A joint device capable of autonomous underwater docking and separation.

Abstract

This invention belongs to the field of underwater robot technology, and specifically relates to a joint device capable of autonomous underwater docking and separation. It includes an underwater robot carrier I, an underwater robot carrier II, a joint mechanism, and a plug. The plug is located at the bow of the underwater robot carrier II, and the joint mechanism is located at the stern of the underwater robot carrier I. The joint mechanism includes a drive chamber, a movable joint, and a docking chamber connected in sequence. The drive chamber is connected to the stern of the underwater robot carrier I, and the docking chamber is used to dock with the plug at the bow of the underwater robot carrier II. The movable joint has pitch and yaw degrees of freedom, and the drive chamber has the function of controlling the degrees of freedom of the movable joint and switching the locking or opening state of the docking chamber. This invention has a simple and reliable structure and a small size. The underwater robot equipped with this device can be in single-body underwater robot mode, multi-body underwater robot mode, or robotic arm mode.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underwater robots, and particularly relates to a joint device capable of underwater autonomous docking and separation. BACKGROUND

[0002] In recent years, with the gradual development of marine resources, people pay 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 expandability. However, due to the limitations of their own energy and structure, most of them currently only perform detection tasks, and their operation ability is limited. In order to further improve the underwater operation ability of autonomous underwater robots and expand the application scenarios, it is a reasonable and effective way to reconfigure multiple autonomous underwater robots underwater.

[0003] Although there are some underwater snake-shaped robots that can perform light intervention operations underwater, these robots have been specially designed, and the number of basic modules and the types of carried loads are fixed after launching and cannot be changed. Moreover, multiple modules cannot be separated and reconfigured, although they can perform intervention actions, they are not suitable for long-distance maneuvering. The current docking structure mainly focuses on the autonomous recovery of underwater robots, and little attention is paid to the underwater reconfiguration of underwater robots. Moreover, due to the small size of the underwater robots involved, there is currently no autonomous docking and separation device suitable for multiple small underwater robots. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide a joint device capable of underwater autonomous docking and separation, so as to realize the reconfiguration of multiple autonomous underwater robots underwater and realize autonomous docking and separation.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0006] The present application provides a joint device capable of underwater autonomous 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, a movable joint and a docking cabin connected in sequence, the driving cabin is connected with 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 movable joint has the freedom degrees of pitch and yaw, and the driving cabin has the functions of controlling the freedom degrees of the movable joint and switching the locking or opening state of the docking cabin.

[0007] The driving cabin comprises a driving cabin body, a motor frame, a motor, a shaft coupling, a movement constraint sleeve, a driving cabin cover and a screw nut mechanism, wherein one end of the driving cabin body is connected with the underwater robot carrier I, the other end is provided with the driving cabin cover, a plurality of through holes are arranged on the driving cabin cover in the circumferential direction, the motor is installed at the inner end of the driving cabin body through the motor frame, the output shaft of the motor is connected with one end of the screw nut mechanism through the shaft coupling, the other end of the screw nut mechanism is rotationally connected with the driving cabin cover, the movement constraint sleeve is connected with the screw nut mechanism, and the movement constraint sleeve can pass through the through holes on the driving cabin cover to constrain the freedom of the movable joint or trigger the unlocking of the docking cabin through the driving of the screw nut mechanism.

[0008] The outer circumferential surface of the movement constraint sleeve is supported and circumferentially limited by the cylindrical surface inside the driving cabin body, and the end surface of the movement constraint sleeve is provided with a plurality of extensions in the circumferential direction; when the plurality of extensions pass through the corresponding through holes on the driving cabin cover and surround the outside of the movable joint, the movable joint is limited to move.

[0009] The screw nut mechanism comprises a screw and a screw sleeve threadedly connected with the screw, one end of the screw is fixedly connected with the shaft coupling, the other end is rotationally connected with the center of the driving cabin cover, the movement constraint sleeve is sleeved on the outside of the screw and is fixedly connected with the screw sleeve.

[0010] The movable joint comprises a driving cabin connector, a universal joint and a docking cabin connector, wherein the driving cabin connector and the docking cabin connector are connected through the universal joint, the driving cabin connector is used for fixedly connecting with the driving cabin, and the docking cabin connector is used for connecting with the docking cabin; the driving cabin connector and the docking cabin connector are both provided with through holes in the circumferential direction.

