Wireless charging and signal transmission device for deep-sea UUV (Unmanned Underwater Vehicle) connection system

Abstract

The invention discloses a wireless charging and signal transmission device for a deep-sea UUV (Unmanned Underwater Vehicle) connection system. The wireless charging and signal transmission device comprises a transmitting end mounted on a connection platform and a receiving end mounted on a deep-sea UUV, each of the transmitting end and the receiving end comprises a coil / antenna integrated mounting piece, the bottom of the coil / antenna integrated mounting piece is connected with the switching end cover, the top of the coil / antenna integrated mounting piece is provided with three grooves, an antenna is mounted in a first groove, a magnetic core is mounted in a second groove, a coil is mounted in a third groove, and the three grooves are uniformly encapsulated through epoxy resin; the non-metal sealing cover covers the top of the antenna / coil integrated mounting piece; the switching end cover is connected with the coil / antenna through a watertight cable; the cavity is internally provided with an energy and signal output / receiving circuit; the bottom end cover is provided with a signal-electricity composite watertight connector which is connected with the UUV or the connection platform; the transmitting end further comprises a flexible guide cylinder which is fixed on the coil / antenna integrated installation piece. The device is compact in size, light in weight, reliable in sealing and capable of reliably working in the deep sea environment.

Description

Technical Field

[0001] The present invention relates to the field of underwater wireless charging technology, and in particular to a wireless charging and signal transmission device for a deep-sea UUV docking system. Background Art

[0002] Unmanned underwater vehicle (UUV) is a mobile marine observation platform that can carry various sensors to carry out observation and detection tasks. However, UUV is usually powered by batteries, has limited energy, and cannot stay underwater for a long time. Therefore, scientists have proposed using seabed docking base stations or docking platforms to autonomously recover UUVs and recharge them. Underwater wireless charging technology is currently a hot research direction for UUV underwater charging technology. Various research institutes at home and abroad have proposed different types of underwater wireless charging / communication devices for UUVs.

[0003] For example, a Chinese patent document with publication number CN 116714453 A discloses a UUV underwater charging device and charging method, wherein the charging device includes a device shell, a central module is arranged in the device shell, and a plurality of sub-modules are led out of the central module, a fuel cell is arranged in the central module, the fuel cell is connected to an inverter and a central management module, a communication positioning module is connected to the central management module, a sub-management module is arranged in the sub-module, and the sub-management module is connected to the central management module; a wireless charging module and a guide light are connected to the sub-management module, wherein the wireless charging module is connected to the inverter of the central module, and is evenly distributed in the inner layer of the device shell, and is used to connect to the UUV to be charged in the outside world for charging. A Chinese patent document with publication number CN 116039412 A discloses a wireless charging and communication modular cabin for a small UUV, comprising: a secondary side component, a pressure-resistant shell, a network connector, a CAN connector, a power connector and a charging and communication module; wherein the modular cabin has zero buoyancy in water; the secondary side component is used to sense the magnetic field change of the external primary side coil to form a current, the pressure-resistant shell is a cylindrical cavity structure, and a groove is designed on one radial side to accommodate the secondary side component and ensure that the secondary side component is conformal to the outer surface of the pressure-resistant shell; one end of the network connector, the CAN connector and the power connector are all connected to the charging and communication module, and the other ends are respectively connected to the network switch, the CAN bus data link and the battery on the UUV; the secondary side component is connected to the charging and communication module through an electrical connecting cable.

[0004] At present, underwater wireless charging / transmitting devices can be divided into two categories. One is that the coil / antenna is independently packaged and then connected to the circuit cavity through a watertight connector. The other is to make the coil / antenna into one with the end cover of the circuit cavity through glue filling, vulcanization, etc., and then directly extend the wire / signal line of the coil / antenna into the cavity. However, the former has the defects of large size and non-compact device, and once the latter leaks, water will directly enter the circuit cavity, with serious consequences.

[0005] In addition, if it is used in a deep-sea environment, no matter which of the above methods is used, its comprehensive design of sealing and pressure bearing is a difficult point. If a glue filling sealing solution is adopted, the antenna and coil will experience stress concentration and leakage after the micro-deformation of the colloid, which is easy to damage the coil or antenna; if an oil-filled sealing method is adopted, the device is in a state of internal and external pressure balance, and the antenna and coil will directly bear high pressure, and many devices cannot directly bear high pressure; if the external shell is directly pressurized, the mass and volume of the package are very large, and the metal shell will hinder the passage of the magnetic field, seriously reducing the energy transmission and communication efficiency, which is not conducive to the integration of the UUV docking system.

