Underwater docking device and underwater docking method

Abstract

The present application discloses an underwater docking device and an underwater docking method, which are widely used in the field of underwater docking technology. The underwater docking device includes a shell, a clamping mechanism, a cable and a control mechanism. The shell is provided with a first accommodating space and a first opening connected to the first accommodating space. The clamping mechanism is movably connected to one end of the shell near the first opening. The clamping mechanism is used to clamp the target interface. The cable includes a cable body and a cable plug connected to each other. The cable body can be movably installed in the first accommodating space so that the cable plug can be movable relative to the first opening. The cable plug is used to dock with the target interface. The control mechanism is connected to the cable plug. The control mechanism is used to drive the cable plug to move in a direction close to or away from the target interface, and / or drive the cable plug to rotate relative to the target interface. Thereby, the accuracy of underwater docking can be improved and the reliability of underwater data interaction can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of underwater docking, and in particular to an underwater docking device and an underwater docking method. Background Art

[0002] In underwater operations such as underwater engineering, marine resource exploration, and deep-sea scientific research, the connection and data exchange between submersibles and underwater equipment is a key link. Due to the complex underwater environment, submersibles and underwater equipment are easily affected by deep water pressure, visibility, and ocean currents when docking, resulting in low docking accuracy between submersibles and underwater equipment. Especially for connectors with multiple pins, due to the complex underwater environment, it is difficult for the pins to fully correspond to the sockets of the target interface, resulting in difficulty in accurate connection between the pins and the sockets during docking, thereby affecting the data exchange between the submersible and underwater equipment. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes an underwater docking device, which can improve the accuracy of underwater docking and the reliability of underwater data interaction.

[0004] The present application also proposes an underwater docking method using the underwater docking device.

[0005] An underwater docking device according to the first aspect of the present application includes:

[0006] A shell, wherein the shell is provided with a first accommodating space and a first opening communicating with the first accommodating space;

[0007] A clamping mechanism, the clamping mechanism is movably connected to an end of the housing close to the first opening, and the clamping mechanism is used to clamp a target interface;

[0008] A cable, the cable comprising a cable body and a cable plug connected to each other, the cable body being movably mounted in the first accommodation space so that the cable plug is movable relative to the first opening, and the cable plug being used to dock with the target interface;

[0009] A control mechanism, wherein the control mechanism is connected to the cable plug, and the control mechanism is used to drive the cable plug to move toward or away from the target interface, and / or drive the cable plug to rotate relative to the target interface.

[0010] The underwater docking device according to the embodiment of the present application has at least the following beneficial effects: by setting a clamping mechanism to clamp the target interface, the relative position of the target interface and the underwater docking device is kept stable, which is beneficial to improve the accuracy of the relative position of the cable plug and the target interface when docking, and avoid the influence of deep water pressure or ocean current on the docking of the cable plug and the target interface, thereby improving the accuracy of underwater docking; at the same time, by setting a control mechanism to drive the cable plug to move in the direction of approaching or away from the target interface to meet the docking and separation of the cable and the target interface, the control mechanism is used to drive the cable plug to rotate relative to the target interface to adjust the relative position of the cable plug and the target interface, so that on the one hand, it can adapt to the docking method of rotary assembly, so that the underwater docking device can be suitable for different docking methods, expanding the underwater docking. The applicable scope of the connecting device is to improve the docking accuracy between the cable plug and the target interface while ensuring the connection reliability between the cable and the target interface. On the other hand, for the docking method using pins and sockets, the position of the pin of the cable plug relative to the socket of the target interface (or the position of the socket of the cable plug relative to the pin of the target interface) can be adjusted by rotating the cable plug relative to the target interface, so that when the cable plug is docked with the target interface, the pin can be accurately inserted into the socket, so as to improve the docking accuracy between the cable plug and the target interface, improve the connection reliability between the cable and the target interface, and then make the cable meet the signal transmission requirements after docking with the target interface, so as to improve the reliability of data interaction of the equipment underwater and avoid data loss or incomplete data transmission.

[0011] According to some embodiments of the present application, the control mechanism includes a telescopic module and a rotating module, the telescopic module is telescopically mounted on the shell and connected to the cable plug, and the rotating module is rotatably mounted on the shell.

[0012] According to some embodiments of the present application, the telescopic module includes a plurality of winding assemblies installed on the shell, the winding assemblies include a winding member and a first driving member, one end of the winding member is connected to the cable plug, and the other end of the winding member is connected to the first driving member, the first driving member is used to drive the winding member to unfold or wind, and the winding members of the plurality of winding assemblies are engaged with each other after unfolding to form a rigid telescopic column, and the rigid telescopic column is used to drive the cable plug to move toward or away from the target interface.

[0013] According to some embodiments of the present application, the winding assembly also includes a reel and a spool, the reel being provided with a storage cavity and a second opening connected to the storage cavity, the reel being rotatably installed in the center of the storage cavity, the output end of the first driving member being connected to the reel, the end of the winding member away from the cable plug being connected to the reel and being located in the storage cavity, the first driving member being used to drive the reel to rotate so that the winding member is wound around the outer periphery of the reel to be accommodated in the storage cavity, or the winding member is unwound relative to the reel to extend out of the reel through the second opening; the telescopic module also includes a guide sleeve, a guide portion and a first support rod, the rigid telescopic column is penetrated through the guide sleeve, one end of the first support rod is connected to the guide sleeve, the other end of the first support rod is connected to the shell, one end of the guide portion is connected to the guide sleeve, and the other end of the guide portion extends toward the reel to the second opening.

[0014] According to some embodiments of the present application, the shell includes an outer shell and a rotating support seat, the outer shell is provided with the first accommodating space and the first opening, the rotating support seat is installed in the first accommodating space, the telescopic module is installed on the rotating support seat, and the rotating module is used to drive the rotating support seat to rotate, so that the telescopic module drives the cable plug to rotate.

[0015] According to some embodiments of the present application, the target interface is provided with a plurality of plug-in holes at intervals, the cable plug is provided with a plurality of pins at intervals, the pins are used to be inserted into the plug-in holes, the cable plug is provided with a first positioning mechanism, the first positioning mechanism is communicatively connected to the control mechanism, and the first positioning mechanism is used to identify the position of the plug-in hole and send a position signal to the control mechanism.

