An anchor mooring buoy system for connecting an underwater submersible

Abstract

An anchored buoy system for docking an underwater submersible includes an anchored buoy and a docking device. The anchored buoy includes a buoy body and a gravity anchor. 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; the gravity anchor falls on the ground bed at the bottom of the water and is connected to the buoy body through a fixed cable; a fixed docking unit and a mobile docking unit are installed on the device body of the docking device. The anchored buoy system for docking an underwater submersible of the present invention is located in the upper layer of the water body. During the charging process, the path is short and the energy consumption is low. It is not easy to be damaged. The layout has low requirements on the terrain, the signal transmission is good, and the control delay is small, which improves the diversity of docking methods.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean engineering and subsea operations, and particularly relates to an anchor mooring buoy system for connecting an underwater submersible vehicle. Background Art

[0002] In recent years, ocean engineering has become a hot topic in current scientific and technological research. In particular, the development and utilization of the marine environment and resources have received increasing attention. As an important tool for ocean observation, exploration, and research, underwater submersible vehicles have broad application potential. Underwater submersible vehicles can navigate autonomously underwater, with strong concealment and a large observation range, and have become key equipment for tasks such as deep-sea exploration, seabed exploration, and military reconnaissance. However, due to the volume limitation of underwater submersible vehicles, they cannot carry sufficient large-scale energy systems, and their concealment requirements prevent them from surfacing to the water surface for a long time to replenish energy or exchange data. In addition, retrieving the underwater submersible vehicle back to the mother ship for energy replenishment and data exchange is not only time-consuming and laborious but also requires a large amount of economic investment.

[0003] To overcome these problems, the prior art has proposed a "Mooring Power Generation System Based on Eddy Current Enhanced Flow-Induced Vibration Clusters" (Publication No.: CN116357506A). This system 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 set in the deep-sea base station is connected to a linear generator located in the flow-induced vibration power generation device through an underwater cable. This power generation device is installed on an installation platform connected to a floating body and can enter the middle layer of the sea with the floating of the platform to generate electricity using ocean currents, and transmit the generated electric energy to the deep-sea base station through an underwater cable to provide energy for the underwater submersible vehicle on the deep-sea base station.

[0004] Although this power generation system provides an effective means of charging for underwater submersible vehicles underwater, there are still the following deficiencies:

[0005] 1. Difficult layout of the power generation system: The seabed has a variety of topographical forms. However, the deep-sea base station needs to be laid out in a relatively flat area, resulting in difficulty in laying out the deep-sea base station in some seabed areas, hindering the layout range of the power generation system and reducing the sustainable operation range of underwater submersible vehicles.

[0006] 2. Difficult energy charging for underwater vehicles: The deep - sea base is fixed on the seabed, and the underwater vehicle needs to dive to the seabed to dock with the base for energy charging. However, the path for the underwater vehicle to dive from its current operating position to the location of the deep - sea base is long and difficult. A large amount of energy is consumed during the process, and there is a risk of excessive energy consumption. Once the energy is exhausted, the underwater vehicle may sink to the seabed and be unable to return, resulting in serious economic losses that cannot be recovered. Moreover, when the underwater vehicle is in the deep - water area, the signal transmission is poor, making it difficult to maneuver remotely when connecting the underwater vehicle.

[0007] 3. Single connection system: As the number of underwater vehicles gradually increases, and the shapes and sizes of underwater vehicles vary greatly in different application scenarios, the connection system on the existing deep - sea base is too single to meet the connection requirements of different types of underwater vehicles, resulting in poor flexibility during use and affecting the overall efficiency and applicability of the system. Summary of the Invention

[0008] In view of the deficiencies in the related technologies, the present invention provides an anchor - based buoy system for connecting underwater vehicles to solve the problems of difficult deployment, high energy consumption, high risk, difficult maneuverability, and single connection system when the current power generation system is applied to charge underwater vehicles underwater.

[0009] The present invention provides an anchor - based buoy system for connecting underwater vehicles, including an anchor - based buoy and a connection device;

[0010] The anchor - based buoy includes:

[0011] A buoy body that floats on the water surface and is connected to the connection 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 connection device to charge the connection device.

[0012] A gravity anchor that lands on the seabed floor and is connected to the buoy body through a fixed cable.

[0013] On the main body of the connection device, a fixed connection unit and a mobile connection unit are installed;

[0014] The fixed connection unit includes:

[0015] A fixed connection port that is set on the main body of the device. Its outer end is on the outer wall of the main body of the device, and its inner end extends into the interior of the main body of the device. The inner diameter of the fixed connection port gradually decreases from the outside to the inside.

[0016] A fixed connection joint that is installed at the inner end of the fixed connection port;

[0017] The fixed clamping mechanism is installed on the fixed connection port. When the underwater vehicle enters the fixed connection port and connects to the fixed connection joint, the fixed clamping mechanism clamps and fixes the underwater vehicle, and the connection device charges the underwater vehicle through the fixed connection joint.

