Underwater docking device with power transmission capability and docking method thereof

Abstract

The invention discloses an underwater docking device with power transmission capability and a docking method thereof. Comprising a male connector plug-in and a female connector base, in the male connector plug-in, a mounting shaft, an electromagnet mounting frame and an underwater electromagnet are sequentially and coaxially arranged on a male connector plug-in mounting seat, the outer side of the mounting shaft is sleeved with a male connector inclined insertion iron core mounting seat, and the male connector inclined insertion iron core mounting seat is connected with the male connector plug-in mounting seat through a spring; a plurality of male head oblique insertion iron cores are mounted on the male head oblique insertion iron core mounting seat, and a primary insulation magnetic wire winding is wound on each male head oblique insertion iron core; in the female head base, a plurality of female base inclined insertion iron cores are connected between a female head base installation base and an external guide piece, and each female base inclined insertion iron core is wound with a secondary insulation magnetic wire winding. According to the invention, through combination of the floating support structure and the composite guide structure, precise cooperation of adaptive position correction and magnetic circuit closing in the underwater butt joint process of the male plug-in and the female plug-in is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater operations, and in particular to an underwater docking device with power transmission capability. Background Art

[0002] With the continuous development of marine resources, the demand for underwater operations is increasing. Due to the significant limitations of manual underwater operations, underwater robots have rapidly developed. They can replace humans in various underwater operations in harsh environments such as deep-sea high pressure, low temperature, and low visibility. Underwater robots require different operating tools for specific scenarios. When used with these tools, the robots must connect to the required tools via electrical connectors. The complex underwater environment and diverse operational requirements often require the replacement of different operating tools to meet diverse underwater operations. However, when replacing the operating tools onboard underwater robots, plugging and unplugging the connectors underwater can affect their insulation. To prevent the effects of water on the insulation of the electrical connectors, a deployment and recovery system is required to recover the underwater robots to the surface deck. After the tools are replaced on deck, the robots are then deployed underwater using the deployment and recovery system. This method is time-consuming, reducing the efficiency of underwater operations. Furthermore, the continuous deployment and recovery process increases the risk of underwater robot failure, increasing the cost and operational risks of underwater robot operations. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the present invention provides an underwater docking device and a docking method thereof with power transmission capability.

[0004] The technical solution adopted in the present invention is:

[0005] 1. An underwater docking device with power transmission capability

[0006] The underwater docking device includes a male plug-in and a female base. The male plug-in includes a male plug-in mounting seat, a primary insulating magnetic wire winding, a male oblique iron core, a spring, an electromagnet mounting frame, an underwater electromagnet, and a male oblique iron core mounting seat; the docking side of the male plug-in mounting seat is coaxially arranged with a mounting shaft, an electromagnet mounting frame, and an underwater electromagnet, and a male oblique iron core mounting seat is sleeved on the outer side of the mounting shaft. The male oblique iron core mounting seat is connected to the male plug-in mounting seat through a number of springs, and a number of male oblique iron cores are mounted on the male oblique iron core mounting seat, each of which is wound with a primary insulating magnetic wire winding; the female base includes an external guide, a secondary insulating magnetic wire winding, a female oblique iron core, and a female base mounting seat; a number of female oblique iron cores are connected between the female base mounting seat and the external guide, and each of which is wound with a secondary insulating magnetic wire winding.

[0007] The male obliquely inserted iron core mounting seat is annular, and the male obliquely inserted iron core mounting seat is sleeved on the outside of the mounting shaft through the center hole, and the aperture of the center hole is larger than the outer diameter of the mounting shaft, all male obliquely inserted iron cores are evenly arranged along the outer circumference of the male obliquely inserted iron core mounting seat, and are connected to the outer peripheral surface of the male obliquely inserted iron core mounting seat; a number of springs are arranged between the male obliquely inserted iron core mounting seat and the male plug-in mounting seat, and all springs are evenly spaced around the mounting shaft, and the two ends of each spring are respectively connected to the male plug-in mounting seat and the male obliquely inserted iron core mounting seat; all female base obliquely inserted iron cores on the female base mounting seat are evenly distributed on a circumference with the same diameter as the outer circumference of the male obliquely inserted iron core mounting seat, and the center of the circle is aligned in the axial direction.

