AUV (Autonomous Underwater Vehicle) modularized underwater autonomous docking charging device

Abstract

The invention discloses an underwater autonomous docking charging device for AUV modularization, belongs to the technical field of underwater robots, and aims to solve the problems in the prior art. The butt-joint device comprises a butt-joint block and a butt-joint clamp. The butt joint block is connected with an external power supply, the butt joint clamp is connected with a battery of the AUV, and the AUV is charged through butt joint of the butt joint clamp and the butt joint block; the butt joint block at least comprises four plug-in block modules located in the plug-in block module cavity shell, every two plug-in block modules form a group, and the four plug-in block modules of the two groups are arranged in a cross-shaped staggered mode. Each plug-in block module at least comprises a power supply rod which extends out relative to the plug-in block module cavity shell and a communication rod which is coaxially arranged with the power supply rod and is in sliding fit relative to the plug-in block module; the butt joint clamp at least comprises two positioning blocks which do relative opening and closing motion and two butt joint needles, the positioning blocks are used for positioning and clamping, and the two butt joint needles penetrate through the corresponding positioning blocks to push the communication rod to slide so that one end of the communication rod can be connected with one end of the power supply rod.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to an AUV modular underwater autonomous docking and charging device. Background Art

[0002] AUVs (autonomous underwater vehicles) face major challenges in energy endurance when performing long-term or long-distance missions. Traditional AUV batteries have limited capacity, and especially in deep-sea exploration or long-term monitoring missions, running out of power will lead to mission interruption, increasing recovery costs and time.

[0003] The existing methods of charging AUVs mainly include underwater wireless charging and seabed platform charging. For underwater wireless charging technology, firstly, the efficiency of underwater wireless charging is low, and energy transmission is affected by the conductivity and medium of water, resulting in a slow and unstable charging process. Secondly, the underwater environment is complex and the signal attenuation is serious, which can easily cause the charging system to fail. In addition, existing wireless charging systems usually require high costs and technical support, which limits their widespread application.

[0004] As for the submarine platform charging technology, the process of AUV floating up from the submarine platform after charging requires more thrust to overcome buoyancy due to the increase in water depth and water pressure, which consumes a lot of energy. During the AUV's floating process, due to the change in water depth, it may also face the problem of reduced navigation and positioning accuracy, which further aggravates energy consumption and reduces the efficiency of the mission. Summary of the invention

[0005] The purpose of the present invention is to propose a modular underwater autonomous docking and charging device for AUVs to solve the problems of low wireless charging efficiency, slow and unstable charging, charging system failure, and high energy consumption after charging on a seabed platform in the prior art.

[0006] To achieve the above-mentioned purpose, a modular underwater autonomous docking and charging device for an AUV of the present invention comprises a docking block and a docking clamp carried on the AUV; the docking block is connected to an external power source, the docking clamp is connected to a battery of the AUV, and the AUV is charged by docking the docking clamp with the docking block;

[0007] The docking block at least comprises:

[0008] Plug-in module cavity shell;

[0009] The plug-in block module is located in the plug-in block module cavity shell, and the plug-in block modules include four, each two forming a group, two in one group are arranged toward one end of the plug-in block module, and two in the other group are arranged toward the other opposite end, and the four plug-in block modules in the two groups are arranged cross-staggered; each of the plug-in block modules at least includes a power supply rod extending relative to the plug-in block module cavity shell and a connecting rod coaxially arranged with the power supply rod, the connecting rod is slidably matched relative to the plug-in block module as a whole so that one end of the connecting rod is connected or separated from one end of the power supply rod, and the other ends of the two power supply rods of the two plug-in block modules in each group are respectively connected to the positive and negative electrodes of the external power supply;

[0010] and positioning shells located on four sides of the plug-in module cavity shell, each positioning shell having an outer surface provided with an inwardly recessed spherical guide groove;

[0011] The docking clamp includes at least two positioning blocks that can open and close relative to each other and two docking pins. The positioning blocks and the positioning housing are contacted and positioned by two spherical guide grooves that are opposite to each other. The two docking pins respectively pass through the corresponding positioning blocks to push the connecting rod to slide so that one end of the connecting rod is connected to one end of the power supply rod, and the other end of the docking pin is connected to the battery of the AUV.

[0012] The docking block also includes:

[0013] Two end covers arranged at both ends of the plug-in block module cavity shell;

[0014] And two conductive slip ring modules are respectively arranged on the two end covers, one end of each conductive slip ring module is connected to two power supply rods of two plug-in block modules on the same side through pins, and the other end is connected to an external power supply through a cable.

[0015] The plug-in block module comprises:

[0016] A base is provided with an axial through hole in the middle, and the through hole in the middle of the base is slidably matched with the connecting rod;

[0017] An upper connection cover is located above the base and fixedly connected to the upper end surface of the base by bolts, and a small sealing gasket is provided between the upper end surface of the base and the upper connection cover;

[0018] A top cover is located above the upper connection cover, the upper connection cover is fixedly connected to the lower end surface of the top cover by bolts, the lower end surface of the top cover is provided with a receiving groove, the top cover is provided with a docking hole from one side to the other side, the docking hole passes through the receiving groove, and a one-way valve is provided at one end of the docking hole; a large sealing gasket is provided between the top cover and the upper connection cover;

[0019] A lower connection cover located below the base and fixedly connected to the lower end surface of the base by bolts, wherein a sealing groove is provided on the lower surface of the lower connection cover, and a small sealing gasket is provided between the lower end surface of the base and the lower connection cover;

[0020] a sealing ring located in the sealing groove;

[0021] a diaphragm located below the lower connecting cover;

[0022] The bottom cover is located below the diaphragm, and bolts pass through the lower connection cover, the diaphragm and the bottom cover in sequence to be fixedly connected. A gasket is provided between the diaphragm and the bottom cover, and the power supply rod is fixed to the lower surface of the bottom cover through an extension plate of the power supply rod;

[0023] A sliding tongue is located in the receiving groove on the lower surface of the top cover and slides up and down relative to the receiving groove. The upper surface of the sliding tongue is an inclined surface, and the inclined surface faces the end of the docking hole that is not provided with a one-way valve. The connecting rod passes through the sealing ring, the lower connecting cover, the base and the upper connecting cover from bottom to top in sequence, and then is connected and fixed with the threaded hole designed on the lower surface of the sliding tongue. The lower end of the connecting rod passes through the diaphragm and the bottom cover to contact or separate from the power supply rod.

[0024] And an adjusting spring and a spring threaded rod, one end of a plurality of circumferentially evenly distributed adjusting springs is fixedly connected to the lower surface of the sliding tongue, and the other end is respectively connected to a pair of spring threaded rods, the other ends of the plurality of spring threaded rods are fixedly connected to the upper connecting rod, the docking pin is inserted or pulled out through the docking hole of the top cover, and the sliding tongue and the connecting rod are moved up and down as a whole through the inclined surface of the sliding tongue to contact or separate from the power supply rod.