[0018] The mobile connection unit includes:

[0019] A winch for retracting and deploying, installed inside the device main body;

[0020] A cable for retracting and deploying, one end of which is wound on the winch drum of the winch for retracting and deploying;

[0021] A mobile connection joint, connected to the end of the cable for retracting and deploying that extends out of the device main body, and having a traveling mechanism. When the winch for retracting and deploying pays out the cable for retracting and deploying, the mobile connection joint docks with the underwater vehicle under the drive of the traveling mechanism, and the connection device charges the underwater vehicle through the mobile connection joint.

[0022] In some embodiments, the connection device is suspended and installed on the buoy main body through a suspension cable, and a lifting winch is installed on the buoy main body, and the suspension cable is wound and fixed on the winch drum of the lifting winch.

[0023] In some embodiments, the fixed cable system is divided into a first cable section and a second cable section. The first cable section is connected to the connection device, and the second cable section is connected to the gravity anchor. There is a telescopic winch on the fixed cable system, and the connection point of the first cable section and the second cable section is fixed on the winch drum of the telescopic winch.

[0024] In some embodiments, when the underwater vehicle enters the fixed connection port and connects to the fixed connection joint, there are fixed clamping mechanisms on both sides of the underwater vehicle. The fixed clamping mechanism includes:

[0025] An installation member, installed on the fixed connection port;

[0026] A first clamping hydraulic drive, fixedly installed on the installation member;

[0027] A jaw module, connected to the first clamping hydraulic drive. The first clamping hydraulic drive pushes the jaw module to move radially to press against the surface of the underwater vehicle.

[0028] The jaw module includes:

[0029] A jaw seat, connected to the first clamping hydraulic drive;

[0030] A second clamping hydraulic drive, fixedly installed on the jaw seat and arranged in parallel in multiple numbers;

[0031] There are multiple pressing heads, respectively installed on a corresponding second clamping hydraulic drive, and used to evenly press against the surface of the underwater vehicle under the push of each second clamping hydraulic drive.

[0032] In some of these embodiments, the installation member includes:

[0033] A positioning and adjusting guide rail, installed on the fixed connection port and arranged along the axial direction of the fixed connection port;

[0034] A positioning and adjusting support block, slidably installed on the positioning and adjusting guide rail, and the first clamping hydraulic driver is fixedly installed on the positioning and adjusting support block;

[0035] A positioning and adjusting hydraulic driver, installed on the positioning and adjusting guide rail, and pushing and pulling the positioning and adjusting support block to slide on the positioning and adjusting guide rail.

[0036] In some of these embodiments, the pressing heads are all hinged to the corresponding second clamping hydraulic drivers.

[0037] In some of these embodiments, the jaw module further includes a locking mechanism;

[0038] The locking mechanism includes:

[0039] An electromagnet pressing block, fixedly installed in the installation bin provided on the jaw seat;

[0040] A movable pressing block, made of iron, installed in the installation bin;

[0041] A return spring, installed between the electromagnet pressing block and the movable pressing block;

[0042] Wherein, the piston rods of the second clamping hydraulic drivers all pass through the installation bin and are both located between the electromagnet pressing block and the movable pressing block. The return spring is a compression spring. When the magnetic force generated by the electromagnet pressing block magnetically attracts and fixes the movable pressing block, the electromagnet pressing block and the movable pressing block clamp and fix the piston rods of the second clamping hydraulic drivers, and the return spring is compressed.

[0043] In some of these embodiments, the traveling mechanism is a plurality of propeller thrusters, respectively installed on the side and end faces of the movable connection joint.

[0044] In some of these embodiments, the device main body of the connection device is provided with a water flow power generation device;

[0045] The water flow power generation device includes;

[0046] A water flow generator, installed in the device main body;

[0047] A water flow impeller, installed on the main shaft of the water flow generator and located in the accommodation groove provided in the device main body. One side of the water flow impeller extends out of the device main body.

[0048] In some of these embodiments, the device main body of the connection device is provided with a center of gravity adjusting device;

[0049] The center of gravity adjusting device includes;

[0050] The center-of-gravity adjustment guide rail is horizontally installed inside the device main body;

[0051] The center-of-gravity adjustment rack is slidably installed on the center-of-gravity adjustment guide rail;

[0052] The center-of-gravity adjustment motor is fixedly installed inside the device main body, and the center-of-gravity adjustment gear installed on its output shaft meshes with the center-of-gravity adjustment rack;

[0053] The counterweight is fixedly installed on the center-of-gravity adjustment rack;

[0054] The level gauge is fixedly installed inside the device main body;

[0055] The center-of-gravity adjustment controller is fixedly installed inside the device main body and is electrically connected to both the level gauge and the center-of-gravity adjustment motor.

