Variable-degree-of-freedom and variable-rigidity breakwater connecting device

Abstract

The invention discloses a variable-degree-of-freedom and variable-rigidity breakwater connecting device which comprises two sets of connecting devices which are symmetrically arranged. The connecting device comprises a variable-rigidity component and a variable-freedom-degree component, the variable-rigidity component is provided with a spherical hinge and rotationally connected with the variable-freedom-degree component through the spherical hinge, and the rigidity of the connecting device is adjusted through movement of the variable-rigidity component. The variable-degree-of-freedom component is arranged in the mounting base, the mounting base is fixedly connected with the breakwater through the mounting plate, a spherical hinge groove is formed in the end of the mounting base, the head of the spherical hinge freely rotates in the spherical hinge groove, and free rotation of the spherical hinge can be limited when the variable-degree-of-freedom component makes contact with the head of the spherical hinge; through cooperative work of the variable-degree-of-freedom and variable-rigidity components, dynamic adjustment of the degree of freedom and the rigidity of the connecting device is achieved, and therefore the connecting device adapts to working environments of multiple sea conditions. The floating breakwater connecting device can solve the problem that an existing floating breakwater connecting device can only adapt to a single sea condition, and the using requirements of various sea conditions are met.

Description

Technical Field

[0001] The present invention relates to offshore floating breakwater technology, and in particular to a breakwater connection device with variable degrees of freedom and variable stiffness. Background Art

[0002] Floating breakwaters weaken the impact of sea waves by floating up and down or swinging their floats, and are mostly used to protect coastlines, ports or offshore facilities. Floating breakwaters usually include multiple floating units, which need to be connected by connecting devices. The connecting devices need to balance the interaction, tensile strength, deformation coordination and environmental adaptability between the floating units. The floating breakwater connection device not only has a connecting function, but also affects the overall wave-breaking performance. Most existing connection devices have their degrees of freedom and stiffness parameters fixed during the design phase. This fixed connection feature makes it difficult to balance flexible response and structural stability between moderate and extreme sea conditions, limiting the adaptability of floating breakwaters in complex marine environments. In addition, the common connection devices in current applications have problems such as short maintenance cycles, high costs, and the need for regular maintenance and replacement of parts during long-term operation.

[0003] To this end, it is necessary to develop a floating breakwater connection device that can flexibly adjust the connection status (such as degrees of freedom and stiffness) under different sea conditions and has both structural reliability and ease of use. Summary of the Invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a breakwater connection device with variable degrees of freedom and variable stiffness, which can adapt to various sea conditions and flexibly adjust the connection state (such as degrees of freedom and stiffness) under different sea conditions.

[0005] Technical solution: A breakwater connection device with variable degrees of freedom and variable stiffness of the present invention comprises two groups of connection devices, which are symmetrically arranged through connecting flanges; the connection device comprises a variable stiffness component and a variable degree of freedom component, the variable stiffness component has a ball joint, the variable stiffness component is rotatably connected to the variable degree of freedom component through the ball joint, and the stiffness of the connection device is adjusted by the movement of the variable stiffness component; the variable degree of freedom component is arranged in a mounting seat, and the mounting seat is fixedly connected to the breakwater through a mounting plate, and a ball joint groove for accommodating a ball joint head is provided at the end of the mounting seat, and the ball joint head rotates freely in the ball joint groove, and the variable degree of freedom component will limit the free rotation of the ball joint when it contacts the ball joint head; through the coordinated work of the variable degree of freedom and variable stiffness components, dynamic adjustment of the degrees of freedom and stiffness of the connection device is achieved, thereby adapting to multiple sea conditions working environment.