[0016] According to some embodiments of the present application, the underwater docking device also includes a power mechanism, which includes a propeller and a buoyancy module. The propeller is rotatably connected to the shell, the buoyancy module is connected to the shell, and the buoyancy of the buoyancy module is adjustable.

[0017] According to some embodiments of the present application, the power mechanism also includes a support, the propeller is rotatably connected to the support, the buoyancy module includes a buoyancy ring, a movable plate and a telescopic rod, the buoyancy ring is connected to the shell, the support is installed at the center of the buoyancy ring, the movable plate can be movably installed in the buoyancy ring so that the internal space of the buoyancy ring is divided into a water injection chamber and a high-pressure chamber, the buoyancy ring is provided with a drainage hole connected to the water injection chamber, the telescopic rod is installed in the high-pressure chamber and connected to the movable plate, and the telescopic rod is used to drive the movable plate to move in a direction close to or away from the drainage hole.

[0018] According to some embodiments of the present application, the clamping mechanism includes a driving wheel disc, a positioning wheel disc, a third driving member and a plurality of blades, the positioning wheel disc is fixedly mounted on the shell, the driving wheel disc is provided with a driving slide groove, the positioning wheel disc is provided with a positioning slide groove, the blade includes a blade body, a first guide shaft and a second guide shaft, the first guide shaft and the second guide shaft are respectively arranged on both sides of the blade body, and the blade body is located between the driving wheel disc and the positioning wheel disc, the first guide shaft can be slidably connected to the driving slide groove, the second guide shaft can be slidably connected to the positioning slide groove, the ends of the plurality of blade bodies away from the first guide shaft are jointly enclosed to form a clamping hole, the clamping hole is used to clamp the target interface, and the third driving member is used to drive the driving wheel disc to drive the blade to rotate to adjust the aperture of the clamping hole.

[0019] According to an underwater docking method of an embodiment of a second aspect of the present application, docking is performed using the underwater docking device as described in the first aspect above, one of the cable plug and the target interface is provided with a pin, and the other is provided with a plug hole, and the method includes:

[0020] The underwater docking device swims toward the target interface, and the clamping mechanism clamps the target interface;

[0021] The control mechanism drives the cable plug to move to the first opening;

[0022] The control mechanism drives the cable plug to rotate relative to the target interface so that the plug pin corresponds to the plug hole;

[0023] The control mechanism drives the cable plug to move toward the target interface so that the plug pin is inserted into the plug hole.

[0024] The underwater docking method according to the embodiment of the present application has at least the following beneficial effects: it can improve the accuracy of underwater docking and improve the reliability of underwater data interaction.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0027] Figure 1 A schematic diagram of the structure of the underwater docking device disclosed in an embodiment of the present application at a viewing angle;

[0028] Figure 2It is a structural schematic diagram of the underwater docking device disclosed in an embodiment of the present application from another perspective;

[0029] Figure 3 A cross-sectional view of an underwater docking device disclosed in an embodiment of the present application;

[0030] Figure 4 A schematic diagram of the structure of the control mechanism of the underwater docking device disclosed in an embodiment of the present application from one viewing angle;

[0031] Figure 5 A schematic structural diagram of the control mechanism of the underwater docking device disclosed in an embodiment of the present application from another perspective;

[0032] Figure 6 A cross-sectional view of a control mechanism disclosed in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of the structure of the clamping mechanism of the underwater docking device disclosed in an embodiment of the present application;

[0034] Figure 8 It is an exploded schematic diagram of the clamping mechanism of the underwater docking device disclosed in the embodiment of the present application;

[0035] Fig. 9 A schematic diagram of the structure of a blade of a clamping mechanism disclosed in an embodiment of the present application;

[0036] Fig.10 A schematic diagram of the structure of the power mechanism of the underwater docking device disclosed in an embodiment of the present application;

[0037] Fig.11 A cross-sectional view of the power mechanism disclosed in the embodiment of the present application;

[0038] Fig.12 This is a flow chart of the underwater docking method disclosed in an embodiment of the present application.

[0039] Reference numerals:

[0040] 1. Underwater docking device; 10. Shell; 101. Shell; 1011. First opening; 102. Rotating support seat; 1021. Seat body; 10211. Second through hole; 1022. Guide cover; 20. Clamping mechanism; 201. Driving wheel; 2011. Driving slide; 2012. Third through hole; 202. Positioning wheel; 2021. Positioning slide; 203. Third driving member; 204. Blade; 2041. Blade body; 2042. First guide shaft; 2043. Second guide shaft; 205. Clamping hole; 206. Second gear; 30. Cable; 301. Cable body; 302. Cable plug; 3021. Pin; 303. Plug sleeve; 40. Control mechanism; 401. Telescopic module; 4011. Winding group Component; 40111, winding component; 40112, reel; 40112a, storage chamber; 40112b, second opening; 40113, first driving component; 40114, reel; 4012, rigid telescopic column; 4013, guide sleeve; 4014, guide part; 4015, first support rod; 402, rotating module; 4021, gear plate; 4022, first gear; 4023, second driving component; 50, power mechanism; 501, propeller; 502, buoyancy module; 5021, buoyancy ring; 50211, water filling chamber; 50212, high-pressure chamber; 50213, drainage hole; 5022, movable plate; 5023, telescopic rod; 503, support; 60, second positioning mechanism; 70, positioning claw; 2, target interface. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0042] In the description of the present application, it should be understood that the terms "center", "middle", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] In the description of this application, "several" means more than one, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0044] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] In the description of the present application, if the reference terms "as an implementation", "an embodiment", "some instances", "some embodiments", "illustrative embodiment", "example", "specific example", "some examples", etc. appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0046] The technical solution of the present application will be further described below in conjunction with embodiments and drawings. It should be noted that the following description is only for illustrative purposes and is not a specific limitation to the present application.