[0056] Compared with the prior art, the beneficial effects of the present application are as follows: In the embodiments of the present invention, an anchor mooring buoy fixing and connecting device is used for connecting and charging an underwater submersible. The buoy body in the anchor mooring buoy continuously floats on the water surface. The connecting device can be located in the upper layer of the water body along with the floating buoy body. During the process of the underwater submersible going to the connecting device for charging, the path is relatively short and the energy consumption is less. The underwater submersible is in an environment with relatively low water pressure and is not easily damaged, which can reduce the risk of the underwater submersible sinking to the bottom of the sea due to energy exhaustion. The floating buoy body can use a power generation device including a solar generator to generate electricity for a long time to ensure that the underwater submersible can complete charging efficiently and safely; the gravity anchor has a small shape and has low requirements for the terrain, and can be sunk to any position on the seabed. The anchor mooring buoy system can be deployed in any sea area as needed, expanding the sustainable operation range of the underwater submersible; the underwater submersible conducts connection and energy replenishment at a relatively shallow depth, with good signal transmission and small control delay. The underwater submersible can be flexible and maneuverable under remote control, and the connection is efficient; the connecting device is provided with a fixed connecting unit and a movable connecting joint, enabling the underwater submersible to charge and replenish energy in a way of being fixed on the connecting device or floating around the connecting device, improving the diversity of connection methods, and solving the problems of difficult deployment, large energy consumption, high risk, difficult maneuverability, and single connection system existing when the current power generation system is applied to charge the underwater submersible underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0058] Figure 1 It is a schematic structural diagram of an anchor mooring buoy system for connecting an underwater submersible of the present invention;

[0059] Figure 2 Structural schematic diagram of the mooring buoy system for connecting an underwater submersible during the connection of the underwater submersible according to the present invention;

[0060] Figure 3 Structural schematic diagram of the buoy body of the mooring buoy system for connecting an underwater submersible according to the present invention after being partially cut away;

[0061] Figure 4 Side view structural diagram of the buoy body and the connection device of the mooring buoy system for connecting an underwater submersible according to the present invention;

[0062] Figure 5 Structural diagram of the device body of the connection device of the mooring buoy system for connecting an underwater submersible according to the present invention after hiding the top plate;

[0063] Figure 6 Cross-sectional structure of the buoy body and the connection device of the mooring buoy system for connecting an underwater submersible according to the present invention Figure 1 ;

[0064] Figure 7 Cross-sectional structure of the buoy body and the connection device of the mooring buoy system for connecting an underwater submersible according to the present invention Figure 2 ;

[0065] Figure 8 Structural schematic diagram of the fixed clamping mechanism of the mooring buoy system for connecting an underwater submersible according to the present invention;

[0066] Figure 9 Structural schematic diagram of the pressure claw module of the mooring buoy system for connecting an underwater submersible according to the present invention;

[0067] Figure 10 Cross-sectional structure diagram of the locking mechanism of the mooring buoy system for connecting an underwater submersible according to the present invention;

[0068] Figure 11 Structural schematic diagram of the mobile connection unit of the mooring buoy system for connecting an underwater submersible according to the present invention;

[0069] Figure 12 Structural schematic diagram of the center of gravity adjustment device of the mooring buoy system for connecting an underwater submersible according to the present invention.

[0070] In the figure:

[0071] 1. Mooring 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;

[0072] 2. Connection device; 21. Suspension cable; 22. Hoisting winch; 23. Device body; 24. Accommodation groove;

[0073] 3. Underwater vehicle;

[0074] 4. Fixed connection unit; 41. Fixed connection port; 42. Fixed connection joint; 43. Fixed clamping mechanism; 431. Positioning and adjusting guide rail; 432. Positioning and adjusting support block; 433. Positioning and adjusting hydraulic actuator; 434. First clamping hydraulic actuator; 435. Claw seat; 435A. Seat body part; 436. Second clamping hydraulic actuator; 437. Pressing head; 438. Installation bin; 441. Electromagnet pressing block; 442. Movable pressing block; 443. Return spring; 444. Locking groove;

[0075] 5. Movable connection unit; 51. Winch for retracting and deploying; 52. Cable for retracting and deploying; 53. Movable connection joint; 54. Propeller thruster;

[0076] 6. Water current power generation device; 61. Water current generator; 62. Water current impeller;

[0077] 7. Center of gravity adjusting device; 71. Center of gravity adjusting guide rail; 72. Center of gravity adjusting rack; 73. Center of gravity adjusting motor; 74. Counterweight; 75. Level gauge; 76. Center of gravity adjusting gear;

[0078] 8. Camera; 9. Magnet. Detailed implementation manners

[0079] Next, the technical solutions in the embodiments will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0080] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is 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 construed as a limitation to the present invention.

[0081] The terms "first", "second", "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or more of such features.

[0082] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" 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, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0083] As Figures 1 to 3 As shown in a schematic embodiment of the anchor - buoy system for connecting an underwater submersible in the present invention, the anchor - buoy system for connecting an underwater submersible includes an anchor - buoy 1 and a connection device 2.