[0006] Based on the above background analysis, it can be seen that there is an urgent need for a coil / antenna integrated packaging method that is reliably sealed, applicable to deep-sea high-pressure environments, and compact in size, to lay the foundation for UUV underwater wireless charging / transmission technology in deep-sea environments. Summary of the invention

[0007] The present invention provides a wireless charging and signal transmission device for a deep-sea UUV docking system, which has the advantages of compact size, light weight, reliable sealing, and can work reliably for a long time in a deep-sea environment.

[0008] The technical solution of the present invention is as follows:

[0009] A wireless charging and signal transmission device for a deep-sea UUV docking system, comprising a transmitting end installed on a docking platform and a receiving end installed on the deep-sea UUV;

[0010] The transmitting end and the receiving end respectively include:

[0011] The coil / antenna integrated mounting part has a bottom connected to the adapter end cover, a top provided with a first groove, a second groove surrounding the first groove, and a third groove surrounding the second groove, an antenna is installed in the first groove, a magnetic core is installed in the second groove, and a coil is installed in the third groove, and through holes are provided at the bottom of the first groove and the third groove, respectively used to install a watertight seat of a watertight cable connecting the antenna and the coil; the first groove, the second groove, and the third groove are uniformly potted with epoxy resin; an O-ring is provided on the periphery of the third groove;

[0012] A non-metallic sealing cover is placed on top of the antenna / coil integrated mounting assembly;

[0013] Adapter end cap, connected via watertight cable and coil / antenna;

[0014] A cavity having an energy and signal output circuit installed therein, or an energy and signal receiving circuit installed therein;

[0015] The bottom end cover is equipped with a telecommunication and electrical composite watertight connector that connects to the UUV or docking platform;

[0016] The transmitting end also includes a flexible guide tube for guiding the receiving end to dock with the transmitting end, and the flexible guide tube is fixed on the coil / antenna integrated mounting part of the transmitting end.

[0017] Preferably, a support tube for restraining the watertight cable is further provided between the coil / antenna integrated mounting piece and the adapter end cover; the support tube is composed of at least two arc-shaped plates.

[0018] Before installing the flexible guide tube, the semicircular support tube must be installed. The method is: use the circumferential array screws to successively pass through the coil / antenna integrated mounting part and the through holes arranged on the circumference of the semicircular support tube, and finally connect with the threaded holes on the adapter end cover. Before installing the semicircular support tube, it is necessary to connect the coil / antenna integrated mounting part and the watertight seat on the adapter end cover through a watertight cable, and then use the support tube to constrain the cable in the tube to improve the space utilization of the connector.

[0019] Preferably, the top shell thickness of the non-metallic sealing cover is 0.5-1 mm, and the side wall thickness is not less than 5 mm. The top shell is thinner to ensure that the distance between the coil / antenna at the transmitting end and the receiving end is short enough to improve the transmission efficiency.

[0020] Preferably, the non-metallic sealing cover is made of polyetheretherketone (PEEK).

[0021] The cavity of the transmitting end is equipped with an inverter, a primary resonant network circuit, a high / low voltage conversion circuit, and a signal processing circuit; the cavity of the receiving end is equipped with a signal transmission circuit, a secondary resonant network circuit, a high / low voltage conversion circuit, a rectifier, and a charging circuit.

[0022] The receiving end does not need to draw power from the UUV's battery, but instead uses the energy transmitted by the transmitting end through the coil for rectification and high and low voltage change conditioning, thereby powering the signal transmission circuit at the receiving end and the isolation chip in the charging circuit, avoiding the inability to interact with data due to a UUV battery connection failure.

[0023] Preferably, a permanent magnet is provided at the port of the flexible guide tube; a flange is provided on the outer wall of the coil / antenna integrated mounting piece at the receiving end, and a stainless iron ring adapted to the permanent magnet is provided on the flange.

[0024] The stainless iron ring at the receiving end can be adsorbed and locked with the permanent magnet on the end face of the flexible guide tube at the transmitting end in any rotation direction.

[0025] The inner wall of one end of the flexible guide tube is a cylindrical surface with an annular boss on the cylindrical surface, and the non-metallic sealing cover of the transmitting end contacts the annular boss; the other end of the flexible guide tube has a conical inclined surface for guiding the receiving end.