[0047] Please also read Figures 1 to 3In a first aspect, an embodiment of the present application provides an underwater docking device 1 for docking with a target interface 2. The underwater docking device 1 includes a housing 10, a clamping mechanism 20, a cable 30, and a control mechanism 40. The housing 10 is provided with a first accommodation space and a first opening 1011 communicating with the first accommodation space. The clamping mechanism 20 is movably connected to an end of the housing 10 close to the first opening 1011. The clamping mechanism 20 is used to clamp the target interface 2. The cable 30 includes a cable body 301 and a cable plug 302. The cable plug 302 is connected to the cable body 301. The cable plug 302 is provided with a plurality of pins 3021 at intervals. The cable body 301 is movably installed in the first accommodation space so that the cable plug 302 is movable relative to the first opening 1011. The cable plug 302 is used to dock with the target interface 2. The control mechanism 40 is connected to the cable plug 302. The control mechanism 40 is used to drive the cable plug 302 to move in a direction close to or away from the target interface 2, and / or drive the cable plug 302 to rotate relative to the target interface 2. That is, the control mechanism 40 is used to drive the cable plug 302 to move toward or away from the target interface 2, or, the control mechanism 40 is used to drive the cable plug 302 to rotate relative to the target interface 2, or, the control mechanism 40 is used to drive the cable plug 302 to move toward or away from the target interface 2, and the control mechanism 40 is used to drive the cable plug 302 to rotate relative to the target interface 2.

[0048] The underwater docking device 1 provided in the embodiment of the present application is provided with a clamping mechanism 20 to clamp the target interface 2 so that the relative position of the target interface 2 and the underwater docking device 1 remains stable, which is beneficial to improve the accuracy of the relative position of the cable plug 302 and the target interface 2 when docking, avoid the influence of deep water pressure or ocean current on the docking of the cable plug 302 and the target interface 2, thereby improving the accuracy of underwater docking. At the same time, a control mechanism 40 is provided to drive the cable plug 302 to move in a direction close to or away from the target interface 2 to meet the docking and separation of the cable 30 and the target interface 2. The control mechanism 40 drives the cable plug 302 to rotate relative to the target interface 2 to adjust the relative position of the cable plug 302 and the target interface 2, so that on the one hand, it can adapt to the docking method of the rotary assembly, so that the underwater docking device 1 can be applicable to different docking methods, expanding the application range of the underwater docking device 1. On the other hand, for the docking method using a pin and a socket, the position of the pin of the cable plug 302 relative to the socket of the target interface 2 (or the position of the socket of the cable plug 302 relative to the pin of the target interface 2) can be adjusted by rotating the cable plug 302 relative to the target interface 2, so that when the cable plug 302 is docked with the target interface 2, the pin can be accurately inserted into the socket, so as to improve the docking accuracy of the cable plug 302 and the target interface 2, and improve the connection reliability of the cable 30 and the target interface 2, so that the cable 30 can meet the needs of signal transmission and energy supply after docking with the target interface 2, so as to improve the reliability of data interaction of the equipment underwater and avoid data loss or incomplete data transmission.

[0049] In some embodiments, one of the cable plug 302 and the target interface 2 is provided with a pin, and the other is provided with a plug hole, so as to improve the connection reliability between the cable plug 302 and the target interface 2.

[0050] Optionally, the number of the pins may be one or more, and the number of the plugging holes is the same as the number of the pins. When the number of the pins and the plugging holes is multiple, the multiple pins correspond to the multiple plugging holes one by one.

[0051] The embodiment of the present application is described by taking an example in which a cable plug 302 is provided with a plurality of pins 3021 at intervals and a target interface 2 is provided with a plurality of plug holes at intervals.

[0052] Please combine Figure 1 and Figures 3 to 6 In some embodiments, the control mechanism 40 includes a telescopic module 401 and a rotating module 402 . The telescopic module 401 is telescopically mounted on the housing 10 and connected to the cable plug 302 . The rotating module 402 is rotatably mounted on the housing 10 .

[0053] In this way, the rotating module 402 is rotated relative to the shell 10 to drive the cable plug 302 to rotate relative to the target interface 2, so as to adjust the position of the pin 3021 relative to the plug hole, so as to facilitate the docking of the cable plug 302 with the target interface 2. The telescopic module 401 is telescoped relative to the shell 10 to drive the cable plug 302 to move toward or away from the target interface 2, so that the cable plug 302 can be docked or separated from the target interface 2.

[0054] Optionally, the telescopic module 401 includes a plurality of winding assemblies 4011 installed on the shell 10, the winding assemblies 4011 include a winding member 40111 and a first driving member 40113, one end of the winding member 40111 is connected to the cable plug 302, and the other end of the winding member 40111 is connected to the first driving member 40113, the first driving member 40113 is used to drive the winding member 40111 to unfold or wind, and the winding members 40111 of the plurality of winding assemblies 4011 are engaged with each other after unfolding to form a rigid telescopic column 4012, and the rigid telescopic column 4012 is used to drive the cable plug 302 to move toward or away from the target interface 2.

[0055] In this way, the use of a winding telescopic module 401 can reduce the volume of the telescopic module 401 after contraction, which is beneficial to reducing the space occupied by the telescopic module 401 in the shell 10, so as to ensure the activity space of the cable 30 in the shell 10, and to ensure that the cable 30 can pass through the shell 10 to move relative to the target interface 2. At the same time, after unfolding, the multiple winding parts 40111 can bite each other to form a rigid telescopic column 4012, so as to provide power and support for the telescopic module 401 to drive the movement of the cable plug 302, thereby pushing the cable plug 302 to move in the direction close to the target plug, so that the cable plug 302 can be docked with the target interface 2.

[0056] It can be understood that in other embodiments, the telescopic module 401 can also be a telescopic rod 5023 or a folding rod, etc.

[0057] Optionally, the winding assembly 4011 also includes a reel 40112 and a reel 40114, the reel 40112 is provided with a storage cavity 40112a and a second opening 40112b connected to the storage cavity 40112a, the reel 40114 is rotatably installed at the center of the storage cavity 40112a, the output end of the first driving member 40113 is connected to the reel 40114, the end of the winding member 40111 away from the cable plug 302 is connected to the reel 40114 and is located in the storage cavity 40112a, the first driving member 40113 is used to drive the reel 40114 to rotate so that the winding member 40111 is wound around the outer periphery of the reel 40114 to be accommodated in the storage cavity 40112a, or the winding member 40111 is unwound relative to the reel 40114 to extend out of the reel 40112 through the second opening 40112b.

