An underwater docking dock and its usage method

Abstract

This invention proposes an underwater docking dock and its usage method, belonging to the field of underwater docks. It includes a dock station with a channel for berthing vehicles; a movable part disposed within the channel and moving along it; one end of the channel connecting to the outside and serving as the inlet, through which the vehicle enters the channel; a pawl is provided on the outward-facing end face of the movable part; after the pawl locks the bow of the vehicle, the movable part drives the vehicle to move synchronously away from the inlet, thus entering the channel; or the movable part drives the vehicle in the channel to move synchronously towards the inlet, and after the vehicle exits the channel, the pawl releases the bow of the vehicle. This invention features a reciprocating movable part within the channel. As the movable part moves forward to the inlet of the channel, and the vehicle approaches the inlet, the movable part actively captures the vehicle and locks its bow with the pawl, while the movable part pulls the vehicle to guide it into the channel.

Description

Technical Field

[0001] This invention relates to the field of underwater dock technology, and in particular to an underwater docking dock and its usage method. Background Technology

[0002] Based on their energy supply methods and level of autonomy, underwater robots are generally divided into ROVs and AUVs. ROVs primarily rely on umbilical cables for energy supply and enable remote control by a human in the loop; AUVs mainly utilize onboard power and can operate autonomously. For AUVs, their limited onboard power is the main bottleneck restricting their operating time and mission types. Achieving automated underwater energy replenishment is key to improving the operational efficiency of AUV-type underwater robots. Utilizing underwater docking stations allows for intermittent energy replenishment and data command transmission to AUVs, while also providing safety protection for AUVs in high sea states.

[0003] Patent CN111874194A discloses an underwater docking station for an AUV and a marine environmental observation platform based on buoys and AUVs. The underwater docking station is typically a cylindrical frame, open at one end and closed at the other. After the underwater robot moves and fully enters the dock, a locking mechanism, such as a latch or gripper, locks the robot inside, allowing it to dock. However, during the robot's entry into the dock, it can still shift position relative to the dock under the influence of water currents, causing collisions or friction between the robot and the dock, resulting in damage to both. Summary of the Invention

[0004] In view of this, the present invention proposes an underwater docking dock and its usage method to solve the problem that the robot will shift its position relative to the docking station under the action of water flow during the process of the robot driving into the docking station, which will lead to collision or friction between the robot and the docking station.

[0005] The technical solution of this invention is implemented as follows: This invention provides an underwater docking dock, including a dock station with a channel for berthing a vehicle; a movable part, disposed within the channel and moving along the channel; wherein, one end of the channel is connected to the outside and is designated as the inlet end, and the vehicle enters the channel from the inlet end; a pawl is provided on the outer end face of the movable part; after the pawl locks the bow of the vehicle, the movable part drives the vehicle to move synchronously away from the inlet end and enters the channel; or the movable part drives the vehicle in the channel to move synchronously towards the inlet end and after the vehicle exits the channel, the pawl releases the bow of the vehicle.

[0006] Based on the above technical solutions, preferably, it also includes several slide rods arranged axially around the channel within the channel; several sliders are arranged one-to-one on the slide rods and move along the slide rods; wherein, both ends of the slide rods extend axially along the channel; several sliders are simultaneously connected to the movable part around the channel axially, and the sliders drive the movable part to move synchronously along the slide rods.

[0007] More preferably, it also includes two winding mechanisms, which are set on the outer perimeter wall of the dock and respectively at both ends of the channel; wherein, the two winding mechanisms are connected by winding, and the slider is set on the winding. One of the winding mechanisms winds the winding and drives the slider to move along the slider toward the winding mechanism that is winding the winding.

