Anchor mooring buoy system connected with underwater vehicle

Abstract

An anchoring buoy system connected with an underwater vehicle comprises an anchoring buoy and a connecting device, the anchoring buoy comprises a buoy body and a gravity anchor, the buoy body floats on the water surface and is connected with the connecting device located underwater, and a power generation device is installed on the buoy body; the power generation device comprises a solar generator, is electrically connected with the connection device and is used for charging the connection device; the gravity anchor falls on a ground bed at the water bottom and is connected with the buoy body through the fixing cable; a device body of the connection device is provided with a fixed connection unit and a movable connection unit. The anchoring buoy system for connecting the underwater vehicle is located at the position of the upper layer of a water body, in the energy charging process, the path is short, energy consumption is low, damage is not likely to happen, the requirement for the terrain in arrangement is low, signal transmission is good, control delay is small, and the diversity of connecting modes is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of marine engineering and seabed operation, and in particular relates to an anchor buoy system connected to an underwater submersible. Background Art

[0002] In recent years, marine engineering has become a hot topic in scientific and technological research, especially the development and utilization of marine environment and resources, which has received more and more attention. Underwater submersibles, as an important tool for marine observation, detection and research, have broad application potential. Underwater submersibles can navigate autonomously underwater, have strong concealment and a large observation range, and have become key equipment for deep-sea detection, seabed exploration, and military reconnaissance. However, due to the size limitations of underwater submersibles, they cannot carry enough large energy systems, and their concealment requirements make it impossible for them to float to the surface for a long time for energy replenishment or data exchange. In addition, salvaging the underwater submersible back to the mother ship for energy replenishment and data exchange is not only time-consuming and labor-intensive, but also requires a lot of economic investment.

[0003] In order to overcome these problems, the prior art proposes a "Moored Power Generation System Based on Eddy-Enhanced Flow-Induced Vibration Cluster" (Publication No.: CN116357506A), which uses a deep-sea base station and a flow-induced vibration power generation device. The deep-sea base station is fixed on the seabed, and the energy storage battery installed in the deep-sea base station is connected to the linear generator located in the flow-induced vibration power generation device through an underwater cable. The power generation device is installed on a mounting platform connected to a floating body, and can enter the middle layer of the seawater as the platform floats up, generate electricity using the ocean current, and transmit the generated electricity to the deep-sea base station through an underwater cable to provide energy for the underwater submersible on the deep-sea base station.

[0004] Although this power generation system provides an effective means of charging underwater vehicles, it still has the following shortcomings: 1. Difficulties in laying out the power generation system: The seabed has a variety of terrain forms, but deep-sea base stations need to be laid out in a relatively flat area, which makes it difficult to lay out deep-sea base stations in some seabed areas, hindering the layout of the power generation system and reducing the sustainable operating range of underwater submersibles.

[0005] 2. Difficulty in charging underwater submersibles: The deep-sea base station is fixed on the seabed, and the underwater submersible needs to dive to the seabed to dock with the base station for charging. However, the path for the underwater submersible to dive from the current operating position to the location of the deep-sea base station is long and difficult. A large amount of energy is consumed in the process, and there is a risk of excessive energy consumption. Once the energy is exhausted, the underwater submersible may sink to the bottom of the sea and be unable to return, causing serious economic losses that cannot be recovered. In addition, when the underwater submersible is in deep water, the signal transmission is poor, which makes it difficult to maneuver when the remote-controlled underwater submersible is docked.

[0006] 3. Single docking system: As the number of underwater submersibles gradually increases, and the shapes and sizes of underwater submersibles in different application scenarios vary greatly, the docking system on the existing deep-sea base station is too single and cannot meet the docking needs of different types of underwater submersibles, resulting in poor flexibility during use and affecting the overall efficiency and applicability of the system. Summary of the invention

[0007] In view of the shortcomings existing in the related technologies, the present invention provides an anchored buoy system for connecting to an underwater submersible, so as to solve the problems of difficult deployment, high energy consumption, high risk, difficulty in maneuvering and a single connection system in the current power generation system when used to charge underwater submersibles underwater.

[0008] The present invention provides an anchor buoy system for connecting an underwater submersible, comprising an anchor buoy and a connecting device; The anchor buoy includes: The buoy body floats on the water surface and is connected to the docking device located underwater. A power generation device is installed on the buoy body; the power generation device includes a solar generator and is electrically connected to the docking device to charge the docking device; A gravity anchor, which rests on the bottom of the water and is connected to the buoy body by a fixed mooring; The device body of the docking device is equipped with a fixed docking unit and a mobile docking unit; The fixed docking unit includes: A fixed docking port is arranged on the device body, with its outer end located on the outer wall of the device body and its inner end extending to the inside of the device body, and the inner diameter of the fixed docking port gradually decreases from the outside to the inside; A fixed docking joint, installed at the inner end of the fixed docking port; The fixed clamping mechanism is installed on the fixed docking port. When the underwater vehicle enters the fixed docking port and connects to the fixed docking connector, the fixed clamping mechanism clamps and fixes the underwater vehicle, and the docking device charges the underwater vehicle through the fixed docking connector. The mobile docking unit includes: A retractable winch is installed in the main body of the device; A retractable cable, one end of which is reeled onto the winch wheel of the retractable winch; The mobile docking connector is connected to one end of the retractable cable extending out of the device body and has a traveling mechanism. When the retractable cable is released by the retractable winch, the mobile docking connector is driven by the traveling mechanism to dock with the underwater submersible, and the docking device charges the underwater submersible through the mobile docking connector.

[0009] In some of the embodiments, the docking device is suspended and installed on the buoy body through a suspension cable, a lifting winch is installed on the buoy body, and the suspension cable is reeled and fixed on a winch wheel of the lifting winch.

