An elastic self-locking connector for underwater robots

Abstract

The present invention discloses an elastic self-locking connector for an underwater robot, comprising a first connector, a first battery cell is fixed inside the first connector, and a second battery cell is slidably arranged inside the second connector; further comprising: a sleeve, which is sleeved on the outside of the second connector, a first track is fixed on both sides of the outer wall of the second connector, and a second track is fixed on both sides of the outer wall of the first connector; a first blocking mechanism is arranged inside the first connector, a second blocking mechanism is arranged inside the second connector, and a sealing component is arranged on the inner side of the sleeve. The elastic self-locking connector for an underwater robot can realize the rapid plugging and unplugging of the connector underwater in an elastic manner, is easy to operate, and can ensure the sealing of the connector during the plugging and unplugging process to avoid being disturbed by liquids and contaminants, and can also ensure the stability after plugging, and will not be easily detached due to pulling force.

Description

Technical Field

[0001] The invention relates to the technical field of connectors, in particular to an elastic self-locking connector for an underwater robot. Background Art

[0002] A connector is a connector specially used to transmit signals or electricity in a humid, polluted and corrosive environment. During use, an underwater robot is usually connected to equipment on the ground through a wet plug connector. In order to ensure the smoothness of the wet plug connector during underwater plugging and unplugging, and to avoid being disturbed by liquids and other contaminants during plugging and unplugging, it is necessary to ensure the sealing of the wet plug connector. For example, a mobile openable and closed optoelectronic composite underwater wet plug connector with publication number CN109038125B includes a plug part and a socket part used in conjunction with the plug part; the plug part The main body is the inner cavity of the plug, and a rear end web is arranged at the rear of the inner cavity of the plug to form a plug tail cavity; a plug photoelectric plug core is arranged through the middle of the inner cavity of the plug and the plug tail cavity; the inner cavity of the plug is filled with insulating oil; a wedge-shaped first push rod is arranged inside the inner cavity of the plug, and a front end web and a middle support plate are arranged at the front of the inner cavity of the plug, and a first up and down moving part is arranged in the space formed between the front end web and the middle support plate, and a through hole is opened in the middle, and the passage of the plug core connection is opened and closed by the movement of the moving part; optical signal and power transmission are integrated, and the balance of internal and external pressures is fully considered, which can ensure reliable connection in deep water environment;

[0003] For example, a deep-water wet-plug electrical connector with publication number CN117134164B includes a plug sealing sleeve, a socket sealing sleeve and a socket inlet. The movable conductive core is moved out to the outside of the second insulating sleeve and then enters the first insulating sleeve through the action of the plug insertion process and the coordination of the conductive core moving mechanism. The movable conductive core pushes the head end of the sliding conductive core into the conical seat to realize the passage. After the plug is pulled out, the sliding conductive core is reset under the action of the first spring, thereby maintaining the seal during the plug-in process and avoiding the high-voltage insulating oil in the plug from being contaminated. However, the above-mentioned wet-plug connector still has the following disadvantages in actual use:

[0004] 1. Traditional connectors are not convenient enough during the plugging and unplugging process. Usually, multiple complicated steps are required to achieve the sealing of the connector. Due to improper operation, they are easily invaded by external liquids and contaminants during the plugging and unplugging process, thus affecting the stability of subsequent connections.

[0005] 2. The connector is set at one end of the robot. If it is immersed in water for a long time, the external liquid will enter the inside of the connector, which is not conducive to ensuring the sealing of the connector after connection. At the same time, the connector is prone to detachment due to tension after connection.

[0006] In view of the above problems, it is urgent to carry out innovative design based on the original connector. Summary of the invention

[0007] The purpose of the present invention is to provide an elastic self-locking connector for an underwater robot to solve the problem that the traditional connector mentioned in the above background technology usually requires multiple complicated steps to achieve the sealing of the connector, and is easily invaded by external liquids and contaminants during the plugging and unplugging process due to improper operation, and the connector is easily detached when subjected to tension after connection.