[0008] When the male plug-in and female base are docked, they are connected via an underwater electromagnet. The male oblique core and the female base oblique core enclose a complete annular core, with the male oblique core contacting the side of the adjacent female base oblique core. The male plug-in mounting seat, electromagnet mounting bracket, underwater electromagnet, male oblique core mounting seat in the male plug-in, the external guide and female base mounting seat in the female base, and the annular core are coaxially arranged.

[0009] The external guide piece adopts an annular structure, and the inner side wall of the external guide piece is connected to the outer side wall of the female seat oblique iron core close to one end of the male plug-in; the radial spacing between the center hole of the male head oblique iron core mounting seat and the mounting axis is equal to the radial thickness of the external guide piece.

[0010] The male obliquely inserted iron core and the female obliquely inserted iron core are both in the shape of an arc prism, and the two end faces of the arc prism in the axial direction are arcs with the same radius but different central angles, and the side surface of the arc prism between the two arc faces is an inclined surface; the central angle of the end face of the male obliquely inserted iron core close to the male plug-in is greater than that away from the male plug-in, and the outer surface away from the male plug-in is a convex surface; the central angle of the end face of the female obliquely inserted iron core close to the male plug-in is smaller than that away from the male plug-in, and the outer surface close to the male plug-in is a convex surface; the outer surface of the external guide close to the male plug-in end is a concave inclined surface.

[0011] Preferably, the raised surface of the male oblique insertion core away from the male plug-in end is a curved surface; the raised surface of the female oblique insertion core close to the male plug-in end is an inverted V-shaped slope, and the inverted V-shaped slope extends to the outer edge of the external guide.

[0012] Preferably, an angle of 30° is formed between the side surface of the male oblique iron core between the two arc surfaces and the radial plane of the male oblique iron core mounting seat, between the side surface of the female oblique iron core between the two arc surfaces and the radial plane of the female base mounting seat, and between the concave inclined surface of the external guide and its own radial plane.

[0013] Specifically, the primary insulated magnetic wire winding / secondary insulated magnetic wire winding is obtained by winding the insulating magnetic wire on the male oblique plug-in iron core / female oblique plug-in iron core, and then performing underwater vulcanization insulation sealing treatment.

[0014] Specifically, each male oblique insert core / female oblique insert core is provided with a pair of arc-shaped slots for winding the primary insulated magnetic wire winding / secondary insulated magnetic wire winding. In each pair of arc-shaped slots, the two arc-shaped slots are radially opened and axially aligned.

[0015] Preferably, the number of the spring, the male obliquely inserted iron core and the female obliquely inserted iron core are all three; the central angles of the two end faces of the male obliquely inserted iron core are 70° and 25° respectively; the central angles of the two end faces of the female obliquely inserted iron core are 95° and 50° respectively.

[0016] Furthermore, the primary insulated magnetic wire winding and the secondary insulated magnetic wire winding are evenly wound with wires of the same specification, V 主 and V 次 The following relationship is satisfied:

[0017] V 主 / S 主 =V 次 / S 次

[0018] Where V 主 Indicates the effective voltage of the main insulated magnetic wire winding connected to the AC power supply, S 主 Indicates the length of the slot inside the core when the male connector is inserted obliquely. V 次 It represents the AC effective voltage generated by the secondary insulated magnetic wire winding, S 次 Indicates the length of the slot inside the core when the female base is obliquely inserted.

[0019] 2. A docking method using the above underwater docking device,

[0020] The docking method comprises the following steps:

[0021] S1. Use an underwater mobile device to control the male plug-in to approach the female base on the working tool;

[0022] The underwater mobile device includes an underwater ROV and an underwater robotic arm;

[0023] S2. When the distance between the male plug and the female base reaches the preset distance, the underwater electromagnet is energized;

[0024] S3. The concave inclined surface of the external guide cooperates with the convex curved surface of the male head obliquely inserted into the iron core to guide the male head obliquely inserted into the iron core mounting seat to adjust the radial offset;

[0025] S4. The inverted V-shaped slope of the female oblique insertion core cooperates with the convex curved surface of the male oblique insertion core to guide the male oblique insertion core mounting seat to adjust the circumferential offset;

[0026] S5. The male plug is inserted into the gap between the female plug and the female plug to form a complete magnetic circuit. The male plug and the female plug are fixedly connected by an electromagnet underwater.