[0025] The diaphragm includes an outer circular part, an inner circular part and a semicircular part connected between the outer circular part and the inner circular part; the inner circular part is a hard structure, the outer circular part and the semicircular part are soft membranes, the diaphragm is connected to the lower connecting cover and the bottom cover through the outer circular part, the inner circular part and the semicircular part are movable parts, and when the spring is in the natural state, the extension plate at the bottom of the connecting rod is tightly attached to the inner circular part of the diaphragm.

[0026] The conductive slip ring module comprises:

[0027] A universal joint cross shaft, the universal joint cross shaft comprises a square ring-shaped universal joint housing and a threaded shaft neck, threaded holes are arranged at the central positions around the universal joint housing, and four threaded shaft necks are respectively connected to the threaded holes to form a universal joint cross shaft;

[0028] An upper universal joint fork, wherein the upper universal joint fork is cooperatively connected with two opposite threaded journals;

[0029] A lower yoke fork, wherein the lower yoke fork is cooperatively connected with two other opposite threaded journals;

[0030] A lower bearing bush, on which the lower end of the lower universal joint fork is disposed and rotates;

[0031] A lower bearing seat, wherein the lower bearing shell is arranged in a groove of the lower bearing seat;

[0032] An upper bearing shell, the upper bearing shell being coaxially mounted on the upper surface of the lower end of the lower universal joint fork by bolts;

[0033] An upper bearing seat, the upper bearing seat being pressed against the upper surface of the upper bearing shell;

[0034] And a conductive slip ring is located below the lower bearing seat, one end of the conductive slip ring extends into the corresponding end cover, and the other end is pressed against the outer end surface of the end cover, and the bolt passes through the upper bearing seat, the lower bearing seat and the conductive slip ring in sequence and is threadedly connected to the end cover.

[0035] The docking clamp also includes

[0036] A fixing bracket mounted on the AUV;

[0037] A forward thrust plate disposed inside the AUV;

[0038] A rear push plate disposed inside the AUV;

[0039] An upper connecting rod mechanism and a lower connecting rod mechanism are arranged opposite to each other, wherein the upper first connecting rod of the upper connecting rod mechanism and the lower first connecting rod of the lower connecting rod mechanism respectively pass through the fixing frame, the front wall of the AUV bow, the front push plate and the end surface of the rear push plate in sequence, and the other end drives the two positioning blocks to open and close;

[0040] A middle link mechanism is located between the upper link mechanism and the lower link mechanism; the first middle link of the middle link mechanism passes through the fixing frame and the front wall of the AUV bow in sequence and is fixedly connected to the end surface of the front push plate, and the other end drives the two docking pins to open and close;

[0041] Two thin springs are located between the front push plate and the rear push plate, the two thin springs are respectively sleeved on the upper first connecting rod and the lower first connecting rod, and the two ends of the two thin springs are respectively in contact with the end surfaces of the front push plate and the rear push plate;

[0042] A thick spring, wherein the thick spring is sleeved on the first middle connecting rod, one end of the thick spring contacts the end surface of the front push plate, and the other end contacts the inner wall of the front wall of the bow of the AUV, and the progress coefficient of the thick spring is greater than the stiffness coefficients of the two thin springs;

[0043] A fixing rod, wherein threads are designed at the upper and lower ends of the fixing rod, and there are four fixing rods in total, two on the left side and two on the right side, which are symmetrical in pairs. The fixing rods pass through the upper part of the fixing frame, the upper fourth connecting rod of the upper connecting rod mechanism, the middle fourth connecting rod of the middle connecting rod mechanism, the lower fourth connecting rod of the lower connecting rod mechanism and the lower part of the fixing frame from top to bottom, and the two sides are fixed to the fixing frame by bolts;

[0044] And an electric push rod fixed in the AUV, wherein the output end of the electric push rod is connected to the rear push plate.

[0045] The upper connecting rod mechanism includes an upper first connecting rod, an upper second connecting rod, an upper third connecting rod, an upper fourth connecting rod, an upper fifth connecting rod, an upper sixth connecting rod and an upper connecting rod; the upper first connecting rod is a telescopic rod with a thread at the upper end, which passes through the front push plate and is fixedly connected to the rear push plate, and the lower end is hinged to one end of the two upper second connecting rods by a pin; the connection structure of the other ends of the two upper second connecting rods is the same, specifically: the other end of the upper second connecting rod is hinged to one end of the upper third connecting rod and the upper fourth connecting rod by a pin; the other end of the upper third connecting rod is hinged to one end of the upper fifth connecting rod arranged parallel to the upper fourth connecting rod, and one end of the upper sixth connecting rod is hinged to the upper fourth connecting rod and the upper fifth connecting rod by a pin; the other end of the upper sixth connecting rod is designed with a threaded hole, which is connected to one end of the upper connecting rod by a thread; the opposite ends of the two upper connecting rods are provided with threads, which are respectively connected and fixed to the corresponding positioning blocks.

[0046] The lower link mechanism includes a lower first link, a lower second link, a lower third link, a lower fourth link, a lower fifth link, a lower sixth link and a lower connecting rod; the lower first link is a telescopic rod with a thread on the upper end, which passes through the front push plate and is fixedly connected to the rear push plate, and the lower end is hinged to one end of the two upper second links by a pin; the connection structure of the other ends of the two lower second links is the same, specifically: the other end of the lower second link is respectively hinged to the lower third link and one end of the lower fourth link by a pin; the other end of the lower third link is hinged to one end of the lower fifth link arranged parallel to the lower fourth link, and one end of the lower sixth link is respectively hinged to the lower fourth link and the lower fifth link by a pin; the other end of the lower sixth link is designed with a threaded hole, which is connected to one end of the lower connecting rod by a thread; the opposite ends of the two lower connecting rods are provided with threads, which are respectively connected and fixed to corresponding positioning blocks.

[0047] The middle link mechanism is a bilaterally symmetrical multi-link structure, including a first middle link, a second middle link, a third middle link, a fourth middle link, a fifth middle link, a sixth middle link, a docking pin, a slider and a slide rod; the upper end of the first middle link is threaded and fixedly connected to the front push plate, and the lower end is hinged to the two second middle links by pins; the connection structure of the other ends of the two second middle links is the same, specifically:

[0048] The other end of the second middle connecting rod is hinged to the third middle connecting rod and one end of the fourth middle connecting rod through pins; the other end of the third middle connecting rod is hinged to one end of the fifth middle connecting rod arranged parallel to the fourth middle connecting rod, and one end of the sixth middle connecting rod is hinged to the fourth middle connecting rod and the fifth middle connecting rod through pins; the other end of the sixth middle connecting rod is vertically fixedly connected to one end of the sliding rod, the sliding block is slidably matched with the sliding rod on the sliding rod, and one end of the docking pin is designed with a thread, which is threadedly connected to the sliding block.

