Joint device capable of achieving underwater autonomous butt joint and separation

Abstract

The invention belongs to the technical field of underwater robots, and particularly relates to a joint device capable of achieving underwater autonomous butt joint and separation. Comprising an underwater robot carrier I, an underwater robot carrier II, a joint mechanism and a plug, the plug is arranged on the bow portion of the underwater robot carrier II, and the joint mechanism is arranged on the stern portion of the underwater robot carrier I. The joint mechanism comprises a driving cabin, a movable joint and a butt joint cabin which are sequentially connected. The driving cabin is connected with the stern of the underwater robot carrier I, and the butt joint cabin is used for being in butt joint with a plug of the bow of the underwater robot carrier II; the movable joint has the degree of freedom of pitching and yawing, and the driving cabin has the functions of controlling the degree of freedom of the movable joint and switching the locking or opening state of the butt joint cabin. The device is simple and reliable in structure and small in size, and the underwater robot provided with the device can be in a single-body underwater robot state, a multi-body underwater robot state and a mechanical arm state.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to a joint device capable of realizing autonomous docking and separation underwater. Background Art

[0002] In recent years, with the gradual development of marine resources, people are paying more and more attention to underwater robots that can replace manual underwater operations. Autonomous underwater robots are widely used in the field of ocean exploration due to their low cost, simple deployment, and strong scalability. However, due to the limitations of their own energy and structure, they currently only perform detection tasks in most scenarios and their operating capabilities are limited. In order to further improve the underwater operating capabilities of autonomous underwater robots and expand application scenarios, reconstructing multiple autonomous underwater robots underwater is an effective and economical way.

[0003] Although there are some underwater snake-like robots that can perform light intervention operations underwater, these robots have been specialized, and the number of their basic modules and the types of payloads they carry are fixed after they are launched into the water and cannot be changed; and multiple modules cannot be separated and reassembled. Although they can perform intervention actions, they are not suitable for long-distance maneuvers. The current docking structure mainly focuses on the autonomous recovery of underwater robots, and rarely pays attention to the underwater reconstruction of underwater robots. Moreover, due to the small size of the underwater robots involved, there is no autonomous docking and separation device suitable for multiple micro-underwater robots. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide a joint device that can realize autonomous docking and separation underwater, so that multiple autonomous underwater robots can be reconstructed underwater and realize autonomous docking and separation.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides a joint device capable of realizing autonomous underwater docking and separation, comprising an underwater robot carrier I, an underwater robot carrier II, a joint mechanism and a plug, wherein the plug is arranged at the bow of the underwater robot carrier II, the joint mechanism is arranged at the stern of the underwater robot carrier I, the joint mechanism comprises a driving cabin, an active joint and a docking cabin connected in sequence, the driving cabin is connected to the stern of the underwater robot carrier I, and the docking cabin is used for docking with the plug at the bow of the underwater robot carrier II; the active joint has the degrees of freedom of pitch and yaw, and the driving cabin has the functions of controlling the degrees of freedom of the active joint and switching the locking or opening state of the docking cabin.

[0007] The drive cabin includes a drive cabin body, a motor frame, a motor, a coupling, a movable constraint sleeve, a drive cabin cover and a screw-nut mechanism, wherein one end of the drive cabin body is connected to the underwater robot carrier I, and the other end is provided with a drive cabin cover, and a plurality of through holes are provided on the drive cabin cover along the circumference, the motor is installed at one end of the inner part of the drive cabin body through the motor frame, the output shaft of the motor is connected to one end of the screw-nut mechanism through the coupling, the other end of the screw-nut mechanism is rotatably connected to the drive cabin cover, the movable constraint sleeve is connected to the screw-nut mechanism, and the movable constraint sleeve is driven by the screw-nut mechanism to pass through the through hole on the drive cabin cover to constrain the freedom of the movable joint or trigger the unlocking of the docking cabin.

[0008] The outer circumferential surface of the movable restraint sleeve is supported by the cylindrical surface inside the drive cabin body and is circumferentially limited, and the terminal end surface of the movable restraint sleeve is provided with a plurality of extensions along the circumferential direction; when the plurality of extensions pass through the corresponding through holes on the drive cabin cover and surround the outer side of the movable joint, the movement of the movable joint is restricted.

[0009] The screw-nut mechanism includes a screw and a screw sleeve threadedly connected to the screw, one end of the screw is fixedly connected to the coupling, and the other end is rotationally connected to the center of the drive compartment cover, and the movable constraint sleeve is sleeved on the outside of the screw and fixedly connected to the screw sleeve.

