Underwater wet plugging docking device with secondary propulsion protection mechanism

Abstract

The invention discloses an underwater wet plugging docking device with a secondary propulsion protection mechanism, belongs to the technical field of underwater robots, and aims to solve the problems of poor underwater docking capability, low alignment precision of a plugging mechanism and insufficient protection of a watertight connector in the prior art. The underwater robot comprises an underwater robot shell, wherein the underwater robot shell is provided with a power interface, a communication interface and limiting notches which are symmetrically distributed in the two sides of the underwater robot shell relative to the position of the communication interface; a carrier; the plug-in mechanism is carried on the bearing frame and at least comprises a wire light pipe which moves relative to the bearing frame up and down; the second-stage pushing protection mechanism is arranged at the tail end of the wire light pipe, and protection and second-stage pushing butt joint are carried out in the butt joint process of the tail end of the wire light pipe and the underwater robot shell through the second-stage pushing protection mechanism; and the holding mechanism is carried on the bearing frame, and the holding mechanism carries out opening and closing movement to hold the underwater robot shell so as to realize limiting alignment of the wire light pipe.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to an underwater wet plug-and-socket docking device with a secondary propulsion protection mechanism. Background Art

[0002] As essential tools for ocean exploration, underwater vehicles (AUVs) have significant applications in marine resource exploration, hydrological environment monitoring, and underwater intelligence reconnaissance. Recovery and docking technology is a key enabler for the long-term operation of underwater vehicles. It guides the vehicle into a docking station, establishing a physical connection with the charging unit within, enabling energy recharge and data exchange.

[0003] Traditionally, surface mothership recovery involves an underwater vehicle autonomously navigating back to the vicinity of a surface support vessel, where it is then hoisted and recovered by onboard technicians using a crane or other device. While this technology is relatively mature, its widespread adoption is significantly limited by high operating costs, significant safety risks faced by operators during the recovery process, and its unsuitability for the specialized operational requirements of covert navigation. To enhance the automation level of the recovery process, improve the stealth of underwater vehicles, and enhance the flexibility of the recovery and docking process, exploring unmanned, autonomously deployed underwater recovery and docking technologies has significant practical application value.

[0004] Docking and plugging transmission technology provides theoretical feasibility for underwater high-power energy replenishment. The key lies in achieving a precise and secure connection between the underwater vehicle and the docking device. However, the specific structural design and execution mechanism of existing technologies have significant bottlenecks in practical application, mainly manifested in three aspects: insufficient underwater docking capacity, low alignment accuracy of the plug-in mechanism, and weak protection of the watertight connector: Poor underwater docking capability (structural rigidity / strong control dependence): Existing docking devices typically utilize rigid guide structures (such as fixed guide grooves or simple conical funnels), which lack effective dynamic compensation capabilities under complex underwater flow field disturbances. This structure relies heavily on coordinated adjustments between the surface control terminal and the underwater submersible's own high-precision attitude control system. However, water disturbances, communication delays, and the limitations of visually assisted positioning make these rigid structures incapable of real-time path correction and terminal attitude fine-tuning. This makes it difficult for the submersible to stably and reliably enter and maintain the preset docking position, resulting in a high docking failure rate.

[0005] Low mating mechanism alignment accuracy: Successful mating of wet-swap connectors requires extremely high axial and angular alignment accuracy. Existing technologies commonly suffer from a lack of precision guide structures and insufficient closed-loop feedback control. Common mechanical guide structures have poor fault tolerance and are prone to jamming when the submersible experiences slight yaw or pitch deviations, leading to mating failures or damage to connector pins.

[0006] Inadequate protection for watertight connectors (missing buffering / sealing / anti-collision structures): Watertight connectors are critical and expensive components, and their physical protection structures are often overlooked or inadequately designed in existing docking solutions. During docking, the relative motion between the submersible and the docking device, the impact of water currents, or accidental collisions can easily cause the connectors to be subjected to excessive transient impact loads or lateral shear forces. Existing structures generally lack effective multi-stage buffering and energy absorption mechanisms to attenuate these loads, making connectors susceptible to seal failure, pin deformation, or electrical performance degradation during repeated plugging and unplugging operations or in harsh sea conditions, seriously affecting their reliability and service life. Summary of the Invention

[0007] The purpose of the present invention is to provide an underwater wet plug-in docking device with a secondary propulsion protection mechanism to solve the problems of poor underwater docking capability, low alignment accuracy of the plug-in mechanism, and insufficient protection of watertight connectors in the prior art.