[0010] In some embodiments, the fixed cable system is divided into a first cable segment and a second cable segment, the first cable segment is connected to the docking device, and the second cable segment is connected to the gravity anchor. The fixed cable system is provided with a telescopic winch, and the connection point of the first cable segment and the second cable segment is fixed on the winch wheel of the telescopic winch.

[0011] In some of the embodiments, when the underwater vehicle enters the fixed docking port and connects to the fixed docking connector, both sides of the underwater vehicle have a fixed clamping mechanism, and the fixed clamping mechanism includes; An installation component is installed on the fixed connection port; A first clamping hydraulic driver is fixedly mounted on the mounting member; A pressure claw module is connected to a first clamping hydraulic driver, and the first clamping hydraulic driver pushes the pressure claw module to move radially so as to be pressed on the surface of the underwater submersible; The clamping jaw module includes: A pressure claw seat connected to the first clamping hydraulic driver; The second clamping hydraulic driver is fixedly mounted on the pressure claw seat, and a plurality of them are arranged side by side; There are multiple pressure heads, which are respectively installed on a corresponding second clamping hydraulic driver, so that the pressure heads are pressed on the surface of the underwater submersible under the push of each second clamping hydraulic driver.

[0012] In some embodiments, the mounting member includes: The positioning and adjusting guide rail is installed on the fixed docking port and arranged along the axial direction of the fixed docking port; A positioning and adjusting support block is slidably mounted on the positioning and adjusting guide rail, and a first clamping hydraulic driver is fixedly mounted on the positioning and adjusting support block; The positioning adjustment hydraulic driver is installed on the positioning adjustment guide rail, and pushes and pulls the positioning adjustment support block to slide on the positioning adjustment guide rail.

[0013] In some of the embodiments, the pressure heads are hinged to the corresponding second clamping hydraulic actuators.

[0014] In some of these embodiments, the pressure jaw module further includes a locking mechanism; The locking mechanism includes: The electromagnet pressing block is fixedly installed in the installation compartment provided in the pressing claw seat; The movable pressing block is an iron part installed in the installation bin; A return spring is installed between the electromagnet pressure block and the movable pressure block; Among them, the piston rods of the second clamping hydraulic driver are all passed through the installation bin and are all located between the electromagnet pressure block and the movable pressure block. The return spring is a compression spring. When the magnetic force generated by the electromagnet pressure block magnetically fixes the movable pressure block, the electromagnet pressure block and the movable pressure block clamp and fix the piston rod of the second clamping hydraulic driver, and the return spring is compressed.

[0015] In some of the embodiments, the traveling mechanism is a plurality of propeller thrusters respectively mounted on the side and end surfaces of the movable docking joint.

[0016] In some of the embodiments, the device body of the docking device is provided with a water flow power generation device; The hydroelectric power generation device comprises: A water flow generator is installed in the main body of the device; The water flow impeller is mounted on the main shaft of the water flow generator and is located in a receiving groove arranged on the device body. One side of the water flow impeller extends out of the device body.

[0017] In some of the embodiments, the device body of the docking device is provided with a center of gravity adjustment device; The center of gravity adjustment device includes: The center of gravity adjustment rail is installed horizontally in the main body of the device; The center of gravity adjustment rack is slidably mounted on the center of gravity adjustment guide rail; The center of gravity adjustment motor is fixedly installed in the main body of the device, and the center of gravity adjustment gear installed on the output shaft of the motor is meshed with the center of gravity adjustment rack; The counterweight block is fixedly mounted on the center of gravity adjustment rack; A level, fixedly mounted in the main body of the device; The center of gravity adjustment controller is fixedly installed in the device body and is electrically connected to the level meter and the center of gravity adjustment motor.

[0018] Compared with the prior art, the beneficial effects of the present application are as follows: in the embodiment of the present invention, an anchored buoy is used to fix the docking device for docking and charging of the underwater submersible. The buoy body in the anchored buoy continues to float on the water, and the docking device can be located in the upper layer of the water body along with the floating buoy body. In the process of the underwater submersible going to the docking device for charging, the path is relatively short and the energy consumption is low. The underwater submersible is in an environment with low water pressure and is not easily damaged, which can reduce the risk of the underwater submersible sinking to the seabed due to energy exhaustion. The floating buoy body can use the power generation device including the solar generator for a long time to generate electricity and supply energy, ensuring that the underwater submersible can complete the charging efficiently and safely. The gravity anchor has a small appearance and its deployment is relatively convenient to the ground. The shape requirements are low and it can be sunk to any position on the seabed. The anchored buoy system can be deployed in any sea area as needed, expanding the sustainable operation range of the underwater submersible; the underwater submersible can be docked and recharged at a shallow depth, the signal transmission is better, the control delay is smaller, and the underwater submersible can be flexible and maneuverable under remote control, and the docking is efficient; the docking device is provided with a fixed docking unit and a mobile docking connector, so that the underwater submersible can be charged and recharged in a manner fixed on the docking device or suspended on the periphery of the docking device, which improves the diversity of docking methods and solves the problems of difficult deployment, high energy consumption, high risk, difficulty in maneuverability and single docking system when the current power generation system is used for underwater submersible charging underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a structural schematic diagram of the anchor buoy system for connecting the underwater submersible according to the present invention; Figure 2 A schematic diagram of the structure of the anchor buoy system for docking an underwater submersible according to the present invention when docking an underwater submersible; Figure 3 It is a structural schematic diagram of a partially cutaway buoy body in the anchored buoy system for connecting an underwater submersible according to the present invention; Figure 4 It is a side structural diagram of a buoy body and a docking device in the anchored buoy system for docking an underwater submersible according to the present invention; Figure 5 This is a structural diagram of the docking device in the anchored buoy system for docking an underwater submersible according to the present invention, with the top plate hidden behind the device body; Figure 6 The cross-sectional structure of the buoy body and the docking device in the anchored buoy system for docking an underwater submersible according to the present invention Figure 1 ; Figure 7The cross-sectional structure of the buoy body and the docking device in the anchored buoy system for docking an underwater submersible according to the present invention Figure 2 ; Figure 8 It is a structural schematic diagram of a fixed clamping mechanism in an anchored buoy system for connecting an underwater submersible vehicle according to the present invention; Fig. 9 It is a structural schematic diagram of a pressure claw module in the anchor buoy system for connecting an underwater submersible according to the present invention; Fig.10 A cross-sectional structural diagram of a locking mechanism in an anchored buoy system for connecting an underwater submersible vehicle according to the present invention; Fig.11 It is a structural schematic diagram of a mobile docking unit in the anchored buoy system for docking an underwater submersible according to the present invention; Fig.12 It is a structural schematic diagram of the center of gravity adjustment device in the anchor buoy system connected to the underwater submersible of the present invention.