[0058] In this way, when the winding member 40111 is received in the storage cavity 40112a via the second opening 40112b, the winding member 40111 is wound around the outer periphery of the reel 40114 to realize the contraction of the telescopic module 401, and the cable plug 302 is driven by the winding member 40111 to move in a direction away from the target interface 2, so that the cable plug 302 is disconnected from the target interface 2. When the winding member 40111 extends out of the reel 40112 via the second opening 40112b, the winding member 40111 is at least partially unfolded relative to the reel 40114 to realize the extension of the telescopic module 401. At this time, the parts of the multiple winding members 40111 extending out of the second opening 40112b are engaged with each other to form a rigid telescopic column 4012, so as to provide power and support for the movement of the cable plug 302, thereby driving the cable plug 302 to move to dock with the target interface 2.

[0059] The arrangement of winding the winding member 40111 on the outer periphery of the reel 40114 can help reduce the space occupied by the winding member 40111 in the storage chamber 40112a, thereby reducing the volume of the winding assembly 4011, so that the winding assembly 4011 has a greater telescopic ratio and stability, thereby helping to reduce the volume of the underwater docking device 1, so that the underwater docking device 1 can adapt to the high-pressure environment of the deep sea. At the same time, by accommodating the winding member 40111 in the storage chamber 40112a of the reel 40112, the contracted winding member 40111 can be protected, so that the winding member 40111 can be stored more regularly in the first accommodating space, and the situation that the winding member 40111 and the cable 30 are entangled or interfered, which affects the docking of the cable 30 with the target interface 2, can be avoided.

[0060] It can be understood that in other embodiments, the winding member 40111 can also be directly wound around the outer periphery of the reel 40112.

[0061] Optionally, the telescopic module 401 also includes a guide sleeve 4013, a guide portion 4014 and a first support rod 4015, the rigid telescopic column 4012 is inserted into the guide sleeve 4013, one end of the first support rod 4015 is connected to the guide sleeve 4013, the other end of the first support rod 4015 is connected to the shell 10, one end of the guide portion 4014 is connected to the guide sleeve 4013, and the other end of the guide portion 4014 extends toward the reel 40112 to the second opening 40112b.

[0062] In this way, the movement direction of the winding member 40111 can be guided by the guide portion 4014, so that the multiple winding members 40111 extending out of the storage cavity 40112a through the second opening 40112b can be engaged with each other to form a rigid telescopic column 4012, thereby improving the structural reliability of the rigid telescopic column 4012. At the same time, by providing the guide sleeve 4013, the movement direction of the rigid telescopic column 4012 can be guided to ensure that the cable plug 302 moves in a straight line toward the target interface 2, thereby improving the docking accuracy, and it can also help to limit the cable plug 302 to avoid the situation where the two engaged winding members 40111 pull the cable plug 302 when they move toward the reel 40112 respectively due to the winding member 40111 extending into the reel 40112 too long, causing the winding member 40111 to separate from the cable plug 302, or tear or damage the cable plug 302.

[0063] Optionally, the cable 30 also includes a plug sleeve 303, which is sleeved on the outer periphery of the cable plug 302 and is located at the end of the cable plug 302 close to the cable body 301, and the end of the winding member 40111 away from the reel 40112 is connected to the plug sleeve 303, which is conducive to the movement of the winding member 40111 relative to the cable 30, and facilitates the direct switching of multiple winding members 40111 between mutual engagement and disconnection. At the same time, the plug sleeve 303 can also abut against the guide sleeve 4013 to limit the movement of the cable plug 302 in the direction away from the target interface 2, thereby improving the connection reliability between the cable 30 and the winding member 40111, so as to ensure the reliability of the underwater docking device 1.

[0064] In some embodiments, the winding member 40111 includes a winding body and engaging teeth connected to the winding body, one end of the winding body is connected to the plug sleeve 303, and the other end of the winding body is connected to the reel 40114, and the engaging teeth of two adjacent winding members 40111 engage with each other, so that the two adjacent winding members 40111 are connected to form a rigid structure, thereby supporting the cable plug 302.

[0065] Optionally, the shape of the winding body can be arc-shaped, and multiple winding parts 40111 are enclosed to form a hollow cylindrical structure, so that the rigid telescopic column 4012 is a hollow cylindrical structure. When the telescopic module 401 drives the cable plug 302 to move in the direction close to the target interface 2, the multiple winding parts 40111 can be surrounded by the outer periphery of the cable body 301 to limit the position of the cable body 301 in the first accommodating space, thereby facilitating the cable 30 to move in the direction close to the target interface 2, so as to facilitate the docking of the cable 30 with the target interface 2 and facilitate data transmission, and protect the cable body 301 to prevent the cable body 301 from interfering or interfering with other structures in the shell 10 during the process of moving in the direction close to the target interface 2, resulting in the movement of the cable 30 being hindered, or the cable 30 being broken or damaged. At the same time, when the telescopic module 401 drives the cable plug 302 to move in a direction away from the target interface 2, the multiple winding members 40111 can also guide the movement of the cable body 301, so that the cable body 301 can smoothly leave the first accommodation space, thereby avoiding the cable body 301 from accumulating or entangled in the first accommodation space, causing the cable body 301 to be entangled or interfered with other structures in the first accommodation space, making it impossible to retract the cable 30 normally, affecting the separation of the cable 30 from the target interface 2, or affecting the operation of the underwater docking device 1, etc.

[0066] Optionally, the number of winding assemblies 4011 can be three, so as to reduce the curvature of each winding body to facilitate the engagement of two adjacent winding members 40111, increase the rigidity of the rigid telescopic column 4012, and facilitate the rigid telescopic column 4012 to form a hollow cylinder, and reduce the number of winding assemblies 4011 as much as possible to reduce the structural complexity of the telescopic module 401, which is conducive to improving the operating reliability of the telescopic module 401.