[0049] The positioning block is a hemispherical structure, comprising a hemispherical bowl-shaped front shell and a circular plate-shaped rear shell detachably connected to the front shell.

[0050] The beneficial effects of the present invention are as follows: a modular underwater autonomous docking and charging device for AUVs of the present invention is divided into two parts, namely a docking clamp and a docking block. During docking, the AUV can be docked from four directions, and the docking block can rotate around the cable. The setting of the conductive slip ring module effectively avoids the problem of winding, and improves the success rate of autonomous docking. Because under ocean conditions, complex ocean currents and electromagnetic conditions make it impossible for underwater unmanned submersibles to achieve accurate positioning through wireless communication technology like aerial drones. First, the positions of the active and passive parties are placed within an allowable error range through machine vision technology, and rough positioning is performed, and then precise positioning is performed by mechanical structure. The docking block designed by the present invention is much smaller in size than the traditional docking dock, which is convenient for unmanned ships to carry and throw into the sea. The outer ends of the two upper universal joint forks opposite to the docking block are respectively provided with threaded holes and threaded shafts, and multiple docking blocks are quickly connected head to tail through threads to form a long chain, which can meet the simultaneous charging of multiple AUVs performing tasks in the form of a team. When charging, the AUV does not need to sink to the seabed platform first, which reduces the energy loss during the AUV's surfacing process, improves the charging efficiency, and improves the AUV's work efficiency. Through autonomous charging, the present invention allows the AUV to complete continuous tasks underwater, avoiding frequent surfacing to the surface for manual charging or battery replacement. The implementation of this technology can not only extend the AUV's operating time, but also improve the continuity of the task and the integrity of data collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is an assembly diagram of an AUV modular underwater autonomous docking and charging device of the present invention;

[0052] Figure 2 is a structural schematic diagram of a docking block;

[0053] Figure 3 It is a schematic diagram of the assembly of the plug-in block module inside the docking block and the plug-in block module cavity shell;

[0054] Figure 4 It is a schematic diagram of the structure of the plug-in module cavity shell;

[0055] Figure 5 It is a schematic diagram of the assembly of the plug-in block module, the plug-in block module cavity shell and the end cover;

[0056] Figure 6 This is a structural schematic diagram of the plug-in block module at one angle;

[0057] Figure 7 This is a schematic diagram of the structure of the plug-in block module from another angle;

[0058] Figure 8 This is an exploded picture of the plug-in block module;

[0059] Fig. 9 is a schematic diagram of the diaphragm;

[0060] Fig.10 This is the exploded diagram of the conductive slip ring module;

[0061] Fig.11 It is a schematic diagram of the universal joint cross axis;

[0062] Fig.12 This is a schematic diagram of the charging clip;

[0063] Fig.13 This is a schematic diagram of the internal structure of the charging clip;

[0064] Fig.14 Schematic diagram of the upper connecting rod mechanism;

[0065] Fig.15 Schematic diagram of the upper second connecting rod;

[0066] Fig.16 It is the schematic diagram of the middle connecting rod mechanism;

[0067] Fig.17 This is a schematic diagram of the positioning block;

[0068] Fig.18 is a schematic diagram of the lower connecting rod mechanism;

[0069] Fig.19 This is a diagram of the docking clamp status before docking;

[0070] Fig. 20 This is a diagram showing the docking clamp status when the first step of docking is completed;

[0071] Fig.21 The docking clip status diagram when charging is completed;

[0072] Among them, 1. docking block, 2. docking clamp;

[0073] 10. plug-in block module, 11. conductive slip ring module, 12. positioning housing, 13. plug-in block module cavity housing, 14. end cover;

[0074] 1001, top cover, 1002, docking hole, 1003, one-way valve, 1004, large sealing gasket, 1005, small sealing gasket, 1006, base, 1007, bottom cover, 1008, power supply rod, 1009, connecting rod, 1010, adjusting spring, 1011, spring threaded rod, 1012, diaphragm, 1013, upper connecting cover, 1014, sealing ring, 1015, lower connecting cover, 1016, bolt, 1017, sliding tongue, 1018, gasket, 10120, outer circle part, 10121, semicircular part, 10122, inner circle part;

[0075] 1101, upper bearing seat, 1102, upper bearing shell, 1103, upper universal joint fork, 1104, universal joint cross shaft, 1105, lower universal joint fork, 1106, lower bearing shell, 1107, lower bearing seat, 1108, conductive slip ring, 11040, threaded shaft neck, 11041, universal joint housing;

[0076] 200, upper connecting rod mechanism, 201, middle connecting rod mechanism, 202, lower connecting rod mechanism, 203, positioning block, 204, thick spring, 205, front push plate, 206, thin spring, 207, rear push plate, 208, fixing rod, 209, fixing frame, 210, electric push rod;

[0077] 2000, the first connecting rod is mounted, 2001, the second connecting rod is mounted, 2002, the third connecting rod is mounted, 2003, the fourth connecting rod is mounted, 2004, the fifth connecting rod is mounted, 2005, the sixth connecting rod is mounted, 2006, the connecting rod is mounted;

[0078] 2010, the first connecting rod in the middle, 2011, the second connecting rod in the middle, 2012, the third connecting rod in the middle, 2013, the fourth connecting rod in the middle, 2014, the fifth connecting rod in the middle, 2015, the sixth connecting rod in the middle, 2016, the docking pin, 2017, the slider, 2018, the slide bar;

[0079] 2020, a first lower connecting rod, 2021, a second lower connecting rod, 2022, a third lower connecting rod, 2023, a fourth lower connecting rod, 2024, a fifth lower connecting rod, 2025, a sixth lower connecting rod, 2026, a lower connecting rod;

[0080] 2030, front shell, 2031, back shell. DETAILED DESCRIPTION

[0081] The embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0082] See also Figure 1-Figure 18The modular underwater autonomous docking and charging device of an AUV of the present invention comprises a docking block 1 and a docking clamp 2 carried on the AUV; the docking block 1 is connected to an external power source, the docking clamp 2 is connected to a battery of the AUV, and the AUV is charged by docking the docking clamp 2 with the docking block 1;

[0083] The docking block 1 at least comprises:

[0084] Plug-in block module cavity shell 13;

[0085] The plug-in block module 10 is located in the plug-in block module cavity shell 13, and the plug-in block modules 10 include four, each two forming a group, two in one group are arranged toward one end of the plug-in block module 10, and two in the other group are arranged toward the other opposite end, and the four plug-in block modules 10 in the two groups are arranged crosswise; each of the plug-in block modules 10 at least includes a power supply rod 1008 extending relative to the plug-in block module cavity shell 13 and a connecting rod 1009 coaxially arranged with the power supply rod 1008, the connecting rod 1009 is integrally slidably matched with the plug-in block module 10 so that one end of the connecting rod 1009 is connected or separated from one end of the power supply rod 1008, and the other ends of the two power supply rods 1008 of the two plug-in block modules 10 in each group are respectively connected to the positive and negative electrodes of the external power supply;

[0086] and positioning shells 12 located on four sides of the plug-in module cavity shell 13, wherein the outer surface of each positioning shell 12 is provided with an inwardly recessed spherical guide groove;

[0087] The docking clamp 2 includes at least two positioning blocks 203 that can open and close relative to each other and two docking pins 2016. The positioning blocks 203 and the positioning housing 12 are contacted and positioned by two spherical guide grooves that are opposite to each other. The two docking pins 2016 respectively pass through the corresponding positioning blocks 203 to push the connecting rod 1009 to slide so that one end of the connecting rod 1009 is connected to one end of the power supply rod 1008, and the other end of the docking pin 2016 is connected to the battery of the AUV.