[0084] The anchor - 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 on the seabed floor bed by its counterweight. The gravity anchor 12 is connected to the buoy body 11 through a fixed cable system 13, thereby restricting the buoy body 11 within the deployment area and preventing the buoy body 11 from drifting away from the deployment area along with ocean currents.

[0085] A power generation device is installed on the buoy body 11, and the power generation device includes a solar generator 14. The connection device 2 is located underwater, is connected to the buoy body 11, and is electrically connected to the power generation device, thereby transmitting the electric energy generated by the power generation device to the connection device 2.

[0086] The underwater submersible 3 sails and operates underwater. When the electric energy of the underwater submersible 3 is insufficient, it sails and berths at the connection device 2, so that the connection device 2 is electrically connected to the underwater submersible 3 to charge and replenish the energy of the underwater submersible 3.

[0087] To ensure stable charging, an energy storage battery and a charging control module can be provided in the connection 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. Thus, after the underwater submersible 3 berths at the connection device 2, the charging control module charges the electric energy in the energy storage battery into the underwater submersible 3. Due to day - night alternation and the clarity of the weather, the electric energy generated by the solar generator 14 may not be able to meet the charging and energy replenishment requirements of the underwater submersible 3 in real - time. Therefore, when the underwater submersible 3 is not being 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 continuously and stably obtain electric energy replenishment.

[0088] As Figures 1 to 7 and Figure 11 As shown, the device main body 23 of the connection device 2 is provided with a fixed connection unit 4 and a mobile connection unit 5.

[0089] The fixed connection unit 4 includes a fixed connection port 41, a fixed connection joint 42, and a fixed clamping mechanism 43.

[0090] The fixed connection port 41 is provided on the device main body 23 and extends from the outside to the inside, with the outer end extending to the outer wall of the device main body 23 and the inner end extending to the inside of the device main body 23. The inner diameter of the fixed connection port 41 gradually decreases from the outside to the inside, making it flared.

[0091] The fixed connection joint 42 is installed at the inner end of the fixed connection port 41, and the fixed clamping mechanism 43 is installed on the fixed connection port 41. When the underwater vehicle 3 needs to be charged and replenished with energy, it sails into the fixed connection port 41. The gradually decreasing inner diameter of the fixed connection port 41 guides the underwater vehicle 3 to align with the fixed connection joint 42, enabling the two to be docked. At the same time, the fixed clamping mechanism 43 clamps and fixes the underwater vehicle 3, thus maintaining the docking between the underwater vehicle 3 and the fixed connection joint 42. After the underwater vehicle 3 is docked with the fixed connection joint 42, the power transmission channel between the two is connected, so as to transmit the electric energy stored in the connection device 2 to the underwater vehicle 3 to charge and replenish its energy.

[0092] The mobile connection unit 5 includes a winch 51 for retracting and deploying, a cable 52 for retracting and deploying, and a mobile connection joint 53.

[0093] The winch 51 for retracting and deploying is installed inside the device main body 23. One end of the cable 52 for retracting and deploying is wound on the winch of the winch 51 for retracting and deploying, and the other end extends out of the device main body 23 and is connected to the mobile connection joint 53. The mobile connection joint 53 has a traveling mechanism, so as to realize the traveling of the mobile connection joint 53 in water.

[0094] The retractable winch 51 pays out the retractable cable 52, enabling the movable connection joint 53 to move within a certain space range outside the device main body 23. When the underwater vehicle 3 sails and approaches the connection device 2, the retractable winch 51 pays out the retractable cable 52, causing the movable connection joint 53 to move away from the connection device 2 under the drive of the traveling mechanism and dock with the underwater vehicle 3. The connection device 2 transmits the stored electrical energy to the underwater vehicle 3 through the retractable cable 52 and the movable connection joint 53, enabling the underwater vehicle 3 to be charged even when it is suspended in water, thus enhancing the flexibility of the connection and charging of the underwater vehicle 3. Additionally, the movable connection unit 5 does not require a connection port to be set on the device main body 23 of the connection device 2. After retracting the retractable cable 52, only the movable connection joint 53 needs to be attached to the device main body 23 or retracted into a smaller storage slot provided in the device main body 23, occupying less space of the connection device 2. When combined with the fixed connection unit 4 and configured on the connection device 2, the fixed connection unit 4 is provided on the surfaces of the four sides of the front, back, left, and right of the device main body 23, and the movable connection unit 5 is provided at the four corners of the device main body 23. More connection units can be set in the limited outer surface space of the device main body 23, and at the same time, interfaces for connection and charging are provided for multiple underwater vehicles 3, improving the charging efficiency of the underwater vehicles 3.

[0095] When the movable connection joint 53 actively moves and docks with the underwater vehicle 3, in order to ensure that the movable connection joint 53 aligns with the corresponding interface on the underwater vehicle 3, a camera 8 is installed on the end face of the movable connection joint 53 for manual remote operation or automatic device recognition operation. The position of the underwater vehicle 3 is determined based on the image collected by the camera 8, and by controlling the moving direction and angle of the movable connection joint 53, the end face of the movable connection joint 53 is aligned with the interface on the underwater vehicle 3, realizing the docking of the movable connection joint 53 with the underwater vehicle 3.