[0006] Furthermore, the variable stiffness component includes a flange, a rotating sleeve, an upper spring mounting seat, a first coupling, a lower spring mounting seat, a spring and a first rotating motor; a plurality of springs are connected between the upper spring mounting seat and the lower spring mounting seat; a cylindrical tube with an external thread is provided in the center of the top surface of the upper spring mounting seat, the inner wall of the rotating sleeve has an internal thread, and the rotating sleeve is connected to the cylindrical tube of the upper spring mounting seat by a thread; the end of the rotating sleeve away from the upper spring mounting seat is connected to the first rotating motor through the first coupling; the first rotating motor is fixedly mounted in the center of the flange, the bottom of the ball joint has a motor mounting groove, the first rotating motor is placed in the motor mounting groove of the ball joint, and the bottom surface of the ball joint is fixedly connected to the flange; the stiffness of the connecting device can be adjusted by using the variable stiffness component.

[0007] Furthermore, the first rotary motor drives the rotary sleeve to rotate, and during the rotation of the rotary sleeve, the upper spring mounting seat is pushed toward the spring, and the spring is compressed, thereby increasing the stiffness of the connecting device.

[0008] Furthermore, the top surface of the lower spring mounting seat is provided with a plurality of holes in a circumferential direction, and a guide rod is provided in the center of the top surface of the lower spring mounting seat; the bottom surface of the upper spring mounting seat is provided with a plurality of bosses in a circumferential direction, and a through hole for the guide rod to pass through is provided in the center of the upper spring mounting seat; one end of the spring is installed in the hole on the top surface of the lower spring mounting seat, and the other end thereof is connected to the boss on the bottom surface of the upper spring mounting seat.

[0009] Furthermore, the variable degree of freedom component includes an electric push rod assembly, the mounting seat includes an upper mounting seat and a lower mounting seat, an installation space is formed between the upper mounting seat and the lower mounting seat, and the electric push rod assembly is arranged in the installation space; when the electric push rod group contacts the ball joint head, the free rotation of the ball joint is restricted.

[0010] Furthermore, the electric push rod assembly includes a second rotating motor, which is connected to the input end of the gear set, and the output end of the gear set is connected to the gear shaft, the second coupling, the thrust ball bearing and the screw in sequence, and a push rod is arranged outside the screw; the inner wall of the push rod is provided with an internal thread matching the screw, and a flexible claw sleeve is provided at the end of the push rod away from the gear set; half a ball joint groove is opened at the end of the upper mounting seat and the lower mounting seat, and a complete ball joint groove is formed after assembly, and the flexible claw sleeve is placed in the ball joint groove; the electric push rod assembly is used to adjust the degree of freedom of the connecting device.

[0011] Furthermore, the second rotary motor drives the lead screw to rotate, and the lead screw drives the push rod to move horizontally, and the flexible claw sleeve moves in the ball joint groove along with the horizontal movement of the push rod, so that the flexible claw sleeve can contact the ball joint head.

[0012] Furthermore, the flexible claw sleeve is made of a flexible material, and when the flexible claw sleeve contacts the ball joint head, friction is generated, hindering the rotation of the ball joint, thereby reducing the degree of freedom of the connecting device.

[0013] Furthermore, a conical pin is provided at one end of the push rod away from the gear set, and the conical pin is located inside the flexible claw sleeve; a conical pin hole is provided in the center of the top surface of the ball joint head, and the conical pin hole cooperates with the conical pin of the push rod to limit the freedom of rotation of the ball joint.

[0014] Furthermore, when the flexible claw sleeve contacts the head of the ball joint, the conical pin of the push rod is inserted into the conical pin hole of the ball joint, thereby reducing the degree of freedom of the connecting device.