[0027] S6. Alternating current is supplied to the primary insulated magnetic wire winding, and the secondary insulated magnetic wire winding generates corresponding alternating current, completing the AC power transmission.

[0028] The beneficial effects of the present invention are:

[0029] 1. In the present invention, the floating male oblique plug core mounting seat provides radial freedom and axial elasticity for the male oblique plug core, and can adaptively guide the position deviation existing during the initial docking (such as the offset caused by water flow impact), which significantly reduces the requirements for the underwater robot's control accuracy and improves its adaptability to complex underwater environments.

[0030] 2. The present invention provides dual guidance for the axial and radial offset and tilt of the male plug-in by means of the concave inclined surface of the external guide, the convex surface of the male oblique insertion core and the oblique insertion core of the female base. That is, when the central axis of the male plug-in and the female base is offset or tilted during the docking process, the male plug-in can be guided to the correct position.

[0031] 3. In the present invention, the male obliquely inserted iron core and the female obliquely inserted iron core form a complete iron core after docking, forming a closed magnetic circuit, which can realize high-power AC power transmission.

[0032] 4. The present invention realizes underwater docking by cooperating with the female head base mounting seat through the underwater electromagnet. After the docking is completed, the inclined side surface of the obliquely inserted iron core can generate radial pressure, further improving the connection stability.

[0033] 5. In the present invention, during the AC power transmission process, the complete iron core and the insulated magnetic wire winding are in an underwater environment, thereby achieving good heat dissipation of the iron core and the insulated magnetic wire winding.

[0034] In summary, the present invention achieves precise coordination of adaptive position correction and magnetic circuit closure during underwater docking between the male plug and the female base by combining the floating support structure and the composite guide structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the male plug-in and the female base of the present invention docking together;

[0036] Figure 2 This is a schematic diagram of the male plug-in and the female base of the present invention after docking;

[0037] Figure 3 This is a schematic diagram of the structure after the male plug-in and the female base of the present invention are connected;

[0038] Figure 4 This is a schematic structural diagram of the male plug-in of the present invention;

[0039] Figure 5 This is a schematic diagram of the internal structure of the male plug of the present invention;

[0040] Figure 6 This is a schematic structural diagram of the female base of the present invention;

[0041] Figure 7 This is a schematic diagram of the internal structure of the female base of the present invention;

[0042] Figure 8 This is a three-dimensional schematic diagram of the male plug and the female base of the present invention after docking;

[0043] Among them: 1. Male plug-in mounting seat; 2. External guide; 3. Secondary insulated magnetic wire winding, 4. Primary insulated magnetic wire winding; 5. Female oblique plug-in core; 6. Male oblique plug-in core; 7. Female base mounting seat; 8. Spring; 9. Electromagnet mounting bracket; 10. Underwater electromagnet; 11. Male oblique plug-in core mounting seat. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] A first aspect of the present invention provides an underwater docking device with power transmission capability.

[0046] like Figure 1As shown, the underwater docking device of the present invention includes a male plug-in and a female base, which are respectively installed at the power supply end and the tool end. The male plug-in includes a male plug-in mounting seat 1, a main-stage insulated magnetic wire winding 4, a male oblique iron core 6, a spring 8, an electromagnet mounting frame 9, an underwater electromagnet 10, and a male oblique iron core mounting seat 11; the electromagnet mounting frame 9 is arranged in the center of the male plug-in mounting seat 1, and the underwater electromagnet 10 is installed on the electromagnet mounting frame 9. A mounting shaft is arranged between the male plug-in mounting seat 1 and the electromagnet mounting frame 9, and a male oblique iron core mounting seat 11 is sleeved on the outside of the mounting shaft. A number of springs 8 are arranged around the mounting shaft between the male oblique iron core mounting seat 11 and the male plug-in mounting seat 1, and the two ends of each spring 8 are respectively connected to the male oblique iron core mounting seat. The mounting seat 11 is connected to the male plug-in mounting seat 1, and a number of male oblique cores 6 arranged around the underwater electromagnet 10 are installed on the male oblique core mounting seat 11, and each male oblique core 6 is wound with a primary insulating magnetic wire winding 4; the female base includes an external guide 2, a secondary insulating magnetic wire winding 3, a female oblique core 5 and a female base mounting seat 7; a number of female oblique cores 5 are arranged between the female base mounting seat 7 and the external guide 2, and each female oblique core 5 is wound with a secondary insulating magnetic wire winding 3, and the head end and the tail end of the female oblique core 5 are fixedly connected to the external guide 2 and the female base mounting seat 7 respectively.