[0096] When the underwater vehicle 3 docks with the fixed connection unit 4, the underwater vehicle 3 not only needs to float to the underwater height of the connection device 2 but also needs to adjust its attitude to align with the fixed connection port 41, and then enter the fixed connection port 41 to be fixed and dock with the fixed connection joint 42. Additionally, when the external dimension of the underwater vehicle 3 is relatively large, it cannot enter the fixed connection port 41, resulting in its inability to use the fixed connection unit 4 for connection and charging.

[0097] When using the movable connection unit 5 for the connection of the underwater vehicle 3, the underwater vehicle 3 only needs to sail to one side of the connection device 2, and then the movable connection joint 53 can be released to move automatically and dock with the underwater vehicle 3. The underwater vehicle 3 does not need to adjust its own attitude, further reducing the energy consumption of the underwater vehicle 3 during the connection process, avoiding the exhaustion of the energy of the underwater vehicle 3, and being applicable to underwater vehicles 3 with relatively large external dimensions, further expanding the applicable range of the connection.

[0098] The charging of the underwater vehicle 3 by the connection device 2 can be carried out by wired charging or wireless charging, that is, the connection joint (including the fixed connection joint 42 and the mobile connection joint 53) can transmit electrical energy to the underwater vehicle 3 in a wired or wireless manner. When wired charging is adopted, a charging interface is provided on the underwater vehicle 3, and the connection joint and the charging interface are plugged or contact-connected, so as to realize the mutual contact of the metal conductive parts, connect the circuit, and realize the transmission of electrical energy to the underwater vehicle 3; when wireless charging is adopted, a transmitting coil is provided on the connection joint, and a receiving coil is provided on the underwater vehicle 3. The transmitting coil and the receiving coil are aligned with each other, and electrical energy is transmitted between them through electromagnetic coupling to realize the transmission of electrical energy to the underwater vehicle 3. Regardless of whether the charging method is wired charging or wireless charging, a magnet 9 is provided on the connection joint to firmly adsorb on the underwater vehicle 3, so as to ensure stable contact between the metal conductive parts or stable alignment between the coils, and ensure stable power supply. In addition, for monitoring, a camera 8 is installed on the fixed connection joint 42, so as to observe through images and ensure that the fixed connection joint 42 and the underwater vehicle 3 are accurately and stably docked.

[0099] In the above-described exemplary embodiment, the mooring buoy system for connecting an underwater vehicle uses the floating buoy body 11 in the mooring buoy to fix the connecting device 2, so that the connecting device 2 connects and energizes the underwater vehicle 3 at a relatively shallow position in the water. During the process of the underwater vehicle 3 traveling to the connecting device 2 for energy charging, the path is relatively short and the energy consumption is less, which can reduce the risk of the underwater vehicle 3 running out of energy, and enable the underwater vehicle 3 to be in an environment with a relatively small water pressure for a longer time, and it is not easy to be damaged due to sealing problems. It can reduce the risk of the underwater vehicle 3 sinking to the bottom of the sea due to energy exhaustion or watertight damage. The floating buoy body 11 can use a power generation device including a solar generator 14 to generate electricity and supply energy for a long time, ensuring that the underwater vehicle 3 can complete energy charging efficiently and safely; the gravity anchor has a small shape, and its layout has low requirements for the terrain and can be sunk to any position on the seabed. The mooring buoy system can be deployed in any sea area as needed, expanding the sustainable operation range of the underwater vehicle; the underwater vehicle conducts connection and energy replenishment at a relatively shallow depth, with good signal transmission and small control delay. Under remote control, the underwater vehicle can be flexible and the connection is efficient; the connecting device 2 is provided with a fixed connecting unit 4 and a movable connecting joint 53, enabling the underwater vehicle 3 to be charged and replenished in a manner of being fixed on the connecting device 2 or suspended outside the connecting device 2, improving the diversity of the connection method. More connecting units can be set in the limited space of the connecting device 2, enabling more underwater vehicles 3 to be charged and replenished simultaneously, improving the operation efficiency, and can also adapt to underwater vehicles 3 of various external dimensions, reducing the energy consumption during the connection of the underwater vehicle 3, improving the safety of the connection operation, and reducing the risk of losing the underwater vehicle 3 due to energy exhaustion, solving the problems of difficult deployment, large energy consumption, high risk, difficult maneuverability, and single connection system when the current power generation system is applied to the underwater charging of the underwater vehicle 3.

[0100] In some embodiments, as Figure 3 shown, the connecting device 2 is suspended and installed on the buoy body 11 through a suspension cable 21, and a hoisting winch 22 is installed on the buoy body 11, and the suspension cable 21 is wound and fixed on the winch of the hoisting winch 22.