[0015] Beneficial effects: Compared with the prior art, the present invention has the following significant technical effects: (1) The stiffness of the connection device is adjusted by the movement of the variable stiffness component, and the degree of freedom of the connection device is adjusted by the variable degree of freedom component. Since both the stiffness and the degree of freedom can be adjusted, the connection device can adapt to various sea conditions, has a wide range of applications, and is compatible with complex wave conditions; (2) Under extreme sea conditions, the stiffness of the connection device is adjusted to the maximum and the degree of freedom is adjusted to the minimum. At this time, the connection device has strong impact resistance, effectively reducing the probability of damage to the connection device under extreme sea conditions. (3) The present invention can dynamically adjust the stiffness and degree of freedom, thereby improving the wave absorption efficiency of the breakwater; in low-frequency waves, the stiffness is reduced and the degree of freedom is increased, allowing the breakwater to generate greater displacement and disperse energy; in high-frequency waves, the stiffness is increased and the degree of freedom is reduced, suppressing the resonance effect; (4) The present invention adopts a modular structure in its structural design. The variable degree of freedom part and the variable stiffness part are independent of each other and work in coordination, effectively reducing fatigue damage and impact damage that may occur at the connection part. The adjustment process itself also helps to disperse the load impact and reduce the risk of damage to the connection part. Compared with traditional connection structures, this device has a longer maintenance cycle, higher operating stability and lower long-term operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention;

[0017] Figure 2 It is an assembly diagram of the present invention;

[0018] Figure 3 is an exploded view of the variable stiffness component;

[0019] Figure 4 It is a structural diagram of a ball joint;

[0020] Figure 5 Schematic diagram of the structure of the lower spring mounting seat;

[0021] Figure 6 Schematic diagram of the structure of the upper spring mounting seat;

[0022] Figure 7 It is a structural diagram of the electric linear actuator;

[0023] Figure 8This is the assembly drawing of the push rod and the flexible claw sleeve;

[0024] Figure 9 It is an exploded view of the variable degree of freedom component;

[0025] Figure 10 This is a schematic diagram of the present invention in a non-working state;

[0026] Figure 11 It is a schematic diagram of the present invention in a working state;

[0027] Figure 12 It is a flow chart of the method of use of the present invention. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is described in detail below in conjunction with specific implementation methods and the accompanying drawings.

[0029] like Figure 1 and Figure 2 As shown, the variable degree of freedom and variable stiffness breakwater connection device of the present invention includes two sets of connection devices, which are symmetrically arranged through the connection flange 13. After the two sets of connection devices are connected into a whole through the connection flange 13, they are installed between the two breakwaters 1 through the installation plate 2. Figures 1 to 12 As shown, the present invention specifically relates to the following components: a mounting plate 2, a mounting seat 3, an upper mounting seat 301, a lower mounting seat 302, a ball joint 4, a flange 5, a rotating sleeve 6, an upper spring mounting seat 7, a first coupling 8, a lower spring mounting seat 9, a spring 10, a first rotating motor 11, an electric push rod assembly 12, a flexible claw sleeve 1201, a push rod housing 1202, a push rod 1203, a screw 1204, a push rod end cover 1205, a gear box body 1206, a gear set 1207, a gear box end cover 1208, a thrust ball bearing 1209, a gear shaft 1210, a second coupling 1211, a second rotating motor 1212, and a connecting flange 13.

[0030] like Figure 1 As shown, the connecting device includes a variable-stiffness component and a variable-freedom component, and the variable-stiffness component is rotatably connected to the variable-freedom component via a ball joint 4. The stiffness of the connecting device is adjusted by the movement of the variable-stiffness component. The variable-freedom component is disposed within a mounting seat 3, which is fixedly connected to the breakwater 1 via a mounting plate 2. A ball joint groove is defined at the end of the mounting seat 3 for accommodating the head of the ball joint 4. The head of the ball joint 4 rotates freely within the groove, and when the variable-freedom component contacts the head of the ball joint 4, it restricts the free rotation of the ball joint 4.