[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 sealingly connected to the two ends of the docking cabin body, the inner side of the docking cabin cover is hingedly connected with three pawls arranged in the circumferential direction, the inner side of the pawl is provided with an inner ratchet, the end of each pawl is hingedly connected with the moving part through the connecting rod, and the moving part is slidingly matched with the center groove provided on the inner side of the docking cabin cover; the elastic ring is sleeved on the outside of the three pawls, so that the three pawls are gathered to the center; the docking cabin cover is connected with the movable joint, and the docking cabin cover is provided with a plurality of through holes in the circumferential direction, which are through the center groove.

[0012] The center of the docking cabin cover is provided with a vertical cylinder, the side wall of the vertical cylinder is uniformly distributed with three slots for accommodating the pawls in the circumferential direction, and the outer side end of the vertical cylinder is a tapered hole.

[0013] The outer side of the pawl is provided with a limiting groove for accommodating the elastic ring.

[0014] The plug has external ratchet teeth on the outer circumference of its end.

[0015] When the underwater robot is in standalone state, the drive cabin controls the docking compartment to open, allowing the plug to be pulled out from the docking compartment, thus separating the underwater robot carrier I and the underwater robot carrier II; the joint mechanism uses the drive cabin to fix the movable joint in a fixed state, thereby making the docking compartment parallel to the underwater robot carrier.

[0016] When the underwater robot is in the multi-body underwater robot state, the plug at the bow of underwater robot carrier II is inserted into the docking compartment at the stern of underwater robot carrier I, and the docking compartment locks the plug; the drive compartment controls the movable joints to be in a fixed state, thereby keeping underwater robot carrier I and underwater robot carrier II in a horizontal state and enabling them to navigate underwater in a multi-body state;

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

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

[0019] 1. This invention provides a joint device capable of autonomous underwater docking and separation, enabling the docking of multiple underwater robots. Through docking, these robots acquire a certain underwater intervention capability and can be used as underwater robotic arms, expanding application scenarios and increasing flexibility. The designed joint device allows for the connection of multiple underwater robot carriers carrying different payloads to perform various tasks, depending on site conditions and application scenarios. Furthermore, the docking device is compact, small in size, and has a unified interface, minimizing impact on the basic carrier itself, making it suitable for micro-sized autonomous underwater robots.

[0020] 2. The docking compartment of the present invention has a self-locking structure and can be switched to the detached state through the drive mechanism in the drive compartment. This allows underwater robots carrying different loads to detach and reassemble as needed according to the actual scenario without human intervention. Under heavy loads and harsh environments, it can maintain a high level of operational capability to the greatest extent.

[0021] 3. The drive cabin described in this invention can control the degrees of freedom of the movable joints, so that the movable joints are in a fixed or movable state, thereby enabling the underwater robot to be in a multi-body underwater robot state or a robotic arm state; when in the multi-body underwater robot state, the underwater robot carrier I and carrier II remain in a parallel state and travel long distances as a whole, thereby saving energy and realizing long-distance maneuvering.

[0022] 4. The autonomous docking and separation device designed in this invention uses only one drive motor to realize the functions of controlling the degrees of freedom of the movable joints and switching the self-locking or separation state of the docking compartment; thereby minimizing the size of the compartment structure and making it suitable for micro autonomous underwater robots with small pressure tanks. Attached Figure Description

[0023] Figure 1 This is an isometric view of a joint device of the present invention that enables autonomous underwater docking and separation;

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

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

[0026] Figure 4 This is a schematic diagram of the movable joint in this invention;

[0027] Figure 5 This is a schematic diagram of the internal structure of the docking compartment in this invention;

[0028] Figure 6 This is an isometric view of the docking compartment in this invention;

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

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

[0031] Figure 9 This is an isometric view of the joint device in the present invention when the underwater robot is in the robotic arm state;

[0032] Figure 10 This is a schematic diagram of the joint device in this invention when it autonomously separates from multiple underwater robot carriers.