[0020] In the figure: 1. Anchor buoy; 11. Buoy body; 12. Gravity anchor; 13. Fixed cable system; 13A. First cable section; 13B. Second cable section; 14. Solar generator; 15. Telescopic winch; 2. docking device; 21. hoisting cable; 22. lifting winch; 23. device body; 24. receiving tank; 3. Underwater submersibles; 4. Fixed docking unit; 41. Fixed docking port; 42. Fixed docking joint; 43. Fixed clamping mechanism; 431. Positioning and adjusting guide rail; 432. Positioning and adjusting support block; 433. Positioning and adjusting hydraulic driver; 434. First clamping hydraulic driver; 435. Pressing claw seat; 435A. Seat body; 436. Second clamping hydraulic driver; 437. Pressing head; 438. Mounting compartment; 441. Electromagnetic pressure block; 442. Movable pressure block; 443. Reset spring; 444. Locking groove; 5. Mobile docking unit; 51. Retractable winch; 52. Retractable cable; 53. Mobile docking joint; 54. Propeller thruster; 6. Water flow power generation device; 61. Water flow generator; 62. Water flow impeller; 7. Center of gravity adjustment device; 71. Center of gravity adjustment guide rail; 72. Center of gravity adjustment rack; 73. Center of gravity adjustment motor; 74. Counterweight block; 75. Level; 76. Center of gravity adjustment gear; 8. Camera; 9. Magnet. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 invention.

[0023] The terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 direct connection, or an indirect connection 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 the present invention can be understood according to specific circumstances.

[0025] like Figures 1 to 3 As shown, in an illustrative embodiment of an anchored buoy system for docking an underwater submersible of the present invention, the anchored buoy system for docking an underwater submersible includes an anchored buoy 1 and a docking device 2.

[0026] The anchored buoy includes a buoy body 11 and a gravity anchor 12. The buoy body 11 floats on the water surface, and the gravity anchor 12 is sunk to the bottom of the water using its counterweight. The gravity anchor 12 is connected to the buoy body 11 through a fixed cable 13, thereby confining the buoy body 11 in the deployment area to prevent the buoy body 11 from drifting away from the deployment area with the ocean current.

[0027] The buoy body 11 is provided with a power generation device, which includes a solar generator 14. The docking device 2 is located underwater and connected to the buoy body 11 and electrically connected to the power generation device, so that the power generated by the power generation device is transmitted to the docking device 2.

[0028] The underwater submersible 3 navigates and operates underwater. When the underwater submersible 3 is short of power, it navigates and docks at the docking device 2, so that the docking device 2 is electrically connected to the underwater submersible 3 to charge and replenish energy for the underwater submersible 3.

[0029] In order to ensure stable charging, an energy storage battery and a charging control module may be provided in the docking device 2. The electric energy generated by the power generation device is first charged into the energy storage battery under the control of the charging control module, so that after the underwater submersible 3 is moored to the docking device 2, the charging control module charges the electric energy in the energy storage battery into the underwater submersible 3. Due to the alternation of day and night and the degree of clearness of the weather, the electric energy generated by the solar generator 14 may not be able to meet the charging and energy replenishment needs of the underwater submersible 3 in real time. Therefore, when the underwater submersible 3 is not charged and replenished, the electric energy is first stored in the energy storage battery to ensure that the energy storage battery has sufficient power, and then the energy storage battery is used to charge the underwater submersible 3, thereby ensuring that the underwater submersible 3 can be continuously and stably replenished with electric energy.

[0030] like Figures 1 to 7 as well as Fig.11 As shown, the device body 23 of the docking device 2 is provided with a fixed docking unit 4 and a mobile docking unit 5.

[0031] The fixed docking unit 4 includes a fixed docking port 41 , a fixed docking joint 42 and a fixed clamping mechanism 43 .

[0032] The fixed connection port 41 is disposed on the device body 23 and extends from outside to inside, with the outer end extending to the outer wall of the device body 23 and the inner end extending to the inside of the device body 23. The inner diameter of the fixed connection port 41 gradually decreases from outside to inside, making it trumpet-shaped.

[0033] The fixed docking connector 42 is installed at the inner end of the fixed docking port 41, and the fixed clamping mechanism 43 is installed on the fixed docking port 41. When the underwater submersible 3 needs to be charged and replenished, it sails into the fixed docking port 41, and the gradually reduced inner diameter of the fixed docking port 41 guides the underwater submersible 3 to align with the fixed docking connector 42, so that the two are connected, and at the same time, the fixed clamping mechanism 43 clamps the fixed underwater submersible 3, thereby maintaining the docking of the underwater submersible 3 and the fixed docking connector 42. After the underwater submersible 3 is docked with the fixed docking connector 42, the channel for power transmission between the two is connected, so that the electric energy stored in the docking device 2 is transmitted to the underwater submersible 3, so as to charge and replenish it.

[0034] The mobile docking unit 5 includes a retractable winch 51 , a retractable cable 52 and a mobile docking joint 53 .

[0035] The retractable winch 51 is installed in the device body 23, one end of the retractable cable 52 is reeled on the winch wheel of the retractable winch 51, and the other end extends out of the device body 23 and is connected to the mobile docking joint 53. The mobile docking joint 53 has a traveling mechanism, so that the mobile docking joint 53 can travel in the water.