[0031] like Figures 3 to 6 As shown, the variable stiffness component includes a ball joint 4, a flange 5, a rotating sleeve 6, an upper spring mounting seat 7, a first coupling 8, a lower spring mounting seat 9, a spring 10 and a first rotating motor 11. Figure 4As shown, a conical pin hole is provided in the center of the top surface of the ball joint 4, which is used to cooperate with the conical pin of the push rod 1203. The conical pin hole is divided into a cylindrical section and a conical section, and its shape and size are consistent with the shape and size of the conical pin at the top of the push rod 1203. A plurality of springs 10 are connected between the upper spring mounting seat 7 and the lower spring mounting seat 9; the specific connection method is as follows: Figure 5 As shown, the top surface of the lower spring mounting seat 9 is evenly provided with a plurality of holes in the circumferential direction to facilitate the installation of the spring 10, and a guide rod is provided in the center of the top surface of the lower spring mounting seat 9; Figure 6 As shown, a plurality of bosses are evenly arranged on the bottom surface of the upper spring mounting seat 7 in the circumferential direction, and a through hole for the guide rod to pass through is provided in the center of the upper spring mounting seat 7; one end of the spring 10 is installed in the hole on the top surface of the lower spring mounting seat 9, and the other end thereof is connected to the boss on the bottom surface of the upper spring mounting seat 7; in this embodiment, the number of through holes on the top surface of the lower spring mounting seat 9, the number of bosses on the bottom surface of the spring mounting seat 7, and the number of springs 10 are all four. The upper spring mounting seat 7 is sleeved on the guide rod of the lower spring mounting seat 9. The provision of the guide rod can not only ensure the concentricity of the assembly of the upper spring mounting seat 7 and the lower spring mounting seat 9, but also enable the upper spring mounting seat 7 to move along the guide rod. As shown Figure 6 As shown, a cylindrical tube with external threads is positioned in the center of the top surface of the upper spring mount 7. The inner wall of the rotating sleeve 6 has internal threads, and the rotating sleeve 6 is threadedly connected to the cylindrical tube of the upper spring mount 7. The end of the rotating sleeve 6, away from the upper spring mount 7, is connected to a first rotary motor 11 via a first coupling 8. The first coupling 8 connects the rotating sleeve 6 and the first rotary motor 11. The first rotary motor 11 is bolted to the center of the flange 5. The bottom of the ball joint 4 has a motor mounting slot, and the first rotary motor 11 is placed in the motor mounting slot of the ball joint 4. The bottom surface of the ball joint 4 is bolted to the flange 5. The first rotary motor 11 is connected to a controller and drives the rotating sleeve 6 to rotate. During the rotation of the rotating sleeve 6, the upper spring mount 7 is pushed along the guide rod of the lower spring mount 9 toward the spring 10, compressing the spring 10 and increasing the stiffness of the connection. When the spring 10 is compressed to its limit, the connection reaches its maximum stiffness.

[0032] like Figure 9 and Figure 10 As shown, the mounting base 3 comprises an upper mounting base 301 and a lower mounting base 302, with a mounting space formed between the upper and lower mounting bases 301 and 302. The variable-degree-of-freedom component comprises an electric push rod assembly 12, which is positioned within the mounting space. Half a ball joint groove is defined at each end of the upper and lower mounting bases 301 and 302, forming a complete ball joint groove when the upper and lower mounting bases 301 and 302 are assembled. When the electric push rod assembly 12 contacts the head of the ball joint 4, the free rotation of the ball joint 4 is restricted.

