Underwater automatic rotating butt joint locking device

Abstract

The application discloses an underwater automatic rotary butt joint locking device. A guide mechanism of the device is installed on a guide plate with a guide opening and is used for guiding and positioning a guide plate when an AUV is butted with a ROV; a locking and releasing mechanism is installed on the guide mechanism and is used for locking and releasing the guide plate after butt joint; an azimuth rotating mechanism is installed on the guide mechanism and is used for azimuth correction of the AUV after being released from the ROV; and an azimuth locking mechanism is installed on the guide plate and is located on the side of the guide mechanism and is used for azimuth locking of the guide mechanism during butt joint. The device can adapt to most ROVs with different sizes and structures without large modification of the ROV mechanism, can avoid affecting the streamline design of a submarine after the butt joint locking device is carried on the AUV, has small modification on the body mechanism, is convenient to use, and has high butt joint locking success rate.

Description

Technical Field

[0001] This invention relates to a locking device, specifically to an underwater robot, and more specifically to an underwater automatic rotating docking locking device. Background Technology

[0002] Autonomous Underwater Vehicles (AUVs) are widely used unmanned underwater platforms capable of performing various underwater tasks, including resource exploration, underwater rescue, seabed salvage, environmental monitoring, and tourism exploration. Due to the limited energy capacity of AUVs, they need to be periodically recovered for refueling, data transmission, and spatial and temporal calibration. Autonomous underwater docking technology is crucial for this mission, avoiding the impact of waves during frequent deployments by surface carriers and manual operations, thus ensuring mission continuity, stealth, and safety.

[0003] Currently, underwater dynamic docking technology is an important development trend in underwater docking. However, most underwater docking devices adopt cage-type or platform-based methods. These docking devices all have the disadvantage of a single docking direction. When there is a large angular deviation between the docking guidance head of the vehicle and the horn mouth of the docking device, it cannot successfully enter the docking device to complete the locking. Summary of the Invention

[0004] To address the problems existing in the background art, the present invention provides an underwater automatic rotating docking and locking device. During the docking process between a vessel and a docking station, when there is a large angle between the vessel's docking guide head and the docking device, the docking device can passively rotate under the axial force of the guide head, aligning its internal docking port with the guide head of the docking device at the same angle, thereby completing the end-effector mechanical guidance into the dock and locking it in place.

[0005] The technical solution adopted in this invention is:

[0006] The underwater automatic rotating docking and locking device of the present invention includes:

[0007] The guidance and positioning plate is mounted on the fuselage of the autonomous underwater vehicle (AUV) via an AUV connector.

[0008] The guidance mechanism is installed on a guide plate with a guide port and is used to guide the positioning plate when the autonomous underwater vehicle (AUV) docks with the remotely operated vehicle (ROV). The guide plate is connected to the fuselage of the ROV via the ROV connector.

[0009] The locking and releasing mechanism is installed on the guide mechanism and is used to lock and release the positioning plate after docking.

[0010] A azimuth rotation mechanism is mounted on the guidance mechanism and is used for azimuth return of the autonomous underwater vehicle (AUV) and the remotely operated vehicle (ROV) after release; a locking and releasing mechanism is located between the guidance mechanism and the azimuth rotation mechanism.

[0011] The orientation locking mechanism is mounted on the guide plate and located to the side of the guide mechanism, and is used to lock the orientation of the guide mechanism during docking.

[0012] The guiding mechanism includes a support flange, a guide cover, and a turntable bearing. The guide plate is horizontally arranged, and one side of the plate has a frustum-shaped guide opening that is larger at the top and smaller at the bottom. The bottom end face of the support flange is mounted on the top surface of the guide plate and is coaxial with the guide opening. The inner diameter of the support flange is larger than the top diameter of the guide opening. The guide cover is cylindrical and is movably and coaxially fitted into the support flange. The turntable bearing is coaxially mounted on the support flange and covers the guide cover. The upper end face of the guide cover is coaxially connected to the inner ring of the bottom end face of the turntable bearing, and the outer ring of the bottom end face of the turntable bearing is coaxially connected to the top surface of the support flange. The locking and releasing mechanism is connected to the inner ring of the top surface of the turntable bearing. A flat round groove is opened vertically at the center of the guide cover. The size of the flat round groove is larger than the cross-sectional size of the guide positioning plate. When the autonomous underwater vehicle (AUV) docks with the remotely operated vehicle (ROV), the guide positioning plate passes through the guide opening of the guide plate, the flat round groove of the guide cover, and the center of the turntable bearing in sequence before entering the locking and releasing mechanism.