[0033] In the diagram: 1 is underwater robot carrier I, 2 is underwater robot carrier II, 3 is joint mechanism, 4 is plug, 5 is drive compartment, 501 is drive compartment body, 502 is motor frame, 503 is motor, 504 is socket head cap screw I, 505 is socket head cap screw II, 506 is coupling, 507 is O-ring, 508 is socket head cap screw III, 509 is threaded sleeve, 510 is socket head cap screw IV, 511 is lead screw, 512 is movable constraint sleeve, 513 is drive compartment cover, and 6 is movable joint. 61 is the drive compartment connector, 611 is the drive compartment mounting hole, 62 is the universal joint, 621 is the universal joint assembly I, 622 is the universal joint assembly II, 63 is the set stud, 64 is the docking compartment connector, 641 is the docking compartment mounting hole, 7 is the docking compartment, 701 is the docking compartment cover, 702 is the docking compartment body, 703 is the moving part, 704 is the connecting rod, 705 is the hex socket head cap screw V, 706 is the nut, 707 is the pawl, 708 is the elastic ring, 709 is the docking compartment cover, and 8 is the clamp. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] See Figures 1 to 10 As shown, the present invention provides a joint device capable of autonomous underwater docking and separation, comprising an underwater robot carrier I1, an underwater robot carrier II2, a joint mechanism 3, and a plug 4. The plug 4 is located at the bow of the underwater robot carrier II2, and the joint mechanism 3 is located at the stern of the underwater robot carrier I1. The joint mechanism 3 includes a drive chamber 5, a movable joint 6, and a docking chamber 7 connected in sequence. The drive chamber 5 is connected to the stern of the underwater robot carrier I1, and the docking chamber 7 is used to dock with the plug 4 at the bow of the underwater robot carrier II2. The movable joint 6 has pitch and yaw degrees of freedom, and the drive chamber 5 has the function of controlling the degrees of freedom of the movable joint 6 and switching the locking or opening state of the docking chamber 7, thereby enabling the underwater robot equipped with this device to be in a single underwater robot state, a multi-body underwater robot state, and a robotic arm state.

[0036] See Figure 2 and Figure 3As shown, in an embodiment of the present invention, the drive compartment 5 includes a drive compartment body 501, a motor frame 502, a motor 503, a coupling 506, a movable constraint sleeve 512, a drive compartment cover 513, and a lead screw and nut mechanism. The two ends of the drive compartment body 501 are connected to the underwater robot carrier I1 and the drive compartment cover 513 respectively via clamps 8. The drive compartment cover 513 has multiple through holes along its circumference. The motor 503 is installed inside one end of the drive compartment body 501 via the motor frame 502. The output shaft of the motor 503 is connected to one end of the lead screw and nut mechanism via the coupling 506. The other end of the lead screw and nut mechanism is rotatably connected to the drive compartment cover 513. The movable constraint sleeve 512 is connected to the lead screw and nut mechanism. The movable constraint sleeve 512 is driven by the lead screw and nut mechanism to pass through the through holes on the drive compartment cover 513 to constrain the degree of freedom of the movable joint 6 or to trigger the docking compartment 7 to unlock.

[0037] In an embodiment of the present invention, the outer circumferential surface of the movable constraint sleeve 512 is supported and circumferentially limited by the cylindrical surface inside the drive compartment body 501. The end face of the movable constraint sleeve 512 is provided with multiple extensions along the circumferential direction. When the multiple extensions pass through the corresponding through holes on the drive compartment cover 513 and surround the outside of the movable joint 6, the movement of the movable joint 6 is restricted. Specifically, a cross groove is opened on the end face of the movable constraint sleeve 512 to form four extensions.

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

[0039] Specifically, the motor frame 502 has four motor mounting holes and a motor frame mounting hole. Hex socket screws II 505 pass through the motor mounting holes to fix the motor 503 to the motor frame 502, and hex socket screws I 504 pass through the motor frame mounting holes to fix the motor frame 502 to the drive compartment body 501. The coupling 506 has inner holes on both end faces for connecting the motor shaft 501 and the lead screw 511; simultaneously, threaded stepped holes are provided on the circumferential surfaces at both ends of the coupling 506, and the relative movement of the coupling 506 to the connected shaft is restricted by hex socket screws III 508. The motor 503 can drive the lead screw nut mechanism to move in forward and reverse directions, thereby controlling the degree of freedom of the movable joint 6 and the state of the docking compartment 7; the drive compartment cover 513 is connected to the drive compartment body 501 by a clamp 8.

[0040] See Figure 4 As shown in the embodiment of the present invention, the movable joint 6 includes a drive compartment connector 61, a universal joint 62, and a docking compartment connector 64. The drive compartment connector 61 and the docking compartment connector 64 are connected by the universal joint 62. Specifically, the two ends of the universal joint 62 are connected to the drive compartment connector 61 and the docking compartment connector 64 respectively by set studs 63. The drive compartment connector 61 is used to be fixedly connected to the drive compartment 5, and the docking compartment connector 64 is used to be connected to the docking compartment 7.