[0033] like Figures 7 to 9As shown, the electric push rod assembly 12 includes a flexible claw sleeve 1201, a push rod housing 1202, a push rod 1203, a lead screw 1204, a push rod end cap 1205, a gear box 1206, a gear set 1207, a gear box end cap 1208, a thrust ball bearing 1209, a gear shaft 1210, a second coupling 1211, and a second rotary motor 1212. The second rotary motor 1212 is connected to the controller and is connected to the input end of the gear set 1207. The gear set 1207 is mounted within the gear box 1206 and sealed with the gear box end cap 1208. The output end of the gear set 1207 is connected in sequence to the gear shaft 1210, the second coupling 1211, the thrust ball bearing 1209, and the lead screw 1204. A push rod 1203 is mounted on the outer surface of the lead screw 1204. The inner wall of the push rod 1203 is provided with internal threads that match the lead screw 1204. Because the lead screw 1204 and the push rod 1203 are threaded together, the threaded connection between the lead screw 1204 and the push rod 1203 allows the push rod 1203 to move horizontally during rotation. A flexible claw sleeve 1201 is positioned on the end of the push rod 1203 away from the gear train 1207. The flexible claw sleeve 1201 is positioned within the ball joint groove of the mounting base 3. In this embodiment, the flexible claw sleeve 1201 is bonded to the push rod 1203 using epoxy resin adhesive. The push rod 1203 is mounted within the push rod housing 1202 and the push rod end cap 1205. A second rotary motor 1212 drives the lead screw 1204 to rotate, which in turn drives the push rod 1203 to move horizontally. The flexible claw sleeve 1201 moves horizontally within the ball joint groove as the push rod 1203 moves horizontally. The ball joint 4 is installed in the ball joint groove. The diameter of the ball joint 4 is larger than the diameter of the left end opening of the ball joint groove, ensuring that the ball joint 4 can rotate freely in the ball joint groove without falling out of the ball joint groove. The flexible claw sleeve 1201 is made of flexible material. When the flexible claw sleeve 1201 contacts the head of the ball joint 4, friction is generated to hinder the rotation of the ball joint 4. Figure 7 As shown, a conical pin is provided at the end of push rod 1203 away from gear assembly 1207. This pin is located within flexible claw sleeve 1201. The conical pin hole of spherical joint 4 mates with the conical pin of push rod 1203 to limit the rotational freedom of spherical joint 4. When flexible claw sleeve 1201 contacts the head of spherical joint 4, the conical pin of push rod 1203 inserts into the conical pin hole of spherical joint 4.

[0034] like Figure 10 As shown, in a relatively calm sea operating environment, the connection device of the present invention is inactive, exhibiting minimal stiffness and maximum freedom. At this point, spring 10 is in a released state, and the ball joint 4 is free from contact with the flexible claw sleeve 1201 or the cylindrical pin of the push rod 1203. Spring 10 can freely compress and release with the displacement of the breakwater, while the ball joint 4 maintains a certain degree of freedom, allowing it to rotate freely within the ball joint slot of the mounting base 3.

[0035] like Figure 11As shown, under extreme sea conditions, the connection device of the present invention is in operation, exhibiting maximum rigidity and minimum degrees of freedom. At this time, the first rotary motor 11 drives the rotating sleeve 6 to rotate. This rotation pushes the upper spring mount 7 along the guide rod of the lower spring mount 9 toward the spring 10, compressing the spring 10 and preventing the connection device from shifting left or right. The second rotary motor 1212 drives the lead screw 1204 to rotate, which in turn drives the push rod 1203 to move horizontally. The flexible claw sleeve 1201 moves horizontally within the ball joint groove as the push rod 1203 moves horizontally, bringing the ball joint 4 into contact with the flexible claw sleeve 1201. Simultaneously, the conical pin of the push rod 1203 inserts into the conical pin hole of the ball joint 4. Because the flexible claw sleeve 1201 is made of a flexible material such as rubber, it generates significant friction when in contact with the ball joint 4, hindering its rotation. Furthermore, the conical pin at the top of the push rod 1203 is in contact with the pin hole of the ball joint 4, minimizing its degrees of freedom.

[0036] like Figure 12 As shown, the variable degree of freedom and variable stiffness breakwater connection device of the present invention is used as follows:

[0037] S1. After the two sets of connecting devices are connected into a whole through the connecting flange 13, the lower mounting seat 302 is connected to the mounting plate 2 by bolts, so that the two sets of connecting devices are installed between the two breakwaters 1, completing the connection between the connecting device and the breakwater.