[0101] When the hoisting winch 22 drives its winch drum to rotate to pay out more suspension cables 21, the connection device 2 sinks under its own weight; when the hoisting winch 22 drives its winch drum to rotate to reel in more suspension cables 21, the connection device 2 is pulled up to a shallower height position. By paying out and reeling in the suspension cables 21 by the winch of the hoisting winch 22, the lifting and lowering of the connection device 2 in the water is realized, so that the connection device 2 is adjusted to the current operating depth of the underwater vehicle 3. Thus, the underwater vehicle 3 can reach the connection device 2 and connect with it for charging and energy replenishment without surfacing, only by propulsion movement, which reduces the difficulty of connection and energy replenishment of the underwater vehicle 3, consumes less energy during the movement of the underwater vehicle 3 towards the connection device 2, reduces the risk of energy exhaustion of the underwater vehicle 3 during the traveling process, ensures that the underwater vehicle 3 can complete charging and energy replenishment underwater, and improves the safety of the underwater vehicle 3.

[0102] In some embodiments, as Figure 1 shown, the fixed cable system 13 is divided into a first cable section 13A and a second cable section 13B. The first cable section 13A is connected to the connection device 2, and the second cable section 13B is connected to the gravity anchor 12. There is a telescopic winch 15 on the fixed cable system 13, and the connection point of the first cable section 13A and the second cable section 13B is fixed on the winch drum of the telescopic winch 15.

[0103] The fixed cable system 13 has a cable to connect the telescopic winch 15, so that the connection device 2 powers the telescopic winch 15. The telescopic winch 15 has a frame and a motor installed on the frame. The winch drum is installed on the output shaft of the motor. There is a cable arranging mechanism on the frame to enable the cable to be neatly wound onto the winch drum and prevent the situation where the winch drum does not move but the motor rotates by itself. The connection point of the first cable section 13A and the second cable section 13B can be directly fixed on the wheel surface of the winch drum, or the fixed cable system 13 directly passes through the winch drum so that the connection point of the first cable section 13A and the second cable section 13B is located inside the winch drum. When the winch of the telescopic winch 15 rotates in a first direction, it reels in the first cable section 13A and the second cable section 13B simultaneously, 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 pays out the first cable section 13A and the second cable section 13B simultaneously, thereby extending the length of the fixed cable system 13. Through the operation of the telescopic winch 15, the telescopic of the length of the fixed cable system 13 is realized.

[0104] When the connection device 2 moves up or down, the distance between it and the seabed floor changes, and the length of the fixed cable system 13 becomes longer or shorter accordingly, so as to adapt to the distance between the connection device 2 and the seabed floor, avoiding the horizontal deviation of the connection device 2 caused by the excessive length of the cable between the connection device 2 and the gravity anchor 12, and further avoiding a larger range of deviation of the buoy body 11 on the water surface, ensuring the stability of the position area where the buoy body 11 is located, enabling the anchor - based buoy to accurately and effectively measure the hydrological data of the current area, improving the accuracy of the connection device 2 in the XY - axis position, and ensuring that the underwater vehicle 3 can accurately find the position of the connection device 2 when charging and replenishing energy.

[0105] In addition, if the fixed cable system 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 connection device 2 descends, once the connection device 2 moves horizontally under the action of water flow, it will cause the suspension cable 21 to wind around the fixed cable system 13, and further cause the connection device 2 to be unable to lift and lower normally. The fixed cable system 13 is connected to the buoy body 11 by connecting the connection device 2, so that there is only the suspension cable 21 between the connection device 2 and the buoy body 11, thus avoiding the winding of the suspension cable 21 and ensuring that the connection device 2 can lift and lower smoothly.

[0106] In some embodiments, the power generation device further includes a wind turbine (not shown in the drawings). When it is night or the daylight is weak, the electric energy generated by the solar generator 14 is limited. By further setting a wind turbine, it can be used as a supplement to the solar generator 14, so that the power generation device can generate electric energy to charge the connection device 2 in more time periods, and there is no electric energy generated and charged into the energy storage battery of the connection device 2 only when there is no wind and insufficient light, improving the power generation efficiency.

[0107] In some embodiments, as Figures 4 to 7 shown, when the underwater vehicle 3 enters the fixed connection port 41 and connects to the fixed connection joint 42, there are fixed clamping mechanisms 43 on both sides of the underwater vehicle 3, so that the two groups of fixed clamping mechanisms 43 clamp and fix the middle underwater vehicle 3 from both sides respectively.

[0108] As Figures 8 to 9 shown, the fixed clamping mechanism 43 includes a mounting member, a first clamping hydraulic actuator 434 and a jaw module. The mounting member is installed on the fixed connection port 41, the first clamping hydraulic actuator 434 is fixedly installed on the positioning and adjusting support block 432, and the jaw module is connected to the first clamping hydraulic actuator 434.