[0026] Under the guidance of the flexible guide tube, the non-metallic sealing cover at the receiving end contacts the non-metallic sealing cover at the transmitting end along the conical slope; if there is no obvious docking guide deviation, the front end planes of the two non-metallic sealing covers will fit together; if there is a docking guide deviation (the UUV docking position deviation is too large), the deformation of the flexible guide tube is used to guide the front ends of the two sealing covers to contact, but they cannot fit completely together. At this time, the permanent magnet and the stainless iron ring can still be adsorbed, which can overcome the interference of factors such as ocean currents.

[0027] The manufacturing method of the coil / antenna integrated mounting member comprises:

[0028] (1) Winding the Litz wire into a cylindrical coil, winding the coil inductance to half of the desired value, and insulating the coil before placing it into the third groove;

[0029] (2) placing a plurality of magnetic cores into the second groove; after covering with a non-metallic sealing cover, adjusting the size of the magnetic cores and the number of turns of the coils according to whether the mutual inductance of the two coils at the transmitting end and the receiving end meets the requirements, until the mutual inductance of the two coils meets the requirements;

[0030] (3) Install a watertight connector at the bottom of the integrated mounting part, and weld the inner wire of the watertight connector to the coil wire;

[0031] (4) Apply the vacuumized silicone liquid to the surface of the coil with a thickness of 0.5 to 1 mm; apply the vacuumized silicone liquid to the outer surface of the ceramic antenna with a thickness of 0.5 to 1 mm;

[0032] (5) Connect the feeder of the ceramic antenna to the watertight connector; after the silicone liquid dries, install the ceramic antenna in the first groove and fix it;

[0033] (6) Pour the vacuumized epoxy resin liquid into the first groove, the second groove, and the third groove, so that the epoxy resin liquid is slightly higher than the top of the integrated mounting part;

[0034] (7) After the epoxy resin is cured, the raised epoxy resin portion is turned until it is flush with the top of the package, and then the non-metallic sealing cover is put on and fixed with radial screws.

[0035] At this point, the antenna / coil integrated packaging structure is completed.

[0036] When the non-metallic sealing cover is subjected to external high pressure, the non-metallic sealing cover will produce a slight deformation, radially close to the outer circumference of the integrated mounting part, and axially close to the top end face of the epoxy resin. Through the extrusion and bonding of the epoxy resin and the radial sealing O-ring, it is ensured that the deformation of the sealing cover is small enough when subjected to high pressure, and the stress generated meets its strength requirements, thus achieving lightweight high-pressure sealing.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] (1) The coil and antenna integrated packaging technology of the present invention uses a non-metallic thin shell sealing cover on one side to form an O-ring sealing structure for the internal epoxy resin potting body. At the same time, the internal epoxy resin provides structural support for the external sealing cover thin shell to prevent the thin shell from collapsing under high pressure, thereby making the package have the advantages of high pressure bearing capacity, compact size, reliable sealing and no leakage;

[0039] (2) The antenna, magnetic core, and coil packaging method of the present invention uses soft glue pretreatment and then uses environmental resin potting to solve the stress concentration and crushing problems of ceramic antenna and coil magnetic core packaging under high pressure deformation;

[0040] (3) The wireless energy and signal transmission device of the present invention is locked by a flexible guide tube to avoid mechanical interference when the UUV has a docking deviation. In the case of a misaligned plug position, the magnetic core can also constrain the coil magnetic field to the outside of the antenna, which ensures that the coil has a sufficient coupling coefficient when it is misaligned, and can suppress the interference caused by the antenna being penetrated by the magnetic field, thus overcoming the problem of high docking accuracy requirements for UUVs in plug-in underwater wireless charging devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of the UUV underwater wireless power / signal transmission device in use;

[0042] Figure 2 It is a schematic diagram of the external structure of the device;

[0043] Figure 3 This is a schematic diagram of the integrated installation of the coil and antenna;

[0044] Figure 4 It is a side view of the integrated mounting part of the coil and antenna;

[0045] Figure 5 is a cross-sectional view of the flexible guide tube;

[0046] Figure 6 It is a schematic diagram of the circuit architecture of a wireless power / signal transmission device. DETAILED DESCRIPTION

[0047] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be pointed out that the embodiments described below are intended to facilitate the understanding of the present invention and do not have any limiting effect on the present invention.

[0048] like Figure 1 As shown, a deep-sea UUV docking system is composed of a UUV 1 and a docking platform 5. The wireless charging and signal transmission device of the UUV includes a transmitter 3 and a receiver 2. The transmitter is lifted and lowered by a hydraulic cylinder 4 to achieve connection with the receiver.