[0010] The movable joint includes a drive cabin connector, a universal joint and a docking cabin connector, wherein the drive cabin connector and the docking cabin connector are connected via a universal joint, the drive cabin connector is used for fixed connection with the drive cabin, and the docking cabin connector is used for connection with the docking cabin; through holes are provided on the circumferential edges of the drive cabin connector and the docking cabin connector.

[0011] The docking cabin comprises a docking cabin cover, a docking cabin body, a moving part, a connecting rod, a pawl, an elastic ring and a docking cabin cover, wherein the docking cabin cover and the docking cabin cover are respectively sealed and connected to the two ends of the docking cabin body, the inner side of the docking cabin cover is hinged with three pawls arranged along the circumferential direction, the inner side surface of the pawl is provided with an inner ratchet, the end of each pawl is hinged with the moving part through a connecting rod, and the moving part is slidably matched with a central groove provided on the inner end surface of the docking cabin cover; the elastic ring is mounted on the outer side of the three pawls to make the three pawls gather toward the center; the docking cabin cover is connected to the movable joint, and a plurality of through holes that penetrate the central groove are provided on the docking cabin cover along the circumferential direction.

[0012] A vertical cylinder is arranged at the center of the docking compartment cover, and three slots for accommodating the ratchet claws are evenly distributed along the circumference on the side wall of the vertical cylinder, and the outer end of the vertical cylinder is a tapered hole.

[0013] A limiting groove for accommodating the elastic ring is provided on the outer side of the pawl.

[0014] An outer ratchet is arranged on the outer circumference of the end of the plug.

[0015] When the underwater robot is in a single state, the driving cabin controls the docking cabin to open, so that the plug can be pulled out of the docking cabin, thereby realizing the separation of the underwater robot carrier I and the underwater robot carrier II; the joint mechanism fixes the movable joint through the driving cabin, so that the docking cabin and the underwater robot carrier are in a parallel state;

[0016] When the underwater robot is in the multi-body underwater robot state, the plug of the bow of the underwater robot carrier II is inserted into the docking cabin of the stern of the underwater robot carrier I, and the docking cabin locks the plug; the drive cabin controls the movable joint to be in a fixed state, so that the underwater robot carrier I and the underwater robot carrier II are in a horizontal state and can navigate underwater in a multi-body state;

[0017] When the underwater robot is in the robotic arm state, after the underwater robot carrier I and the underwater robot carrier II are connected through a plug and a docking cabin, the drive cabin controls the active joint to be in an active state; the two underwater robots are driven by the groove thrusters on the carrier to change their relative positions, thereby realizing the underwater operation capability of the robotic arm state.

[0018] Advantages and beneficial effects of the present invention:

[0019] 1. The joint device provided by the present invention can realize underwater autonomous docking and separation, and can realize the docking of multiple underwater robots; through docking, multiple underwater robots have a certain underwater intervention capability, and can be used as underwater manipulators, which expands the application scenarios and is more flexible to use. Through the designed joint device, multiple underwater robot carriers carrying different loads can be connected according to the site conditions and application scenarios, and then perform different tasks. Moreover, the docking device has a compact structure, a small size, a unified interface, and has little impact on the basic carrier itself, and can be suitable for micro-sized autonomous underwater robots.

[0020] 2. The docking cabin described in the present invention has a self-locking structure and can be switched to a disengaged state through a driving mechanism in the driving cabin, so that underwater robots carrying different loads can be disengaged and reorganized as needed according to actual scenarios without human intervention, and can maintain a high operating capacity to the greatest extent under load and harsh environments.

[0021] 3. The drive cabin described in the present invention can control the degrees of freedom of the movable joints, so that the movable joints are in a fixed or movable state, thereby making the underwater robot in a multi-body underwater robot state or a mechanical arm state; when in the multi-body underwater robot state, the underwater robot carrier I and carrier II remain in a parallel state and sail long distances as a whole, thereby saving energy and achieving long-distance maneuvers.