[0008] To achieve the above object, the present invention provides the following technical solution: an elastic self-locking connector for an underwater robot, comprising a first connector, a first battery core is fixed inside the first connector, and an end of the first connector and an end of a second connector are connected to each other, a second battery core is slidably arranged inside the second connector, and a spring is arranged between the second battery core and the second connector;

[0009] It also includes: a sleeve, which is sleeved on the outer side of the second connector, the first rails are fixed on both sides of the outer wall of the second connector, and the end of the first rail exceeds the end of the second connector, and a through hole is opened on the sleeve outside the first rail, the second rails are fixed on both sides of the outer wall of the first connector, and the end of the second rail is shorter than the end of the first connector;

[0010] A first sealing mechanism is arranged inside the first connector, and the first sealing mechanism is used to seal the inside of the first connector with the outside world; a second sealing mechanism is arranged inside the second connector, and the second sealing mechanism is used to seal the inside of the second connector with the outside world; a sealing assembly is arranged on the inner side of the sleeve, and the sealing assembly is used to seal the connection between the sleeve and the first connector and the second connector.

[0011] Preferably, the sleeve and the first rail and the second rail form a sliding structure, and the inner side of the sleeve is in close contact with the outer walls of the first connector and the second connector, and the outer diameter of the first connector is the same as the inner diameter of the second connector and the minimum inner diameter of the sleeve, so that it is convenient for the first connector to pass through the inner side of the sleeve and dock with the second connector.

[0012] Preferably, the first blocking mechanism includes a movable bar arranged in the inner through groove of one of the second tracks, and the movable bar and the second track form a rotating structure, and a spiral spring is arranged at the rotation point of the movable bar and the second track, and at the same time, a guide rod passes through the side wall of the first connecting head, and the sleeve can push the movable bar to rotate after moving, and then push the guide rod to slide on the first connecting head through the movable bar.

[0013] Preferably, the guide rod and the first connecting head are slidably connected, and a spring is wound around the outside of the guide rod to reset it, and the cross-section of the guide rod is an "L"-shaped structure. At the same time, a connecting plate is fixed to the end of the guide rod away from the second track. When the guide rod moves, it drives the connecting plate to move synchronously and drives the connecting plate to be stored in the fixed groove.

[0014] Preferably, a first fixing plate is sleeved on the outer side of the connecting plate, and the first fixing plate is fixed to one end of the first connecting head close to the second connecting head, and the connecting plate and the first fixing plate form a sliding structure through the fixing groove, and at the same time the fixing groove is opened in the first fixing plate, when the connecting plate is in the fixing groove, it is convenient to connect the battery cells, and when the connecting plate seals the first fixing plate, it can ensure the sealing of the first connecting head.

[0015] Preferably, the second sealing mechanism includes a second fixed plate fixed in the second connecting head, and the second fixed plate and the first fixed plate are both provided with through grooves for the second battery cell to pass through, and a movable shaft passes through the interior of the second fixed plate, and the movable shaft is rotatably connected to the second connecting head and the second fixed plate. After the sleeve moves, it drives the movable cylinder and the fixed ring to move synchronously and can drive the tooth block to contact the gear.

[0016] Preferably, a movable plate is fixedly sleeved in the middle position of the movable shaft, and the movable plate and the second fixed plate form a relatively rotating structure, and the rotation range of the movable plate is 0-90°. At the same time, a gear is fixedly sleeved at the top of the movable shaft, and when the movable cylinder is rotated, the meshing transmission between the tooth block and the gear can drive the movable shaft and the movable plate to rotate synchronously.

[0017] Preferably, the gear and the tooth block are meshingly connected, and the tooth block is arranged at equal angles on the fixed ring, and the fixed ring is fixed to the inner wall of the movable cylinder. At the same time, the movable cylinder is arranged on the inner side of the sleeve, and the movable cylinder and the sleeve are connected in a damping rotation. The damping structure can ensure the stability of the movable cylinder after rotation.

[0018] Preferably, the sealing assembly includes a first airbag adhered to a fixing ring, and the first airbag contacts with a fixing block after moving, and the fixing block is fixed to the bottom of the second connector, and at the same time, the end of the first airbag is interconnected with the interior of the fixing cavity through a pipe, and when the fixing ring rotates, the first airbag can be driven to rotate synchronously, and the first airbag contacts with the fixing block.