[0008] Based on the above technical solutions, preferably, it also includes several sets of locking blocks, which are arranged at intervals along the axial direction of the channel; wherein, each set includes at least two locking blocks, and the locking blocks of each set are evenly arranged around the axial direction of the channel; after the vehicle moves into the channel, each locking block moves towards the vehicle simultaneously along the radial direction of the channel and clamps the vehicle between the locking blocks, or each locking block moves away from the vehicle simultaneously along the radial direction of the channel and releases the vehicle.

[0009] More preferably, it also includes a limiting part, which is disposed on the outer peripheral wall of the dock and aligned with the card block radially along the channel; a telescopic mechanism, one end of which is disposed on the card block and the other end of which is disposed on the limiting part; wherein, the telescopic mechanism performs a telescopic action and drives the card block to move radially along the channel.

[0010] More preferably, it also includes an elastic element disposed between the locking block and the limiting part, with its two ends respectively connected to the locking block and the limiting part; wherein, the end of the telescopic mechanism facing the limiting part abuts against the limiting part; the end of the telescopic mechanism abutting against the limiting part extends, the telescopic mechanism presses against the limiting part to move the locking block toward the aircraft, and the elastic element stretches; the end of the telescopic mechanism abutting against the limiting part retracts and disengages from the limiting part, the elastic element contracts and rebounds, and drives the locking block away from the aircraft, and causes the end of the telescopic mechanism abutting against the limiting part to abut against the limiting part again.

[0011] Based on the above technical solutions, preferably, it also includes several sets of rollers, which are spaced apart on the inner wall of the channel along the axial direction of the channel; wherein, each set includes at least two rollers, and each roller in each set is evenly distributed around the axial direction of the channel; when the vehicle moves in the channel, the roller surface of the roller is in close contact with the outer surface of the vehicle, and the roller rolls along the outer surface of the vehicle; the movable part is located between each roller in the same set and is spaced apart from each roller.

[0012] Based on the above technical solutions, a preferred embodiment also includes a barrier net installed at the entrance end of the channel; wherein the barrier net is funnel-shaped, and the inner diameter of the end of the barrier net connected to the entrance end is smaller than the inner diameter of the end furthest from the entrance end.

[0013] Based on the above technical solutions, preferably, the radial cross-sectional shape of the channel is circular or regular polygonal.

[0014] On the other hand, the present invention also provides a method for using an underwater docking dock. The method using the above-mentioned underwater docking dock includes the following steps: Step 1, in the initial state, the movable part moves to the inlet end of the channel, the bow of the vehicle aligns with the inlet end of the channel, the vehicle moves forward and approaches the movable part, and the pawl locks the bow of the vehicle; Step 2, the movable part drives the vehicle to move synchronously along the channel away from the inlet end until the vehicle is completely inside the channel and docks; Step 3, the movable part drives the vehicle to move synchronously along the channel towards the inlet end until the vehicle is completely out of the channel, and then the pawl releases the vehicle.

[0015] The underwater docking dock and its method of use of the present invention have the following advantages over the prior art:

[0016] (1) The present invention provides a movable part that can move back and forth in the channel. The movable part moves forward to the entrance end of the channel. When the vehicle approaches the entrance end, the movable part actively captures the vehicle and locks its bow with a claw. The movable part pulls the vehicle to guide it into the channel, thus avoiding friction and collision between the vehicle and the inner wall of the channel during the process of entering the dock.

[0017] (2) The present invention is equipped with a claw in the channel, which can clamp the vehicle after it has fully entered the channel, thus achieving fixation and support for the vehicle when it is docked.

[0018] (3) The present invention provides rollers on the inner wall of the channel so that the outer wall of the vehicle contacts the rollers. On the one hand, it restricts the vehicle and avoids the problem of the pawl breaking due to the swing of the end that is not gripped by the moving part relative to the gripped end. On the other hand, it also allows the vehicle to enter the channel more smoothly and avoids friction and collision between the vehicle and the inner wall of the channel. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a perspective view of the underwater docking dock of the present invention;

[0021] Figure 2 This is a perspective view of the movable part of the present invention;

[0022] Figure 3This is a perspective view of the underwater docking dock of the present invention;

[0023] Figure 4 This is a perspective view of the underwater docking dock of the present invention;

[0024] Figure 5 This is a top sectional view of the underwater docking dock of the present invention;

[0025] Figure 6 This is a cross-sectional view of the underwater docking dock of the present invention;

[0026] Figure 7 This is a cross-sectional view of the underwater docking dock of the present invention.