[0047] like Figure 3 、 Figure 5 and Figure 8 As shown, the male oblique core mounting seat 11 is annular and is mounted on the outside of the mounting shaft through a center hole. The center hole has a diameter larger than the outer diameter of the mounting shaft. All male oblique cores 6 are evenly arranged along the outer circumference of the male oblique core mounting seat 11 and connected to the outer circumferential surface of the male oblique core mounting seat 11. All female oblique cores 5 on the female base mounting seat 7 are evenly spaced and distributed on a circle with the same diameter as the outer circumference of the male oblique core mounting seat 11, and the center of the circle is aligned in the axial direction.

[0048] like Figure 3 and Figure 8 As shown, after the male plug-in and the female base are docked, the male plug-in and the female base are connected by an underwater electromagnet 10, and the male obliquely inserted iron core 6 and the female base obliquely inserted iron core 5 are enclosed to form a complete annular iron core, and the male obliquely inserted iron core 6 contacts the side of the adjacent female base obliquely inserted iron core 5.

[0049] like Figure 3 and Figure 8As shown, when the male plug-in and the female base are docked, the male plug-in mounting seat 1, the electromagnet mounting frame 9, the underwater electromagnet 10, the male oblique insertion core mounting seat 11 in the male plug-in, the external guide 2 and the female base mounting seat 7 in the female base, and the annular core formed by the male oblique insertion core 6 and the female base oblique insertion core 5 are coaxially arranged.

[0050] In the above structure, the radial clearance between the center hole of the male oblique core mounting seat 11 and the mounting axis allows for a certain radial offset and / or axial tilt. The radial offset refers to the offset between the axis of the male oblique core 6 and the female oblique core 5, and the axial tilt refers to the angle between the axis of the male oblique core mounting seat 11 and the female base mounting seat 7. The spring 8 arranged around the mounting axis between the male plug-in mounting seat 1 and the male oblique core mounting seat 11 can not only provide axial elastic support for the male oblique core mounting seat 11, but also allow for a certain circumferential offset, that is, the male oblique core 6 and the female oblique core 5 are misaligned in the circumferential direction, resulting in the male oblique core 6 being unable to accurately insert into the gap between the female oblique core 5.

[0051] like Figure 2 、 Figure 3 、 Figure 7 and Figure 8 As shown, the outer guide 2 is annular, with its inner sidewall connected to the outer sidewall of the female oblique core 5 near the male insert. The radial spacing between the center hole of the male oblique core mounting seat 11 and the mounting axis is equal to the radial thickness of the outer guide 2. These radial spacing and thickness represent the maximum radial offset range allowed by the device.

[0052] Specifically, in the undocked state, the spring 8 is in a low compression state.

[0053] like Figure 4 and Figure 6 As shown, the male obliquely inserted core 6 and the female obliquely inserted core 5 are both in the shape of an arc prism, and the two end faces of the arc prism in the axial direction (the axial direction of the arc prism is parallel to the direction of the center line connecting the male plug and the female base, and the center of the arc is located on the center line) are arcs with the same radius and the same center, but different central angles, and the side surface of the arc prism between the two arc surfaces is an inclined surface.

[0054] In the above structure, the male obliquely inserted iron core 6 and the female obliquely inserted iron core 5 contact each other through the inclined surface, generating a radial component force under the action of electromagnetic attraction, further pressing the contact surface to form an interlocking structure, avoiding loose connection due to electromagnetic force fluctuations and ensuring safe operation.

[0055] The central angle of the end face of the male oblique core 6 near the male end is larger than that away from the male plug-in end, and the outer surface away from the male plug-in end is a convex surface. The central angle of the end face of the female oblique core 5 near the male plug-in end is smaller than that away from the male plug-in end, and the outer surface near the male plug-in end is a convex surface. At the same time, the outer surface of the external guide 2 near the male plug-in end is a concave inclined surface. Figure 8 As shown, taking the male plug-in located above the female plug base as an example, the central angle of the upper end face of the male plug-in core 6 is larger than the lower end face, and the central angle of the upper end face of the female plug-in core 5 is smaller than the lower end face.