[0013] The locking and releasing mechanism includes a locking seat, a locking tongue, a limiting plate, a second driven rod, a second cam, and a second servo motor. The locking seat is horizontally arranged and its bottom end is connected to the inner ring of the top end of the turntable bearing. A blind mounting hole is formed at the center of the locking seat along the horizontal direction. A strip-shaped groove parallel to the length direction of the blind mounting hole is formed in the locking seat above the blind mounting hole and connects to the blind mounting hole. A guide groove with a radial width greater than the guide positioning plate is formed in the locking seat below the blind mounting hole and connects to the blind mounting hole. The guide groove is a straight groove identical to the flat round groove of the guide cover. The limiting plate is sealed and installed at one end of the blind mounting hole. The locking tongue is fitted into the blind mounting hole. One end of the locking tongue is connected to the limiting plate through a second spring. The other end of the locking tongue is a free end with an inclined surface facing the guide groove directly downwards. A first blind hole is formed at the top of the circumferential surface of the locking tongue. The second driven rod is slidably installed in the strip groove and its lower part is vertically installed in the first blind hole. The upper part of the second driven rod is located directly above the locking seat. The fuselage of the second servo is installed on the top surface of the locking seat through the servo bracket and is located on the side of the second driven rod. The output shaft of the second servo is horizontally and synchronously connected to the center of one end face of the second cam. The other end face of the second cam is not spiral and is pressed against the side of the second driven rod. One end of the guide positioning plate is installed on the connecting frame of the autonomous underwater vehicle (AUV). The other end of the guide positioning plate is a free end and has a locking through hole along its own thickness direction. After the other end of the guide positioning plate enters the locking and releasing mechanism, it passes through the guide groove and enters the installation blind hole, and abuts against the inclined free end of the locking tongue until it is ejected into the locking through hole. The second servo is electrically connected to the autonomous underwater vehicle (AUV) through a cable.

[0014] The azimuth rotation mechanism includes an outer ring, an inner ring, several outer ring support columns, several inner ring support columns, a spring connecting column, a winding reel, a spring, a pressure plate, and a spring fixing seat. The outer ring is horizontally fitted onto the circumference of the locking seat, and the inner ring is horizontally installed on the top surface of the locking seat. The winding reel is horizontally mounted on the inner ring via the inner ring support columns and is located directly above the second cam. The pressure plate is horizontally mounted on the outer ring via the outer ring support columns and is located directly above the winding reel. A gap is left between the pressure plate and the winding reel. The spring is installed in the center of the winding reel. The spring fixing seat is installed in the center of the pressure plate and its lower end is connected to one center end of the spring. The spring connecting column is installed on the winding reel and its upper end is connected to the other end of the outer ring of the spring. The cable is wound in the winding reel.

[0015] The azimuth locking mechanism includes an L-shaped bracket, a square seat, a first cam, a first driven rod, a first servo motor, a first spring, and an azimuth locking pin. The square seat is mounted on the other side of the top surface of the guide plate via the L-shaped bracket and is located to the side of the supporting flange. The body of the first servo motor is mounted on the upper part of the L-shaped bracket and is located directly above the square seat. The output shaft of the first servo motor is vertically downward connected to the center of the first cam, and the circumference of the first cam is helical. A through hole is opened horizontally at the center of the square seat, and an azimuth locking pin is fitted therein. Both ends of the azimuth locking pin are located outside the square seat. A second blind hole is opened vertically at the end of the azimuth locking pin away from the supporting flange. The lower end of a driven rod is vertically installed in the second blind hole, and the circumferential surface of the first driven rod abuts against the circumferential surface of the first cam; the circumferential surface of the other end of the azimuth locking pin near the support flange is provided with a limiting ring, the first spring is fitted on the azimuth locking pin and abuts between the limiting ring and the square seat, the support flange is a hollow structure, the circumferential surface of the guide cover is provided with a third blind hole, the other end of the azimuth locking pin abuts against the circumferential surface of the guide cover, the guide cover rotates around its own axis when the autonomous underwater vehicle (AUV) docks with the remotely operated vehicle (ROV) until the other end of the azimuth locking pin is inserted into the third blind hole; the first servo motor is electrically connected to the autonomous underwater vehicle (AUV) via a cable.

[0016] It also includes a light source and an optical imaging assembly. The optical imaging assembly is mounted on the outer circumference of the support flange via a Z-shaped bracket and is located on the side of the guide plate away from the azimuth locking mechanism. The axis of the optical imaging assembly is vertical. The light source is mounted on the AUV connector. When the AUV docks with the ROV, the axis of the light source and the axis of the optical imaging assembly are aligned. The optical imaging assembly is electrically connected to the AUV via a cable, and the light source is electrically connected to the AUV.