[0041] Furthermore, both the drive compartment connector 61 and the docking compartment connector 64 are provided with through holes along the circumferential direction, through holes for the extension of the movable constraint sleeve 512 to pass through.

[0042] Specifically, universal joint assemblies I 621 and II 622 at both ends of universal joint 62 are provided with threaded holes, which are fixed to the drive compartment connector 61 and docking compartment connector 64 by set screws 63. The drive compartment connector 61 and docking compartment connector 64 are respectively provided with drive compartment mounting holes 611 and docking compartment mounting holes 641. The drive compartment mounting holes 611 and docking compartment mounting holes 641 are used to connect and fix to the corresponding compartments by hexagon socket head cap screws. Both the drive compartment connector 61 and docking compartment connector 64 have fan-shaped through holes to allow the extension of the end of the movable constraint sleeve 512 to pass through the drive compartment 5 and the movable joint 6 and enter the docking compartment 7.

[0043] See Figure 5 and Figure 6As shown, in an embodiment of the present invention, the docking compartment 7 includes a docking compartment cover 701, a docking compartment body 702, a movable component 703, a connecting rod 704, a pawl 707, an elastic ring 708, and a docking compartment seal 709. The docking compartment cover 701 and the docking compartment seal 709 are respectively sealed and connected to both ends of the docking compartment body 702. The inner side of the docking compartment seal 709 is hinged to three pawls 707 arranged circumferentially. The inner side of the pawls 707 is provided with internal ratchet teeth. The end of each pawl 707 is hinged to the movable component 703 through the connecting rod 704. The movable component 703 is slidably engaged with the central groove provided on the inner end face of the docking compartment cover 701. The opening angle of the pawls 707 can be controlled by moving the movable component 703 by different distances, thereby switching the state of the docking compartment. The elastic ring 708 is fitted on the outside of the three pawls 707, causing the three pawls 707 to retract towards the center; the docking compartment cover 701 is connected to the movable joint 6, and the docking compartment cover 701 has multiple through holes along the circumferential direction that communicate with the central groove.

[0044] Furthermore, the docking compartment cover 709 has a vertical cylinder at its center. Three slots for accommodating the pawl 707 are evenly distributed circumferentially on the side wall of the vertical cylinder. The outer end of the vertical cylinder has a tapered hole. During carrier connection, the plug 4, guided by the tapered hole, can advance along the inner wall of the cylindrical vertical cylinder of the docking compartment cover and lock with the docking compartment via a self-locking mechanism within the docking compartment. The outer side of the pawl 707 has a limiting groove for accommodating the elastic ring 708. Preferably, the elastic ring 708 is a rubber ring.

[0045] Specifically, the central groove of the docking compartment cover 701 is a cylindrical hole, and the movable part 703 is located in the cylindrical hole and can move within the hole. By controlling the position of the movable part 703, the opening degree of the pawl 706 can be controlled, thereby putting the docking compartment 7 into a docking or disengaging state.

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

[0047] Specifically, three mounting bases are evenly distributed on the inner side of the docking compartment cover 709. One end of the pawl 707 is fixed to the mounting base on the docking compartment cover 709 by a set of internal hexagonal nuts V 705 and nut 706, and the other end of the pawl 707 is connected to the connecting rod 704, which can rotate relative to each other. The other end of the connecting rod 704 is connected to the moving part 703 by another set of internal hexagonal nuts V 705 and nut 706. Each of the three pawls 706 is provided with a limiting groove, which is tightened by the tensioned elastic ring 708. The pawl 706 is also provided with an annular limiting groove in the middle, which is pressed tightly against the outside of the cylindrical hole of the docking compartment cover 709 by the tightening force of the elastic ring 708, so that the relative position of the multiple pawls 707 is maintained in a cylindrical shape.

[0048] Furthermore, the through holes on the drive compartment cover 513, drive compartment connector 61, docking compartment connector 64, and docking compartment cover 701 are all one-to-one corresponding, and all through holes are fan-shaped slots. Therefore, under the drive of the motor 503, multiple extensions on the end face of the moving constraint sleeve 512 can pass through the drive compartment 5 and the movable joint 6 and enter the docking compartment 7.