[0067] In some embodiments, the shell 10 includes an outer shell 101 and a rotating support seat 102, the outer shell 101 is provided with a first accommodating space and a first opening 1011, the rotating support seat 102 is installed in the first accommodating space, and the end of the outer shell 101 away from the first opening 1011 is also provided with a first through hole, the first through hole is connected to the first accommodating space, the rotating support seat 102 is provided with a second accommodating space and a third opening and a second through hole 10211 connected to the second accommodating space, the second through hole 10211 is connected to the first accommodating space and is arranged corresponding to the first through hole, the third opening is connected to the first accommodating space and is arranged corresponding to the first opening 1011, the telescopic module 401 is installed on the rotating support seat 102 and is located in the second accommodating space, and the rotating module 402 is used to drive the rotating support seat 102 to rotate, so that the telescopic module 401 drives the cable plug 302 to rotate.

[0068] In this way, the cable 30 can be extended and rotated at the same time by using the rotating module 402 to drive the telescopic module 401 to rotate so as to drive the cable plug 302 to rotate, so as to facilitate timely adjustment of the relative position of the cable 30, so as to timely control the rotation of the cable 30 when it is found that the plug pin 3021 does not correspond to the plug hole during the movement of the cable 30 toward the target interface 2, thereby improving the position accuracy of the cable 30 relative to the target interface 2, which is conducive to the docking of the cable 30 with the target interface 2. At the same time, the cable 30 passes through the housing 10 through the first through hole, the second through hole 10211, the third opening and the first opening 1011 in sequence, so that the cable 30 can be extended or rotated under the drive of the control mechanism 40 inside the underwater docking device 1, thereby connecting the device connected to the cable 30 and the device connected to the target interface 2.

[0069] Optionally, the rotating module 402 includes a gear plate 4021, a first gear 4022 and a second driving member 4023. The gear plate 4021 is fixedly connected to the housing 101 and is located in the first accommodating space. The gear plate 4021 is provided with a hollow portion. The cable body 301 is sequentially passed through the first through hole, the hollow portion and the second through hole 10211. The inner wall of the hollow portion is provided with a first tooth. The first gear 4022 is meshed with the first tooth. The second driving member 4023 is installed on the rotating support seat 102 and connected to the first gear 4022. The second driving member 4023 is used to drive the first gear 4022 to rotate, so as to drive the rotating support seat 102 to rotate.

[0070] In this way, the first gear 4022 is driven to rotate by the second driving member 4023. Since the first gear 4022 is meshed with the first teeth and the gear plate 4021 is fixedly connected to the housing 101, the first gear 4022 rotates relative to the gear plate 4021 with the center line direction of the hollow portion as the center. When the first gear 4022 rotates relative to the gear plate 4021, it drives the rotating support seat 102 to rotate, so as to drive the telescopic module 401 to rotate. Since the telescopic module 401 is connected to the cable plug 302, the telescopic module 401 can drive the cable plug 302 to rotate, so as to realize the rotation of the cable plug 302 relative to the housing 101, thereby adjusting the position of the plug pin 3021 of the cable plug 302 relative to the plug hole of the target interface 2, so as to facilitate the accurate insertion of the plug pin 3021 into the plug hole, so as to realize the docking of the cable 30 with the target interface 2. The gear and tooth meshing transmission method can improve the flexibility and stability of the rotation of the rotating support seat 102, so as to facilitate the control of the rotation angle of the cable plug 302.

[0071] Optionally, the target interface 2 is provided with a plurality of plug holes at intervals, the plug pin 3021 is used to be inserted into the plug hole, the cable plug 302 is provided with a first positioning mechanism, the control mechanism 40 further comprises a control module, the control module is communicatively connected to the rotating module 402 and the telescopic module 401, the first positioning mechanism is communicatively connected to the control module of the control mechanism 40, and the first positioning mechanism is used to identify the position of the plug hole and send a position signal to the control module. Thus, the control module can drive the telescopic module 401 and the rotating module 402 to move according to the position signal sent by the first positioning mechanism, and timely adjust the position of the cable plug 302, thereby improving the position accuracy of the cable 30 relative to the target interface 2, so as to ensure the accuracy of the docking of the cable 30 with the target interface 2, and improve the reliability of the data interaction between the cable 30 and the target interface 2.

[0072] Optionally, the first positioning mechanism may be a miniature camera, which is disposed between a plurality of pins 3021. The position of the target interface 2 and the plug hole is acquired through the miniature camera, so that the control mechanism 40 controls the rotation and extension of the cable plug 302 in real time, thereby improving the accuracy of docking between the cable 30 and the target interface 2.

[0073] It can be understood that in other embodiments, the first positioning mechanism may also be an acoustic-optical sensor or a Hall sensor, etc.

[0074] Optionally, the rotating support seat 102 includes a seat body 1021 and a guide cover 1022 connected to the seat body 1021, the guide cover 1022 and the seat body 1021 enclose a second accommodating space, and the end of the seat body 1021 away from the guide cover 1022 is provided with a second through hole 10211, and the end of the guide cover 1022 away from the seat body 1021 is provided with a third opening, and the size of the guide cover 1022 gradually decreases along the direction from the seat body 1021 to the target interface 2. Thus, the movement direction of the cable plug 302 can be guided, which is conducive to the cable plug 302 extending from the center of the guide cover 1022. Since the center of the guide cover 1022 is the same as the center of the target interface 2 clamped by the clamping mechanism 20, the movement direction of the cable plug 302 when extending through the third opening is the same as the center of the target interface 2 clamped by the clamping mechanism 20, so that the cable plug 302 can be accurately docked with the target interface 2.

[0075] Please combine Figure 1 and Figures 7 to 9In some embodiments, the clamping mechanism 20 includes a driving wheel disc 201, a positioning wheel disc 202, a third driving member 203 and a plurality of blades 204, the positioning wheel disc 202 is fixedly mounted on the housing 101, the driving wheel disc 201 is provided with a driving slide groove 2011, the positioning wheel disc 202 is provided with a positioning slide groove 2021, and the blade 204 includes a blade body 2041, a first guide shaft 2042 and a second guide shaft 2043, and the first guide shaft 2042 and the second guide shaft 2043 are respectively arranged on the two ends of the blade body 2041. side, and the blade body 2041 is located between the driving wheel disc 201 and the positioning wheel disc 202, the first guide shaft 2042 can be slidably connected to the driving slide groove 2011, the second guide shaft 2043 can be slidably connected to the positioning slide groove 2021, and the ends of the multiple blade bodies 2041 away from the first guide shaft 2042 are jointly enclosed to form a clamping hole 205, the clamping hole 205 is used to clamp the target interface 2, and the third driving member 203 is used to drive the driving wheel disc 201 to drive the blade 204 to rotate to adjust the aperture of the clamping hole 205.