[0022] 4. The autonomous docking and separation device designed in the present invention uses only one driving motor to realize the functions of controlling the freedom of the movable joint and switching the self-locking or separation state of the docking cabin; thereby reducing the cabin structure size as much as possible, making it suitable for micro autonomous underwater robots with smaller pressure cabins. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is an axonometric diagram of a joint device capable of realizing autonomous underwater docking and separation according to the present invention;

[0024] Figure 2 This is a schematic diagram of the internal structure of a joint device capable of realizing autonomous underwater docking and separation according to the present invention;

[0025] Figure 3 This is a schematic diagram of the internal structure of the drive cabin in the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the movable joint in the present invention;

[0027] Figure 5 It is a schematic diagram of the internal structure of the docking cabin in the present invention;

[0028] Figure 6 It is an axonometric view of the docking cabin in the present invention;

[0029] Figure 7 It is a schematic diagram of the structure of the joint device in the present invention when the underwater robot is in a docking state and a multi-body underwater robot state;

[0030] Figure 8 It is a structural schematic diagram of the joint device of the present invention when the underwater robot is in the mechanical arm state;

[0031] Fig. 9 It is an axonometric diagram of the joint device of the present invention when the underwater robot is in the mechanical arm state;

[0032] Fig.10 It is a schematic diagram of the structure of the joint device in the present invention when multiple underwater robot carriers are autonomously separated.

[0033] In the figure: 1 is an underwater robot carrier I, 2 is an underwater robot carrier II, 3 is a joint mechanism, 4 is a plug, 5 is a drive cabin, 501 is a drive cabin body, 502 is a motor frame, 503 is a motor, 504 is an inner hexagon screw I, 505 is an inner hexagon screw II, 506 is a coupling, 507 is an O-ring, 508 is an inner hexagon screw III, 509 is a screw sleeve, 510 is an inner hexagon screw IV, 511 is a lead screw, 512 is a mobile constraint sleeve, 513 is a drive cabin cover, and 6 is a movable joint , 61 is a drive cabin connecting piece, 611 is a drive cabin mounting hole, 62 is a universal joint, 621 is a universal joint assembly I, 622 is a universal joint assembly II, 63 is a fixing stud, 64 is a docking cabin connecting piece, 641 is a docking cabin mounting hole, 7 is a docking cabin, 701 is a docking cabin cover, 702 is a docking cabin body, 703 is a moving part, 704 is a connecting rod, 705 is a hexagon socket screw V, 706 is a nut, 707 is a ratchet, 708 is an elastic ring, 709 is a docking cabin cover, and 8 is a clamp. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] See also Figures 1 to 10 As shown, the present invention provides a joint device capable of realizing autonomous underwater docking and separation, comprising an underwater robot carrier Ⅰ1, an underwater robot carrier Ⅱ2, a joint mechanism 3 and a plug 4, wherein the plug 4 is arranged at the bow of the underwater robot carrier Ⅱ2, the joint mechanism 3 is arranged at the stern of the underwater robot carrier Ⅰ1, the joint mechanism 3 comprises a driving cabin 5, an active joint 6 and a docking cabin 7 which are connected in sequence, the driving cabin 5 is connected to the stern of the underwater robot carrier Ⅰ1, and the docking cabin 7 is used to dock with the plug 4 at the bow of the underwater robot carrier Ⅱ2; the active joint 6 has the degrees of freedom of pitch and yaw, the driving cabin 5 has the functions of controlling the degrees of freedom of the active joint 6 and switching the locking or opening state of the docking cabin 7, so that the underwater robot installed with the device can be in a single-body underwater robot state, a multi-body underwater robot state and a mechanical arm state.

[0036] See also Figure 2 and Figure 3As shown, in an embodiment of the present invention, the drive cabin 5 includes a drive cabin body 501, a motor frame 502, a motor 503, a coupling 506, a movable constraint sleeve 512, a drive cabin cover 513 and a screw nut mechanism, wherein the two ends of the drive cabin body 501 are respectively connected to the underwater robot carrier Ⅰ1 and the drive cabin cover 513 through a clamp 8, and a plurality of through holes are circumferentially arranged on the drive cabin cover 513. The motor 503 is installed at one end of the interior of the drive cabin body 501 through the motor frame 502, and the output shaft of the motor 503 is connected through the coupling 506 and one end of the screw nut mechanism, and the other end of the screw nut mechanism is rotatably connected to the drive cabin cover 513, and the movable constraint sleeve 512 is connected to the screw nut mechanism. The movable constraint sleeve 512 is driven by the screw nut mechanism to pass through the through hole on the drive cabin cover 513 to constrain the freedom of the movable joint 6 or trigger the docking cabin 7 to unlock.

[0037] In the embodiment of the present invention, the outer circumferential surface of the mobile restraining sleeve 512 is supported by the cylindrical surface inside the drive cabin body 501 and is circumferentially limited, and the terminal end surface of the mobile restraining sleeve 512 is provided with multiple extensions along the circumferential direction; when the multiple extensions pass through the corresponding through holes on the drive cabin cover 513 and surround the outer side of the movable joint 6, the movable joint 6 is restricted from moving. Specifically, a cross groove is opened on the terminal end surface of the mobile restraining sleeve 512 to form four extensions.