[0049] like Figure 2 As shown, the transmitting end of the device includes:

[0050] The flexible guide tube 11 is made of high-hardness silicone rubber material and is used to guide the device to dock and guide to the receiving end 2, while avoiding interference problems caused by UUV misalignment;

[0051] The permanent magnet 12 is fixed to the end surface of the flexible guide tube and fastened by a countersunk screw. The number of permanent magnets used is determined according to the insertion and extraction force that the lifting hydraulic cylinder 4 can provide;

[0052] The transmitting coil / antenna integrated mounting part 16 is provided at both the transmitting end and the receiving end. The bottom of the mounting part is a flange structure, and its through hole is used for fixing with bolts to the flexible guide tube; the outer circumference has a threaded hole 28 for installing and fixing the non-metallic sealing cover 14;

[0053] like Figure 3 , Figure 4 As shown, there are three grooves on the top of the above-mentioned integrated mounting part: the middle square-like groove is used to install the ceramic antenna 26, and there is a through hole at the bottom of the groove for installing the coaxial cable bending watertight seat 29. The thickness of the through hole is preferably 5-10 mm to ensure that the thread of the watertight seat can extend into the groove, thereby adjusting the bending direction of the watertight seat; the outer annular groove 22 is used to install the coil 23, and there is a through hole at the bottom of the groove for installing the bent 2-core watertight seat 30. Four circumferentially distributed grooves are arranged in the middle of the raised structure 24 between the two grooves for installing the magnetic core 25, which increases the self-inductance and mutual inductance of the coil, and constrains the direction of the magnetic field to prevent the magnetic field from passing through the middle ceramic antenna 26. The above three grooves are uniformly potted with epoxy resin;

[0054] The non-metallic sealing cover 14 is covered on the top of the transmitting end antenna / coil integrated mounting part 15, and the potted coil / antenna integrated structure is secondary sealed through the O-ring 27 on the outer circumference of the integrated mounting part. The thickness of the top thin shell of the sealing cover is preferably 0.5-1mm, and the radial thickness is not less than 5mm, to ensure that the distance between the transmitting end and the receiving end coil / antenna is short enough to improve the transmission efficiency. The sealing cover is preferably made of non-metallic materials with high hardness and strength such as PEEK;

[0055] The semicircular support tube 10 has two pieces on one side and is installed between the transmitting end adapter cover and the transmitting end coil / antenna integrated mounting piece. The semicircular support tube 10 needs to be installed before the flexible guide tube 11 is installed. The method is: through the circular array screws, successively pass through the through holes 21 on the coil / antenna integrated mounting piece, the through holes arranged on the circumference of the semicircular support tube, and finally connect with the threaded holes on the adapter cover 9. Before installing the semicircular support tube, it is necessary to connect the watertight seats on both sides, that is, the coil / antenna integrated mounting piece and the watertight seat on the adapter cover 9 are connected through a watertight cable, and then the cable is constrained in the tube through the semicircular support tube to improve the space utilization of the connector.

[0056] The transmitting end adapter end cap 9 is connected to the coil / antenna through a watertight cable to transmit the energy and signal in the cavity to the coil 23 and the antenna 26.

[0057] The transmitting end cavity 8 is used to install the inverter (including the main circuit and the driving circuit), the primary resonant network circuit, the high / low voltage conversion circuit, and the signal processing circuit;

[0058] The bottom cover 7 of the transmitter is used to install the telecommunication-electricity composite watertight connector 6, and then connect to the UUV docking platform 5. The UUV docking platform 5 provides energy for the transmitter and communicates with the transmitter through the network.

[0059] The receiving end includes: a non-metallic sealing cover, an antenna / coil integrated mounting part, a coil, an antenna, a magnetic core, a stainless iron ring, a semicircular support tube, a watertight connector, a receiving end adapter cover, a receiving end cavity, a receiving end bottom cover, and a telecommunication-electricity composite watertight connector.

[0060] The external structure of the receiving end 2 is different from that of the transmitting end 3 in that there is no flexible guide tube 11 and permanent magnet 12, but a stainless iron ring 16 is installed on the bottom flange of the antenna / coil integrated mounting part at the receiving end, so that it can be adsorbed and locked with the permanent magnet 12 on the end face of the guide tube of the transmitting end in any rotation direction.

[0061] The receiving end cavity is equipped with: signal transmission circuit, secondary resonant network, high / low voltage conversion circuit, rectifier, and charging circuit.