[0017] It also includes a proximity switch and a proximity switch clamp. The proximity switch clamp is mounted on top of the locking seat, and the proximity switch is mounted on the proximity switch clamp. The proximity switch faces the free end of the inclined surface of the locking tongue and is used to determine the locking of the locking tongue and the guide positioning plate. The proximity switch is electrically connected to the autonomous underwater vehicle (AUV) via a cable.

[0018] The underwater automatic rotation docking and locking method of the present invention includes:

[0019] When the Autonomous Underwater Vehicle (AUV) docks with the Remotely Operated Vehicle (ROV), the AUV is first moved directly above the ROV. The AUV then moves downwards, allowing the guide positioning plate to pass through the guide opening of the guide plate and abut against the bottom surface of the guide cover. At this point, the guide plate and guide cover are in their initial positions. The AUV continues to move, causing the guide cover to rotate under the pressure of the guide positioning plate until the flat round groove aligns with the guide positioning plate. The guide positioning plate then passes through the flat round groove, successively through the center of the turntable bearing and the guide groove of the locking seat, and enters the installation blind hole. It then abuts against the free end of the inclined surface of the locking tongue until it is ejected into the locking hole of the guide positioning plate. The locking state is then confirmed by a proximity switch. Next, the AUV rotates until the axis of the light source and the axis of the optical image assembly are aligned. At this point, the other end of the azimuth locking pin is inserted into the third blind hole of the guide cover for automatic circumferential locking.

[0020] When the autonomous underwater vehicle (AUV) is released as an unmanned remotely operated vehicle (ROV), the second servo drives the second driven rod to rotate and push the second driven rod, thereby moving the locking tongue away from the locking through hole of the guide positioning plate. The separation of the locking tongue and the guide positioning plate is confirmed by a proximity switch. The first servo drives the first cam and pushes the first driven rod, thereby moving the azimuth locking pin away from the third blind hole of the guide cover. At this time, the AUV moves upward until the guide positioning plate leaves the guide mechanism to complete the release. Finally, the guide plate and guide cover are returned to their initial positions by a spring.

[0021] The beneficial effects of this invention are:

[0022] During the docking process, when an ROV (Remotely Operated Vehicle) performs a docking mission, as the ROV descends, the straight slot of the guide shield automatically rotates and aligns with the guiding mechanism, allowing the guide positioning plate to engage with the locking tongue and lock in the set position, resulting in a high docking success rate. Furthermore, as a docking mechanism mounted on an underwater robot, it requires no significant modifications to the ROV mechanism and can adapt to most ROVs of different sizes and structures. It also avoids the impact on the streamlined design of submarines when the docking device is mounted on an Autonomous Underwater Vehicle (AUV), requiring minimal modifications to the main structure, making it easy to use and ensuring a high docking and locking success rate. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the underwater automatic rotating docking and locking device according to an embodiment of the present invention;

[0024] Figure 2 This is a front view schematic diagram of the underwater automatic rotating docking and locking device according to an embodiment of the present invention;

[0025] Figure 3 This is a right-side view of the underwater automatic rotating docking and locking device according to an embodiment of the present invention;

[0026] Figure 4 This is a top view schematic diagram of the underwater automatic rotating docking and locking device according to an embodiment of the present invention;

[0027] Figure 5 This is a left and right isometric isometric view of the exploded view of the underwater automatic rotating docking and locking device according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the orientation rotation point of the underwater automatic rotating docking and locking device according to an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the locking and releasing points of the underwater automatic rotating docking locking device according to an embodiment of the present invention, wherein, Figure 7 (a) is a schematic diagram of the locking and releasing mechanism. Figure 7 (b) is a schematic diagram of the locking and releasing points of the azimuth locking mechanism;

[0030] Figure 8 This is a flowchart illustrating the operation of the underwater automatic rotating docking and locking device according to an embodiment of the present invention.