[0038] In the embodiment of the present invention, the lead screw nut mechanism includes a lead screw 511 and a screw sleeve 509 threadedly connected to the lead screw 511. One end of the lead screw 511 is fixedly connected to the coupling 506, and the other end is rotatably connected to the center of the drive cabin cover 513. The mobile constraint sleeve 512 is sleeved on the outside of the lead screw 511 and fixedly connected to the screw sleeve 509. The lead screw 511 and the coupling 506 are driven to rotate by the motor 503, and the rotation of the lead screw 511 is converted into the linear motion of the screw sleeve 509. One end of the mobile constraint sleeve 512 is provided with three threaded holes, and the hexagon socket screw IV 510 connects the screw sleeve 509 and the mobile constraint sleeve 512 so that the two move together. One end of the lead screw 511 is fixed in the coupling 506, and the other end is placed in the cylindrical hole on the inner side of the drive cabin cover 513, thereby improving the rigidity of the lead screw 511 and reducing its deformation. A cylindrical hole is provided inside the driving cabin body 501 to provide circumferential support for the movable restraint sleeve 512, thereby ensuring the circumferential stiffness of the movable restraint sleeve 512 during movement. The moving direction of the movable restraint sleeve 512 can be controlled by controlling the forward and reverse rotation of the motor 503.

[0039] Specifically, the motor frame 502 is provided with four motor fixing holes and motor frame fixing holes, and the hexagon socket screws II 505 pass through the motor fixing holes to fix the motor 503 on the motor frame 502, and the hexagon socket screws I 504 pass through the motor frame fixing holes to fix the motor frame 502 on the drive cabin body 501. The end faces of the coupling 506 are provided with inner holes on both sides for connecting the motor shaft 501 and the lead screw 511; at the same time, threaded stepped holes are provided on the circumferential surfaces at both ends of the coupling 506, and the relative movement of the coupling 506 relative to the connected shaft body is limited by the hexagon socket screws III 508. The motor 503 can drive the movement direction of the lead screw nut mechanism by forward and reverse rotation, thereby controlling the degree of freedom of the movable joint 6 and the state of the docking cabin 7; the drive cabin cover 513 is connected to the drive cabin body 501 through the clamp 8.

[0040] See also Figure 4 As shown, in an embodiment of the present invention, the movable joint 6 includes a drive cabin connector 61, a universal joint 62 and a docking cabin connector 64, wherein the drive cabin connector 61 and the docking cabin connector 64 are connected via the universal joint 62. Specifically, both ends of the universal joint 62 are respectively connected to the drive cabin connector 61 and the docking cabin connector 64 via fixing studs 63, the drive cabin connector 61 is used to be fixedly connected to the drive cabin 5, and the docking cabin connector 64 is used to be connected to the docking cabin 7.

[0041] Furthermore, through holes are provided on the driving cabin connector 61 and the docking cabin connector 64 along the circumferential direction, and the through holes are used for the extended portion of the movable restraining sleeve 512 to pass through.

[0042] Specifically, threaded holes are provided on the universal joint assembly I 621 and the universal joint assembly II 622 at both ends of the universal joint 62, and are fixed to the drive cabin connector 61 and the docking cabin connector 64 by means of set screws 63. The drive cabin connector 61 and the docking cabin connector 64 are respectively provided with a drive cabin mounting hole 611 and a docking cabin mounting hole 641, which are respectively used to be connected and fixed to the corresponding cabin body by means of hexagon socket screws, and the drive cabin connector 61 and the docking cabin connector 64 are both provided with fan-shaped through holes, so that the extension part of the end of the movable constraint sleeve 512 can pass through the drive cabin 5 and the movable joint 6, and enter the docking cabin 7.

[0043] See also Figure 5 and Figure 6As shown, in an embodiment of the present invention, the docking cabin 7 includes a docking cabin cover 701, a docking cabin body 702, a moving part 703, a connecting rod 704, a pawl 707, an elastic ring 708 and a docking cabin cover 709, wherein the docking cabin cover 701 and the docking cabin cover 709 are respectively sealed and connected to the two ends of the docking cabin body 702, the inner side of the docking cabin cover 709 is hinged to three pawls 707 arranged along the circumferential direction, the inner side surface of the pawl 707 is provided with an inner ratchet, the end of each pawl 707 is hinged to the moving part 703 through the connecting rod 704, the moving part 703 is slidably matched with the central groove provided on the inner end surface of the docking cabin cover 701, and the opening angle of the pawl 707 can be controlled by moving the moving part 703 to different distances, thereby switching the state of the docking cabin. The elastic ring 708 is sleeved on the outside of the three pawls 707 to make the three pawls 707 gather toward the center; the docking cabin cover 701 is connected to the movable joint 6, and a plurality of through holes penetrating the central groove are provided on the docking cabin cover 701 along the circumferential direction.