[0076] In this way, by driving the wheel disc 201 to rotate, the first guide shaft 2042 of the blade 204 can slide in the driving slot 2011, and the second guide shaft 2043 slides in the positioning slot 2021 to drive the blade body 2041 to rotate relative to the driving wheel disc 201, so that the aperture of the clamping hole 205 can be adjusted in advance to ensure that multiple blades 204 are enclosed to form the clamping hole 205, so that the clamping mechanism 20 is clamped and fixed to the target interface 2, so that the cable plug 302 is docked with the target interface 2, or the clamping mechanism 20 releases the target interface 2, so that the underwater docking device 1 can move relative to the target interface 2, so that the underwater docking device 1 can swim underwater. At the same time, by adjusting the size of the clamping hole 205, it can also adapt to target interfaces 2 of different sizes, so that the underwater docking device 1 can dock with different underwater equipment, expanding the scope of application of the underwater docking device 1.

[0077] Optionally, the clamping mechanism 20 also includes a second gear 206, a second tooth is provided on the outer periphery of the driving wheel 201, the second gear 206 is meshingly connected with the second tooth, the output end of the third driving member 203 is connected to the second gear 206, and the third driving member 203 is used to drive the second gear 206 to rotate, so that the driving wheel 201 drives the blade 204 to rotate, thereby adjusting the aperture of the clamping hole 205.

[0078] In this way, the gear and tooth meshing transmission method can improve the flexibility and stability of the aperture adjustment of the clamping hole 205, so as to facilitate the clamping and fixing of the target interface 2 by the clamping mechanism 20.

[0079] Optionally, the driving groove 2011 extends radially along the driving wheel 201 and is inclined relative to the radial direction of the driving wheel 201, and the positioning groove 2021 extends circumferentially along the positioning wheel 202, so that when the driving wheel 201 rotates, the first guide shaft 2042 can slide in the driving groove 2011 driven by the driving wheel 201, and at the same time, the second guide shaft 2043 slides in the positioning groove 2021, so that the blade body 2041 rotates relative to the cable plug 302, thereby adjusting the aperture of the clamping hole 205.

[0080] Optionally, the positioning groove 2021 is in the shape of a polygon, the number of sides of the polygon is the same as the number of blades 204, and the multiple sides of the polygon correspond one-to-one to the multiple blades 204, so as to ensure the flexibility of the movement of the blades 204 relative to the driving wheel 201 while controlling the movement stroke of the blades 204, avoiding collision and interference between two adjacent blades 204, and ensuring that the multiple blades 204 can always enclose to form a clamping hole 205 during the rotation process, so as to ensure the clamping effect of the clamping hole 205 on the target interface 2.

[0081] It can be understood that in other embodiments, the positioning groove 2021 can also be other irregular shapes.

[0082] Optionally, the positioning wheel 202 is fixedly installed at one end of the housing 101 close to the first opening 1011, and a third through hole 2012 is correspondingly provided in the center of the driving wheel 201 and the positioning wheel 202. The third through hole 2012 is connected to the first opening 1011, so that the cable plug 302 is connected to the target interface 2 via the first opening 1011 and the third through hole 2012 in sequence.

[0083] Please combine Figure 1 and Fig.10 and Fig.11 In some embodiments, the underwater docking device 1 further includes a power mechanism 50, which is connected to the housing 101 of the housing 10 and is used to drive the housing 10 to move underwater. Thus, the position of the underwater docking device 1 relative to the target interface 2 is adjusted to improve the position accuracy of the cable plug 302 relative to the target interface 2, which is beneficial to the docking of the cable 30 with the target interface 2.

[0084] Optionally, the power mechanism 50 includes a propeller 501 and a buoyancy module 502, wherein the propeller 501 is rotatably connected to the outer shell 101 of the housing 10, and the buoyancy module 502 is connected to the outer shell 101 of the housing 10, and the buoyancy of the buoyancy module 502 is adjustable.

[0085] In this way, the propeller 501 is rotated to drive the underwater docking device 1 to swim in the water, and the horizontal distance of the underwater docking device 1 relative to the target interface 2 is adjusted. At the same time, the buoyancy of the power mechanism 50 is adjusted by the buoyancy module 502, so as to adjust the height of the underwater docking device 1 in the water, so as to adjust the height of the underwater docking device 1 relative to the target interface 2, thereby adjusting the posture of the underwater docking device 1 in the water, and controlling the position of the underwater docking device 1 relative to the target interface 2, which is beneficial to the position accuracy of the cable 30 and the target interface 2 during docking, so as to facilitate the docking of the cable 30 and the target interface 2.

[0086] Optionally, the power mechanism 50 also includes a support 503, the propeller 501 is rotatably connected to the support 503, the buoyancy module 502 includes a buoyancy ring 5021, a movable plate 5022 and a telescopic rod 5023, the buoyancy ring 5021 is connected to the outer shell 101 of the shell 10, the support 503 is installed at the center of the buoyancy ring 5021, the movable plate 5022 is movably installed in the buoyancy ring 5021, so that the internal space of the buoyancy ring 5021 is divided into a water injection chamber 50211 and a high-pressure chamber 50212, the buoyancy ring 5021 is provided with a drainage hole 50213 connected to the water injection chamber 50211, the telescopic rod 5023 is installed in the high-pressure chamber 50212 and connected to the movable plate 5022, and the telescopic rod 5023 is used to drive the movable plate 5022 to move toward or away from the drainage hole 50213.