[0109] When the underwater vehicle 3 enters the fixed connection port 41 and docks with the fixed connection joint 42, the underwater vehicle 3 is axially aligned with the fixed connection port 41. The piston rod of the first clamping hydraulic actuator 434 extends, pushing the jaw module to move radially within the fixed connection port 41, thereby approaching and clamping onto the surface of the underwater vehicle 3, achieving unilateral clamping and fixing of the underwater vehicle 3. Both sides of the underwater vehicle 3 are simultaneously clamped by two sets of jaw modules, thereby clamping and fixing the underwater vehicle 3 within the fixed connection port 41, enabling it to maintain docking with the fixed connection joint 42 and continuously and stably charge and replenish energy.

[0110] To adapt to the shapes of different underwater vehicles 3 and achieve clamping of the underwater vehicle 3 by the jaw module, the jaw module includes a clamping seat, a second clamping hydraulic actuator 436, and a pressure head 437. The jaw seat 435 is connected to the first clamping hydraulic actuator 434. The second clamping hydraulic actuators 436 are fixedly installed on the jaw seat 435 and are arranged side by side in multiple numbers. There are multiple pressure heads 437, and each pressure head 437 is installed on a corresponding second clamping hydraulic actuator 436.

[0111] When the jaw module approaches the surface of the underwater vehicle 3 to the maximum extent or directly adheres to it under the push of the first clamping hydraulic actuator 434, the piston rods of the respective second clamping hydraulic actuators 436 push the corresponding pressure heads 437 towards the underwater vehicle 3, thereby ensuring that each pressure head 437 clamps onto the surface of the underwater vehicle 3. The arrangement of the pressure heads 437 matches the contour of the underwater vehicle 3, enabling the fixed clamping mechanism 43 to stably clamp and fix underwater vehicles 3 with different shapes, enhancing the applicable range of the docking device 2.

[0112] In some embodiments, the mounting member includes a positioning and adjusting guide rail 431, a positioning and adjusting support block 432, and a positioning and adjusting hydraulic actuator 433.

[0113] The positioning and adjusting guide rail 431 is installed on the fixed connection port 41 and is arranged along the axial direction of the fixed connection port 41. The positioning and adjusting support block 432 is slidably installed on the positioning and adjusting guide rail 431. The positioning and adjusting hydraulic actuator 433 is installed on the positioning and adjusting guide rail 431 and is connected to the positioning and adjusting support block 432. The first clamping hydraulic actuator 434 is fixedly installed on the positioning and adjusting support block 432.

[0114] Since the end of the underwater vehicle 3 is generally provided with a fairing with a smooth surface, if the clamping jaw module clamps on the fairing, part of the pressure of the clamping jaw module acts on it radially, and the other part acts on it axially, which easily causes the underwater vehicle under clamping to radially disengage from the fixed connection port 41. The positioning and adjusting hydraulic actuator 433 pushes and pulls the positioning and adjusting support block 432 through the telescopic movement of its piston rod, so that it slides on the positioning and adjusting guide rail 431, thereby adjusting the position of the clamping jaw module in the axial direction of the fixed connection port 41, aligning the clamping jaw module with the flat surface on one side of the fairing on the underwater vehicle 3, thereby improving the stability of clamping and fixing the underwater vehicle 3 and enhancing the adaptability to the shape of the underwater vehicle 3.

[0115] In some embodiments, the pressing heads 437 are all hinged to the corresponding second clamping hydraulic actuators 436, so that the pressing heads 437 can rotate along with the outer surface of the underwater vehicle 3. The pressing heads 437 are in surface contact with the underwater vehicle 3 when pressing it, ensuring that the surfaces of the pressing heads 437 are closely attached to the surface of the underwater vehicle 3, and improving the stability of clamping and fixing the underwater vehicle 3.

[0116] In some embodiments, as Figure 10 shown, the clamping jaw module further includes a locking mechanism. The locking mechanism includes an electromagnet pressing block 441, a movable pressing block 442 and a return spring 443. The electromagnet pressing block 441 is fixedly installed in the installation cavity 438 provided in the clamping jaw seat 435. The movable pressing block 442 is made of iron and is installed in the installation cavity 438. The return spring 443 is installed between the electromagnet pressing block 441 and the movable pressing block 442.