[0036] The retractable winch 51 releases the retractable cable 52, which enables the mobile docking connector 53 to move within a certain space outside the device body 23. When the underwater submersible 3 sails and approaches the docking device 2, the retractable winch 51 releases the retractable cable 52, so that the mobile docking connector 53 is driven away from the docking device 2 and docks with the underwater submersible 3 by the travel mechanism. The docking device 2 transmits the stored electric energy to the underwater submersible 3 through the retractable cable 52 and the mobile docking connector 53, so that the underwater submersible 3 can also be charged and replenished when it is suspended in the water, thereby improving the flexibility of the underwater submersible 3 in docking and replenishing energy. In addition, the mobile docking unit 5 does not need to be provided with a docking port on the device body 23 of the docking device 2. After retracting and releasing the cable 52, it is only necessary to move the docking connector 53 and stick it on the device body 23, or store it in a smaller storage slot provided on the device body 23, thereby occupying less space of the docking device 2. It is combined with the fixed docking unit 4 and configured on the docking device 2. Fixed docking units 4 are provided on the surfaces of the front, back, left and right sides of the device body 23, and mobile docking units 5 are provided at the four corners of the device body 23. When the space on the outer surface of the device body 23 is limited, more docking units are provided, and at the same time, interfaces for docking and energy replenishment are provided for multiple underwater submersibles 3, thereby improving the energy charging efficiency of the underwater submersibles 3.

[0037] When the mobile docking joint 53 actively moves and docks with the underwater submersible 3, in order to ensure that the mobile docking joint 53 is aligned with the corresponding interface on the underwater submersible 3, a camera 8 is installed on the end face of the mobile docking joint 53 to facilitate manual remote operation or automatic equipment recognition operation. The position of the underwater submersible 3 is determined according to the image captured by the camera 8, and the moving direction and angle of the mobile docking joint 53 are controlled to align the end face of the mobile docking joint 53 with the interface on the underwater submersible 3, thereby realizing the docking of the mobile docking joint 53 with the underwater submersible 3.

[0038] When the underwater submersible 3 is docked to the fixed docking unit 4, the underwater submersible 3 must not only float to the underwater height of the docking device 2, but also adjust its posture to align with the fixed docking port 41, and then enter the fixed docking port 41 to fix and dock the fixed docking connector 42. In addition, when the size of the underwater submersible 3 is large, it cannot enter the fixed docking port 41, resulting in it being unable to use the fixed docking unit 4 for docking and energy replenishment.

[0039] The underwater submersible 3 is docked using the mobile docking unit 5. The underwater submersible 3 only needs to sail to one side of the docking device 2 to release the mobile docking connector 53, so that it can move and dock with the underwater submersible 3 by itself. The underwater submersible 3 does not need to adjust its own posture, which further reduces the energy consumption of the underwater submersible 3 during the docking process and avoids the exhaustion of energy of the underwater submersible 3. It can also be applied to underwater submersibles 3 with larger dimensions, further improving the scope of docking.

[0040] The docking device 2 can charge the underwater vehicle 3 by wired charging or wireless charging, that is, the docking connector (including the fixed docking connector 42 and the mobile docking connector 53) can realize the transmission of electric energy to the underwater vehicle 3 by wired or wireless means. When the wired charging method is adopted, a charging interface is provided on the underwater vehicle 3, and the docking connector and the charging interface are plugged or contacted to realize the mutual contact of the metal conductive parts, connect the circuit, and realize the transmission of electric energy to the underwater vehicle 3; when the wireless charging method is adopted, the docking connector has a transmitting end coil, and the underwater vehicle 3 has a receiving end coil. The transmitting end coil and the receiving end coil are aligned, and the electric energy is transmitted between the two through electromagnetic coupling to realize the transmission of electric energy to the underwater vehicle 3. Regardless of whether the charging method adopts wired charging or wireless charging, a magnet 9 is provided on the docking connector so that it is firmly adsorbed on the underwater vehicle 3, thereby ensuring the stable contact between the metal conductive parts or the stable alignment between the coils, and ensuring stable power supply. In addition, for monitoring purposes, a camera 8 is installed on the fixed docking joint 42 to observe and ensure accurate and stable docking between the fixed docking joint 42 and the underwater submersible 3 through images.

[0041] In the above-mentioned exemplary embodiment, the anchor buoy system for docking the underwater submersible uses the buoy body 11 floating in the anchor buoy to fix the docking device 2, so that the docking device 2 can dock and charge the underwater submersible 3 at a shallow position in the water. In the process of the underwater submersible 3 going to the docking device 2 for charging, the path is relatively short and the energy consumption is low, which can reduce the risk of energy exhaustion of the underwater submersible 3, and enable the underwater submersible 3 to be in an environment with lower water pressure for a longer time, and is not easily damaged due to sealing problems, which can reduce the risk of the underwater submersible 3 sinking to the seabed due to energy exhaustion or watertight damage. The floating buoy body 11 can use the power generation device including the solar generator 14 for a long time to generate electricity and supply energy, ensuring that the underwater submersible 3 can complete the charging efficiently and safely; the gravity anchor has a small shape, and its deployment has low requirements on the terrain, and can be sunk to any position on the seabed. The anchor buoy system can be deployed in any sea area as needed, expanding the underwater Sustainable operating range of the submersible; the underwater submersible is docked and recharged at a shallow depth, the signal transmission is better, the control delay is smaller, and the underwater submersible can be flexible and maneuverable under remote control, and the docking is efficient; the docking device 2 is provided with a fixed docking unit 4 and a mobile docking connector 53, so that the underwater submersible 3 can be charged and recharged in a manner fixed on the docking device 2 or suspended on the periphery of the docking device 2, thereby improving the diversity of docking methods, and more docking units can be arranged in the limited space of the docking device 2, so that more underwater submersibles 3 can be charged and recharged at the same time, thereby improving operating efficiency, and can also adapt to underwater submersibles 3 of various sizes, thereby reducing the energy consumption of the underwater submersible 3 when docking, improving the safety of the docking operation, and reducing the risk of losing the underwater submersible 3 due to energy exhaustion, thereby solving the problems of difficult deployment, high energy consumption, high risk, difficulty in maneuvering, and a single docking system when the current power generation system is applied to the underwater submersible 3 for underwater charging.