[0087] In this way, the telescopic rod 5023 is contracted and water is injected into the water filling chamber 50211 through the drainage hole 50213 to increase the buoyancy of the buoyancy ring 5021, so that the height of the underwater docking device 1 in the water is lowered, and the telescopic rod 5023 is extended to reduce the volume of the water filling chamber 50211. At this time, the water in the water filling chamber 50211 is discharged from the buoyancy ring 5021 through the drainage hole 50213 to increase the buoyancy of the buoyancy ring 5021, so that the height of the underwater docking device 1 in the water is increased, thereby realizing the position adjustment of the underwater docking device.

[0088] It is understandable that in other embodiments, the buoyancy of the buoyancy module 502 may also be adjusted by inputting high-pressure gas into the buoyancy module 502 or extracting gas.

[0089] Optionally, there may be multiple propellers 501 and buoyancy modules 502, and the multiple propellers 501 correspond to the multiple buoyancy modules 502 one by one, and the multiple buoyancy modules 502 are evenly distributed and installed on the periphery of the shell 101, thereby improving the stability of the underwater docking device 1 swimming underwater.

[0090] It can be understood that in some other embodiments, the number of the propeller 501 can also be one, and the propeller 501 is directly rotatably connected to the housing 101.

[0091] Please refer again Figure 1 and Figure 7 In some embodiments, the underwater docking device 1 further includes a second positioning mechanism 60, which is respectively connected to the control module by communication with the power mechanism 50. The second positioning mechanism 60 is used to identify the position of the target interface 2 and send a position signal to the control module. The control module controls the movement of the propeller 501 and the telescopic rod 5023 according to the position signal identified by the second positioning mechanism 60, so that the power mechanism 50 drives the underwater docking device 1 to move relative to the target interface 2, so as to adjust the horizontal position or height of the underwater docking device 1 relative to the target interface 2, thereby improving the position accuracy of the underwater docking device 1 and the target interface 2, so as to facilitate the clamping mechanism 20 to accurately clamp the target interface 2, so as to facilitate the docking of the cable 30 with the target interface 2. At the same time, through the cooperation of the second positioning mechanism 60 and the power mechanism 50, the underwater docking device 1 can also adjust its position and posture in time, improve the displacement flexibility of the underwater displacement device, compensate for the influence of the ocean current or other environmental factors, and ensure the accurate docking of the cable plug 302 with the target interface 2.

[0092] Optionally, the second positioning mechanism 60 may be one or more of an acoustic-optical sensor, a camera, a sonar sensor or a Hall sensor, etc., so as to facilitate the underwater docking device 1 to identify the position of the target interface 2, so as to facilitate adjusting the position of the underwater docking device 1 relative to the target interface 2.

[0093] Optionally, the underwater docking device 1 also includes a positioning claw 70, which is engaged with the driving wheel 201, and the second positioning mechanism 60 is installed on the positioning claw 70, so that the second positioning mechanism 60 can be closer to the target interface 2, so as to reduce the influence of underwater visibility on the second positioning mechanism 60. At the same time, since the driving wheel 201 is located at the front end of the movement of the underwater docking device 1, when foreign objects or garbage appear in front of the underwater docking device 1, the second positioning mechanism 60 can more quickly identify and control the underwater docking device 1 to avoid it, thereby improving the safety and reliability of the underwater docking device 1 swimming underwater.

[0094] It can be understood that in other embodiments, the second positioning mechanism 60 can also be installed on the housing 101 or the positioning wheel 202 .

[0095] Optionally, there may be multiple second positioning mechanisms 60 , which are spaced and evenly arranged on the driving wheel 201 , thereby improving the position accuracy of the target interface 2 acquired by the underwater docking device 1 , so as to facilitate the docking of the cable 30 with the target interface 2 .

[0096] Please combine Figure 1 and Fig.12In a second aspect, the present application further provides an underwater docking method, which uses the underwater docking device 1 as described in the first aspect to perform docking, one of the cable plug 302 and the target interface 2 is provided with a pin, and the other is provided with a plug hole, and the underwater docking method comprises the following steps:

[0097] S110 , the underwater docking device 1 swims toward the target interface 2 , and the clamping mechanism 20 clamps on the target interface 2 .

[0098] By setting up a clamping mechanism 20 to clamp the target interface 2, the relative position of the target interface 2 and the underwater docking device 1 can be kept stable, which is beneficial to improving the accuracy of the relative position when the cable plug 302 and the target interface 2 are docked, avoiding the influence of deep water pressure or ocean current on the docking of the cable plug 302 and the target interface 2, thereby improving the accuracy of underwater docking.

[0099] S120 , the control mechanism 40 drives the cable plug 302 to move to the first opening 1011 .

[0100] This enables the cable plug 302 to be close to the target interface 2 , and helps the first positioning mechanism to obtain the position of the plug hole of the target interface 2 , so that the control mechanism 40 can adjust the position and angle of the cable plug 302 relative to the target interface 2 .

[0101] S130 , the control mechanism 40 drives the cable plug 302 to rotate relative to the target interface 2 so that the plug pin 3021 corresponds to the plug hole of 2 .

[0102] The position of the pin 3021 relative to the plug hole can be adjusted so that when the cable plug 302 is docked with the target interface 2, the pin 3021 can be accurately inserted into the plug hole, thereby improving the connection reliability between the cable 30 and the target interface 2.

[0103] S140 , the control mechanism 40 drives the cable plug 302 to move toward the target interface 2 , so that the plug pin 3021 is inserted into the plug hole.

[0104] The cable plug 302 is connected to the target interface 2 to meet the signal transmission and energy supply requirements between the device (for example, any one of the underwater equipment or shipboard equipment, exploration platform, ground laboratory, etc.) and the submersible, which is beneficial to ensure the data transmission of the submersible or the equipment, improve the reliability of data interaction underwater, and avoid data loss or incomplete data transmission.

[0105] In some embodiments, there is no order of precedence between S120 and S130 in the above steps, that is, step S120 can be executed first, or step S130 can be executed first, or step S120 and step S130 can be executed at the same time. The specific setting can be based on actual needs and is not limited here.