[0049] In embodiments of the present invention, when the underwater robot is in a standalone state, the joint mechanism 3 uses the drive chamber 5 to fix the movable joint 6, thereby making the docking chamber 7 parallel to the underwater robot carrier 1. (See also...) Figure 2 As shown.

[0050] When the underwater robot is in multi-body underwater robot mode, the plug 4 at the bow of underwater robot carrier II2 is inserted into the docking compartment 7 at the stern of underwater robot carrier I1, and the docking compartment 7 locks the plug 4 in place. The drive compartment 5 controls the movable joint 6 to remain in a fixed state, thereby keeping underwater robot carrier I1 and underwater robot carrier II2 in a horizontal position and enabling them to navigate underwater in multi-body mode. See [link to documentation]. Figure 7 As shown.

[0051] When the underwater robot is in robotic arm mode, underwater robot carrier I1 and underwater robot carrier II2 are connected via plug 4 and docking compartment 7. Drive compartment 5 controls the movable joint 6 to be in an active state. The two underwater robots change their relative positions via channel thrusters on the carriers, thus achieving underwater operation capabilities in robotic arm mode. See [link to documentation]. Figure 8 and Figure 9 As shown.

[0052] When the underwater robot is in the separation state, the drive compartment 5 controls the docking compartment 7 to open, allowing the plug 4 to be pulled out from the docking compartment 7, thus realizing the separation of underwater robot carrier I1 and underwater robot carrier II2. See below. Figure 10 As shown.

[0053] In an embodiment of the present invention, the underwater robot carrier II2 can be connected to the docking compartment 7 via the plug 4 at the bow. The control and drive device is located inside the drive compartment 5. By changing the position of the movable constraint sleeve 512 within the drive compartment 5, the degrees of freedom of the movable joint 6 can be controlled. The movable constraint sleeve 512 can pass through the movable joint 6 and enter the docking compartment 7 to switch the locked or open state of the docking compartment 7. The movable joint 6 is a universal joint type, possessing pitch and yaw degrees of freedom. While connecting the docking compartment 7 and the drive compartment 5, the movable joint 6 allows the movable constraint sleeve 512 to pass through, thereby realizing the function of single-motor control of the joint degrees of freedom and switching the docking compartment state. The drive compartment 501 has a watertight mounting port on its front side, which can be fixed to the underwater robot carrier I1 via a clamp 8. A coupling 506 is installed in a cylindrical hole inside the drive compartment 501, and its outer circumferential surface has two grooves with O-rings 507 installed, forming a dynamic seal with the drive compartment 501. This creates a watertight space between the underwater robot carrier I1 and the docking compartment 501, thus isolating water outside the drive compartment 501 and preventing water ingress and damage to the drive motor 503. This invention minimizes the number of parts and avoids unnecessary loads, thereby saving energy.

[0054] The present invention provides a joint device capable of autonomous underwater docking and separation, the working principle of which is as follows:

[0055] See Figure 2 As shown, when the underwater robot is in standalone state, the joint mechanism 3 is installed at the end of the underwater robot carrier I1 via the clamp 8; the motor 503 rotates forward, driving the lead screw 511 to rotate via the coupling 506. Since the lead screw 511 and the threaded sleeve 509 are threadedly connected, the rotational motion of the motor shaft is converted into the linear motion of the threaded sleeve 509. Because the threaded sleeve 509 and the movable constraint sleeve 512 are fixed together by the internal hexagonal screw IV 510, the movable constraint sleeve 512 will move backward to the movable joint 6. Since the inner circular hole structure of the movable constraint sleeve 512 penetrates the movable joint 6, the universal joint assembly I 621 and the universal joint assembly II 622 are located on the same cylindrical surface and cannot rotate relative to each other. The movable joint 6 is in a fixed state, thus making the docking compartment 7 parallel to the underwater robot carrier I1. Due to its integrated shape, interference with the fluid performance of the basic underwater robot carrier is minimized.