[0042] In some embodiments, Figure 3 As shown, the docking device 2 is suspended and installed on the buoy body 11 through a suspension cable 21 , a lifting winch 22 is installed on the buoy body 11 , and the suspension cable 21 is reeled and fixed on the winch wheel of the lifting winch 22 .

[0043] When the lifting winch 22 drives its winch wheel to rotate and release more suspension cables 21, the docking device 2 sinks under the action of its own weight; when the lifting winch 22 drives its winch wheel to rotate and reel in more suspension cables 21, the docking device 2 is pulled up to a shallower height. The lifting and lowering of the docking device 2 in the water is achieved by the winch of the lifting winch 22 to retract and release the suspension cables 21, thereby adjusting the docking device 2 to the current operating depth of the underwater submersible 3, so that the underwater submersible 3 does not need to float up, but only needs to move forward to reach the docking device 2 and connect with it for charging and energy replenishment, which reduces the difficulty of docking and energy replenishment of the underwater submersible 3. The energy consumption of the underwater submersible 3 is lower during the movement of the docking device 2, which reduces the risk of exhaustion of energy of the underwater submersible 3 during the movement, ensures that the underwater submersible 3 can complete charging and energy replenishment underwater, and improves the safety of the underwater submersible 3.

[0044] In some embodiments, Figure 1 As shown, the fixed cable 13 is divided into a first cable segment 13A and a second cable segment 13B, the first cable segment 13A is connected to the docking device 2, and the second cable segment 13B is connected to the gravity anchor 12. The fixed cable 13 is provided with a telescopic winch 15, and the connection point between the first cable segment 13A and the second cable segment 13B is fixed on the winch wheel of the telescopic winch 15.

[0045] The fixed cable system 13 has a cable, so as to connect the telescopic winch 15, so that the docking device 2 supplies power to the telescopic winch 15. The telescopic winch 15 has a frame and a motor mounted on the frame, the winch is mounted on the output shaft of the motor, and the frame has a cable arrangement mechanism, so that the cable can be neatly wound on the winch, and the situation that the winch does not move and the motor rotates by itself can be avoided. The connection point of the first cable segment 13A and the second cable segment 13B can be directly fixed on the wheel surface of the winch, or the fixed cable system 13 is directly passed through the winch so that the connection point of the first cable segment 13A and the second cable segment 13B is located inside the winch. When the winch of the telescopic winch 15 rotates in a first direction, it reels in the first cable segment 13A and the second cable segment 13B at the same time, thereby shortening the length of the fixed cable system 13; when the winch of the telescopic winch 15 rotates in a second direction opposite to the first direction, it releases the first cable segment 13A and the second cable segment 13B at the same time, thereby extending the length of the fixed cable system 13. The extension and retraction of the length of the fixed cable 13 is achieved by the operation of the retractable winch 15 .

[0046] When the docking device 2 rises or descends, the distance between it and the seabed changes, and the length of the fixed cable 13 becomes longer or shorter accordingly, so that it adapts to the distance between the docking device 2 and the seabed, avoiding the horizontal deviation of the docking device 2 due to the excessive length of the cable between the docking device 2 and the gravity anchor 12, which in turn causes the buoy body 11 on the water surface to deviate to a larger range, ensuring the stability of the position area of ​​the buoy body 11, allowing the anchored buoy to accurately and effectively measure the hydrological data of the current area, improving the accuracy of the docking device 2 on the XY axis, and ensuring that the underwater submersible 3 can accurately find the position of the docking device 2 when charging and replenishing energy.

[0047] In addition, if the fixed cable 13 is directly connected to the buoy body 11, and the suspension cable 21 is also directly connected to the buoy body 11, when the docking device 2 is lowered, once the docking device 2 moves horizontally under the action of the water flow, the suspension cable 21 will be entangled with the fixed cable 13, and the docking device 2 cannot be raised or lowered normally. The fixed cable 13 is connected to the buoy body 11 by connecting the docking device 2, so that there is only the suspension cable 21 between the docking device 2 and the buoy body 11, thereby preventing the suspension cable 21 from being entangled and ensuring that the docking device 2 can be raised or lowered smoothly.

[0048] In some embodiments, the power generation device further includes a wind turbine (not shown in the drawings). When the light is weak at night or during the day, the electric energy generated by the solar generator 14 is limited. Further providing a wind turbine can serve as a supplement to the solar generator 14, so that the power generation device can generate electric energy to charge the docking device 2 in more time periods. Only when there is no wind and insufficient light, no electric energy is generated and charged into the energy storage battery of the docking device 2, thereby improving the power generation efficiency.

[0049] In some embodiments, Figures 4 to 7 As shown, when the underwater vehicle 3 enters the fixed docking port 41 and is connected to the fixed docking connector 42, both sides of the underwater vehicle 3 are provided with fixed clamping mechanisms 43, so that the two sets of fixed clamping mechanisms 43 clamp and fix the underwater vehicle 3 in the middle from both sides respectively.

[0050] like Figures 8 to 9 As shown, the fixed clamping mechanism 43 includes a mounting member, a first clamping hydraulic driver 434 and a pressure claw module. The mounting member is mounted on the fixed docking port 41, the first clamping hydraulic driver 434 is fixedly mounted on the positioning and adjusting support block 432, and the pressure claw module is connected to the first clamping hydraulic driver 434.