[0056] In a preferred embodiment of the present invention, Figure 4 As shown, the convex surface of the male plug-in core 6 away from the male plug-in end is a curved surface. Figure 7 As shown, the raised surface of the female oblique insertion core 5 close to the male plug-in end is an inverted V-shaped slope, and the inverted V-shaped slope extends to the outer edge of the external guide member 2.

[0057] In the above structure, the convex curved surface of the male oblique core 6 and the concave inclined surface of the outer guide 2 form a first sliding contact surface. This first sliding contact surface can be used to adaptively correct radial offset and / or axial tilt. The convex curved surface of the male oblique core 6 and the inverted V-shaped slope of the female oblique core 5 form a second sliding contact surface. This second sliding contact surface can be used to adaptively correct circumferential offset.

[0058] In a preferred embodiment of the present invention, an angle of 30° is formed between the side surface of the male oblique core 6 between the two arcuate surfaces and the radial plane of the male oblique core mounting seat 11, between the side surface of the female oblique core 5 between the two arcuate surfaces and the radial plane of the female base mounting seat 7, and between the concave inclined surface of the external guide 2 and its own radial plane.

[0059] In a preferred embodiment of the present invention, the number of springs 8, male obliquely inserted cores 6 and female obliquely inserted cores 5 are all three; the central angles of the two end faces of the male obliquely inserted core 6 are 70° and 25° respectively; the central angles of the two end faces of the female obliquely inserted core 5 are 95° and 50° respectively.

[0060] Preferably, the primary insulated magnetic wire winding 4 / the secondary insulated magnetic wire winding 3 are obtained by winding the insulating magnetic wire on the male obliquely inserted iron core 6 / the female obliquely inserted iron core 5, and then subjecting the obtained winding to underwater vulcanization insulation and sealing treatment.

[0061] Preferably, if Figure 5 As shown, each male obliquely inserted core 6 / female obliquely inserted core 5 is provided with a pair of arc-shaped through slots for winding the primary insulated magnetic wire winding 4 / secondary insulated magnetic wire winding 3. In each pair of arc-shaped through slots, the two arc-shaped through slots are radially opened and axially aligned.

[0062] Specifically, the primary insulated magnetic wire winding 4 and the secondary insulated magnetic wire winding 3 are evenly wound with wires of the same specification. 主 and V 次 The following relationship is satisfied:

[0063] V 主 / S 主 =V 次 / S 次

[0064] Where V 主 Indicates the effective voltage of the main insulated magnetic wire winding connected to the AC power supply, S 主 Indicates the length of the slot inside the core when the male connector is inserted obliquely. V 次 It represents the AC effective voltage generated by the secondary insulated magnetic wire winding, S 次 Indicates the length of the slot inside the core when the female base is obliquely inserted.

[0065] Furthermore, the four primary insulated magnetic wire windings are connected in series and then connected to a unidirectional AC power supply, and the three secondary insulated magnetic wire windings are connected in series and then connected to a load through a rectifier circuit.

[0066] Furthermore, the underwater electromagnet 10 is connected to a DC power supply via a cable.

[0067] Furthermore, the primary insulated magnetic wire windings 4 are connected in series and then connected to a unidirectional AC power supply via a cable. The secondary insulated magnetic wire windings 3 are connected in series and then connected to a rectifier circuit via a cable.

[0068] Furthermore, the female base mounting seat 7 is made of magnetic material or a magnetic material is provided on the surface of the mating side for adsorption with the electromagnet of the male plug-in.

[0069] Furthermore, the male plug-in is installed on a power supply end, such as an underwater ROV (Remotely Operated Vehicle) or an underwater robotic arm or other movable equipment, and the female base is installed on a tool end.

[0070] The working process of the underwater docking device of the present invention is specifically as follows:

[0071] like Figure 1As shown, the male plug-in mounting seat 1 is installed at the power supply end, and the female base mounting seat 7 is installed at the tool end. When docking, the male plug-in is close to the female base, and the underwater electromagnet 10 of the male plug-in is energized. The underwater electromagnet 10 and the female base mounting seat 7 generate an adsorption force. When the central axis of the male plug-in and the female base are docked in an offset or tilted state, the male oblique core mounting seat 1 can move within a certain range and is guided to the correct position by the external guide 2 of the female base, so that the male oblique core 6 and the female oblique core 5 are completely closed to form a complete magnetic circuit. After the male plug-in and the female base are docked, the underwater electromagnet 10 and the female base mounting seat 7 are completely in contact, generating a strong suction force. At this time, AC power is passed to the primary coil of the male plug-in (primary insulated magnetic wire winding 4), and the secondary coil of the female base (secondary insulated magnetic wire winding 3) generates corresponding AC power, completing the power transmission to the underwater high-power equipment.