[0044] Furthermore, a vertical cylinder is provided at the center of the docking cabin cover 709, and three slots for accommodating the ratchet 707 are evenly distributed along the circumferential direction on the side wall of the vertical cylinder, and the outer end of the vertical cylinder is a tapered hole. When the carrier is connected, the plug 4 can move along the inner wall of the cylindrical vertical cylinder of the docking cabin cover under the guidance of the tapered hole, and lock with the docking cabin through the self-locking mechanism in the docking cabin. A limiting groove for accommodating the elastic ring 708 is provided on the outer side of the ratchet 707. Preferably, the elastic ring 708 is a rubber ring.

[0045] Specifically, the central groove of the docking cabin hatch 701 is a cylindrical hole, and the moving member 703 is located in the cylindrical hole and can move in the cylindrical hole. The opening degree of the pawl 706 can be controlled by controlling the position of the moving member 703, so that the docking cabin 7 is in a docking or separation state.

[0046] In the embodiment of the present invention, an outer ratchet is provided on the outer circumference of the end of the plug 4. The plug 4 is inserted into the vertical cylinder along the tapered hole of the vertical cylinder. The outer ratchet of the plug 4 engages with the inner ratchet of the pawl 707 to achieve locking of the plug 4.

[0047] Specifically, three mounting bases are evenly distributed on the inner side of the docking cabin cover 709, one end of the pawl 707 is fixed to the mounting base on the docking cabin cover 709 through a set of hexagonal nuts V 705 and nuts 706, and the other end of the pawl 707 is connected to the connecting rod 704, and the two can rotate with each other; the other end of the connecting rod 704 is connected to the moving member 703 through another set of hexagonal nuts V 705 and nuts 706. Limiting grooves are provided on the three pawls 706, and the pawls 706 are closed by the tensioned elastic ring 708; and an annular limiting groove is provided in the middle of the pawl 706, which is tightly attached to the outside of the column hole of the docking cabin cover 709 by the tightening force of the elastic ring 708, so that the relative positions of the multiple pawls 707 are kept cylindrical.

[0048] Furthermore, the through holes on the drive cabin cover 513, the drive cabin connector 61, the docking cabin connector 64 and the docking cabin cover 701 correspond to each other, and the through holes are all fan-shaped slots. Therefore, driven by the motor 503, the multiple extensions on the end surface of the mobile restraining sleeve 512 can pass through the drive cabin 5 and the movable joint 6 and enter the docking cabin 7.

[0049] In the embodiment of the present invention, when the underwater robot is in a single state, the joint mechanism 3 makes the movable joint 6 in a fixed state through the driving cabin 5, so that the docking cabin 7 and the underwater robot carrier 1 are in a parallel state, see Figure 2 shown.

[0050] When the underwater robot is in the multi-body underwater robot state, the plug 4 at the bow of the underwater robot carrier II2 is inserted into the docking cabin 7 at the stern of the underwater robot carrier I1, and the docking cabin 7 locks the plug 4; the drive cabin 5 controls the movable joint 6 to be in a fixed state, so that the underwater robot carrier I1 and the underwater robot carrier II2 are in a horizontal state and can navigate underwater in a multi-body state, see Figure 7 shown.

[0051] When the underwater robot is in the mechanical arm state, the underwater robot carrier Ⅰ1 and the underwater robot carrier Ⅱ2 are connected through the plug 4 and the docking cabin 7, and the driving cabin 5 controls the movable joint 6 to be in the active state; the two underwater robots are driven by the groove thrusters on the carriers to change their relative positions, thereby realizing the underwater operation capability of the mechanical arm state, see Figure 8 and Fig. 9 shown.

[0052] When the underwater robot is in the separated state, the driving cabin 5 controls the docking cabin 7 to open, so that the plug 4 can be pulled out from the docking cabin 7, thereby realizing the separation of the underwater robot carrier Ⅰ1 and the underwater robot carrier Ⅱ2. Fig.10 shown.