[0051] When the underwater vehicle 3 enters the fixed docking port 41 and docks with the fixed docking connector 42, the underwater vehicle 3 is in the axial direction of the fixed docking port 41. The piston rod of the first clamping hydraulic driver 434 extends, pushing the pressure claw module to move in the radial direction of the fixed docking port 41, thereby approaching and pressing on the surface of the underwater vehicle 3, and achieving single-sided pressure holding and fixing of the underwater vehicle 3. Both sides of the underwater vehicle 3 are pressed by two sets of pressure claw modules at the same time, so that the underwater vehicle 3 is clamped and fixed in the fixed docking port 41, so that it remains docked with the fixed docking connector 42, and continuously and stably performs charging and energy replenishment.

[0052] In order to adapt to the appearance of different underwater vehicles 3 and realize the clamping of the underwater vehicle 3 by the clamping claw module, the clamping claw module includes a clamping seat, a second clamping hydraulic driver 436 and a pressure head 437. The clamping claw seat 435 is connected to the first clamping hydraulic driver 434. The second clamping hydraulic driver 436 is fixedly mounted on the clamping claw seat 435, and a plurality of the second clamping hydraulic drivers 436 are arranged side by side. There are a plurality of pressure heads 437, and each pressure head 437 is mounted on a corresponding second clamping hydraulic driver 436.

[0053] Under the push of the first clamping hydraulic driver 434, the pressure claw module is as close to or directly attached to the surface of the underwater submersible 3 as possible, and the piston rods of each second clamping hydraulic driver 436 push the corresponding pressure head 437 toward the underwater submersible 3, thereby ensuring that each pressure head 437 is pressed on the surface of the underwater submersible 3. The arrangement of each pressure head 437 matches the outer contour of the underwater submersible 3, so that the fixed clamping mechanism 43 can stably clamp and fix underwater submersibles 3 of different shapes, thereby improving the applicability of the docking device 2.

[0054] In some embodiments, the mounting component includes a positioning adjustment rail 431 , a positioning adjustment support block 432 , and a positioning adjustment hydraulic driver 433 .

[0055] The positioning adjustment guide rail 431 is installed on the fixed docking port 41 and is arranged along the axial direction of the fixed docking port 41. The positioning adjustment support block 432 is slidably installed on the positioning adjustment guide rail 431, and the positioning adjustment hydraulic driver 433 is installed on the positioning adjustment guide rail 431 and connected to the positioning adjustment support block 432. The first clamping hydraulic driver 434 is fixedly installed on the positioning adjustment support block 432.

[0056] Since the end of the underwater vehicle 3 is generally provided with a smooth-surfaced fairing, if the pressure claw module is pressed on the fairing, part of the pressure of the pressure claw module acts on it in the radial direction, and the other part acts on it in the axial direction, which may easily cause the clamped water-washing submersible to radially escape from the fixed docking port 41. The positioning adjustment hydraulic driver 433 pushes and pulls the positioning adjustment support block 432 through the telescopic movement of its piston rod, so that it slides on the positioning adjustment guide rail 431, thereby adjusting the axial position of the pressure claw module on the fixed docking port 41, so that the pressure claw module is aligned with the flat surface on one side of the fairing on the underwater vehicle 3, thereby improving the stability of the clamping and fixing of the underwater vehicle 3 and improving the adaptability to the shape of the underwater vehicle 3.

[0057] In some embodiments, the pressure heads 437 are hinged on the corresponding second clamping hydraulic drivers 436, so that the pressure heads 437 can rotate along with the outer surface of the underwater vehicle 3. The pressure heads 437 are in surface contact with the underwater vehicle 3 when pressing the underwater vehicle 3, ensuring that the surface of the pressure heads 437 is in close contact with the surface of the underwater vehicle 3, thereby improving the stability of the clamping and fixation of the underwater vehicle 3.

[0058] In some embodiments, Fig.10 As shown, the pressure claw module further includes a locking mechanism. The locking mechanism includes an electromagnet pressure block 441, a movable pressure block 442 and a return spring 443. The electromagnet pressure block 441 is fixedly installed in the installation bin 438 provided in the pressure claw seat 435. The movable pressure block 442 is an iron part and is installed in the installation bin 438. The return spring 443 is installed between the electromagnet pressure block 441 and the movable pressure block 442.

[0059] The piston rods of the second clamping hydraulic driver 436 are all penetrated by the installation chamber 438, and are all located between the electromagnet pressure block 441 and the movable pressure block 442, and the reset spring 443 is a compression spring. When the pressure heads 437 of the pressure claw module are all pressed on the surface of the underwater submersible 3 under the push of the corresponding second clamping hydraulic driver 436, the magnetic force generated by the electromagnet pressure block 441 magnetically fixes the movable pressure block 442, and the electromagnet pressure block 441 and the movable pressure block 442 clamp and fix the piston rod of the second clamping hydraulic driver 436, so that the piston rod of the second clamping hydraulic driver 436 keeps pushing the pressure block, realizing the clamping locking, further improving the stability of the underwater submersible 3 when clamping and fixing, and at this time, the second clamping hydraulic driver does not need to continuously provide hydraulic driving force, reducing the pressure of the hydraulic pipeline, avoiding leakage and damage caused by the hydraulic pipeline being in a high pressure state for a long time, and improving the service life of the equipment in underwater operation. In addition, when the movable pressure block 442 is magnetically fixed on the electromagnet pressure block 441, the return spring 443 of the compression spring is also clamped and compressed by the two. When the underwater submersible 3 needs to be released, the electromagnet pressure block 441 is powered off, the magnetic force disappears, and the elastic force of the return spring 443 pushes the movable pressure block 442 away from the electromagnet pressure block 441, thereby eliminating the clamping of the piston rod of the second clamping hydraulic driver 436, allowing the piston rod of the second clamping hydraulic driver 436 to be retracted, stopping the pressure head 437 from pressing the underwater submersible 3.