[0072] Here, a certain range means that the offset relative to the central axis is less than 30 mm or the inclination is less than 30°.

[0073] The external guide 2 guides the male oblique insert core mounting seat 1 to the correct position, which means that the central axis of the male oblique insert core mounting seat coincides with the central axis of the female base, and the male oblique insert core 6 is in close contact with the female base oblique insert core 5.

[0074] A second aspect of the present invention provides a docking method for the above-mentioned underwater docking device.

[0075] The docking method of the present invention specifically comprises the following steps:

[0076] S1. Initial approach: Use an underwater ROV or underwater robotic arm to control the male plug-in to approach the female base on the working tool;

[0077] S2, electromagnet adsorption: When the distance between the male plug and the female plug base reaches the preset distance, the underwater electromagnet 10 is energized;

[0078] S3, rough positioning: the concave inclined surface of the external guide 2 cooperates with the convex curved surface of the male head obliquely inserted into the iron core 6 to guide the male head obliquely inserted into the iron core mounting seat 11 to adjust the radial offset;

[0079] S4, precise positioning: the inverted V-shaped slope of the female oblique insertion core 5 cooperates with the convex curved surface of the male oblique insertion core 6 to guide the male oblique insertion core mounting seat 11 to adjust the circumferential offset;

[0080] S5, docking completed: the male oblique insertion core 6 is inserted into the gap between the female oblique insertion core 5 to form a complete magnetic circuit, and the male plug and the female base are fixedly connected by an underwater electromagnet 10;

[0081] S6. After the male plug is connected to the female base, AC power is supplied to the primary insulated magnetic wire winding 4, and the secondary insulated magnetic wire winding 3 generates corresponding AC power, completing the AC power transmission to the underwater high-power equipment.

[0082] The specific embodiments of the present invention are as follows:

[0083] Example

[0084] In this embodiment, the male connector includes a male connector mounting base 1, a primary insulated magnetic winding 4, a male angled core 6, a spring 8, an electromagnet mounting bracket 9, an underwater electromagnet 10, and a male angled core mounting base 11. The female connector base includes an external guide 2, a secondary insulated magnetic winding 3, a female angled core 5, and a female connector base mounting base 7. The primary insulated magnetic winding 4, the secondary insulated magnetic winding 3, and the spring 8 are all three in number.

[0085] The following text describes the underwater docking device of this embodiment in detail with reference to the accompanying drawings to help readers better understand its structure and operating principles. Unless otherwise specified, directional terms such as "upper," "lower," "horizontal," "vertical," "inner," and "outer" are based on the accompanying drawings.

[0086] In the male header plugin:

[0087] An electromagnet mounting bracket 9 is coaxially arranged in the center below the male plug-in mounting bracket 1. A mounting shaft is coaxially arranged above the electromagnet mounting bracket 9. The upper end of the mounting shaft is threadedly connected to the center hole on the bottom surface of the male plug-in mounting bracket 1, and the lower end is fixedly connected to the top surface of the electromagnet mounting bracket 9. An underwater electromagnet 10 is coaxially connected to the bottom surface of the electromagnet mounting bracket 9. A male oblique core mounting bracket 11 is coaxially mounted on the outside of the mounting shaft through the center hole. The diameter of the center hole is larger than the outer diameter of the mounting shaft and smaller than the outer diameter of the electromagnet mounting bracket 9.

[0088] Three springs 8 are evenly spaced along the same circumference between the male plug-in mounting seat 1 and the male oblique core mounting seat 11. The axes of the three springs 8 are all parallel to the axis of the male plug-in mounting seat 1. The upper end of the spring 8 is fixedly connected to the bottom surface of the male plug-in mounting seat 1, and the lower end is fixedly connected to the top surface of the male oblique core mounting seat 11. The three springs 8 are all in a compressed state, so that the bottom surface of the male oblique core mounting seat 11 abuts the top surface of the electromagnet mounting frame 9. As a result, the male oblique core mounting seat 3 and the male plug-in mounting seat 1 are softly connected through the springs 8, and the male oblique core mounting seat 3 is restricted by the male plug-in mounting seat 1 and the electromagnet mounting frame 9 in a structural hard limit manner to a certain range and can move with six degrees of freedom.