[0027] In the diagram: 1. Dock station; 101. Channel; 2. Moving part; 21. Claw; 3. Sliding rod; 4. Sliding block; 41. Winding mechanism; 5. Locking block; 6. Limiting part; 7. Telescopic mechanism; 8. Elastic element; 9. Roller; 10. Netting. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not 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 effort are within the scope of protection of the present invention.

[0029] like Figure 1 As shown, combined with Figure 2 The present invention provides an underwater docking station, comprising a docking station 1 and a movable part 2.

[0030] The docking station 1 includes a channel 101 for berthing underwater vehicles. The docking station 1 can be submerged in water via slings or fixedly installed on a platform or wall. One end of the channel 101 connects to the outside and serves as the inlet, through which the underwater vehicle enters. The other end of the channel 101 can be open or closed. The inner wall of the inner end of the channel 101 is equipped with mechanical, electrical, and hydraulic interfaces for docking with underwater vehicles or robots. In this application, "underwater vehicle" refers to an underwater drone, a small submersible, or a single-person submersible, and can also be a large submarine.

[0031] The movable part 2 is located within and moves along the channel 101. A pawl 21 is provided on the outward-facing end face of the movable part 2; the pawl 21 has an outward-flipping structure. A trigger-type pedal mechanism can be provided on the outward-facing end face of the movable part 2. When the bow of the vehicle lightly touches or impacts the pedal, the pawl 21 is triggered to flip inward and grip the bow of the vehicle. After the pawl 21 locks the bow of the vehicle, the movable part 2 moves the vehicle synchronously away from the inlet end, allowing the vehicle to enter the channel 101; or the movable part 2 moves the vehicle in the channel 101 synchronously towards the inlet end, and after the vehicle exits the channel 101, the pawl 21 releases the bow of the vehicle. Because the relative position of the vehicle and the channel 101 is restricted by the movable part 2 during the process of the movable part 2 pulling the vehicle into or pushing the vehicle out of the channel 101, the vehicle will not rub or collide with the inner wall of the channel 101. The underwater docking station of this application can intermittently replenish the energy of the underwater robot and enable the transmission of data commands, while also providing safety protection for the underwater robot in high sea states. Furthermore, the docking station has an external frame, which is a rectangular protective space formed by connecting rods to protect the internal structural components.

[0032] exist Figure 3 In a preferred embodiment shown, in order to limit the direction and range of movement of the movable part 2, a slide bar 3 and a slider 4 are also included.

[0033] Among them, several sliding rods 3 are arranged in the channel 101 around the axial direction of the channel 101, and the two ends of the sliding rods 3 extend along the axial direction of the channel 101; the inner diameter of the channel 101 is larger than the outer diameter of the aircraft, and the two ends of the sliding rods 3 are connected to the inner wall of the channel 101 through support members.

[0034] Several sliders 4 are correspondingly mounted on the slide bar 3 and move along the slide bar 3; several sliders 4 are simultaneously connected to the movable part 2 axially around the channel 101, and the multiple sliders 4 restrict the orientation of the end face of the movable part 2, making the end face of the movable part 2 parallel to the radial cross-section of the channel 101. The sliders 4 drive the movable part 2 to reciprocate along the slide bar 3 according to the needs of the vehicle entering or leaving the channel 101.

[0035] exist Figure 5 In a preferred embodiment shown, a winding mechanism 41 is also included to provide driving force for the movement of the slider 4.