[0056] See Figure 7As shown, when underwater robot carrier I1 and underwater robot carrier II2 dock, motor 503 does not need to rotate. Since the elastic ring 708 is in a tensioned state, it exerts a tightening force on the pawl 707. Under the action of the tightening force, the annular limiting structure of the pawl 707 is tightly attached to the outside of the post hole of the docking chamber cover 709, thus holding them together. At this time, the plug 4 of underwater robot carrier II2 passes through the docking chamber cover 709, opens the three pawls 707, and moves forward. When the limiting structure on the plug 4 contacts the docking chamber cover 709, causing underwater robot carrier II2 to be unable to continue moving forward, the three pawls 707 will be subjected to a backward force. The pawls 707 will retract around the mounting base of the docking chamber cover 709 as the rotation axis, so that the annular limiting structure on the pawl 707 is tightly attached to the docking chamber cover 709, thereby locking the plug 4 and the docking chamber 7, and finally realizing the docking of underwater robot carrier II2 and underwater robot carrier I1.

[0057] See Figure 8 and Figure 9 As shown, when intervention is required, the underwater robot switches to robotic arm mode, motor 503 reverses, driving the moving constraint sleeve 512 forward until it is flush with the universal joint assembly I 621. At this time, the moving constraint sleeve 512 no longer restricts the pitch and yaw degrees of freedom of the movable joint 6, and the universal joint assembly II 622 can rotate relative to the universal joint assembly I 621. Since the underwater robot carrier I 1 is fixedly connected to the drive cabin 2, and the underwater robot carrier II 2 is fixedly connected to the docking cabin 7, each underwater robot carrier can rely on its own channel thruster to control the relative posture between different carriers, thereby achieving underwater operation capabilities similar to a robotic arm.

[0058] See Figure 7 As shown, during long-distance maneuvers, the underwater robot transforms into a multi-body underwater robot state. The motor 503 rotates forward, driving the movable constraint sleeve 512 to move backward into the docking compartment 7 without contacting the moving part 703 or changing the position of the moving part 703. At this time, the movable constraint sleeve 512 penetrates the movable joint 6, forcing the universal joint assembly I 621 and the universal joint assembly II 622 to be located on the same cylindrical surface and unable to rotate relative to each other. This restricts 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, reducing underwater directional resistance, thereby reducing energy consumption and extending underwater operation time.

[0059] See Figure 10As shown, when the underwater robot carrier I1 and the underwater robot carrier II2 separate, the motor 503 rotates forward, driving the moving constraint sleeve 512 to continue moving backward. After contacting the moving part 703, it pushes the moving part 703 to move backward together. Since the moving part 703 is connected to the pawl 707 through three connecting rods 704, and one end of the pawl 707 can rotate around the base on the docking compartment cover 709, the backward movement of the moving part 703 will cause the three pawls 707 to open, making their included angle larger. Thus, it no longer has a locking function for the plug 4, thereby realizing the separation of the underwater robot carrier II2 and the docking compartment 7.

[0060] This invention provides a joint device capable of autonomous underwater docking and separation. It is compact and small in size, installed at the stern of an underwater robot, and applicable to micro-sized autonomous underwater robots with small diameters. When the underwater robot is in standalone mode, the joint device has the same shape as the mounted underwater robot carrier, minimizing its impact on fluid dynamics. In applications requiring light underwater intervention, the underwater robot switches to robotic arm mode. Multiple underwater robot carriers can be connected and locked via plugs and docking bays. Each underwater robot can change its relative position to the leading underwater robot via a channel thruster on its carrier, thus achieving underwater operational capabilities similar to a robotic arm. Furthermore, depending on the application scenario, different numbers of basic underwater carriers or carriers carrying different loads can be docked, thereby meeting the needs of various operations under complex underwater conditions. When long-distance maneuvering is required, the underwater robot can transform into a multi-body underwater robot form. Multiple underwater robot carriers are connected into a rigid whole by docking and locking the degrees of freedom of the movable joints. The movement of the robot is driven by multiple underwater robot carriers, which realizes the rational allocation and utilization of energy and extends the underwater operation time.