[0106] It can be seen that, using the underwater docking method of the embodiment of the present application, first, the position of the target interface 2 is obtained by the second positioning mechanism 60, and the power mechanism 50 is used to adjust the position and posture of the underwater docking device 1 underwater, so that the underwater docking device 1 swims close to the target interface 2, and the target interface 2 is clamped by the clamping mechanism 20, so that the relative position of the underwater docking device 1 and the target interface 2 remains stable, and then the cable plug 302 is driven to move to the first opening 1011 by the control mechanism 40, and the position of the plug hole of the target interface 2 is obtained by the first positioning mechanism, and then the control mechanism 40 is used to drive the cable plug 302 to rotate to adjust the relative angle between the cable plug 302 and the target interface 2 so that the pin 3021 corresponds to the plug hole, and finally the cable plug 302 is driven to move toward the target interface 2 by the control mechanism 40 so that the pin 3021 is inserted into the plug hole to complete the docking of the cable plug 302 with the target interface 2.

[0107] It can be understood that, since the underwater docking method adopts the underwater docking device described in the first aspect above, the underwater docking method has the beneficial effects of the underwater docking device described in the first aspect above, which will not be repeated here.

[0108] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. An underwater docking device, characterized in that: include: A shell, wherein the shell is provided with a first accommodating space and a first opening communicating with the first accommodating space; A clamping mechanism, the clamping mechanism is movably connected to an end of the housing close to the first opening, and the clamping mechanism is used to clamp a target interface; A cable, the cable comprising a cable body and a cable plug connected to each other, the cable body being movably mounted in the first accommodation space so that the cable plug is movable relative to the first opening, and the cable plug being used to dock with the target interface; A control mechanism, the control mechanism is connected to the cable plug, the control mechanism is used to drive the cable plug to move in a direction close to or away from the target interface, and / or drive the cable plug to rotate relative to the target interface; The control mechanism includes a telescopic module and a rotating module, the telescopic module can be telescopically installed on the shell and connected to the cable plug, and the rotating module can be rotatably installed on the shell; the telescopic module includes a plurality of winding assemblies installed on the shell, the winding assemblies include a winding member and a first driving member, one end of the winding member is connected to the cable plug, and the other end of the winding member is connected to the first driving member, the first driving member is used to drive the winding member to unfold or wind, and the winding members of the plurality of winding assemblies are engaged with each other after unfolding to form a rigid telescopic column, and the rigid telescopic column is used to drive the cable plug to move in a direction close to or away from the target interface.

2. The underwater docking device according to claim 1, characterized in that: The winding assembly also includes a reel and a reel, the reel being provided with a storage cavity and a second opening communicating with the storage cavity, the reel being rotatably installed in the center of the storage cavity, the output end of the first driving member being connected to the reel, the end of the winding member away from the cable plug being connected to the reel and being located in the storage cavity, the first driving member being used to drive the reel to rotate so that the winding member is wound around the outer periphery of the reel to be accommodated in the storage cavity, or the winding member is unwound relative to the reel to extend out of the reel through the second opening; the telescopic module also includes a guide sleeve, a guide portion and a first support rod, the rigid telescopic column being passed through the guide sleeve, one end of the first support rod being connected to the guide sleeve, the other end of the first support rod being connected to the shell, one end of the guide portion being connected to the guide sleeve, and the other end of the guide portion extending toward the reel to the second opening.

3. The underwater docking device according to claim 1, characterized in that: The shell includes an outer shell and a rotating support seat, the outer shell is provided with the first accommodating space and the first opening, the rotating support seat is installed in the first accommodating space, the telescopic module is installed on the rotating support seat, and the rotating module is used to drive the rotating support seat to rotate, so that the telescopic module drives the cable plug to rotate.

4. The underwater docking device according to claim 1, characterized in that: The target interface is provided with a plurality of plug holes at intervals, the cable plug is provided with a plurality of pins at intervals, the pins are used to be inserted into the plug holes, the cable plug is provided with a first positioning mechanism, the first positioning mechanism is communicatively connected to the control mechanism, the first positioning mechanism is used to identify the position of the plug hole and send a position signal to the control mechanism.

5. The underwater docking device according to claim 1, characterized in that: The underwater docking device also includes a power mechanism, which includes a propeller and a buoyancy module. The propeller is rotatably connected to the shell, and the buoyancy module is connected to the shell. The buoyancy of the buoyancy module is adjustable.

6. The underwater docking device according to claim 5, characterized in that: The power mechanism also includes a support, and the propeller is rotatably connected to the support. The buoyancy module includes a buoyancy ring, a movable plate and a telescopic rod. The buoyancy ring is connected to the shell, and the support is installed at the center of the buoyancy ring. The movable plate can be movably installed in the buoyancy ring so that the internal space of the buoyancy ring is divided into a water injection chamber and a high-pressure chamber. The buoyancy ring is provided with a drainage hole connected to the water injection chamber. The telescopic rod is installed in the high-pressure chamber and connected to the movable plate. The telescopic rod is used to drive the movable plate to move toward or away from the drainage hole.

7. The underwater docking device according to claim 1, characterized in that: The clamping mechanism includes a driving wheel disc, a positioning wheel disc, a third driving member and a plurality of blades, the positioning wheel disc is fixedly mounted on the shell, the driving wheel disc is provided with a driving slide groove, the positioning wheel disc is provided with a positioning slide groove, the blade includes a blade body, a first guide shaft and a second guide shaft, the first guide shaft and the second guide shaft are respectively arranged on both sides of the blade body, and the blade body is located between the driving wheel disc and the positioning wheel disc, the first guide shaft can be slidably connected to the driving slide groove, the second guide shaft can be slidably connected to the positioning slide groove, and the ends of the plurality of blade bodies away from the first guide shaft are jointly enclosed to form a clamping hole, the clamping hole is used to clamp the target interface, and the third driving member is used to drive the driving wheel disc to drive the blade to rotate so as to adjust the aperture of the clamping hole.

8. An underwater docking method, characterized in that: The underwater docking device according to any one of claims 1 to 7 is used for docking, one of the cable plug and the target interface is provided with a pin, and the other is provided with a plug hole, and the method comprises: The underwater docking device swims toward the target interface, and the clamping mechanism clamps the target interface; The control mechanism drives the cable plug to move to the first opening; The control mechanism drives the cable plug to rotate relative to the target interface so that the plug pin corresponds to the plug hole; The control mechanism drives the cable plug to move toward the target interface so that the plug pin is inserted into the plug hole.

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