[0036] Two winding mechanisms 41 are mounted on the outer perimeter wall of dock 1 and at both ends of channel 101. The two winding mechanisms 41 are connected by windings, and slider 4 is mounted on the windings. One winding mechanism 41 winds the windings and drives the slide bar 3 to move along the slide bar 3 toward the winding mechanism 41 that is winding the windings. Although a telescopic rod could also be used to connect to slider 4 to drive slider 4 to move, the telescopic length of the telescopic rod may not meet the movement range requirements of slider 4 due to the long length of the aircraft. Alternatively, a rotary motor can be connected to the end of slide bar 3. Slide bar 3 is a screw and screwed to slider 4. The rotary motor drives slide bar 3 to rotate, which can also drive slider 4 to move along slide bar 3.

[0037] exist Figure 7 In a preferred embodiment shown, a locking block 5 is also included to secure the vehicle after it has fully entered the channel 101 and prevent it from leaving the channel 101 due to water flow or other factors.

[0038] Several sets of locking blocks 5 are spaced apart along the axial direction of the channel 101 within the channel 101. Each set includes at least two locking blocks 5, and the locking blocks 5 in each set are evenly distributed around the axial direction of the channel 101. After the vehicle moves into the channel 101, each locking block 5 moves radially towards the vehicle along the channel 101 simultaneously, clamping the vehicle between the locking blocks 5, or each locking block 5 moves radially away from the vehicle along the channel 101 simultaneously, releasing the vehicle. The contact surface between the locking blocks 5 and the surface of the vehicle is a contoured surface, allowing the locking blocks 5 to fully contact the surface of the vehicle and achieve the purpose of clamping and fixing. At the same time, multiple locking blocks 5 clamping the vehicle also provide support for the vehicle inside the channel 101.

[0039] exist Figure 7 In a preferred embodiment shown, a limiting part 6 and a telescopic mechanism 7 are also included to drive the movement of the card block 5.

[0040] The limiting part 6 is located on the outer peripheral wall of the dock 1 and is aligned radially with the locking block 5 along the channel 101. The position of the limiting part 6 is fixed.

[0041] One end of the telescopic mechanism 7 is mounted on the locking block 5, and the other end is mounted on the limiting part 6; the telescopic mechanism 7 performs telescopic movements and drives the locking block 5 to move radially along the channel 101. The telescopic mechanism 7 can be a telescopic bar, a hydraulic cylinder, or a telescopic pneumatic cylinder, etc.

[0042] exist Figure 7 In a preferred embodiment shown, an elastic element 8 is also included to buffer the vibrations generated when the locking block 5 moves, as well as the pressure when the locking block 5 contacts and clamps the aircraft.

[0043] The elastic element 8 is disposed between the locking block 5 and the limiting part 6, with its two ends connected to the locking block 5 and the limiting part 6 respectively. Typically, a telescopic pin is mounted on the limiting part 6, with one end of the pin fixed to the limiting part 6 and the other end inserted into the locking block 5, and the elastic element 8 is sleeved on the pin.

[0044] When the above technical solution is adopted, the end of the telescopic mechanism 7 facing the limiting part 6 abuts against the limiting part 6; the end of the telescopic mechanism 7 abutting against the limiting part 6 extends, and the telescopic mechanism 7 presses against the limiting part 6 to make the locking block 5 move toward the aircraft, and the elastic member 8 stretches; the end of the telescopic mechanism 7 abutting against the limiting part 6 retracts and disengages from the limiting part 6, the elastic member 8 contracts and rebounds and drives the locking block 5 away from the aircraft, and makes the end of the telescopic mechanism 7 abutting against the limiting part 6 abut against the limiting part 6 again, so that the purpose of pushing the locking block 5 to move can be achieved by the telescopic free end of the telescopic mechanism 7 abutting against the limiting part 6.

[0045] exist Figure 6 In a preferred embodiment shown, rollers 9 are also included to enable the vehicle to move smoothly within channel 101.