[0062] The above-mentioned charging circuit and signal transmission circuit are connected to the UUV through a signal-electric composite watertight connector to complete charging and signal transmission.

[0063] The manufacturing process of the antenna / coil integrated packaging structure is as follows:

[0064] The first step is to use Litz wire to wind a cylindrical coil. Choose a cylindrical tool and wind the first layer of coil on the outer surface of the cylinder. After each turn, use 502 glue to soak the wire and wait for it to solidify; then, apply insulating tape to the entire surface of the layer, and the insulating tape should be no less than 5mm above or below the bottom of the coil to prevent cross-breakdown; follow the above steps to wind the coil inductance to half of the desired value;

[0065] The second step is to remove the coil from the cylindrical tooling and completely wrap the inner and outer layers with insulating tape; then, place the coil into the annular groove of the antenna / coil integrated package, put a certain number of non-metallic annular gaskets at the bottom of the coil, and raise the top of the coil to 2mm from the top of the integrated package. The transmitting and receiving coils are operated in the same way as above;

[0066] The third step is to place several magnetic cores in the four circular grooves in the middle of the integrated package, with the top of the magnetic core located 2mm below the top of the groove. Glue the magnetic core in the groove and test the self-inductance of the coil. When the self-inductance of the coil meets the requirements, cover the two sides of the package with non-metallic sealing covers and align them to test whether the mutual inductance of the two coils meets the requirements. Keep adjusting the size of the magnetic core and the number of coil turns until the mutual inductance meets the requirements.

[0067] The fourth step is to remove the non-metallic sealing covers on both sides, install watertight connectors at the bottom of the integrated mounting parts on both sides, weld the inner wires of the connectors to the coil wires, and wrap the welding points with insulating tape;

[0068] Step 5: Apply the vacuumized silicone liquid to the surface of the coil with a thickness of 0.5 to 1 mm.

[0069] Step 6: Apply the vacuumized silicone liquid to the outer surface of the ceramic antenna to a thickness of 0.5 to 1 mm. Connect the antenna feeder to the watertight connector, and apply the silicone liquid to the SMA connector as well. After the silicone liquid dries, install the ceramic antenna 1 to 2 mm away from the top of the package and fix it.

[0070] Step 7: Pour the vacuumized epoxy resin liquid into all the grooves and fill them up so that the liquid is slightly higher than the top of the integrated package under the action of tension;

[0071] Step 8: After the epoxy resin is cured, the raised epoxy resin part is turned by a lathe until it is completely flush with the top of the package. After that, the non-metallic sealing cover is put on and fixed with radial screws.

[0072] At this point, the antenna / coil integrated packaging structure is completed.

[0073] When the non-metallic sealing cover is subjected to external high pressure, the sealing cover will produce a slight deformation, radially close to the outer circumference of the integrated package, and axially close to the top end face of the epoxy resin. Through the turning of the epoxy resin and the extrusion and fitting of the radial sealing O-ring, it is ensured that the deformation of the sealing cover is small enough when subjected to high pressure, and the stress generated meets its strength requirements, thus achieving lightweight high-pressure sealing.

[0074] The flexible guide tube in the device is used as follows:

[0075] like Figure 5 As shown, the transmitting coil sealing cover is installed from the non-tapered side, and the front end of the sealing cover contacts the bottom 31 of the cylindrical groove on the non-tapered side of the flexible guide tube; the receiving coil sealing cover contacts the transmitting coil sealing cover along the conical inclined surface 33 under the guidance of the flexible guide tube; if there is no obvious docking guide deviation, the front end planes of the two non-metallic sealing covers will fit together; if there is a docking guide deviation (the UUV docking position deviation is too large), the deformation of the flexible guide tube is relied on to guide the front ends of the two sealing covers to contact, but they cannot fit completely. At this time, the permanent magnet installed in the hole 34 can still be adsorbed with the stainless iron ring on the other side to overcome interference from factors such as ocean currents.

[0076] like Figure 6 As shown, the power flow of the UUV docking system is as follows:

[0077] The receiving end does not need to draw power from the UUV's battery, but instead uses the energy transmitted by the transmitting end through the coil for rectification and high and low voltage change conditioning, thereby powering the signal transmission circuit at the receiving end and the isolation chip in the charging circuit, avoiding the inability to interact with data due to a UUV battery connection failure.