[0061] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A joint device capable of underwater autonomous docking and separation, characterized by, The underwater robot carrier I (1), the underwater robot carrier II (2), the joint mechanism (3) and the plug (4) are included, 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) includes the driving cabin (5), the movable joint (6) and the docking cabin (7) connected in sequence, the driving cabin (5) is connected with the stern of the underwater robot carrier I (1), and the docking cabin (7) is used for docking with the plug (4) at the bow of the underwater robot carrier II (2); the movable joint (6) has the freedom degrees of pitch and yaw, and the driving cabin (5) has the functions of controlling the freedom degrees of the movable joint (6) and switching the locking or opening state of the docking cabin (7); The driving cabin (5) includes the driving cabin body (501), the motor rack (502), the motor (503), the shaft coupling (506), the movement constraint sleeve (512), the driving cabin cover (513) and the lead screw nut mechanism, one end of the driving cabin body (501) is connected with the underwater robot carrier I (1), the other end is provided with the driving cabin cover (513), a plurality of through holes are arranged on the driving cabin cover (513) in the circumferential direction, the motor (503) is installed on the inner end of the driving cabin body (501) through the motor rack (502), the output shaft of the motor (503) is connected with one end of the lead screw nut mechanism through the shaft coupling (506), the other end of the lead screw nut mechanism is rotationally connected with the driving cabin cover (513), the movement constraint sleeve (512) is connected with the lead screw nut mechanism, and the movement constraint sleeve (512) can pass through the through hole on the driving cabin cover (513) to constrain the freedom degree of the movable joint (6) or trigger the unlocking of the docking cabin (7) through the lead screw nut mechanism driving; The outer circumferential surface of the movement constraint sleeve (512) is supported by the cylindrical surface inside the driving cabin body (501) and is circumferentially limited, and the end surface of the movement constraint sleeve (512) is provided with a plurality of extension portions in the circumferential direction; when the plurality of extension portions pass through the corresponding through holes on the driving cabin cover (513) and surround the outside of the movable joint (6), the movable joint (6) is limited. The docking cabin (7) comprises 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 sealingly connected to the two ends of the docking cabin body (702) respectively, the inner side of the docking cabin cover (709) is hingedly connected with three pawls (707) arranged in the circumferential direction, the inner side surface of the pawl (707) is provided with an inner ratchet, the end of each pawl (707) is hingedly connected with the moving part (703) through the connecting rod (704), and the moving part (703) is slidingly matched with the central groove arranged on the inner side end surface of the docking cabin cover (701); the elastic ring (708) is sleeved on the outer side of the three pawls (707), so that the three pawls (707) are folded towards the center; the docking cabin cover (701) is connected with the movable joint (6), and a plurality of through holes penetrating the central groove are arranged on the docking cabin cover (701) in the circumferential direction.

2. The articulating device capable of underwater autonomous docking and undocking of claim 1, wherein, The screw nut mechanism comprises a lead screw (511) and a screw sleeve (509) threadedly connected with the lead screw (511), one end of the lead screw (511) is fixedly connected with the shaft coupling (506), the other end is rotationally connected with the center of the driving cabin cover (513), and the moving constraint sleeve (512) is sleeved on the outer side of the lead screw (511) and fixedly connected with the screw sleeve (509).

3. The articulating device capable of underwater autonomous docking and undocking of claim 1, wherein, The movable joint (6) comprises a driving cabin connecting part (61), a universal joint (62) and a docking cabin connecting part (64), wherein the driving cabin connecting part (61) and the docking cabin connecting part (64) are connected through the universal joint (62), the driving cabin connecting part (61) is used for being fixedly connected with the driving cabin (5), and the docking cabin connecting part (64) is used for being connected with the docking cabin (7); through holes are arranged on the driving cabin connecting part (61) and the docking cabin connecting part (64) in the circumferential direction.

4. The articulating device capable of underwater autonomous docking and undocking of claim 1, wherein, A vertical cylinder is arranged at the center of the docking cabin cover (709), three slot grooves for accommodating the pawls (707) are arranged on the side wall of the vertical cylinder in the circumferential direction, and the outer side end of the vertical cylinder is a tapered hole.

5. The articulating device capable of underwater autonomous docking and undocking of claim 1, wherein, The outer side of the pawl (707) is provided with a limiting groove for accommodating the elastic ring (708).

6. The articulating device enabling underwater autonomous docking and separation of claim 1, wherein, An outer ratchet is arranged on the outer circumference of the end of the plug (4).

7. The articulating device enabling underwater autonomous docking and separation of claim 1, wherein, 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), the underwater robot carrier I (1) and the underwater robot carrier II (2) are separated, 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 I (1) are in a parallel state; When the underwater robot is in the multi-body underwater robot state, the underwater robot carrier II (2) bow plug (4) is inserted into the underwater robot carrier I (1) stern docking cabin (7), 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 through the plug (4) and the docking cabin (7) after the drive cabin (5) controls the movable joint (6) to be in an active state; the two underwater robots change the relative position through the channel thruster on the carrier, thereby realizing the underwater operation ability of the mechanical arm state.

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