[0088] The docking block 1 also includes:

[0089] Two end covers 14 disposed at both ends of the plug-in block module cavity shell 13;

[0090] And two conductive slip ring modules 11 are respectively arranged on the two end covers 14, one end of each conductive slip ring module 11 is connected to the two power supply rods 1008 of the two plug-in block modules 10 on the same side through pins, and the other end is connected to the external power supply through a cable.

[0091] The plug-in block module 10 includes:

[0092] A base 1006 is provided with an axial through hole in the middle, and the through hole in the middle of the base 1006 is slidably matched with the connecting rod 1009;

[0093] An upper connection cover 1013 located above the base 1006 and fixedly connected to the upper end surface of the base 1006 by bolts 1016, and a small sealing gasket 1005 is provided between the upper end surface of the base 1006 and the upper connection cover 1013;

[0094] The top cover 1001 is located above the upper connection cover 1013. The upper connection cover 1013 is fixedly connected to the lower end surface of the top cover 1001 by bolts 1016. The lower end surface of the top cover 1001 is provided with a receiving groove. The top cover 1001 is provided with a docking hole 1002 from one side to the other side. The docking hole 1002 passes through the receiving groove. A one-way valve 1003 is provided at one end of the docking hole 1002. A large sealing gasket 1004 is provided between the top cover 1001 and the upper connection cover 1013.

[0095] A lower connection cover 1015 located below the base 1006 and fixedly connected to the lower end surface of the base 1006 by bolts 1016, wherein a sealing groove is provided on the lower surface of the lower connection cover 1015, and a small sealing gasket 1005 is provided between the lower end surface of the base 1006 and the lower connection cover 1015;

[0096] A sealing ring 1014 located in the sealing groove;

[0097] a diaphragm 1012 located below the lower connection cover 1015;

[0098] The bottom cover 1007 is located below the diaphragm 1012, and bolts pass through the lower connection cover 1015, the diaphragm 1012 and the bottom cover 1007 in sequence to be fixedly connected. A gasket 1018 is provided between the diaphragm 1012 and the bottom cover 1007, and the power supply rod 1008 is fixed to the lower surface of the bottom cover 1007 through an extension plate of the power supply rod 1008;

[0099] The sliding tongue 1017 is located in the receiving groove on the lower surface of the top cover 1001 and slides up and down relative to the receiving groove. The upper surface of the sliding tongue 1017 is an inclined surface, and the inclined surface faces the end of the docking hole 1002 where the one-way valve 1003 is not provided. The connecting rod 1009 passes through the sealing ring 1014, the lower connecting cover 1015, the base 1006 and the upper connecting cover 1013 from bottom to top, and then is connected and fixed with the threaded hole designed on the lower surface of the sliding tongue 1017. The lower end of the connecting rod 1009 passes through the diaphragm 1012 and the bottom cover 1007 to contact or separate from the power supply rod 1008.

[0100] As well as an adjusting spring 1010 and a spring threaded rod 1011, one end of a plurality of circumferentially evenly distributed adjusting springs 1010 is fixedly connected to the lower surface of the sliding tongue 1017, and the other end is respectively connected to a pair of spring threaded rods 1011, the other ends of the plurality of spring threaded rods 1011 are fixedly connected to the upper connecting rod 2006, the docking pin 2016 is inserted or pulled out through the docking hole 1002 of the top cover 1001, and the sliding tongue 1017 and the connecting rod 1009 are moved up and down as a whole through the inclined surface of the sliding tongue 1017 to contact or separate from the power supply rod 1008.

[0101] The outer surface of the power supply pole 1008 is an insulator, and only the part above the extension plate is exposed to the outside. The middle and lower parts of the power supply pole 1008 are watertight parts, which can cooperate with the wire to ensure insulation. The wire can be connected to the power supply pole 1008 through a watertight plug. The power supply pole 1008 is connected to the bottom cover 1007 and the gasket 1018 by bolts, so that the upper surface of the extension plate of the power supply pole 1008 is in close contact with the groove surface of the bottom cover 1007.

[0102] The plug-in block module 10 is the core part of the docking block 1, and the conductive slip ring module 11 is distributed on the upper and lower surfaces of the docking block 1 and fixed to the end cover 14 by bolts. Except for the upper and lower surfaces, the other four surfaces of the docking block 1 are composed of a positioning shell 12. The spherical guide groove designed at the center of the outer surface of the positioning shell 12 is convenient for positioning and adjustment during docking. The plug-in block module cavity shell 13 is fixed to the positioning shell 12 by bolts. The plug-in block module cavity shell 13 has a special groove that can cooperate with the plug-in block module 10. The end cover 14 presses the plug-in block module 10 close to the side of the plug-in block module cavity shell 13, and is fixed to the plug-in block module cavity shell 13 by bolts. The plug-in block module 10 is connected to the seawater environment and the sealed power supply cabin through a connecting rod 1009 with a sliding tongue 1017 at one end. The sliding tongue 1017 and the connecting rod 1009 are designed to be copper, which also plays a conductive role while triggering the closed circuit.

[0103] The plug-in block module cavity shell 13 is a part obtained directly by processing, and has the same shape as the opposite surface, and the adjacent surfaces are rotated 180 degrees. Specifically, it includes two parallel and oppositely arranged U-shaped structures, and the two adjacent end surfaces of the two U-shaped structures are connected to form an integral structure.

[0104] Through holes are provided on two opposite sides of the top cover 1001, and a one-way valve 1003 is provided on the inner side, so that when docking, the docking needle 2016 can be inserted to drain the water in the plug-in block module 10.

[0105] The diaphragm 1012 includes an outer circular part 10120, an inner circular part 10122 and a semicircular part 10121 connected between the outer circular part 10120 and the inner circular part 10122; the inner circular part 10122 is a hard structure, the outer circular part 10120 and the semicircular part 10121 are soft membranes, the diaphragm 1012 is connected to the lower connecting cover 1015 and the bottom cover 1007 through the outer circular part 10120, the inner circular part 10122 and the semicircular part 10121 are movable parts, and when the spring is in the natural state, the extension plate at the bottom of the connecting rod 1009 is tightly attached to the inner circular part 10122 of the diaphragm 1012.