[0031] In the diagram: 1. Guiding mechanism; 2. Locking and releasing mechanism; 3. Azimuth rotation mechanism; 4. Azimuth locking mechanism; 5. ROV (Remotely Operated Vehicle) connecting frame; 6. AUV (Autonomous Underwater Vehicle) connecting frame; 7. Guiding and positioning plate; 8. Light source; 9. Optical imaging assembly; 10. Z-shaped bracket; 11. Support flange; 12. Guide plate; 13. Guide cover; 14. Turntable bearing; 15. L-shaped bracket; 16. Square base; 17. First cam; 18. 19. First driven lever, 20. First servo motor, 21. First spring, 22. Orientation locking pin, 23. Locking seat, 24. Outer ring, 25. Inner ring, 26. Outer ring support post, 27. Inner ring support post, 28. Locking tongue, 29. Proximity switch, 30. Proximity switch clamp, 31. Second cam, 32. Spring connecting post, 33. Second servo motor, 34. Winding reel, 35. Spring, 36. Wire clamp, 37. Spring retainer. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] like Figure 1 and Figure 2 As shown, the underwater automatic rotation docking and locking device of the present invention includes a guiding mechanism 1, a locking and releasing mechanism 2, an azimuth rotation mechanism 3, an azimuth locking mechanism 4, and a guiding positioning plate 7. The guiding positioning plate 7 is mounted on the fuselage of the autonomous underwater vehicle (AUV) via an AUV connecting frame 6. The guiding mechanism 1 is mounted on a guide plate 12 with a guide opening and is used to guide the positioning plate 7 when the AUV docks with an unmanned remotely operated vehicle (ROV). The guide plate 12 is connected to the ROV. The frame 5 is connected to the fuselage of the unmanned remotely operated vehicle (ROV); the locking and releasing mechanism 2 is installed on the guiding mechanism 1 and is used to lock and release the positioning plate 7 after docking; the azimuth rotation mechanism 3 is installed on the guiding mechanism 1 and is used to return the autonomous underwater vehicle (AUV) to its correct azimuth after being released from the ROV; the locking and releasing mechanism 2 is located between the guiding mechanism 1 and the azimuth rotation mechanism 3; the azimuth locking mechanism 4 is installed on the guide plate 12 and is located to the side of the guiding mechanism 1, and is used to lock the azimuth of the guiding mechanism 1 during docking.

[0034] like Figure 2 and Figure 5As shown, the guiding mechanism 1 includes a supporting flange 11, a guide cover 13, and a turntable bearing 14. The guide plate 12 is horizontally arranged, and one side of the plate has a frustum-shaped guide opening that is larger at the top and smaller at the bottom. The bottom end face of the supporting flange 11 is mounted on the top surface of the guide plate 12 and coaxial with the guide opening. The inner diameter of the supporting flange 11 is larger than the top diameter of the guide opening. The guide cover 13 is cylindrical and is movably and coaxially fitted within the supporting flange 11. The turntable bearing 14 is coaxially mounted on the supporting flange 11 and covers the guide cover 13. The upper end face of the guide cover 13 is coaxially connected to the inner ring of the bottom end face of the turntable bearing 14. The turntable... The outer ring of the bottom end face of the bearing 14 is coaxially connected to the top end face of the support flange 11. The guide plate 12 and the guide cover 13 can rotate arbitrarily through the turntable bearing 14. The locking and releasing mechanism 2 is connected to the inner ring of the top end face of the turntable bearing 14. A flat round through groove is opened in the center of the guide cover 13 along the vertical direction. The size of the flat round through groove is larger than the cross-sectional size of the guide positioning plate 7. When the autonomous underwater vehicle (AUV) docks with the unmanned remotely operated vehicle (ROV), the guide positioning plate 7 passes through the guide opening of the guide plate 12, the flat round through groove of the guide cover 13 and the center of the turntable bearing 14 in sequence before entering the locking and releasing mechanism 2.

[0035] The device also includes a light source 8 and an optical imaging component 9. The optical imaging component 9 is mounted on the outer peripheral surface of the support flange 11 via a Z-shaped bracket 10 and is located on the side of the guide plate 12 away from the azimuth locking mechanism 4. The axis of the optical imaging component 9 is vertical. The light source 8 is mounted on the autonomous underwater vehicle (AUV) connector 6. When the AUV docks with the remotely operated vehicle (ROV), the axis of the light source 8 and the axis of the optical imaging component 9 are aligned to determine whether the azimuth is aligned. The optical imaging component 9 specifically adopts a four-quadrant photoelectric sensor. The optical imaging component 9 is electrically connected to the AUV via a cable, and the light source 8 is electrically connected to the AUV. Optionally, to obtain accurate judgment, the number of optical imaging components 9 needs to be specifically set according to the actual docking situation. No specific limitation is made in this application. If the AUV's heading is known, only one needs to be set.