[0060] In order to realize the installation of the locking mechanism, the pressure claw seat 435 can be divided into two seat body parts 435A, and a groove structure is opened on the surface of at least one of the two seat body parts 435A, so that after the two seat body parts 435A are connected and assembled by bolts to form the pressure claw seat 435, an installation chamber 438 is formed inside. After removing the bolts between the two seat body parts 435A, the two seat body parts 435A can be separated, the installation chamber 438 can be opened, and the locking mechanism can be installed.

[0061] In order to ensure the clamping force of the piston rod when the locking mechanism is magnetically fixed, the electromagnetic pressure block 441 and the movable pressure block 442 are both provided with locking grooves 444 on the surface of the opposite side. When the movable pressure block 442 is magnetically fixed on the electromagnetic pressure block 441, both sides of the piston rod are located in the locking grooves 444 on the corresponding side and in surface contact with them, thereby generating a greater friction force under the clamping action, so that the piston rod can be locked more firmly, and the pressure head 437 can maintain stable pressure on the underwater submersible 3. At the same time, the electromagnetic pressure block 441 and the movable pressure block 442 can also be in surface contact with each other in the part where the locking groove 444 is not provided, thereby improving the firmness of the magnetic fixation of the two.

[0062] In some embodiments, the traveling mechanism is a plurality of propeller thrusters 54 , which are respectively installed on the side and end surfaces of the movable docking joint 53 .

[0063] The propeller propeller 54 in the traveling mechanism provides propulsion for the movement of the mobile docking joint 53. The propeller propeller 54 arranged on the end surface of the mobile docking joint 53 provides propulsion for the movement of the mobile docking joint 53 in its axial direction, that is, to achieve movement in the X-axis direction; the propeller propeller 54 is arranged on the side of the mobile docking joint 53, at least one of the upper and lower sides and one of the left and right sides, to achieve movement in the Z-axis and Y-axis directions respectively, and to provide propulsion for the movement of the mobile docking joint 53 in its radial direction. In order to improve the flexibility of movement, the propeller propeller 54 can be arranged in multiple angles on the side, and each propeller propeller 54 at multiple angle positions can be arranged.

[0064] The propeller thrusters 54 enable the mobile docking joint 53 to move flexibly in the water so that it can autonomously dock with the underwater submersible 3, thereby facilitating the docking and charging of the underwater submersible 3.

[0065] In some embodiments, Figures 1 to 7 As shown, the device body 23 of the docking device 2 is provided with a water flow power generation device 6. The water flow power generation device 6 includes a water flow generator 61 and a water flow impeller 62. The water flow generator 61 is installed in the device body 23. The water flow impeller 62 is installed on the main shaft of the water flow generator 61 and is located in the receiving groove 24 provided in the device body 23. One side of the water flow impeller 62 extends out of the device body 23.

[0066] Since the docking device 2 is located in the water body below the buoy body 11, the water flow in the water body will flow along the surface of the device body 23 of the docking device 2. The flowing water pushes the extended water impeller 62 to rotate, thereby driving the water flow generator 61 to generate electricity. The water flow is used to generate electrical energy, which further increases the energy supply path of the docking device 2, allowing the docking device 2 to be charged and replenished over a longer period of time and have sufficient electricity to function as the underwater submersible 3.

[0067] In addition, when the docking device 2 is suspended on the buoy body 11 by the suspension cable 21 which is retracted and released by the lifting winch 22, the lifting of the docking device 2 can adjust it to a water depth with a larger water flow, thereby improving the power generation efficiency of the water flow power generation device 6 and maintaining it in a high-efficiency state, thereby continuously charging the docking device 2 for a long time.

[0068] In some embodiments, Figure 6 and Fig.12 As shown, the device body 23 of the docking device 2 is provided with a gravity center adjustment device 7. The gravity center adjustment device 7 includes a gravity center adjustment guide rail 71, a gravity center adjustment rack 72, a gravity center adjustment motor 73, a counterweight block 74, a level 75 and a gravity center adjustment controller.

[0069] The gravity adjustment guide rail 71 is horizontally mounted in the device body 23, and the gravity adjustment rack 72 is slidably mounted on the gravity adjustment guide rail 71. The gravity adjustment motor 73 is fixedly mounted in the device body 23, and the gravity adjustment gear 76 mounted on its output shaft is meshed with the gravity adjustment rack 72. The counterweight block 74 is fixedly mounted on the gravity adjustment rack 72, and the level 75 and the gravity adjustment controller are both fixedly mounted in the device body 23. The gravity adjustment controller is electrically connected to the level 75 and the gravity adjustment motor 73.

[0070] When the underwater submersible 3 is fixedly docked to the docking device 2, its weight will act on one side of the docking device 2, causing the overall center of gravity of the docking device 2 to shift, resulting in the docking device 2 being tilted, and the fixed docking unit 4 on the docking device 2 being tilted accordingly. When other underwater submersibles 3 also need to be docked to the fixed docking unit 4 of the docking device 2 at the same time, the underwater submersible 3 needs to adjust its tilting posture before it can enter the fixed docking unit 4 to dock with it, which increases the difficulty of operation, the energy consumption of the underwater submersible 3, and the risk of energy depletion.

[0071] The center of gravity adjustment controller can monitor the inclination angle of the docking device 2 in real time through the spirit level 75, and control the center of gravity adjustment motor 73 when it tilts, drive the center of gravity adjustment rack 72 to slide, change the position of the counterweight block 74 in the horizontal direction, adjust the overall center of gravity of the docking device 2, and restore the docking device 2 to a horizontal posture for smooth docking of the underwater submersible 3.

[0072] In order to ensure the effect of posture adjustment of the docking device 2, two groups of center of gravity adjustment components consisting of center of gravity adjustment guide rails 71, center of gravity adjustment racks 72, center of gravity adjustment motors 73 and counterweights 74 are cross-arranged to ensure that when any of the four corners of the docking device 2 is warped, the counterweight 74 can move to the warped side and press that side down to a horizontal state.