[0019] Preferably, the fixed cavity is opened on the inner side of the movable cylinder, and the movable cylinder is connected with the second airbag through the air delivery channel, and the air delivery channel is arranged in the sleeve, and the second airbags are pasted on the inner sides of the two sleeves at the same time, and the first airbag is squeezed by the fixed block so that the gas inside the first airbag is transmitted to the second airbag through the fixed cavity and the air delivery channel.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: the elastic self-locking connector for the underwater robot can realize the rapid plugging and unplugging of the connector underwater by elastic means, and the operation is convenient. The sealing of the connector can be ensured during the plugging and unplugging process to avoid being disturbed by liquids and pollutants. At the same time, the stability after plugging can be ensured, and it will not be easily separated due to pulling force. The specific contents are as follows:

[0021] 1. First, the position of the two connectors after docking will not store liquid. Secondly, the sleeve is pushed to move and sleeve on the outside of the two connectors to seal the connection position, so that the subsequent battery cell connection will not be affected by the liquid. After the sleeve moves, it can contact the movable bar and push it to rotate on the second track. After rotation, it can push the guide rod to slide on the first connector, and then drive the connecting plate to slide in the first fixing plate and be stored in the fixing groove, so that the first battery cell in the first connector is exposed, which is convenient for subsequent connection;

[0022] Furthermore, when the two connectors need to be separated, the sleeve is pulled to move and separate from the first connector, so that the connection plate can be driven to block the first fixed plate again through the resilience of the spring, and the movable bar can be driven to restore the inclined state through the resilience of the spiral spring, ensuring that the connector will not be disturbed by the liquid after separation;

[0023] 2. When the sleeve moves, it can drive the movable cylinder and the fixed ring to move synchronously, and drive the tooth block to contact the gear. Then, the movable cylinder is rotated to drive the movable shaft and the movable plate to rotate toward the inside of the second connector through the meshing transmission of the tooth block and the gear. First, the movable plate is driven to push the second battery cell, and then the second battery cell is driven to slide to the outside of the second connector through the elasticity of the spring, and connected with the first battery cell, completing the electrical connection between the underwater robot and the external equipment;

[0024] Furthermore, when the second connector needs to be separated from the first connector, the second battery cell is first pulled apart from the first battery cell so that the second battery cell is inside the second connector, and then the movable cylinder is rotated in the reverse direction to drive the movable plate to rotate in the reverse direction to seal the second fixed plate;

[0025] 3. When the movable cylinder rotates, it can also drive the first airbag to rotate. When the first airbag rotates, it can contact the fixed block. The fixed block squeezes the first airbag so that the gas therein enters the fixed cavity through the pipeline, and then is transmitted to the second airbag through the gas transmission channel. In this way, the expanded second airbag contacts the outer surfaces of the first connector and the second connector. On the one hand, the protection of the sleeve on the connection of the connector is improved to achieve sealing, and on the other hand, the stability of the position of the sleeve after movement is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the first connector of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the second connector of the present invention;

[0029] Figure 4 This is a schematic diagram of a cross-sectional structure of the connection between the first connector and the second connector of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure after the movable bar and the guide rod of the present invention are moved;

[0031] Figure 6 It is a schematic diagram of the distribution structure of the movable bar and the guide rod of the present invention;

[0032] Figure 7 It is a schematic cross-sectional structural diagram of the first fixing plate of the present invention;

[0033] Figure 8 This is a schematic diagram of the structure of the movable cylinder after rotation of the present invention;

[0034] Fig. 9 For the present invention Figure 8 The enlarged structural diagram at A in the middle;

[0035] Fig.10 It is a schematic diagram of the cross-sectional structure of the movable cylinder of the present invention;

[0036] Fig.11 This is a schematic diagram of the structure of the second fixing plate of the present invention;

[0037] Fig.12 This is a schematic diagram of the structure after the movable plate of the present invention rotates;

[0038] Fig.13 It is a schematic diagram of the cross-sectional structure of the sleeve of the present invention.

[0039] In the figure: 1. first connector; 2. first battery cell; 3. second connector; 301. fixed block; 4. second battery cell; 5. sleeve; 6. first track; 7. through hole; 8. second track; 9. movable bar; 10. guide rod; 11. connecting plate; 12. first fixed plate; 13. fixed groove; 14. second fixed plate; 15. movable shaft; 16. movable plate; 17. gear; 18. movable cylinder; 19. fixed ring; 20. gear block; 21. first air bag; 22. fixed cavity; 23. second air bag; 24. gas transmission channel. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] See also Figure 1-Figure 13 , the present invention provides the following technical solutions:

[0042] Embodiment 1: In order to solve the problems existing in the prior art, this embodiment adopts the following technical scheme: an elastic self-locking connector for an underwater robot, comprising a first connector 1, a first battery core 2 is fixed inside the first connector 1, and the end of the first connector 1 and the end of the second connector 3 are connected to each other, a second battery core 4 is slidably arranged inside the second connector 3, and a spring is arranged between the second battery core 4 and the second connector 3; further comprising: a sleeve 5, which is sleeved on the outside of the second connector 3, first rails 6 are fixed on both sides of the outer wall of the second connector 3, and the end of the first rail 6 exceeds the end of the second connector 3, and a through hole 7 is opened on the sleeve 5 outside the first rail 6, second rails 8 are fixed on both sides of the outer wall of the first connector 1, and the end of the second rail 8 is shorter than the end of the first connector 1; a first blocking mechanism is arranged inside the first connector 1, The first plugging mechanism is used to seal the inside of the first connector 1 with the outside world, and the second plugging mechanism is arranged inside the second connector 3, and the second plugging mechanism is used to seal the inside of the second connector 3 with the outside world. A sealing assembly is arranged on the inner side of the sleeve 5, and the sealing assembly is used to seal the connection between the sleeve 5 and the first connector 1 and the second connector 3; when the first connector 1 and the second connector 3 are in a separated state, the first connector 1 is sealed by the connecting plate 11 and the first fixed plate 12 to prevent external liquid from entering the interior, and the second connector 3 is sealed by the second fixed plate 14 and the movable plate 16. When the first connector 1 and the second connector 3 are connected, the connecting plate 11 and the movable plate 16 are both in an open state, which is convenient for connecting the first battery cell 2 and the second battery cell 4, while ensuring the sealing after the connection. Then, the sleeve 5 and the movable cylinder 18 are sleeved on the outside of the connector for protection and sealing.

[0043] The existing connector is set at one end of the robot. If it is immersed in water for a long time, the external liquid will enter the connector, which is not conducive to ensuring the sealing of the connector after connection. Figure 1-Figure 2 and Figure 4-Figure 7As shown, the sleeve 5 and the first track 6 and the second track 8 all form a sliding structure, and the inner side of the sleeve 5 is in close contact with the outer wall of the first connector 1 and the second connector 3, and the outer diameter of the first connector 1 is the same as the inner diameter of the second connector 3 and the minimum inner diameter of the sleeve 5; the first blocking mechanism includes a movable bar 9 arranged in the inner groove of one of the second tracks 8, and the movable bar 9 and the second track 8 form a rotating structure, and a spiral spring is arranged at the rotating position of the movable bar 9 and the second track 8, and the side wall of the first connector 1 is penetrated by a guide rod 1 0; the guide rod 10 and the first connector 1 are slidably connected, and a spring for resetting the guide rod 10 is wound around the outside of the guide rod 10, and the cross-section of the guide rod 10 is an "L"-shaped structure, and a connecting plate 11 is fixed to the end of the guide rod 10 away from the second track 8; a first fixing plate 12 is sleeved on the outside of the connecting plate 11, and the first fixing plate 12 is fixed to the end of the first connector 1 close to the second connector 3, and the connecting plate 11 forms a sliding structure with the first fixing plate 12 through a fixing groove 13, and the fixing groove 13 is opened in the first fixing plate 12.

[0044] First, dock the first connector 1 and the second connector 3. Due to the setting of the fixing plate, no liquid will be stored in the docked position of the two. Then, push the sleeve 5 to slide on the second connector 3, so that the sleeve 5 can be sleeved between the first connector 1 and the second connector 3, so as to seal the connection position of the two connectors. In this way, the subsequent connection of the battery cells will not be affected by the liquid. When the sleeve 5 moves, it drives the through hole 7 to pass through the first track 6 and the second track 8, so as to ensure the stability during movement, and the position after movement will not change easily. After moving, the sleeve 5 can contact the movable bar 9 and push the movable bar 9 to rotate on the second track 8 The rotated movable bar 9 can push the guide rod 10 to slide on the first connecting head 1, and the guide rod 10 drives the connecting plate 11 to slide in the first fixed plate 12, so that the connecting plate 11 can be received in the fixed groove 13, so that the first battery cell 2 in the first connecting head 1 is exposed, which is convenient for subsequent connection. When the first connecting head 1 and the second connecting head 3 need to be separated, the sleeve 5 is pulled to move it and separate it from the first connecting head 1, so that the spring resilience can drive the connecting plate 11 to re-block the first fixed plate 12, and the spiral spring resilience can drive the movable bar 9 to restore the inclined state, ensuring that the connecting heads will not be disturbed by the liquid after separation.