[0078] The embodiments described above provide a detailed description of the technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, supplements and equivalent substitutions made within the scope of the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wireless charging and signal transmission device for a deep-sea UUV docking system, characterized in that: It includes a transmitter installed on the docking platform and a receiver installed on the deep-sea UUV; The transmitting end and the receiving end respectively include: The coil / antenna integrated mounting part has a bottom connected to the adapter end cover, a top provided with a first groove, a second groove surrounding the first groove, and a third groove surrounding the second groove, an antenna is installed in the first groove, a magnetic core is installed in the second groove, and a coil is installed in the third groove, and through holes are provided at the bottom of the first groove and the third groove, respectively used to install a watertight seat of a watertight cable connecting the antenna and the coil; the first groove, the second groove, and the third groove are uniformly potted with epoxy resin; an O-ring is provided on the periphery of the third groove; A non-metallic sealing cover is placed on top of the antenna / coil integrated mounting assembly; Adapter end cap, connected via watertight cable and coil / antenna; A cavity having an energy and signal output circuit installed therein, or an energy and signal receiving circuit installed therein; The bottom end cover is equipped with a telecommunication and electrical composite watertight connector that connects to the UUV or docking platform; The transmitting end also includes a flexible guide tube for guiding the receiving end to dock with the transmitting end, and the flexible guide tube is fixed on the coil / antenna integrated mounting part of the transmitting end.

2. The deep-sea UUV docking system wireless charging and signal transmission device according to claim 1, characterized in that: A support tube for restraining the watertight cable is also provided between the coil / antenna integrated mounting piece and the adapter end cover; the support tube is composed of at least two arc-shaped plates.

3. The deep-sea UUV docking system wireless charging and signal transmission device according to claim 1, characterized in that: The top shell thickness of the non-metallic sealing cover is 0.5-1 mm; the side wall thickness is not less than 5 mm.

4. The deep-sea UUV docking system wireless charging and signal transmission device according to claim 1, characterized in that: The material of the non-metallic sealing cover is polyetheretherketone.

5. The deep-sea UUV docking system wireless charging and signal transmission device according to claim 1, characterized in that: The cavity of the transmitting end is equipped with an inverter, a primary resonant network circuit, a high / low voltage conversion circuit, and a signal processing circuit; the cavity of the receiving end is equipped with a signal transmission circuit, a secondary resonant network circuit, a high / low voltage conversion circuit, a rectifier, and a charging circuit.

6. The deep-sea UUV docking system wireless charging and signal transmission device according to claim 1, characterized in that: The port of the flexible guide tube is provided with a permanent magnet; the outer wall of the coil / antenna integrated mounting piece at the receiving end is provided with a flange, and the flange is provided with a stainless iron ring adapted to the permanent magnet.

7. The deep-sea UUV docking system wireless charging and signal transmission device according to claim 1, characterized in that: The inner wall of one end of the flexible guide tube is a cylindrical surface with an annular boss on the cylindrical surface, and the non-metallic sealing cover of the transmitting end contacts the annular boss; the other end of the flexible guide tube has a conical inclined surface for guiding the receiving end.

8. The deep-sea UUV docking system wireless charging and signal transmission device according to claim 1, characterized in that: The manufacturing method of the coil / antenna integrated mounting member comprises: (1) Winding the Litz wire into a cylindrical coil, winding the coil inductance to half of the desired value, and insulating the coil before placing it into the third groove; (2) placing a plurality of magnetic cores into the second groove; after covering with a non-metallic sealing cover, adjusting the size of the magnetic cores and the number of turns of the coils according to whether the mutual inductance of the two coils at the transmitting end and the receiving end meets the requirements, until the mutual inductance of the two coils meets the requirements; (3) Install a watertight connector at the bottom of the integrated mounting part, and weld the inner wire of the watertight connector to the coil wire; (4) Apply the vacuumized silicone liquid to the surface of the coil with a thickness of 0.5 to 1 mm; apply the vacuumized silicone liquid to the outer surface of the ceramic antenna with a thickness of 0.5 to 1 mm; (5) Connect the feeder of the ceramic antenna to the watertight connector; after the silicone liquid dries, install the ceramic antenna in the first groove and fix it; (6) Pour the vacuumized epoxy resin liquid into the first groove, the second groove, and the third groove, so that the epoxy resin liquid is slightly higher than the top of the integrated mounting part; (7) After the epoxy resin is cured, the raised epoxy resin portion is turned until it is flush with the top of the package, and then the non-metallic sealing cover is put on and fixed with radial screws.

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