[0036] like Figure 5 and Figure 7As shown in Figure a, the locking and releasing mechanism 2 includes a locking seat 22, a locking tongue 27, a limiting plate, a second driven rod, a second cam 30, and a second servo motor 32. The locking seat 22 is horizontally arranged and its bottom end is connected to the inner ring of the top surface of the turntable bearing 14. A blind mounting hole is formed in the center of the locking seat 22 along the horizontal direction. A strip-shaped groove parallel to the length direction of the blind mounting hole and connected to the blind mounting hole is formed in the locking seat 22 above the blind mounting hole. A groove with a radial width greater than that of the guide positioning plate 7 is formed in the locking seat 22 below the blind mounting hole. The guide groove is connected to the blind hole. Specifically, the guide groove is a straight groove that is the same as the flat round groove of the guide cover 13. The limiting plate is sealed and installed at one end of the blind hole. The locking tongue 27 is fitted into the blind hole. One end of the locking tongue 27 is connected to the limiting plate through the second spring. The other end of the locking tongue 27 is a free end with an inclined surface and the end face faces the guide groove directly downward. The top of the peripheral surface of the locking tongue 27 is provided with a first blind hole. The second driven rod is slidably installed in the strip groove and its lower part is vertically installed in the first blind hole. The upper part of the second driven rod is... Located directly above the locking seat 22, the fuselage of the second servo motor 32 is mounted on the top surface of the locking seat 22 via a servo motor bracket and is located to the side of the second driven rod. The output shaft of the second servo motor 32 is horizontally and synchronously connected to the center of one end face of the second cam 30. The other end face of the second cam 30 is not helical and presses against the side of the second driven rod. One end of the guide positioning plate 7 is mounted on the autonomous underwater vehicle (AUV) connecting frame 6, and the other end of the guide positioning plate 7 is a free end with a locking through hole along its thickness direction. After the other end of the positioning plate 7 enters the locking and releasing mechanism 2, it passes through the guide slot and enters the blind hole and abuts against the free end of the inclined surface of the locking tongue 27 until it is ejected into the locking through hole. As the guiding positioning plate 7 goes deeper, the locking tongue 27 presses the second spring in the horizontal direction and then springs into the locking through hole of the guiding positioning plate 7. The locking tongue 27 realizes the automatic locking function and is released when the second driven rod pushes open the locking tongue 27 under the cam drive of the second cam 30. The second servo motor 32 is electrically connected to the autonomous underwater vehicle (AUV) via a cable.

[0037] The device also includes a proximity switch 28 and a proximity switch clamp 29. The proximity switch clamp 29 is mounted on the top of the locking seat 22, and the proximity switch 28 is mounted on the proximity switch clamp 29. The proximity switch 28 faces the free end of the inclined surface of the locking tongue 27 and is used to determine the locking of the locking tongue 27 and the guide positioning plate 7. The proximity switch 28 is electrically connected to the autonomous underwater vehicle (AUV) via a cable.

[0038] like Figure 2 , Figure 5 and Figure 6As shown, the azimuth rotation mechanism 3 includes an outer ring 23, an inner ring 24, several outer ring support columns 25, several inner ring support columns 26, a spring connecting column 31, a winding reel 33, a spring 34, a pressure plate 35, and a spring fixing seat 36. The outer ring 23 is horizontally fitted onto the circumference of the locking seat 22, and the inner ring 24 is horizontally installed on the top surface of the locking seat 22. The winding reel 33 is horizontally mounted on the inner ring 24 via the inner ring support columns 26 and is located directly above the second cam 30. The pressure plate 35 is horizontally mounted on the outer ring 23 via the outer ring support columns 25 and is located directly above the winding reel 33. A gap is left between the pressure plate 35 and the winding reel 33. The spring 34 is installed at the center inside the winding reel 33. The spring retainer 36 is installed at the center of the pressure plate 35 and its lower end is connected to the center end of the spring 34. The spring connecting post 31 is installed on the winding reel 33 and its upper end is connected to the other end of the outer ring of the spring 34. The cable is wound in the winding reel 33. The winding reel 33 is provided with an inlet hole for cable to pass through, and the pressure plate 35 is provided with an outlet hole. The winding reel 33 is a hollow cylinder with one side shell. The cable bundle enters from the inlet hole of the winding reel 33, winds around the inner cylinder, and is pulled out from the outlet hole of the pressure plate 35, which can achieve a certain rotation angle of tension. The spring 34 is used for the device to return to its original position after the autonomous underwater vehicle (AUV) docks with and is released from the remotely operated vehicle (ROV), realizing automatic rotation of the initial position, thereby preventing the cable from getting tangled.