[0106] The conductive slip ring module 11 comprises:

[0107] A universal joint cross shaft 1104, the universal joint cross shaft 1104 comprises a square ring-shaped universal joint housing 11041 and a threaded shaft neck 11040, threaded holes are arranged at the center positions of the four sides of the universal joint housing 11041, and the four threaded shaft necks 11040 are respectively connected to the threaded holes to form the universal joint cross shaft 1104;

[0108] An upper yoke 1103, wherein the upper yoke 1103 is cooperatively connected with two opposite threaded journals 11040;

[0109] A lower yoke 1105, wherein the lower yoke 1105 is cooperatively connected with two other opposite threaded journals 11040;

[0110] A lower bearing bush 1106, on which the lower end of the lower universal joint fork 1105 is disposed and rotates;

[0111] A lower bearing seat 1107, wherein the lower bearing shell 1106 is disposed in a groove of the lower bearing seat 1107;

[0112] An upper bearing 1102, wherein the upper bearing 1102 is coaxially mounted on the upper surface of the lower end of the lower universal joint fork 1105 by bolts;

[0113] An upper bearing seat 1101, wherein the upper bearing seat 1101 is pressed against the upper surface of the upper bearing bush 1102;

[0114] And a conductive slip ring 1108 is located below the lower bearing seat 1107, one end of the conductive slip ring 1108 extends into the corresponding end cover 14, and the other end is pressed against the outer end surface of the end cover 14, and the bolts pass through the upper bearing seat 1101, the lower bearing seat 1107 and the conductive slip ring 1108 in sequence and are threadedly connected to the end cover 14.

[0115] The conductive slip ring 1108 is a hollow conductive slip ring 1108 through which the wires and cables can pass. When arranging, the wires and cables sequentially pass through the upper universal joint fork 1103 and the conductive slip ring 1108 at the upper part of the docking block 1, then pass through the plug-in block module cavity shell 13, and then pass through the conductive slip ring 1108 and the upper universal joint fork 1103 at the lower part of the docking block 1. In this way, the cable is arranged in one docking block 1, and the cable can pass into the next docking block 1. When the cable is at the conductive slip ring 1108, two wires, one positive and one negative, are separated and connected to the stator on the conductive slip ring 1108. The positive wire led out of the rotor of the conductive slip ring 1108 is connected to the power supply pole 1008 of the plug-in block module 10, and the negative wire is connected to the power supply pole 1008 of the opposite plug-in block module 10.

[0116] The docking clamp 2 also includes

[0117] A fixing frame 209 mounted on the AUV; the fixing frame 209 is fixed to the bow of the AUV;

[0118] A forward thrust plate 205 disposed inside the AUV;

[0119] A rear push plate 207 disposed inside the AUV;

[0120] The upper link mechanism 200 and the lower link mechanism 202 are arranged opposite to each other, the upper first link 2000 of the upper link mechanism 200 and the lower first link 2020 of the lower link mechanism 202 respectively pass through the fixing frame 209, the front wall of the AUV bow, the front push plate 205, and are fixedly connected to the end surface of the rear push plate 207, and the other end drives the two positioning blocks 203 to open and close;

[0121] A middle link mechanism 201 is located between the upper link mechanism 200 and the lower link mechanism 202; the first middle link 2010 of the middle link mechanism 201 passes through the fixing frame 209 and the front wall of the AUV bow in sequence and is fixedly connected to the end surface of the front push plate 205, and the other end drives the two docking pins 2016 to open and close;

[0122] Two thin springs 206 are located between the front push plate 205 and the rear push plate 207. The two thin springs 206 are respectively sleeved on the upper first connecting rod 2000 and the lower first connecting rod 2020. The two ends of the two thin springs 206 are respectively in contact with the end surfaces of the front push plate 205 and the rear push plate 207.

[0123] A thick spring 204, wherein the thick spring 204 is sleeved on the first middle connecting rod 2010, one end of the thick spring 204 contacts the end surface of the front push plate 205, and the other end contacts the inner wall of the front wall of the AUV bow, and the progress coefficient of the thick spring 204 is greater than the stiffness coefficient of the two thin springs 206;

[0124] The fixing rod 208 is designed with threads at both ends, and there are four fixing rods 208, two on the left side and two on the right side, which are symmetrical. The fixing rods 208 pass through the upper part of the fixing frame 209, the upper fourth connecting rod 2003 of the upper connecting rod mechanism 200, the middle fourth connecting rod 2013 of the middle connecting rod mechanism 201, the lower fourth connecting rod 2023 of the lower connecting rod mechanism 202 and the lower part of the fixing frame 209 from top to bottom, and are fixed to the fixing frame 209 on both sides by bolts;

[0125] And an electric push rod 210 fixed in the AUV, wherein the output end of the electric push rod 210 is connected to the rear push plate 207 .

[0126] The upper link mechanism 200 includes an upper first link 2000, an upper second link 2001, an upper third link 2002, an upper fourth link 2003, an upper fifth link 2004, an upper sixth link 2005 and an upper connecting rod 2006; the upper first link 2000 is a telescopic rod, which is similar to a spring shock absorber. A spring is installed inside the telescopic rod. When subjected to a certain pressure, the spring will be compressed. When the pressure disappears, the spring will return to its original state, thereby driving the telescopic rod to extend and retract. The upper end of the telescopic rod is threaded, passes through the front push plate 205 and is fixedly connected to the rear push plate 207, and the lower end is hinged to one end of the two upper second connecting rods 2001 through a pin; the upper end of the upper second connecting rod 2001 has an asymmetrical double fork ear, and the left and right upper second connecting rods 2001 are not completely symmetrical when installed, and the connection structure of the other ends of the two upper second connecting rods 2001 is the same, specifically: the other end of the upper second connecting rod 2001 is respectively hinged to one end of the upper third connecting rod 2002 and the upper fourth connecting rod 2003 through a pin; The other end of the third connecting rod 2002 is hinged to one end of the upper fifth connecting rod 2004 which is arranged parallel to the upper fourth connecting rod 2003; one end and the middle part of the upper sixth connecting rod 2005 are designed with slots, and are respectively hinged to the upper fourth connecting rod 2003 and the upper fifth connecting rod 2004 through pins; the other end of the upper sixth connecting rod 2005 is designed with a threaded hole, and is connected to one end of the upper connecting rod 2006 through threads; the opposite ends of the two upper connecting rods 2006 are provided with threads, which are respectively connected and fixed to the corresponding positioning blocks 203.