[0053] In an embodiment of the present invention, the underwater robot carrier II2 can be connected to the docking cabin 7 through the plug 4 of the bow, wherein the control and drive device is located inside the drive cabin 5, and the degree of freedom of the movable joint 6 can be controlled by changing the position of the mobile constraint sleeve 512 in the drive cabin 5, and the mobile constraint sleeve 512 can pass through the movable joint 6 and enter the docking cabin 7 to switch the locking or opening state of the docking cabin 7. The movable joint 6 is in the form of a universal joint and has two degrees of freedom, namely pitch and yaw. While connecting the docking cabin 7 and the drive cabin 5, the movable joint 6 allows the mobile constraint sleeve 512 to pass through, thereby realizing the function of controlling the joint degree of freedom and switching the docking cabin state with a single motor. The front side of the driving cabin body 501 is provided with a watertight installation opening, which can be fixedly connected to the underwater robot carrier I1 through the clamp 8; the coupling 506 is installed in the cylindrical hole inside the driving cabin body 501, and the outer circumferential surface is provided with two grooves and equipped with an O-ring 507, which forms a dynamic seal with the driving cabin body 501, so that a watertight space is formed between the underwater robot carrier I1 and the docking cabin body 501, thereby isolating water outside the driving cabin body 501, and preventing the driving motor 503 from being damaged by water. The present invention reduces the number of parts as much as possible, avoids unnecessary loads, and thus saves energy.

[0054] The present invention provides a joint device capable of realizing autonomous underwater docking and separation, and its working principle is:

[0055] See also Figure 2 As shown, when the underwater robot is in a single state, the joint mechanism 3 is installed at the end of the underwater robot carrier Ⅰ1 through the clamp 8; the motor 503 rotates forward, and drives the lead screw 511 to rotate through the coupling 506. Since the lead screw 511 and the screw sleeve 509 are threadedly connected, the rotational motion of the motor shaft is converted into the linear motion of the screw sleeve 509; because the screw sleeve 509 and the mobile constraint sleeve 512 are fixedly connected by the hexagon socket screw Ⅳ510, the mobile constraint sleeve 512 will move back to the movable joint 6. Since the circular hole structure on the inner side of the mobile constraint sleeve 512 penetrates the movable joint 6, the universal joint assembly Ⅰ621 and the universal joint assembly Ⅱ622 are located on the same cylindrical surface at this time, and cannot rotate relative to each other. The movable joint 6 is in a fixed state, so that the docking cabin 7 and the underwater robot carrier Ⅰ1 are in a parallel state. Due to its integrated appearance, the interference with the basic carrier fluid performance of the underwater robot is minimized.

[0056] See also Figure 7As shown, when the underwater robot carrier I1 and the underwater robot carrier II2 are docked, the motor 503 does not need to rotate; because the elastic ring 708 is in a tensioned state, there is a tightening force on the pawl 707, and under the action of the tightening force, the annular limiting structure of the pawl 707 is tightly attached to the outside of the column hole of the docking cabin cover 709, thereby holding them together; at this time, the plug 4 of the underwater robot carrier II2 passes through the docking cabin cover 709, opens the three pawls 707, and moves forward; when the limiting structure on the plug 4 contacts the docking cabin cover 709 and causes the underwater robot carrier II2 to be unable to move forward, the three pawls 707 will be subjected to a backward force, and the pawls 707 will be retracted with the mounting base of the docking cabin cover 709 as the rotation axis, so that the annular limiting structure on the pawl 707 is tightly attached to the docking cabin cover 709, and then the plug 4 is locked with the docking cabin 7, and finally the docking of the underwater robot carrier II2 and the underwater robot carrier I1 is achieved.

[0057] See also Figure 8 and Fig. 9 As shown, when intervention operations are required, the underwater robot switches to the robotic arm state, the motor 503 reverses, and drives the movable constraint sleeve 512 forward until it is flush with the universal joint assembly Ⅰ621. At this time, the movable constraint sleeve 512 no longer restricts the pitch and yaw degrees of freedom of the movable joint 6, and the universal joint assembly Ⅱ622 can rotate relative to the universal joint assembly Ⅰ621; at this time, since the underwater robot carrier Ⅰ1 is fixedly connected to the drive cabin 2, and the underwater robot carrier Ⅱ2 is fixedly connected to the docking cabin 7, each underwater robot carrier can rely on its own slot pusher to control the relative posture between different carriers, thereby achieving underwater operation capabilities similar to those of a robotic arm.