[0045] Embodiment 2: The existing connector is not convenient enough during the plugging and unplugging process, and usually requires multiple complicated steps to achieve the sealing of the connector. It is easy to be invaded by external liquids and contaminants during the plugging and unplugging process due to improper operation, thereby affecting the stability of subsequent connections. Therefore, this embodiment adopts the following technical solutions, such as Figure 1 , Figure 3-Figure 4 , Figure 8 and Figure 10-13As shown, the second blocking mechanism includes a second fixed plate 14 fixed in the second connecting head 3, and the second fixed plate 14 and the first fixed plate 12 are both provided with through grooves for the second battery cell 4 to pass through, and a movable shaft 15 runs through the interior of the second fixed plate 14, and the movable shaft 15 is rotatably connected to the second connecting head 3 and the second fixed plate 14; a movable plate 16 is fixedly sleeved at the middle position of the movable shaft 15, and the movable plate 16 and the second fixed plate 14 form a relatively rotating structure, and the rotation range of the movable plate 16 is 0-90°, and a gear 17 is fixedly sleeved on the top of the movable shaft 15; the gear 17 and the tooth block 20 are meshingly connected, and the tooth block 20 is arranged at equal angles on the fixed ring 19, and the fixed ring 19 is fixed to the inner wall of the movable cylinder 18, and the movable cylinder 18 is arranged on the inner side of the sleeve 5, and the movable cylinder 18 and the sleeve 5 are connected in a damping rotation.

[0046] When the sleeve 5 moves, it can drive the movable cylinder 18 and the fixed ring 19 to move synchronously, and drive the tooth block 20 to contact the gear 17. When the first battery cell 2 is exposed to the outside, the movable cylinder 18 can be rotated to drive the fixed ring 19 and the tooth block 20 to rotate synchronously, and then the movable shaft 15 is driven to rotate through the meshing transmission of the tooth block 20 and the gear 17. The movable shaft 15 drives the movable plate 16 to rotate toward the inside of the second connecting head 3, first driving the movable plate 16 to push the second battery cell 4, and the movable plate 16 is separated from the second battery cell 4 through the continuous rotation of the movable plate 16. In this way, the elasticity of the spring can drive the second battery cell 4 to slide to the outside of the second connecting head 3 and connect with the first battery cell 2 to complete the electrical connection between the underwater robot and the external equipment, and it will not be disturbed by the external liquid. When the second connecting head 3 needs to be separated from the first connecting head 1, first pull the second battery cell 4 to separate from the first battery cell 2, so that the second battery cell 4 is inside the second connecting head 3, and then rotate the movable cylinder 18 in the opposite direction to drive the movable plate 16 to rotate in the opposite direction to seal the second fixed plate 14.

[0047] Embodiment 3: The existing connector is prone to detachment when subjected to tension after connection, and the sealing of the connection position is not good enough. Therefore, this embodiment adopts the following technical solutions, such as Figure 8-Figure 10As shown, the sealing assembly includes a first airbag 21 pasted on the fixing ring 19, and the first airbag 21 contacts the fixing block 301 after moving, and the fixing block 301 is fixed to the bottom of the second connector 3, and the end of the first airbag 21 is connected to the inside of the fixing cavity 22 through a pipeline; the fixing cavity 22 is opened on the inner side of the movable cylinder 18, and the movable cylinder 18 is connected to the second airbag 23 through the air delivery channel 24, and the air delivery channel 24 is arranged in the sleeve 5, and the inner sides of the two sleeves 5 are both pasted with the second airbag 23; when the movable cylinder 18 rotates, the first airbag 21 can also be driven to rotate through the fixing ring 19, and the first airbag 21 can contact the fixing block 301 when rotating, and the first airbag 21 is squeezed by the fixing block 301 to make the first airbag 21 The gas in the bag 21 can enter the fixed cavity 22 through the pipeline, and then be transmitted to the second air bag 23 through the gas transmission channel 24. In this way, when the battery cell is connected, the expanded second air bag 23 contacts the outer surface of the first connector 1 and the second connector 3. On the one hand, the protection of the sleeve 5 on the connector connection is improved to achieve sealing. On the other hand, the stability of the position of the sleeve 5 after movement is improved. When the first connector 1 and the second connector 3 need to be separated, the reverse rotation of the movable cylinder 18 can release the restriction of the fixed block 301 on the first air bag 21, so that the gas in the second air bag 23 can flow back to the first air bag 21, which is convenient for the subsequent pushing of the sleeve 5. Since the movable cylinder 18 can rotate inside the sleeve 5, it will not affect the connection between the sleeve 5 and the track.