[0127] The lower link mechanism 202 includes a lower first link 2020, a lower second link 2021, a lower third link 2022, a lower fourth link 2023, a lower fifth link 2024, a lower sixth link 2025 and a lower connecting rod 2026; the lower first link 2020 is a telescopic rod with a thread on the upper end, which passes through the front push plate 205 and is fixedly connected to the rear push plate 207, and the lower end is hinged to one end of the two upper second links 2001 through a pin; the upper end of the lower second link 2021 has an asymmetric double fork ear, and the left and right lower second links 2021 are not completely symmetrical when installed, and the connection structure of the other ends of the two lower second links 2021 is the same, specifically : The other end of the lower second connecting rod 2021 is hinged to the lower third connecting rod 2022 and one end of the lower fourth connecting rod 2023 through pins; the other end of the lower third connecting rod 2022 is hinged to one end of the lower fifth connecting rod 2024 arranged parallel to the lower fourth connecting rod 2023, and one end and the middle part of the lower sixth connecting rod 2025 are designed with slots, which are respectively hinged to the lower fourth connecting rod 2023 and the lower fifth connecting rod 2024 through pins; the other end of the lower sixth connecting rod 2025 is designed with a threaded hole, which is connected to one end of the lower connecting rod 2026 through threads; the opposite ends of the two lower connecting rods 2026 are provided with threads, which are respectively connected and fixed to the corresponding positioning blocks 203.

[0128] The middle link mechanism 201 is a bilaterally symmetrical multi-link structure, including a first middle link 2010, a second middle link 2011, a third middle link 2012, a fourth middle link 2013, a fifth middle link 2014, a sixth middle link 2015, a docking pin 2016, a slider 2017 and a slide bar 2018; the first middle link 2010 has a threaded upper end, which is connected and fixed to the front push plate 205, and the lower end is hinged to the two second middle links 2011 through a pin; the connection structure of the other ends of the two second middle links 2011 is the same, specifically:

[0129] The other end of the second middle link 2011 is respectively hinged to the third middle link 2012 and one end of the fourth middle link 2013 through a pin; the other end of the third middle link 2012 is hinged to one end of the fifth middle link 2014 arranged parallel to the fourth middle link 2013; one end and the middle part of the sixth middle link 2015 are designed with a slot, and are respectively hinged to the fourth middle link 2013 and the fifth middle link 2014 through a pin; the other end of the sixth middle link 2015 The end of the docking pin 2016 is vertically fixedly connected to one end of the slide bar 2018, the slide bar 2017 is slidably matched with the slide bar 2018, one end of the docking pin 2016 is designed with a thread, and is threadedly connected with the slide bar 2017. When the two surfaces of the two positioning blocks 203 and the docking block 1 opposite to each other are matched with the docking clamp 2, the positions of the two docking pins 2016 are arranged opposite to the docking holes 1002 of the top cover 1001 of the corresponding plug-in block module 10 and the inclined surface of the sliding tongue 1017. The docking pin 2016, the slide bar 2017 and the slide bar 2018 ensure that the middle link mechanism 201 can only transmit axial movement to the docking pin 2016.

[0130] The positioning block 203 is a hemispherical structure, including a hemispherical bowl-shaped front shell 2030 and a disc-shaped rear shell 2031 detachably connected to the front shell 2030. A through hole is designed at the center of the front shell 2030 and the rear shell 2031, the purpose of which is to position the docking pin 2016 and allow the docking pin 2016 to pass through the positioning block 203. The front shell 2030 has a slight deformation ability, and can be sealed by a slight deformation after contacting the positioning shell 12, thereby isolating the seawater from the outside.

[0131] The two upper universal joint forks 1103 of the docking block 1 are provided with threaded holes and threaded shafts at their outer ends, and multiple docking blocks 1 are connected end to end quickly by threads to form a long chain, which falls from the unmanned ship and is captured by the docking clamp 2. The docking clamp 2 is composed of two sets of clamps, the first set consisting of the upper connecting rod mechanism 200 and the lower connecting rod mechanism 202 is responsible for positioning and clamping, and the second set consisting of the middle connecting rod mechanism 201 is responsible for conducting the circuit for charging. The energy required for the movement of the docking clamp 2 is provided by the AUV.

[0132] See also Figure 19-21During docking, the AUV uses communication to make the capture device at the bow capture the cable, and then raises and lowers the position of the docking block 1. The electric push rod 210 extends to push the front push plate 205. The elastic force of the thick spring 204 is greater than the elastic force of the two thin springs 206 combined. The upper first link 2000 mechanism and the lower first link 2020 start to move and then drive the other links of the upper link mechanism 200 and the lower link mechanism 202 to move, so that the positioning block 203 is constantly close to the docking block 1, and the positioning convex circular surface of the positioning block 203 is close to the positioning concave circular surface of the docking block 1, until it is pressed and slightly deformed to form a seal. The electric push rod 210 continues to push the front push plate 205, and the front push plate 205 pushes the rear push plate 207. The upper first link 2000 mechanism and the lower first link 2020 begin to shorten, and the middle first link 2010 begins to move to drive the other links of the middle link mechanism 201 to move, so that the docking pin 2016 is inserted into the plug-in module 10, and the sliding tongue 1017 is pushed to move the connecting rod 1009 downward until the lower end of the connecting rod 1009 contacts the power supply rod 1008, and the circuit is closed to start charging. When fully charged, the electric push rod 210 begins to shrink, the upper first link 2000 mechanism and the lower first link 2020 begin to extend, and the middle first link 2010 begins to move to drive the other links of the middle link mechanism 201 to move, so that the docking pin 2016 gradually leaves the plug-in module, and the sliding tongue 1017 begins to rebound, so that the connecting rod 1009 moves upward, disconnecting the circuit and stopping charging. When the docking pin 2016 returns to the position before docking, the upper first link 2000 mechanism and the lower first link 2020 start to move and then drive the other links of the upper link mechanism 200 and the lower link mechanism 202 to move, so that the positioning block 203 continues to move away from the docking block 1 until it returns to the position before docking, and the AUV continues to perform the task.

Claims

1. A modular underwater autonomous docking and charging device for AUV, characterized in that: The invention comprises a docking block (1) and a docking clamp (2) mounted on an AUV; the docking block (1) is connected to an external power source, the docking clamp (2) is connected to a battery of the AUV, and the AUV is charged by docking the docking clamp (2) and the docking block (1); The docking block (1) at least comprises: Plug-in block module cavity shell (13); A plug-in block module (10) is located in the plug-in block module cavity shell (13), wherein the plug-in block modules (10) include four, each two forming a group, wherein the two in one group are arranged toward one end of the plug-in block module (10), and the two in the other group are arranged toward the other opposite end, and the four plug-in block modules (10) in the two groups are arranged crosswise; each of the plug-in block modules (10) includes at least a power supply rod (1008) extending relative to the plug-in block module cavity shell (13) and a connecting rod (1009) coaxially arranged with the power supply rod (1008), wherein the connecting rod (1009) is integrally slidably matched with the plug-in block module (10) so that one end of the connecting rod (1009) is connected or separated from one end of the power supply rod (1008), and the other ends of the two power supply rods (1008) of the two plug-in block modules (10) in each group are respectively connected to the positive electrode and the negative electrode of the external power supply; and positioning shells (12) located on four sides of the plug-in block module cavity shell (13), wherein the outer surface of each positioning shell (12) is provided with an inwardly recessed spherical guide groove; The docking clamp (2) comprises at least two positioning blocks (203) that can open and close relative to each other and two docking pins (2016), and the positioning blocks (203) and the positioning housing (12) are contacted and positioned by two spherical guide grooves that are opposite to each other. The two docking pins (2016) respectively pass through the corresponding positioning blocks (203) to push the connecting rod (1009) to slide so that one end of the connecting rod (1009) is connected to one end of the power supply rod (1008), and the other end of the docking pin (2016) is connected to a battery of the AUV.