[0058] See also Figure 7 As shown, when performing long-distance maneuvers, the underwater robot is converted into a multi-body underwater robot state, and the motor 503 rotates forward, driving the movable constraint sleeve 512 to move backward to the inside of the docking cabin 7 without contacting the movable part 703 and changing the position of the movable part 703; at this time, the movable constraint sleeve 512 passes through the movable joint 6, forcing the universal joint component I 621 and the universal joint component II 622 to be located on the same cylindrical surface and unable to rotate relative to each other; thereby limiting the two degrees of freedom of the movable joint 6; the underwater robot carrier I 1 and the underwater robot carrier II 2 are located in a straight line, and the underwater heading resistance is reduced, thereby reducing energy consumption and extending the underwater operation time.

[0059] See also Fig.10As shown, when the underwater robot carrier Ⅰ1 and the underwater robot carrier Ⅱ2 are separated, the motor 503 rotates forward, driving the movable constraint sleeve 512 to continue to move backward, and after contacting the movable member 703, it pushes the movable member 703 to move backward together; since the movable member 703 is connected to the pawl 707 through three connecting rods 704, one end of the pawl 707 can rotate around the base on the docking cabin cover 709, so the backward movement of the movable member 703 will cause the three pawls 707 to open, so that their angle becomes larger; thereby, the plug 4 no longer has a locking function, thereby realizing the separation of the underwater robot carrier Ⅱ2 and the docking cabin 7.

[0060] The present invention provides a joint device that can realize underwater autonomous docking and separation. It has a compact structure and a small size. It is installed at the stern of an underwater robot and can be applied to a micro autonomous underwater robot with a small diameter. When the underwater robot is in a single state, the joint device is consistent with the shape of the underwater robot carrier on which it is installed, and has little effect on its fluid performance; when encountering an application scenario that requires underwater light intervention operations, the underwater robot switches to a mechanical arm state, and multiple underwater robot carriers can be connected and locked through plugs and docking compartments. Each underwater robot can be driven by the channel thruster on the carrier to change its relative position with the front underwater robot, thereby realizing underwater operation capabilities similar to those of a mechanical arm; and according to different usage scenarios, different numbers of underwater basic carriers or basic carriers carrying different loads can be docked, so as to meet the needs of different operating capabilities under complex underwater conditions. When long-distance maneuvers are required, the underwater robot can be transformed into a multi-body underwater robot form, so that multiple underwater robot carriers can be connected into an integral rigid underwater robot by docking and locking the degrees of freedom of their movable joints. The multiple underwater robot carriers jointly drive its own movement, thereby achieving rational allocation and utilization of energy and extending the underwater operation time.

[0061] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A joint device capable of realizing autonomous docking and separation underwater, characterized in that: The invention comprises an underwater robot carrier I (1), an underwater robot carrier II (2), a joint mechanism (3) and a plug (4), wherein the plug (4) is arranged at the bow of the underwater robot carrier II (2), the joint mechanism (3) is arranged at the stern of the underwater robot carrier I (1), the joint mechanism (3) comprises a drive cabin (5), a movable joint (6) and a docking cabin (7) which are connected in sequence, the drive cabin (5) is connected to the stern of the underwater robot carrier I (1), and the docking cabin (7) is used to dock with the plug (4) at the bow of the underwater robot carrier II (2); the movable joint (6) has the degrees of freedom of pitch and yaw, and the drive cabin (5) has the functions of controlling the degrees of freedom of the movable joint (6) and switching the locking or opening state of the docking cabin (7).

2. The joint device capable of realizing autonomous underwater docking and separation according to claim 1, characterized in that: The drive cabin (5) comprises a drive cabin body (501), a motor frame (502), a motor (503), a coupling (506), a movable restraining sleeve (512), a drive cabin cover (513) and a screw nut mechanism, wherein one end of the drive cabin body (501) is connected to the underwater robot carrier I (1), and the other end is provided with a drive cabin cover (513), and a plurality of through holes are provided on the drive cabin cover (513) along the circumferential direction, and the motor (503) is installed through the motor frame (502). At one end of the interior of the drive cabin body (501), the output shaft of the motor (503) is connected to one end of the screw-nut mechanism via a coupling (506), the other end of the screw-nut mechanism is rotationally connected to the drive cabin cover (513), the movable constraint sleeve (512) is connected to the screw-nut mechanism, and the movable constraint sleeve (512) is driven by the screw-nut mechanism to pass through the through hole on the drive cabin cover (513) to constrain the freedom of the movable joint (6) or trigger the unlocking of the docking cabin (7).