[0038] S2. Sensors detect sea conditions and input signals into a controller. Displacement sensors are installed symmetrically at the top and bottom of the floating structure. Comparing data determines whether the floating structure is tilting and its degree. An inclination sensor, installed at the center of gravity of the floating structure, provides real-time attitude information. All these sensor signals are fed into a controller located on the motor side.

[0039] S3 , the controller controls the first rotating motor 11 and the second rotating motor 12 to operate.

[0040] S4. For the variable degree of freedom component, the second rotary motor 1212 drives the lead screw 1204 to rotate, and the lead screw 1204 drives the push rod 1203 to move horizontally. The flexible claw sleeve 1201 moves horizontally in the ball joint groove along with the horizontal movement of the push rod 1203. When the flexible claw sleeve 1201 contacts the ball joint 4, friction is generated between the flexible claw sleeve 1201 and the ball joint 4, and the friction can limit the rotational freedom of the ball joint 4. At the same time, the conical pin at the top of the push rod 1203 is inserted into the conical pin hole at the top of the ball joint 4, further limiting the degree of freedom of the ball joint 4. The contact between the flexible claw sleeve 1201 and the ball joint 4, and the insertion of the conical pin at the top of the push rod 1203 into the conical pin hole at the top of the ball joint 4, reduce the degree of freedom of the connecting device in these two ways.

[0041] S5. For the variable stiffness component, the first rotary motor 11 drives the rotary sleeve 6 to rotate. During the rotation of the rotary sleeve 6, the upper spring installation 7 is pushed to move along the guide rod, compressing the spring 10 until the spring 10 is compressed to the limit position, thereby increasing the stiffness of the connecting device.

[0042] S6. Through the coordinated work of variable degree of freedom and variable stiffness components, the dynamic changes of the degrees of freedom and stiffness of the connection device are achieved, thereby adapting to the working environment in various sea conditions.

Claims

1. A breakwater connection device with variable degrees of freedom and variable stiffness, characterized by: It comprises two sets of connecting devices, which are symmetrically arranged through connecting flanges (13); The connecting device comprises a variable stiffness component and a variable degree of freedom component, the variable stiffness component having a ball joint (4), the variable stiffness component being rotatably connected to the variable degree of freedom component via the ball joint (4), and the stiffness of the connecting device being adjusted by the movement of the variable stiffness component; The variable degree of freedom component is arranged in the mounting seat (3), the mounting seat (3) is fixedly connected to the breakwater (1) through the mounting plate (2), and a ball joint groove for accommodating the head of the ball joint (4) is provided at the end of the mounting seat (3). The head of the ball joint (4) rotates freely in the ball joint groove. When the variable degree of freedom component contacts the head of the ball joint (4), the free rotation of the ball joint (4) is restricted. By means of the coordinated work of the variable degree of freedom and variable stiffness components, the degree of freedom and stiffness of the connection device can be dynamically adjusted, thereby adapting to a working environment with multiple sea conditions.

2. The breakwater connection device with variable degrees of freedom and variable stiffness according to claim 1, characterized in that: The variable stiffness component comprises a flange (5), a rotating sleeve (6), an upper spring mounting seat (7), a first coupling (8), a lower spring mounting seat (9), a spring (10) and a first rotating motor (11); A plurality of springs (10) are connected between the upper spring mounting seat (7) and the lower spring mounting seat (9); A cylindrical tube with external threads is provided in the center of the top surface of the upper spring mounting seat (7), an inner wall of the rotating sleeve (6) has internal threads, and the rotating sleeve (6) is connected to the cylindrical tube of the upper spring mounting seat (7) through threads; One end of the rotating sleeve (6) away from the upper spring mounting seat (7) is connected to the first rotating motor (11) via a first coupling (8); The first rotating motor (11) is fixedly mounted in the center of the flange (5); the bottom of the ball joint (4) has a motor mounting groove; the first rotating motor (11) is placed in the motor mounting groove of the ball joint (4); and the bottom surface of the ball joint (4) is fixedly connected to the flange (5).