2. The modular underwater autonomous docking and charging device for AUV according to claim 1, characterized in that: The docking block (1) further comprises: Two end covers (14) arranged at both ends of the plug-in block module cavity shell (13); and two conductive slip ring modules (11) respectively arranged on the two end covers (14), one end of each conductive slip ring module (11) being connected to two power supply rods (1008) of two plug-in block modules (10) located on the same side via pins, and the other end being connected to an external power source via a cable.

3. A modular underwater autonomous docking and charging device for AUV according to claim 1 or 2, characterized in that: The plug-in block module (10) comprises: A base (1006) is provided with an axial through hole in the middle, and the through hole in the middle of the base (1006) and the connecting rod (1009) are slidably matched; An upper connection cover (1013) is located above the base (1006) and is fixedly connected to the upper end surface of the base (1006) via bolts (1016), and a small sealing gasket (1005) is provided between the upper end surface of the base (1006) and the upper connection cover (1013); A top cover (1001) is located above the upper connection cover (1013); the upper connection cover (1013) is fixedly connected to the lower end surface of the top cover (1001) by bolts (1016); the lower end surface of the top cover (1001) is provided with a receiving groove; the top cover (1001) is provided with a docking hole (1002) from one side to the other side; the docking hole (1002) passes through the receiving groove; a one-way valve (1003) is provided at one end of the docking hole (1002); a large sealing gasket (1004) is provided between the top cover (1001) and the upper connection cover (1013); A lower connection cover (1015) is located below the base (1006) and is fixedly connected to the lower end surface of the base (1006) by bolts (1016), wherein a sealing groove is provided on the lower surface of the lower connection cover (1015), and a small sealing gasket (1005) is provided between the lower end surface of the base (1006) and the lower connection cover (1015); a sealing ring (1014) located in the sealing groove; a diaphragm (1012) located below the lower connection cover (1015); A bottom cover (1007) is located below the diaphragm (1012), wherein bolts pass through the lower connection cover (1015), the diaphragm (1012) and the bottom cover (1007) in sequence for fixed connection, a gasket (1018) is provided between the diaphragm (1012) and the bottom cover (1007), and the power supply rod (1008) is fixed to the lower surface of the bottom cover (1007) through an extension plate of the power supply rod (1008); A sliding tongue (1017) is located in the receiving groove on the lower surface of the top cover (1001) and slides up and down relative to the receiving groove. The upper surface of the sliding tongue (1017) is an inclined surface, and the inclined surface faces the end of the docking hole (1002) where the one-way valve (1003) is not provided. The connecting rod (1009) passes through the sealing ring (1014), the lower connecting cover (1015), the base (1006) and the upper connecting cover (1013) from bottom to top, and then is connected and fixed with the threaded hole designed on the lower surface of the sliding tongue (1017). The lower end of the connecting rod (1009) passes through the diaphragm (1012) and the bottom cover (1007) to contact or separate from the power supply rod (1008). And an adjustment spring (1010) and a spring threaded rod (1011), one end of a plurality of circumferentially evenly distributed adjustment springs (1010) is fixedly connected to the lower surface of a sliding tongue (1017), and the other end is respectively connected to a pair of spring threaded rods (1011), the other ends of the plurality of spring threaded rods (1011) are fixedly connected to the upper connecting rod (2006), the docking pin (2016) is inserted or pulled out through the docking hole (1002) of the top cover (1001), and the sliding tongue (1017) and the connecting rod (1009) are moved up and down as a whole through the inclined surface of the sliding tongue (1017) to contact or separate from the power supply rod (1008).

4. The modular underwater autonomous docking and charging device for AUV according to claim 3, characterized in that: The diaphragm (1012) comprises an outer circular portion (10120), an inner circular portion (10122) and a semicircular portion (10121) connected between the outer circular portion (10120) and the inner circular portion (10122); the inner circular portion (10122) is a hard structure, the outer circular portion (10120) and the semicircular portion (10121) are soft membranes, the diaphragm (1012) is connected to the lower connecting cover (1015) and the bottom cover (1007) via the outer circular portion (10120), the inner circular portion (10122) and the semicircular portion (10121) are movable parts, and when the spring is in a natural state, the extension plate at the bottom of the connecting rod (1009) is tightly attached to the inner circular portion (10122) of the diaphragm (1012).

5. The modular underwater autonomous docking and charging device for AUV according to claim 1, characterized in that: The conductive slip ring module (11) comprises: A universal joint cross shaft (1104), the universal joint cross shaft (1104) comprising a square ring-shaped universal joint housing (11041) and a threaded shaft neck (11040), threaded holes are arranged at the central positions around the universal joint housing (11041), and four threaded shaft necks (11040) are respectively connected to the threaded holes to form the universal joint cross shaft (1104); An upper yoke fork (1103), wherein the upper yoke fork (1103) is cooperatively connected with two opposite threaded shaft necks (11040); A lower universal joint fork (1105), wherein the lower universal joint fork (1105) is cooperatively connected with two other opposite threaded shaft necks (11040); A lower bearing bush (1106), wherein the lower end of the lower universal joint fork (1105) is disposed on the lower bearing bush (1106) and rotates on the lower bearing bush (1106); A lower bearing seat (1107), wherein the lower bearing shell (1106) is arranged in a groove of the lower bearing seat (1107); An upper bearing (1102), the upper bearing (1102) being coaxially mounted on the upper surface of the lower end of the lower universal joint fork (1105) by means of bolts; An upper bearing seat (1101), wherein the upper bearing seat (1101) is pressed against the upper surface of the upper bearing shell (1102); And a conductive slip ring (1108) is located below the lower bearing seat (1107), one end of the conductive slip ring (1108) extends into the corresponding end cover (14), and the other end is pressed against the outer end surface of the end cover (14), and the bolt passes through the upper bearing seat (1101), the lower bearing seat (1107) and the conductive slip ring (1108) in sequence and is threadedly connected to the end cover (14).