[0089] Three male oblique cores 6 are arranged below the male oblique core mounting base 11. The inner sidewalls of the top ends of the male oblique cores 6 are connected to the outer circumference of the male oblique core mounting base 11. Insulated magnetic wire windings, which are waterproof and sealed, are evenly wound around the three male oblique cores 6 to form three main-stage insulated magnetic wire windings 4.

[0090] In the female header base:

[0091] The three female obliquely inserted cores 5 are evenly distributed along the circumferential direction on the top surface of the female base mounting seat 7. The insulated magnetic wire windings isolated by waterproof sealing are evenly wound on the three female obliquely inserted cores 5 to form three secondary insulated magnetic wire windings 3.

[0092] An external guide member 2 is fixedly installed above the female base obliquely inserted iron core 5, and the inner side wall of the external guide member 2 is connected to the outer side surface of the top end of the female base obliquely inserted iron core 5.

[0093] In the mated male insert and female base:

[0094] The three male oblique cores 6 of the male plug-in and the three female oblique cores 5 of the female base are evenly distributed on a circumference of the same diameter, and each oblique core (male oblique core 6, female oblique core 5) is provided with an arc-shaped through groove for winding the insulated magnetic wire winding (primary insulated magnetic wire winding 4, secondary insulated magnetic wire winding 3). The insulated magnetic wire winding (primary insulated magnetic wire winding 4, secondary insulated magnetic wire winding 3) is evenly wound on each oblique core (male oblique core 6, female oblique core 5) after waterproof sealing and isolation. After the male plug-in and the female base are docked, the male oblique core 6 and the female oblique core 5 can form a complete annular core, realizing the closure of the magnetic circuit.

[0095] The outer edge of the external guide member 2 is flush with the top surface of the male head obliquely inserted iron core mounting seat 3.

[0096] The above specific embodiments are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

[0097] The above description is only a preferred embodiment of the present invention. Therefore, any equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. An underwater docking device with power transmission capability, comprising a male plug and a female base, characterized in that: The male plug-in comprises a male plug-in mounting seat (1), a primary insulating magnetic wire winding (4), a male oblique plug-in core (6), a spring (8), an electromagnet mounting frame (9), an underwater electromagnet (10), and a male oblique plug-in core mounting seat (11); a mounting shaft, an electromagnet mounting frame (9), and an underwater electromagnet (10) are coaxially arranged on the docking side of the male plug-in mounting seat (1); a male oblique plug-in core mounting seat (11) is sleeved on the outer side of the mounting shaft; the male oblique plug-in core mounting seat (11) is connected to the male plug-in mounting seat (1) via a plurality of springs (8); a plurality of male oblique plug-in cores (6) are mounted on the male oblique plug-in core mounting seat (11), and each male oblique plug-in core (6) is wound with a primary insulating magnetic wire winding (4); The female base comprises an external guide (2), a secondary insulating magnetic wire winding (3), a female base obliquely inserted iron core (5) and a female base mounting seat (7); a plurality of female base obliquely inserted iron cores (5) are connected between the female base mounting seat (7) and the external guide (2), and a secondary insulating magnetic wire winding (3) is wound around each female base obliquely inserted iron core (5).

2. The underwater docking device with power transmission capability according to claim 1, characterized in that: The male oblique insertion core mounting seat (11) is annular, and the male oblique insertion core mounting seat (11) is sleeved on the outer side of the mounting shaft through a center hole, and the aperture of the center hole is larger than the outer diameter of the mounting shaft, and all male oblique insertion cores (6) are evenly arranged along the outer periphery of the male oblique insertion core mounting seat (11) and connected to the outer peripheral surface of the male oblique insertion core mounting seat (11); all female base oblique insertion cores (5) on the female base mounting seat (7) are evenly spaced and distributed on a circumference having the same diameter as the outer periphery of the male oblique insertion core mounting seat (11) and the center of the circle is aligned in the axial direction; When the male plug-in and the female base are docked, the male plug-in and the female base are connected by an underwater electromagnet (10), the male oblique insertion core (6) and the female base oblique insertion core (5) are enclosed to form a ring-shaped core, and the male oblique insertion core (6) contacts the side of the adjacent female base oblique insertion core (5).