[0039] like Figure 3 , Figure 4 , Figure 5 and Figure 7As shown in b, the azimuth locking mechanism 4 includes an L-shaped bracket 15, a square seat 16, a first cam 17, a first driven rod 18, a first servo motor 19, a first spring 20, and an azimuth locking pin 21. The square seat 16 is mounted on the other side of the top surface of the guide plate 12 via the L-shaped bracket 15 and is located to the side of the support flange 11. The body of the first servo motor 19 is mounted on the upper part of the L-shaped bracket 15 and is located directly above the square seat 16. The output shaft of the first servo motor 19 is vertically downward connected to the center of the first cam 17, and the circumference of the first cam 17 is spiral. The center of the square seat 16 has a through hole in the horizontal direction and is fitted with the azimuth locking pin 21. Both ends of the azimuth locking pin 21 are located outside the square seat 16. The end of the azimuth locking pin 21 away from the support flange 11 is vertically... A second blind hole is provided, and the lower end of the first driven rod 18 is vertically installed in the second blind hole. The circumferential surface of the first driven rod 18 abuts against the circumferential surface of the first cam 17. A limiting ring is provided on the circumferential surface of the other end of the azimuth locking pin 21 near the support flange 11. The first spring 20 is fitted on the azimuth locking pin 21 and abuts against the limiting ring and the square seat 16. The support flange 11 has a hollow structure. A third blind hole is provided on the circumferential surface of the guide cover 13. The other end of the azimuth locking pin 21 abuts against the circumferential surface of the guide cover 13. When the autonomous underwater vehicle (AUV) docks with the remotely operated vehicle (ROV), the guide cover 13 rotates around its own axis until the other end of the azimuth locking pin 21 is inserted into the third blind hole. The first servo motor 19 is electrically connected to the autonomous underwater vehicle (AUV) via a cable.

[0040] like Figure 8 As shown, the underwater automatic rotation docking and locking method of the present invention is as follows:

[0041] When an autonomous underwater vehicle (AUV) docks with an unmanned remotely operated vehicle (ROV), the AUV is first moved directly above the ROV. The AUV then moves downwards so that the guide positioning plate 7 passes through the guide opening of the guide plate 12 and abuts against the bottom surface of the guide cover 13. At this point, the guide plate 12 and guide cover 13 are in their initial positions. Continued movement causes the guide cover 13 to rotate under the pressure of the guide positioning plate 7 until the flat circular groove aligns with the guide positioning plate 7. The guide positioning plate 7 passes through the flat round through groove and then sequentially passes through the center of the turntable bearing 14 and the guide through groove of the locking seat 22 before entering the installation blind hole. It then abuts against the free end of the inclined surface of the locking tongue 27 until it is ejected into the locking through hole of the guide positioning plate 7. The locking state is then confirmed by the proximity switch 28. Then the autonomous underwater vehicle (AUV) rotates until the axis of the light source 8 and the axis of the optical image component 9 are aligned. At this time, the other end of the azimuth locking pin 21 is inserted into the third blind hole of the guide cover 13 for circumferential automatic locking.

[0042] As the remotely operated vehicle (ROV) gradually approaches the autonomous underwater vehicle (AUV) from top to bottom, the straight slot of the guide shield 13 rotates according to the direction of the AUV connecting frame 6, guiding the positioning plate 7 into the locking tongue 27 and locking it in place, thus locking the ROV and AUV vertically. As the ROV rotates, it automatically locks itself circumferentially when its attitude aligns with that of the AUV.

[0043] When the autonomous underwater vehicle (AUV) releases the remotely operated vehicle (ROV), the second servo motor 32 drives the second driven lever to rotate and push the second driven lever, thereby moving the locking tongue 27 away from the locking through hole of the guide positioning plate 7. The proximity switch 28 confirms the separation of the locking tongue 27 and the guide positioning plate 7. The first servo motor 19 drives the first cam 17 and pushes the first driven lever 18, thereby moving the azimuth locking pin 21 away from the third blind hole of the guide cover 13. At this time, the AUV moves upward until the guide positioning plate 7 leaves the guide mechanism 1 to complete the release. Finally, the spring spring 34 returns the guide plate 12 and the guide cover 13 to their initial positions.

[0044] Optionally, the underwater automatic rotation docking and locking device of the present invention can also be used in horizontal docking. However, since the underactuated AUV may have a large impact force during docking, an additional buffer mechanism needs to be considered for the device.