3. The breakwater connection device with variable degrees of freedom and variable stiffness according to claim 2, characterized in that: The first rotating motor (11) drives the rotating sleeve (6) to rotate, and during the rotation of the rotating sleeve (6), the upper spring mounting seat (7) is pushed to move toward the spring (10), and the spring (10) is compressed.

4. The breakwater connection device with variable degrees of freedom and variable stiffness according to claim 2, characterized in that: The top surface of the lower spring mounting seat (9) is provided with a plurality of holes in a circumferential direction, and a guide rod is provided in the center of the top surface of the lower spring mounting seat (9); The bottom surface of the upper spring mounting seat (7) is provided with a plurality of bosses in a circumferential direction, and a through hole for the guide rod to pass through is provided in the center of the upper spring mounting seat (7); One end of the spring (10) is installed in a hole on the top surface of the lower spring mounting seat (9), and the other end is connected to a boss on the bottom surface of the upper spring mounting seat (7).

5. The breakwater connection device with variable degrees of freedom and variable stiffness according to claim 1, characterized in that: The variable degree of freedom component includes an electric push rod assembly (12), the mounting seat (3) includes an upper mounting seat (301) and a lower mounting seat (302), an installation space is formed between the upper mounting seat (301) and the lower mounting seat (302), and the electric push rod assembly (12) is arranged in the installation space; When the electric push rod assembly (12) contacts the head of the ball joint (4), the free rotation of the ball joint (4) is restricted.

6. The breakwater connection device with variable degrees of freedom and variable stiffness according to claim 5, characterized in that: The electric push rod assembly (12) includes a second rotary motor (1212), the second rotary motor (1212) is connected to the input end of the gear set (1207), the output end of the gear set (1207) is sequentially connected to the gear shaft (1210), the second coupling (1211), the thrust ball bearing (1209) and the lead screw (1204), and the push rod (1203) is arranged outside the lead screw (1204); The inner wall of the push rod (1203) is provided with an internal thread matching the lead screw (1204), and a flexible claw sleeve (1201) is provided at one end of the push rod (1203) away from the gear set (1207); The ends of the upper mounting seat (301) and the lower mounting seat (302) are each provided with half a ball joint groove, and after assembly, a complete ball joint groove is formed, and the flexible claw sleeve (1201) is placed in the ball joint groove.

7. The breakwater connection device with variable degrees of freedom and variable stiffness according to claim 6, characterized in that: The second rotating motor (1212) drives the lead screw (1204) to rotate, the lead screw (1204) drives the push rod (1203) to move horizontally, and the flexible claw sleeve (1201) moves in the ball joint groove along with the horizontal movement of the push rod (1203).

8. The breakwater connection device with variable degrees of freedom and variable stiffness according to claim 6, characterized in that: The flexible claw sleeve (1201) is made of a flexible material, and when the flexible claw sleeve (1201) contacts the head of the ball joint (4), friction is generated, thereby hindering the rotation of the ball joint (4).

9. The breakwater connection device with variable degrees of freedom and variable stiffness according to claim 6, characterized in that: A conical pin is provided at one end of the push rod (1203) away from the gear set (1207), and the conical pin is located inside the flexible claw sleeve (1201); A conical pin hole is provided in the center of the top surface of the ball joint (4), and the conical pin hole cooperates with the conical pin of the push rod (1203) to limit the freedom of rotation of the ball joint (4).

10. The breakwater connection device with variable degrees of freedom and variable stiffness according to claim 9, characterized in that: When the flexible claw sleeve (1201) contacts the head of the ball joint (4), the conical pin of the push rod (1203) is inserted into the conical pin hole of the ball joint (4).

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