[0073] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0074] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A mooring buoy system for connecting an underwater submersible, characterized in that: Includes mooring buoys and docking equipment; The anchored buoy comprises: A buoy body floats on the water surface and is connected to the docking device under the water. A power generation device is installed on the buoy body. The power generation device includes a solar generator and is electrically connected to the docking device to charge the docking device. A gravity anchor, which falls on the bottom of the water and is connected to the buoy body through a fixed cable; The device body of the docking device is provided with a fixed docking unit and a mobile docking unit; The fixed docking unit comprises: A fixed docking port is arranged on the device body, with its outer end located on the outer wall of the device body and its inner end extending to the inside of the device body, and the inner diameter of the fixed docking port gradually decreases from the outside to the inside; A fixed docking joint, installed at the inner end of the fixed docking port; A fixed clamping mechanism is installed on the fixed docking port. When the underwater submersible enters the fixed docking port and connects to the fixed docking connector, the fixed clamping mechanism clamps and fixes the underwater submersible, and the docking device charges the underwater submersible through the fixed docking connector. The mobile docking unit comprises: A retractable winch is installed in the main body of the device; A retractable cable, one end of which is retracted on a winch wheel of the retractable winch; A mobile docking connector is connected to one end of the retractable cable extending out of the device body and has a traveling mechanism. When the retractable winch releases the retractable cable, the mobile docking connector is driven by the traveling mechanism to dock with the underwater submersible, and the docking device charges the underwater submersible through the mobile docking connector.

2. The mooring buoy system for connecting an underwater submersible according to claim 1, characterized in that: The docking device is suspended and installed on the buoy body through a suspension cable. A lifting winch is installed on the buoy body. The suspension cable is retracted and fixed on a winch wheel of the lifting winch.

3. The mooring buoy system for connecting an underwater submersible according to claim 2, characterized in that: The fixed cable system is divided into a first cable segment and a second cable segment, the first cable segment is connected to the docking device, and the second cable segment is connected to the gravity anchor. The fixed cable system is provided with a telescopic winch, and the connection point between the first cable segment and the second cable segment is fixed on the winch wheel of the telescopic winch.

4. The mooring buoy system for connecting an underwater submersible according to claim 1, characterized in that: When the underwater vehicle enters the fixed docking port and connects to the fixed docking connector, both sides of the underwater vehicle are provided with the fixed clamping mechanism, and the fixed clamping mechanism includes: An installation component is installed on the fixed docking port; A first clamping hydraulic driver, fixedly mounted on the mounting member; A pressure claw module connected to the first clamping hydraulic driver, wherein the first clamping hydraulic driver drives the pressure claw module to move radially so as to be pressed on the surface of the underwater vehicle; The pressure claw module comprises: A pressure claw seat connected to the first clamping hydraulic driver; A second clamping hydraulic driver is fixedly mounted on the pressure claw seat and a plurality of the second clamping hydraulic drivers are arranged side by side; There are multiple pressure heads, which are respectively installed on a corresponding one of the second clamping hydraulic drivers, so that the pressure heads are pressed on the surface of the underwater submersible under the push of each of the second clamping hydraulic drivers.

5. The mooring buoy system for connecting an underwater submersible according to claim 4, characterized in that: The mounting member comprises: A positioning and adjusting guide rail is installed on the fixed docking port and is arranged along the axial direction of the fixed docking port; A positioning and adjusting support block is slidably mounted on the positioning and adjusting guide rail, and the first clamping hydraulic driver is fixedly mounted on the positioning and adjusting support block; The positioning and adjusting hydraulic driver is installed on the positioning and adjusting guide rail, and pushes and pulls the positioning and adjusting support block to slide on the positioning and adjusting guide rail.

6. The mooring buoy system for connecting an underwater submersible according to claim 4, characterized in that: The pressure heads are all hinged on the corresponding second clamping hydraulic drivers.

7. The mooring buoy system for connecting an underwater submersible according to claim 4, characterized in that: The pressure claw module further includes a locking mechanism; The locking mechanism comprises: An electromagnet pressing block is fixedly installed in a mounting compartment provided in the pressing claw seat; The movable pressing block is an iron part installed in the installation bin; A return spring, installed between the electromagnet pressure block and the movable pressure block; Wherein, the piston rods of the second clamping hydraulic driver all pass through the installation compartment and are all located between the electromagnet pressure block and the movable pressure block. The return spring is a compression spring. When the magnetic force generated by the electromagnet pressure block magnetically fixes the movable pressure block, the electromagnet pressure block and the movable pressure block clamp and fix the piston rod of the second clamping hydraulic driver, and the return spring is compressed.

8. The mooring buoy system for connecting an underwater submersible according to claim 1, characterized in that: The traveling mechanism is a plurality of propeller thrusters, which are respectively mounted on the side surface and end surface of the movable docking joint.

9. The mooring buoy system for connecting an underwater submersible according to claim 1, characterized in that: The device body of the docking device is provided with a water flow power generation device; The water flow power generation device comprises: A water flow generator, installed in the main body of the device; The water flow impeller is mounted on the main shaft of the water flow generator and is located in the receiving groove provided in the device body. One side of the water flow impeller extends out of the device body.

10. The mooring buoy system for connecting an underwater submersible according to claim 1, characterized in that: The device body of the docking device is provided with a center of gravity adjustment device; The center of gravity adjustment device comprises: A center of gravity adjustment guide rail, horizontally mounted in the main body of the device; A center of gravity adjustment rack, slidably mounted on the center of gravity adjustment guide rail; A gravity center adjustment motor is fixedly mounted in the device body, and a gravity center adjustment gear mounted on its output shaft is meshed with the gravity center adjustment rack; A counterweight block, fixedly mounted on the center of gravity adjustment rack; A level, fixedly installed in the device body; The center of gravity adjustment controller is fixedly installed in the device body and is electrically connected to the level and the center of gravity adjustment motor.

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