[0117] The piston rods of the second clamping hydraulic actuators 436 all pass through the installation chamber 438 and are located between the electromagnet pressing block 441 and the movable pressing block 442. The return spring 443 is a compression spring. When each pressing head 437 of the jaw module is pressed against the surface of the underwater vehicle 3 under the pushing of the corresponding second clamping hydraulic actuator 436, and the magnetic force generated by the electromagnet pressing block 441 magnetically attracts and fixes the movable pressing block 442, the electromagnet pressing block 441 and the movable pressing block 442 clamp and fix the piston rod of the second clamping hydraulic actuator 436, thereby enabling the piston rod of the second clamping hydraulic actuator 436 to maintain the pushing force on the pressing block, realizing the locking of the clamping, further enhancing the stability of the underwater vehicle 3 during clamping and fixing. And at this time, the second clamping hydraulic actuator does not need to continuously provide hydraulic driving force, reducing the pressure of the hydraulic pipeline, avoiding leakage and damage of the hydraulic pipeline due to being in a high-pressure state for a long time, and improving the service life of the equipment during underwater operation. In addition, when the movable pressing block 442 is magnetically fixed on the electromagnet pressing block 441, the return spring 443 of the compression spring is also clamped and compressed by the two. When it is necessary to release the underwater vehicle 3, the electromagnet pressing block 441 is powered off, the magnetic force disappears, and the elastic force of the return spring 443 pushes the movable pressing block 442 away from the electromagnet pressing block 441, thereby eliminating the clamping of the piston rod of the second clamping hydraulic actuator 436, enabling the piston rod of the second clamping hydraulic actuator 436 to retract and stopping the pressing head 437 from pressing on the underwater vehicle 3.

[0118] To install the locking mechanism, the jaw seat 435 can be divided into two seat body parts 435A. A groove structure is provided on the surface of at least one of the two seat body parts 435A. Thus, after the two seat body parts 435A are bolted and joined to form the jaw seat 435, an installation chamber 438 is formed inside it. 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.

[0119] To ensure the clamping force on the piston rod during magnetic fixation of the locking mechanism, locking grooves 444 are provided on the surfaces of the electromagnet pressing block 441 and the movable pressing block 442 on the opposite sides. When the movable pressing block 442 is magnetically fixed on the electromagnet pressing block 441, both sides of the piston rod are located in the corresponding locking grooves 444 on one side and are in surface contact with them, thereby generating greater friction under the clamping action, enabling the piston rod to be locked more firmly and maintaining the stable pressing of the pressing head 437 on the underwater vehicle 3. At the same time, it can also enable the electromagnet pressing block 441 and the movable pressing block 442 to be in surface contact with each other at the parts where the locking grooves 444 are not provided, enhancing the firmness of their magnetic fixation.

[0120] In some embodiments, the traveling mechanism is a plurality of propeller thrusters 54, which are respectively installed on the side and end face of the mobile connection joint 53.

[0121] The propeller 54 in the traveling mechanism provides propulsion force for the movement of the mobile connection joint 53. The propeller 54 arranged on the end face of the mobile connection joint 53 provides propulsion force for the movement of the mobile connection joint 53 in its axial direction, that is, realizes the movement in the X-axis direction; the propeller 54 is arranged on the side surface of the mobile connection joint 53, and at least one side of the upper and lower sides or one side of the left and right sides is provided with the propeller 54, respectively realizing the movement in the Z-axis and Y-axis directions and providing propulsion force for the movement of the mobile connection joint 53 in its radial direction. In order to improve the movement flexibility, multiple propellers 54 can be respectively arranged at multiple angles on the side surface, and each propeller 54 at multiple angular positions.

[0122] The flexible movement of the mobile connection joint 53 in water is realized through each propeller 54, so that it can autonomously dock with the underwater submersible 3, facilitating the docking and charging of the underwater submersible 3.

[0123] In some embodiments, such as Figures 1 to 7 shown, the device main 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 main body 23, the water flow impeller 62 is installed on the main shaft of the water flow generator 61, and is located in the accommodation groove 24 provided in the device main body 23, and one side of the water flow impeller 62 extends out of the device main body 23.

[0124] 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 main body 23 of the docking device 2. The flowing water flow pushes the extended water flow impeller 62, causing the water flow impeller to rotate, and then driving the water flow generator 61 to generate electricity. The water flow is utilized to generate electric energy, further increasing the energy supply path of the docking device 2, enabling the docking device 2 to charge and replenish energy for a longer period of time and having sufficient power to function for the underwater submersible 3.

[0125] In addition, when the docking device 2 is suspended on the buoy body 11 by the suspension cable 21 wound and unwound by the lifting winch 22, the lifting of the docking device 2 can adjust it to a water depth with a larger water flow, improving the power generation efficiency of the water flow power generation device 6 and maintaining it in an efficient state, so as to continuously charge the docking device 2 for a long time.

[0126] In some embodiments, such as Figure 6 and Figure 12 shown, the device main body 23 of the docking device 2 is provided with a center of gravity adjustment device 7. The center of gravity adjustment device 7 includes a center of gravity adjustment guide rail 71, a center of gravity adjustment rack 72, a center of gravity adjustment motor 73, a counterweight 74, a level 75 and a center of gravity adjustment controller.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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. 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.

2. The mooring buoy system for connecting an underwater submersible according to claim 1, 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.

3. 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.

4. The mooring buoy system for connecting an underwater submersible according to claim 3, 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.

5. The mooring buoy system for connecting an underwater submersible according to claim 3, characterized in that: The pressure heads are all hinged on the corresponding second clamping hydraulic drivers.

6. The mooring buoy system for connecting an underwater submersible according to claim 3, 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.

7. 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.

8. 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.

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 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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