[0046] Several sets of rollers 9 are spaced apart along the axial direction of the channel 101 on the inner wall of the channel 101. Each set includes at least two rollers 9, and the rollers 9 in each set are evenly distributed around the axial direction of the channel 101. When the vehicle moves within the channel 101, the roller surface of the roller 9 is in close contact with the outer surface of the vehicle. For example, if the vehicle is spindle-shaped or ellipsoidal, the roller surface of the roller 9 can be concave to better fit the surface of the vehicle, and the roller 9 rolls along the outer surface of the vehicle. In addition, the rollers 9 can also prevent the vehicle from rubbing or expanding against the inner wall of the channel 101.

[0047] The movable part 2 is located between each roller 9 in the same group and is spaced apart from each roller 9 to avoid the roller 9. Therefore, the slide bar 3 and the slider 4 are located between two rollers 9.

[0048] exist Figure 4 In a preferred embodiment shown, a barrier net 10 is also included to guide the vehicle from the inlet end into the channel 101.

[0049] The barrier net 10 is installed at the inlet end of the channel 101. The barrier net 10 is funnel-shaped, and the inner diameter of the end of the barrier net 10 connected to the inlet end is smaller than the inner diameter of the end furthest from the inlet end. The barrier net 10 can be a woven mesh or an elastic skin, or it can simply be a metal funnel. The inner wall surface of the barrier net 10 forms a guide surface or guide curve that gradually narrows in cross-sectional dimensions to correct the lateral positional deviation of the underwater robot during the docking process.

[0050] exist Figure 6In a preferred embodiment shown, the radial cross-sectional shape of channel 101 is circular or regular polygonal. The principle of the present invention is applicable to aircraft with various outer contour shapes.

[0051] like Figure 1 As shown, combined with Figure 2 The present invention discloses a method for using an underwater docking dock, employing the aforementioned underwater docking dock, comprising the following steps:

[0052] Step 1: In the initial state, the movable part 2 moves to the inlet end of the channel 101, the bow of the vehicle aligns with the inlet end of the channel 101, the vehicle moves forward and approaches the movable part 2, and the pawl 21 locks the bow of the vehicle. To facilitate the vehicle's approach to the dock 1 and to locate and approach the inlet end of the channel 101, a light source or laser guidance component can be installed on the outer edge of the inlet end to guide the vehicle.

[0053] Step two: The moving part 2 drives the vehicle to move synchronously along the channel 101 in a direction away from the inlet end until the vehicle is fully inside the channel 101 and comes to a stop. During the process of the vehicle entering the channel 101, its outer surface contacts the roller 9 to ensure a more stable and smooth entry into the channel 101; after the vehicle is fully inside the channel 101, the locking block 5 clamps the vehicle under the drive of the telescopic mechanism 7 to fix the vehicle in place.