3. The underwater docking device with power transmission capability according to claim 2, characterized in that: The external guide (2) adopts an annular structure, and the inner side wall of the external guide (2) is connected to the outer side wall of the female oblique iron core (5); the radial spacing between the center hole of the male oblique iron core mounting seat (11) and the mounting axis is equal to the radial thickness of the external guide (2).

4. The underwater docking device with power transmission capability according to claim 2, characterized in that: The male obliquely inserted iron core (6) and the female obliquely inserted iron core (5) are both in the shape of an arc prism, and the two end faces of the arc prism in the axial direction are arcs with the same radius but different central angles, and the side surface of the arc prism between the two arc faces is an inclined surface; the central angle of the end face of the male obliquely inserted iron core (6) close to the male plug-in is greater than that away from the male plug-in, and the outer surface away from the male plug-in is a convex surface; the central angle of the end face of the female obliquely inserted iron core (5) close to the male plug-in is smaller than that away from the male plug-in, and the outer surface close to the male plug-in is a convex surface; the outer surface of the external guide (2) close to the male plug-in is an inwardly concave inclined surface.

5. The underwater docking device with power transmission capability according to claim 4, characterized in that: The convex surface of the male obliquely inserted iron core (6) is a curved surface; the convex surface of the female obliquely inserted iron core (5) is an inverted V-shaped slope, and the inverted V-shaped slope extends to the outer edge of the external guide (2).

6. The underwater docking device with power transmission capability according to claim 4, characterized in that: An angle of 30° is formed between the side surface of the male oblique iron core (6) between the two arcuate surfaces and the radial plane of the male oblique iron core mounting seat (11), between the side surface of the female oblique iron core (5) between the two arcuate surfaces and the radial plane of the female base mounting seat (7), and between the inner concave inclined surface of the external guide (2) and its own radial plane.

7. The underwater docking device with power transmission capability according to claim 1, characterized in that: The primary insulating magnetic wire winding (4) / secondary insulating magnetic wire winding (3) is obtained by winding insulating magnetic wire on a male obliquely inserted iron core (6) / a female obliquely inserted iron core (5), and then subjecting the winding to an underwater vulcanization insulation sealing treatment.

8. The underwater docking device with power transmission capability according to claim 1, characterized in that: The number of the spring (8), the male obliquely inserted iron core (6) and the female obliquely inserted iron core (5) is three; the center angles of the two end faces of the male obliquely inserted iron core (6) are 70° and 25° respectively; the center angles of the two end faces of the female obliquely inserted iron core (5) are 95° and 50° respectively.

9. The underwater docking device with power transmission capability according to claim 1, characterized in that: The primary insulated magnetic wire winding (4) and the secondary insulated magnetic wire winding (3) are evenly wound using wires of the same specification. 主 and V 次 The following relations are satisfied: V 主 / S 主 =V 次 / S 次 Where V 主 Indicates the effective voltage of the main insulated magnetic wire winding connected to the AC power supply, S 主 Indicates the length of the slot inside the core when the male connector is inserted obliquely. V 次 It represents the AC effective voltage generated by the secondary insulated magnetic wire winding, S 次 Indicates the length of the slot inside the core when the female base is obliquely inserted.

10. A docking method using the underwater docking device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Use an underwater mobile device to control the male plug-in to approach the female base on the working tool; S2, when the distance between the male plug and the female base reaches a preset distance, the underwater electromagnet (10) is energized; S3, the inner concave inclined surface of the external guide (2) cooperates with the convex curved surface of the male oblique insertion core (6) to guide the male oblique insertion core mounting seat (11) to adjust the radial offset; S4, the inverted V-shaped slope of the female oblique insertion core (5) cooperates with the convex curved surface of the male oblique insertion core (6) to guide the male oblique insertion core mounting seat (11) to adjust the circumferential offset; S5, the male oblique plug core (6) is inserted into the gap between the female oblique plug core (5) to form a complete magnetic circuit, and the male plug and the female base are fixedly connected by an underwater electromagnet (10); S6. Alternating current is supplied to the primary insulating magnetic wire winding (4), and the secondary insulating magnetic wire winding (3) generates corresponding alternating current, thereby completing the AC power transmission.

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