6. The modular underwater autonomous docking and charging device for AUV according to claim 1, characterized in that: The docking clamp (2) also includes A fixing frame (209) mounted on the AUV; A forward thrust plate (205) disposed inside the AUV; A rear push plate (207) disposed inside the AUV; An upper connecting rod mechanism (200) and a lower connecting rod mechanism (202) are arranged opposite to each other in the upper and lower directions. The upper first connecting rod (2000) of the upper connecting rod mechanism (200) and the lower first connecting rod (2020) of the lower connecting rod mechanism (202) respectively pass through the fixing frame (209), the front wall of the AUV bow, the front push plate (205) in sequence, and are fixedly connected to the end surface of the rear push plate (207). The other ends drive the two positioning blocks (203) to open and close. A middle link mechanism (201) is located between the upper link mechanism (200) and the lower link mechanism (202); a first middle link (2010) of the middle link mechanism (201) sequentially passes through a fixing frame (209) and the rear end of the front wall of the AUV bow and is fixedly connected to the end surface of the front push plate (205), and the other end drives two docking pins (2016) to open and close; Two thin springs (206) are located between the front push plate (205) and the rear push plate (207), the two thin springs (206) are respectively sleeved on the upper first connecting rod (2000) and the lower first connecting rod (2020), and the two ends of the two thin springs (206) are respectively in contact with the end surfaces of the front push plate (205) and the rear push plate (207); A thick spring (204), wherein the thick spring (204) is sleeved on the first middle connecting rod (2010), one end of the thick spring is in contact with the end surface of the front push plate (205), and the other end is in contact with the inner wall of the front wall of the AUV bow, and the progress coefficient of the thick spring (204) is greater than the stiffness coefficients of the two thin springs (206); A fixing rod (208), wherein the fixing rod (208) is designed with threads at both ends, and there are four fixing rods in total, two on the left side and two on the right side, and the fixing rods (208) are symmetrical in pairs. The fixing rods (208) pass through the upper part of the fixing frame (209), the upper fourth connecting rod (2003) of the upper connecting rod mechanism (200), the middle fourth connecting rod (2013) of the middle connecting rod mechanism (201), the lower fourth connecting rod (2023) of the lower connecting rod mechanism (202) and the lower part of the fixing frame (209) from top to bottom, and the two sides are fixed to the fixing frame (209) by bolts; And an electric push rod (210) fixed in the AUV, wherein the output end of the electric push rod (210) is connected to the rear push plate (207).

7. The modular underwater autonomous docking and charging device for AUV according to claim 6, characterized in that: The upper connecting rod mechanism (200) comprises an upper first connecting rod (2000), an upper second connecting rod (2001), an upper third connecting rod (2002), an upper fourth connecting rod (2003), an upper fifth connecting rod (2004), an upper sixth connecting rod (2005) and an upper connecting rod (2006); the upper first connecting rod (2000) is a telescopic rod, the upper end of which is provided with a thread, passes through the front push plate (205) and is fixedly connected to the rear push plate (207), and the lower end is hinged to one end of the two upper second connecting rods (2001) through a pin; the connection structure of the other ends of the two upper second connecting rods (2001) is the same, specifically: The other end of the upper second connecting rod (2001) is hinged to one end of the upper third connecting rod (2002) and the upper fourth connecting rod (2003) through a pin; the other end of the upper third connecting rod (2002) is hinged to one end of the upper fifth connecting rod (2004) arranged parallel to the upper fourth connecting rod (2003); one end of the upper sixth connecting rod (2005) is hinged to the upper fourth connecting rod (2003) and the upper fifth connecting rod (2004) through a pin; the other end of the upper sixth connecting rod (2005) is designed with a threaded hole and is connected to one end of the upper connecting rod (2006) through a thread; the opposite ends of the two upper connecting rods (2006) are provided with threads and are respectively connected and fixed to the corresponding positioning blocks (203).

8. The modular underwater autonomous docking and charging device for AUV according to claim 6, characterized in that: The lower link mechanism (202) comprises a lower first link (2020), a lower second link (2021), a lower third link (2022), a lower fourth link (2023), a lower fifth link (2024), a lower sixth link (2025) and a lower connecting rod (2026); the lower first link (2020) is a telescopic rod, the upper end of which is threaded, passes through the front push plate (205) and is fixedly connected to the rear push plate (207), and the lower end is hinged to one end of the two upper second links (2001) through a pin; the connection structure of the other ends of the two lower second links (2021) is the same, specifically: The other end of the lower second connecting rod (2021) is hinged to one end of the lower third connecting rod (2022) and the lower fourth connecting rod (2023) through a pin; the other end of the lower third connecting rod (2022) is hinged to one end of a lower fifth connecting rod (2024) arranged parallel to the lower fourth connecting rod (2023); one end of the lower sixth connecting rod (2025) is hinged to the lower fourth connecting rod (2023) and the lower fifth connecting rod (2024) through a pin; the other end of the lower sixth connecting rod (2025) is designed with a threaded hole, which is connected to one end of a lower connecting rod (2026) through a thread; the opposite ends of the two lower connecting rods (2026) are provided with threads, which are respectively connected and fixed to the corresponding positioning blocks (203).

9. The modular underwater autonomous docking and charging device for AUV according to claim 6, characterized in that: The middle connecting rod mechanism (201) is a bilaterally symmetrical multi-connecting rod structure, comprising a first middle connecting rod (2010), a second middle connecting rod (2011), a third middle connecting rod (2012), a fourth middle connecting rod (2013), a fifth middle connecting rod (2014), a sixth middle connecting rod (2015), a docking pin (2016), a slider (2017) and a slide bar (2018); the upper end of the first middle connecting rod (2010) is threaded and connected and fixed to the front push plate (205), and the lower end is hinged to the two second middle connecting rods (2011) by pins; the connection structure of the other ends of the two second middle connecting rods (2011) is the same, specifically: The other end of the second middle connecting rod (2011) is hinged to one end of the third middle connecting rod (2012) and the fourth middle connecting rod (2013) through a pin; the other end of the third middle connecting rod (2012) is hinged to one end of the fifth middle connecting rod (2014) arranged parallel to the fourth middle connecting rod (2013); one end of the sixth middle connecting rod (2015) is hinged to the fourth middle connecting rod (2013) and the fifth middle connecting rod (2014) through a pin; the other end of the sixth middle connecting rod (2015) is vertically fixedly connected to one end of the sliding rod (2018); the sliding block (2017) is slidably matched with the sliding block (2018) on the sliding rod (2018); one end of the docking pin (2016) is designed with a thread and is threadedly connected to the sliding block (2017).

10. The modular underwater autonomous docking and charging device for AUV according to claim 6, characterized in that: The positioning block (203) is a hemispherical structure, comprising a hemispherical bowl-shaped front shell (2030) and a circular plate-shaped rear shell (2031) detachably connected to the front shell (2030).

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