[0048] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An elastic self-locking connector for an underwater robot, comprising a first connector (1), a first battery core (2) being fixed inside the first connector (1), an end of the first connector (1) and an end of a second connector (3) being connected to each other, a second battery core (4) being slidably arranged inside the second connector (3), and a spring being arranged between the second battery core (4) and the second connector (3); It is characterized in that Also includes: A sleeve (5) is sleeved on the outer side of the second connector (3); first rails (6) are fixed on both sides of the outer wall of the second connector (3); the end of the first rail (6) exceeds the end of the second connector (3); a through hole (7) is formed on the sleeve (5) outside the first rail (6); second rails (8) are fixed on both sides of the outer wall of the first connector (1); and the end of the second rail (8) is shorter than the end of the first connector (1); A first blocking mechanism is arranged inside the first connector (1), and the first blocking mechanism is used to seal the inside of the first connector (1) with the outside; a second blocking mechanism is arranged inside the second connector (3), and the second blocking mechanism is used to seal the inside of the second connector (3) with the outside; a sealing assembly is arranged on the inner side of the sleeve (5), and the sealing assembly is used to seal the connection between the sleeve (5) and the first connector (1) and the second connector (3); The first blocking mechanism comprises a movable bar (9) arranged in a through groove on the inner side of one of the second tracks (8), the movable bar (9) and the second track (8) forming a rotating structure, and a spiral spring is arranged at the rotating part of the movable bar (9) and the second track (8), and a guide rod (10) passes through the side wall of the first connector (1).

2. The elastic self-locking connector for an underwater robot according to claim 1, characterized in that: The sleeve (5) and the first track (6) and the second track (8) all form a sliding structure, and the inner side of the sleeve (5) is in close contact with the outer walls of the first connector (1) and the second connector (3), and the outer diameter of the first connector (1) is the same as the inner diameter of the second connector (3) and the minimum inner diameter of the sleeve (5).

3. The elastic self-locking connector for an underwater robot according to claim 1, characterized in that: The guide rod (10) and the first connector (1) are slidably connected, a spring for returning the guide rod (10) is wound around the outside of the guide rod (10), and the cross section of the guide rod (10) is an "L"-shaped structure. A connecting plate (11) is fixed to one end of the guide rod (10) away from the second track (8).

4. The elastic self-locking connector for an underwater robot according to claim 3, characterized in that: The connecting plate (11) is sleeved with a first fixing plate (12) on its outer side, and the first fixing plate (12) is fixed to an end of the first connecting head (1) close to the second connecting head (3), and the connecting plate (11) and the first fixing plate (12) form a sliding structure through the fixing groove (13), and the fixing groove (13) is opened in the first fixing plate (12).

5. The elastic self-locking connector for an underwater robot according to claim 1, characterized in that: The second blocking mechanism comprises a second fixing plate (14) fixed in the second connecting head (3), and both the second fixing plate (14) and the first fixing plate (12) are provided with through slots for the second battery cell (4) to pass through, and a movable shaft (15) passes through the interior of the second fixing plate (14), and the movable shaft (15) is rotatably connected to the second connecting head (3) and the second fixing plate (14).

6. The elastic self-locking connector for an underwater robot according to claim 5, characterized in that: A movable plate (16) is fixedly sleeved at the middle position of the movable shaft (15), and the movable plate (16) and the second fixed plate (14) form a relatively rotating structure, and the rotation range of the movable plate (16) is 0-90 degrees. At the same time, a gear (17) is fixedly sleeved at the top of the movable shaft (15).

7. The elastic self-locking connector for an underwater robot according to claim 6, characterized in that: The gear (17) and the tooth block (20) are meshingly connected, and the tooth block (20) is arranged at equal angles on the fixed ring (19), and the fixed ring (19) is fixed to the inner wall of the movable cylinder (18), and the movable cylinder (18) is arranged on the inner side of the sleeve (5), and the movable cylinder (18) and the sleeve (5) are connected in a damping rotation manner.

8. The elastic self-locking connector for an underwater robot according to claim 1, characterized in that: The sealing assembly comprises a first airbag (21) adhered to a fixing ring (19), and the first airbag (21) contacts a fixing block (301) after movement, and the fixing block (301) is fixed to the bottom of the second connector (3), and an end of the first airbag (21) is connected to the interior of the fixing cavity (22) through a pipeline.

9. The elastic self-locking connector for an underwater robot according to claim 8, characterized in that: The fixed cavity (22) is opened on the inner side of the movable cylinder (18), and the movable cylinder (18) is connected to the second airbag (23) through the air delivery channel (24), and the air delivery channel (24) is arranged in the sleeve (5), and the second airbag (23) is adhered to the inner side of both sleeves (5).

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