3. The joint device capable of realizing autonomous underwater docking and separation according to claim 2, characterized in that: The outer circumferential surface of the movable restraining sleeve (512) is supported by the cylindrical surface inside the drive cabin body (501) and is circumferentially limited, and the end surface of the movable restraining sleeve (512) is provided with a plurality of extension parts along the circumferential direction; when the plurality of extension parts pass through the corresponding through holes on the drive cabin cover (513) and surround the outer side of the movable joint (6), the movement of the movable joint (6) is restricted.

4. The joint device capable of realizing autonomous underwater docking and separation according to claim 2, characterized in that: The screw-nut mechanism comprises a screw (511) and a screw sleeve (509) threadedly connected to the screw (511); one end of the screw (511) is fixedly connected to the coupling (506), and the other end is rotatably connected to the center of the drive cabin cover (513); the movable restraining sleeve (512) is sleeved on the outer side of the screw (511) and fixedly connected to the screw sleeve (509).

5. The joint device capable of realizing autonomous underwater docking and separation according to claim 1, characterized in that: The movable joint (6) comprises a drive cabin connector (61), a universal joint (62) and a docking cabin connector (64), wherein the drive cabin connector (61) and the docking cabin connector (64) are connected via the universal joint (61), the drive cabin connector (61) is used for fixed connection with the drive cabin (5), and the docking cabin connector (64) is used for connection with the docking cabin (7); through holes are provided on the drive cabin connector (61) and the docking cabin connector (64) along the circumference.

6. The joint device capable of realizing autonomous underwater docking and separation according to claim 1, characterized in that: The docking cabin (7) comprises a docking cabin cover (701), a docking cabin body (702), a moving part (703), a connecting rod (704), a ratchet (707), an elastic ring (708) and a docking cabin cover (709), wherein the docking cabin cover (701) and the docking cabin cover (709) are respectively sealed and connected to two ends of the docking cabin body (702), the inner side of the docking cabin cover (709) is hinged with three ratchet (707) arranged along the circumferential direction, and the inner side of the ratchet (707) is provided with There are inner ratchets, and the ends of the ratchets (707) are hinged to the moving member (703) through the connecting rod (704). The moving member (703) is slidably matched with a central groove provided on the inner end surface of the docking cabin cover (701); the elastic ring (708) is sleeved on the outer sides of the three ratchets (707) to make the three ratchets (707) gather toward the center; the docking cabin cover (701) is connected to the movable joint (6), and a plurality of through holes that penetrate the central groove are provided on the docking cabin cover (701) along the circumferential direction.

7. The joint device capable of realizing autonomous underwater docking and separation according to claim 6, characterized in that: A vertical cylinder is provided at the center of the docking compartment cover (709), and three slots for accommodating the ratchet (707) are evenly distributed along the circumference on the side wall of the vertical cylinder, and the outer end of the vertical cylinder is a tapered hole.

8. The joint device capable of realizing autonomous underwater docking and separation according to claim 6, characterized in that: The outer side of the ratchet (707) is provided with a limiting groove for accommodating the elastic ring (708).

9. The joint device capable of realizing autonomous underwater docking and separation according to claim 1, characterized in that: External ratchet teeth are provided on the outer circumference of the end of the plug (4).

10. The joint device capable of realizing autonomous underwater docking and separation according to claim 1, characterized in that: When the underwater robot is in a single state, the driving cabin (5) controls the docking cabin (7) to open, so that the plug (4) can be pulled out of the docking cabin (7), thereby realizing the separation of the underwater robot carrier I (1) and the underwater robot carrier II (2); the joint mechanism (3) causes the movable joint (6) to be in a fixed state through the driving cabin (5), so that the docking cabin (7) and the underwater robot carrier (1) are in a parallel state; When the underwater robot is in a multi-body underwater robot state, the plug (4) at the bow of the underwater robot carrier II (2) is inserted into the docking cabin (7) at the stern of the underwater robot carrier I (1), and the docking cabin (7) locks the plug (4); the drive cabin (5) controls the movable joint (6) to be in a fixed state, so that the underwater robot carrier I (1) and the underwater robot carrier II (2) are in a horizontal state, and can navigate underwater in a multi-body state; When the underwater robot is in the mechanical arm state, the underwater robot carrier I (1) and the underwater robot carrier II (2) are connected via a plug (4) and a docking cabin (7), and the drive cabin (5) controls the movable joint (6) to be in an active state; the two underwater robots are driven to change their relative positions by the channel thrusters on the carriers, thereby realizing the underwater operation capability of the mechanical arm state.

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