[0045] It should be noted that in the description of this invention, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. Meanwhile, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0047] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0048] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0049] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0050] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An underwater automatic rotating docking and locking device, characterized in that, include: The guide positioning plate (7) is installed on the fuselage of the autonomous underwater vehicle (AUV) via the AUV connector (6); The guiding mechanism (1) is installed on the guide plate (12) with a guide port and is used to guide the positioning plate (7) when the autonomous underwater vehicle (AUV) docks with the unmanned remotely operated vehicle (ROV). The guide plate (12) is connected to the fuselage of the unmanned remotely operated vehicle (ROV) through the ROV connecting frame (5). Locking and releasing mechanism (2) is installed on the guiding mechanism (1) and is used to lock and release the positioning plate (7) after docking. A azimuth rotation mechanism (3) is installed on the guide mechanism (1) and is used for azimuth correction of the autonomous underwater vehicle (AUV) and the unmanned remotely operated vehicle (ROV) after release; a locking and releasing mechanism (2) is located between the guide mechanism (1) and the azimuth rotation mechanism (3); Orientation locking mechanism (4) is installed on guide plate (12) and located on the side of guide mechanism (1) for orientation locking of guide mechanism (1) during docking; The guiding mechanism (1) includes a supporting flange (11), a guide cover (13), and a turntable bearing (14). The guide plate (12) is horizontally arranged, and one side of the plate has a frustum-shaped guide opening that is larger at the top and smaller at the bottom. The bottom end of the supporting flange (11) is installed on the top surface of the guide plate (12) and is coaxial with the guide opening. The guide cover (13) is cylindrical and is movably and coaxially fitted in the supporting flange (11). The turntable bearing (14) is coaxially installed on the supporting flange (11) and covers the guide cover (13). The upper end of the guide cover (13) is coaxially connected to the top surface of the guide cover (13). The bottom end face inner ring of the slewing bearing (14) is coaxially connected to the top end face of the support flange (11); the locking and releasing mechanism (2) is connected to the top end face inner ring of the slewing bearing (14); the center of the guide cover (13) is provided with a flat round through groove in the vertical direction. When the autonomous underwater vehicle (AUV) docks with the unmanned remotely operated vehicle (ROV), the guide positioning plate (7) passes through the guide opening of the guide plate (12), the flat round through groove of the guide cover (13) and the center of the slewing bearing (14) in sequence and then enters the locking and releasing mechanism (2). The locking and releasing mechanism (2) includes a locking seat (22), a locking tongue (27), a limiting plate, a second driven rod, a second cam (30), and a second servo motor (32). The locking seat (22) is horizontally arranged and its bottom end is connected to the inner ring of the top end of the turntable bearing (14). A blind hole is provided in the center of the locking seat (22) in the horizontal direction. A strip groove parallel to the length direction of the blind hole is provided in the locking seat (22) above the blind hole and connects to the blind hole. A guide groove with a radial width greater than that of the guide positioning plate (7) is provided in the locking seat (22) below the blind hole and connects to the blind hole. The limiting plate is sealed and installed at one end of the blind hole. The locking tongue (27) is fitted in the blind hole. One end of the locking tongue (27) is connected to the limiting plate through a second spring. The other end of the locking tongue (27) is a free end with an inclined surface and the end face faces the guide groove directly downward. A first blind hole is provided at the top of the circumferential surface of the locking tongue (27). The two driven rods are slidably installed in the strip groove and the lower part is vertically installed in the first blind hole. The upper part of the second driven rod is located directly above the locking seat (22). The fuselage of the second servo (32) is installed on the top surface of the locking seat (22) and located on the side of the second driven rod. The output shaft of the second servo (32) is horizontally and synchronously connected to the center of one end face of the second cam (30). The other end face of the second cam (30) is not spiral and is pressed against the side of the second driven rod. One end of the guide positioning plate (7) is installed on the AUV connecting frame (6). The other end of the guide positioning plate (7) is a free end and has a locking through hole along its own thickness direction. After the other end of the guide positioning plate (7) enters the locking and releasing mechanism (2), it passes through the guide groove and enters the installation blind hole and abuts against the inclined free end of the locking tongue (27) until it is ejected into the locking through hole. The second servo (32) is electrically connected to the AUV through a cable.

2. The underwater automatic rotating docking and locking device according to claim 1, characterized in that: The azimuth rotation mechanism (3) includes an outer ring (23), an inner ring (24), several outer ring support columns (25), several inner ring support columns (26), a spring connecting column (31), a winding reel (33), a spring (34), a pressure plate (35), and a spring fixing seat (36). The outer ring (23) is horizontally fitted on the circumference of the locking seat (22), and the inner ring (24) is horizontally installed on the top surface of the locking seat (22). The winding reel (33) is horizontally mounted on the inner ring (24) through each inner ring support column (26) and is located at... Directly above the second cam (30), the pressure plate (35) is horizontally mounted on the outer ring (23) via each outer ring support column (25) and is located directly above the winding reel (33); the spring (34) is installed in the center of the winding reel (33), the spring fixing seat (36) is installed in the center of the pressure plate (35) and its lower end is connected to one end of the center of the spring (34), the spring connecting column (31) is installed on the winding reel (33) and its upper end is connected to the other end of the outer ring of the spring (34), and the cable is wound in the winding reel (33).

