 16-core electrical connector female head (15), and the 16-core electrical connector male head (2) and the 16-core electrical connector female head (15) are inserted when the two hatches are butted to realize electrical connection of the two cabin sections. The application further comprises a quick drainage port, the front ports of the first modular hatch (1) and the second modular hatch (14) are both provided with a plurality of radially extending quick drainage ports in the circumferential direction, the cross section of the quick drainage port is a semicircle, a first quick drainage port (4) of the first modular hatch (1) corresponds to a second quick drainage port (20) of the second modular hatch (14), and the first quick drainage port (4) and the second quick drainage port (20) form a radial drainage channel with a circular cross section when the two hatches are butted.

2. The modular AUV universal connection interface of claim 1, wherein, The application further comprises an O-shaped ring, two O-shaped rings are arranged on the outer walls of the first modular hatch (1) and the second modular hatch (14) and are used for sealingly arranging the two hatches by being pressed against the inner walls of the two hatches.

3. The modular AUV universal connection interface of claim 1, wherein, The cabin cover auxiliary dismounting groove is arranged on the outer periphery of the first modular cabin cover (1) and the second modular cabin cover (14), and is used for dismounting by cooperating with an external tool.

4. The modular AUV universal connection interface of claim 1, wherein, The cabin cover and cabin section fixing screw holes are arranged on the outer periphery of the two cabin covers, and at least three cabin cover and cabin section fixing screw holes are arranged on the outer periphery of each of the two cabin covers.

5. The modular AUV universal connection interface of claim 1, wherein, The quick dismounting clamp (50) comprises a quick dismounting clamp left half ring (27), a quick dismounting clamp right half ring (28) and a quick dismounting clamp lock (36). The quick dismounting clamp left half ring (27) and the quick dismounting clamp right half ring (28) are movably connected through a rotating shaft and are connected or disconnected through the quick dismounting clamp lock (36). The inner walls of the two half rings are provided with clamping grooves, and a plurality of quick drainage openings corresponding to the positions of the two cabin covers are arranged along the circumferences of the inner walls to ensure that the water in the non-pressure-resistant area (68) is communicated with the outside. A plurality of circumferential fixing pins are uniformly arranged along the circumferences of the inner walls and are used for being clamped in the circumferential fixing grooves of the two cabin covers.

6. The modular AUV universal connection interface of claim 5, wherein, The clamping groove of the inner wall of the quick dismounting clamp (50) is a 45° inclined clamping groove. The two annular half clamping blocks have a 45° inclined contour. When the quick dismounting clamp (50) is matched, the 45° inclined surface of the inner wall of the quick dismounting clamp (50) is matched with the 45° inclined contour of the two annular half clamping blocks.

7. The modular AUV universal connection interface of claim 5, wherein, The quick dismounting clamp lock (36) adopts a hand lock mode.

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