[0054] Step 3: When the vehicle needs to exit dock 1, the locking block 5 releases the vehicle, and then the moving part 2 drives the vehicle to move synchronously along the channel 101 toward the inlet end until the vehicle completely exits the channel 101, after which the locking claw 21 releases the vehicle.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An underwater docking dock, characterized in that, include: The dock (1) has a passage (101) for docking aircraft. The movable part (2) is disposed within the channel (101) and moves along the channel (101); Several sliding rods (3) are arranged axially around the channel (101) within the channel (101); Several sliders (4) are arranged one-to-one on the slide bar (3) and move along the slide bar (3); Two winding mechanisms (41) are installed on the outer perimeter wall of the dock (1) and respectively at both ends of the channel (101); Several sets of card blocks (5) are arranged at intervals along the axial direction of the channel (101) within the channel (101); The limiting part (6) is provided on the outer peripheral wall of the dock (1) and is radially aligned with the locking block (5) along the channel (101); The telescopic mechanism (7) has one end disposed on the locking block (5) and the other end disposed on the limiting part (6); An elastic element (8) is disposed between the locking block (5) and the limiting part (6), and its two ends are respectively connected to the locking block (5) and the limiting part (6); One end of the channel (101) is connected to the outside and is set as the inlet end. The vehicle enters the channel (101) from the inlet end. The movable part (2) is provided with a claw (21) on the end face facing the outside; after the claw (21) locks the bow of the vehicle, the movable part (2) drives the vehicle to move synchronously away from the inlet end and makes the vehicle enter the channel (101); Alternatively, the active part (2) drives the vehicle in the channel (101) to move synchronously toward the inlet end, and after the vehicle exits the channel (101), the chuck (21) releases the bow of the vehicle; The slide bar (3) extends axially along the channel (101) at both ends; Several sliders (4) are axially connected to the movable part (2) around the channel (101), and the sliders (4) drive the movable part (2) to move synchronously along the slide bar (3); The two winding mechanisms (41) are connected by winding, and the slider (4) is set on the winding. One of the winding mechanisms (41) winds the winding and drives the slider (3) to move along the slider (3) toward the winding mechanism (41) that is winding the winding. Each group includes at least two of the aforementioned locking blocks (5), and each of the locking blocks (5) in each group is evenly distributed around the channel (101) axially; after the vehicle moves into the channel (101), each of the aforementioned locking blocks (5) moves radially toward the vehicle along the channel (101) and clamps the vehicle between the locking blocks (5), or each of the aforementioned locking blocks (5) moves radially away from the vehicle along the channel (101) and releases the vehicle; The telescopic mechanism (7) performs a telescopic action and drives the card block (5) to move radially along the channel (101); The end of the telescopic mechanism (7) facing the limiting part (6) abuts against the limiting part (6); The telescopic mechanism (7) extends at the end of the limiting part (6), the telescopic mechanism (7) presses against the limiting part (6) to make the locking block (5) move toward the aircraft, and the elastic element (8) stretches. The telescopic mechanism (7) retracts from the end of the limiting part (6) and disengages from the limiting part (6). The elastic element (8) retracts and rebounds, causing the locking block (5) to move away from the aircraft, and causing the end of the telescopic mechanism (7) to re-abut against the limiting part (6).

2. The underwater docking dock according to claim 1, characterized in that, Also includes: Several sets of rollers (9) are arranged at intervals along the axial direction of the channel (101) on the inner wall of the channel (101); Each group includes at least two rollers (9), and each roller (9) in each group is evenly distributed around the channel (101) axially; when the vehicle moves in the channel (101), the roller surface of the roller (9) is in close contact with the outer surface of the vehicle, and the roller (9) rolls along the outer surface of the vehicle. The movable part (2) is located between each roller (9) in the same group and is spaced apart from each roller (9).

3. The underwater docking dock according to claim 1, characterized in that, Also includes: A barrier net (10) is installed at the entrance end of the channel (101); The barrier net (10) is funnel-shaped, and the inner diameter of the end of the barrier net (10) connected to the inlet is smaller than the inner diameter of the end away from the inlet.

4. The underwater docking dock according to claim 1, characterized in that: The radial cross-sectional shape of the channel (101) is circular or regular polygonal.

5. A method for using an underwater docking dock, characterized in that: The underwater docking dock described in any one of claims 1 to 4 includes the following steps: Step 1: In the initial state, the movable part (2) moves to the inlet end of the channel (101), the bow of the vehicle aligns with the inlet end of the channel (101), the vehicle moves forward and approaches the movable part (2), and the pawl (21) locks the bow of the vehicle. Step 2: The movable part (2) drives the vehicle to move synchronously along the channel (101) in a direction away from the entrance until the vehicle is completely inside the channel (101) and docks. Step 3: The movable part (2) drives the vehicle to move synchronously along the channel (101) toward the inlet end until the vehicle completely exits the channel (101), and then the chuck (21) releases the vehicle.

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