3. The underwater automatic rotating docking and locking device according to claim 1, characterized in that: The azimuth locking mechanism (4) includes an L-shaped bracket (15), a square seat (16), a first cam (17), a first driven rod (18), a first servo motor (19), a first spring (20), and an azimuth locking pin (21). The square seat (16) is mounted on the other side of the top surface of the guide plate (12) via the L-shaped bracket (15) and is located on the side of the support flange (11). The body of the first servo motor (19) is mounted on the upper part of the L-shaped bracket (15) and is located directly above the square seat (16). The output shaft of the first servo motor (19) is vertically connected downward to the center of the first cam (17), and the circumferential surface of the first cam (17) is spiral. The center of the square seat (16) has a through hole in the horizontal direction and is fitted with an azimuth locking pin (21). Both ends of the azimuth locking pin (21) are located outside the square seat (16), and the azimuth locking pin (21) is far away from the support flange (11). One end of the first driven rod (18) is vertically opened with a second blind hole, and the lower end of the first driven rod (18) is vertically installed in the second blind hole. The circumferential surface of the first driven rod (18) abuts against the circumferential surface of the first cam (17). The other end of the azimuth locking pin (21) near the support flange (11) is provided with a limiting ring. The first spring (20) is fitted on the azimuth locking pin (21) and abuts against the limiting ring and the square seat (16). The support flange (11) is a hollow structure. The circumferential surface of the guide cover (13) is provided with a third blind hole. The other end of the azimuth locking pin (21) abuts against the circumferential surface of the guide cover (13). When the autonomous underwater vehicle (AUV) docks with the unmanned remotely operated vehicle (ROV), the guide cover (13) rotates around its own axis until the other end of the azimuth locking pin (21) is inserted into the third blind hole. The first servo motor (19) is electrically connected to the autonomous underwater vehicle (AUV) via a cable.

4. The underwater automatic rotating docking and locking device according to claim 1, characterized in that: It also includes a light source (8) and an optical image assembly (9). The optical image assembly (9) is mounted on the outer peripheral surface of the support flange (11) and located on the side of the guide plate (12) away from the azimuth locking mechanism (4). The axis of the optical image assembly (9) is vertical. The light source (8) is mounted on the autonomous underwater vehicle (AUV) connector (6). When the autonomous underwater vehicle (AUV) docks with the unmanned remotely operated vehicle (ROV), the axis of the light source (8) and the axis of the optical image assembly (9) are aligned. The optical image assembly (9) is electrically connected to the autonomous underwater vehicle (AUV) via a cable. The light source (8) is electrically connected to the autonomous underwater vehicle (AUV).

5. The underwater automatic rotating docking and locking device according to claim 1, characterized in that: It also includes a proximity switch (28) and a proximity switch clamp (29). The proximity switch clamp (29) is mounted on the top of the locking seat (22), and the proximity switch (28) is mounted on the proximity switch clamp (29). The proximity switch (28) faces the free end of the inclined surface of the locking tongue (27) and is used to determine the locking of the locking tongue (27) and the guide positioning plate (7). The proximity switch (28) is electrically connected to the autonomous underwater vehicle (AUV) via a cable.

6. The underwater automatic rotation docking and locking method of the device according to any one of claims 1-5, characterized in that, include: When the autonomous underwater vehicle (AUV) docks with the remotely operated vehicle (ROV), the AUV is first moved directly above the ROV. The AUV then moves downwards so that the guide positioning plate (7) passes through the guide opening of the guide plate (12) and abuts against the bottom surface of the guide cover (13). At this point, the guide plate (12) and the guide cover (13) are in their initial positions. The AUV continues to move, causing the guide cover (13) to rotate under the pressure of the guide positioning plate (7) until the flat circular groove aligns with the guide positioning plate (7). The guide positioning plate (7) is inserted into the flat round through groove and then passes through the center of the turntable bearing (14) and the guide through groove of the locking seat (22) in sequence before entering the installation blind hole. Then it abuts against the free end of the inclined surface of the locking tongue (27) until it is ejected into the locking through hole of the guide positioning plate (7). Then the locking state is confirmed by the proximity switch (28). Then the autonomous underwater vehicle (AUV) rotates until the axis of the light source (8) and the axis of the optical image component (9) are aligned. At this time, the other end of the azimuth locking pin (21) is inserted into the third blind hole of the guide cover (13) for circumferential automatic locking. When the autonomous underwater vehicle (AUV) releases the remotely operated vehicle (ROV), the second driven rod is driven to rotate by the second servo motor (32) and pushed, thereby moving the locking tongue (27) away from the locking through hole of the guide positioning plate (7). The separation of the locking tongue (27) and the guide positioning plate (7) is confirmed by the proximity switch (28). The first servo motor (19) drives the first cam (17) and pushes the first driven rod (18), thereby moving the azimuth locking pin (21) away from the third blind hole of the guide cover (13). At this time, the autonomous underwater vehicle (AUV) moves upward until the guide positioning plate (7) leaves the guide mechanism (1) to complete the release. Finally, the guide plate (12) and the guide cover (13) are returned to their initial positions by the spring spring (34).

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