[0008] To achieve the above-mentioned object, the present invention provides an underwater wet-plug docking device with a secondary propulsion protection mechanism, comprising: An underwater robot housing, wherein the underwater robot housing is provided with a power interface, a communication interface, and limit slots symmetrically distributed on both sides of the underwater robot housing with respect to the position of the communication interface; Carrier; A plug-in mechanism mounted on the carrier, the plug-in mechanism comprising at least a conductor light tube that moves relative to the carrier up and down, the end of the conductor light tube carrying an underwater wet-plug plug, a conductor guided within the conductor light tube and extending through the top end, connected to an external power source or shore-based power supply for power supply or communication; A secondary push protection mechanism is provided at the end of the conductor light tube, which protects the conductor light tube end and the underwater robot housing during the insertion process and performs secondary push docking; And a clamping mechanism mounted on the carrier, the clamping mechanism opens and closes so that the end clamp of the clamping mechanism cooperates with the limiting notch of the underwater robot shell to clamp and realize the limiting alignment of the wire light tube.

[0009] The carrier frame comprises: Front end carrier; A rear end carrier frame is arranged opposite to the front end carrier frame, and the front end carrier frame and the rear end carrier frame are fixedly connected by a rod; And a screw nut pair is arranged on the front end carrier in the vertical direction, the screw of the screw nut pair is driven to rotate by the clamping drive motor; the nut of the screw nut pair moves up and down to drive the opening and closing of the clamping mechanism.

[0010] The clamping mechanism includes two symmetrically arranged groups of connecting rod mechanisms, each group of connecting rod mechanisms includes: a long straight rod, one end of which is hinged to the nut of the screw-nut pair; A bent guide rod, wherein the middle bend of the guide rod is hingedly mounted on a first pin seat via a pin connection, the first pin seat is fixed to the front end of the carrier frame, and one end of the guide rod and the other end of the long straight rod are hingedly connected via a pin; A short straight rod, one end of which is hinged to the other end of the guide rod via a pin; a diameter adjustment rod, one end of which is hingedly mounted on a second pin seat via a pin connection, the second pin seat being fixed to the front end of the carrier frame, and the other end of the diameter adjustment rod being hingedly connected to the other end of the short straight rod via a pin connection; A clamping straight rod, one end of which is fixed to the diameter adjustment rod by a bolt, and the other end of which is hinged to the third pin seat by a pin; And an end clamp, the third pin seat is fixed on the back of the end clamp by bolt connection; the end clamps of the two groups of connecting rod mechanisms cooperate with the underwater robot shell to clamp or loosen.

[0011] The mating surface between the end clamp and the underwater robot shell is an inner arc surface; the inner arc surface is provided with a boss that is mated with a limiting notch on the underwater robot shell.

[0012] The plug-in mechanism further includes: A ball screw is vertically arranged on the rear end support frame, and a drive motor drives the ball screw to rotate; and a clamp seat, wherein the clamp seat is fixedly connected to a nut matched with the ball screw, and the top end of the wire light tube is fixed on the clamp seat.

[0013] The secondary push protection mechanism includes: An upper hinge support, the upper hinge support being located below the ball screw and coaxially fixedly connected to the conductor light pipe; A lower end hinge support is provided at the end of the conductor light tube, wherein the lower end hinge support and the conductor light tube are in clearance fit; A spring sleeved on the conductor light tube and located between the upper hinge support and the lower hinge support; And multiple groups of connecting rods evenly distributed around the circumference and connected between the upper hinge support and the lower hinge support, each group of connecting rods includes an upper short rod and a lower short rod, one end of the upper short rod is hinged to the upper hinge support, the other end is hinged to one end of the lower short rod, and the other end of the lower short rod is hinged to the lower hinge support.

[0014] When the spring is in its natural state, the end of the wire light tube is located in the lower hinge support.

[0015] The beneficial effects of the present invention are: 1. The present invention utilizes a two-stage propulsion and protection mechanism to effectively improve the safety and reliability of underwater docking. By providing a two-stage buffer structure consisting of an upper hinge support, a lower hinge support, a connecting rod, and a spring, the lower hinge support first contacts the underwater robot housing to limit its position during docking, followed by precise insertion of the internal wire and light pipe under the buffering action of the spring. This phased propulsion method prevents damage to watertight connectors caused by instantaneous impact. At the same time, the buffering effect of the spring effectively absorbs vibration interference caused by the underwater environment, reducing docking impact forces and significantly extending the service life of expensive watertight connectors. 2. The present invention uses an adaptive clamping mechanism, which can significantly improve compatibility with submersibles of different specifications. By combining the diameter adjustment rod with the adjustable clamping rod, it is possible to adapt to submersibles of different specifications with different diameters by simply adjusting the fixed position of the clamping rod on the diameter adjustment rod. The boss of the end clamp cooperates with the limiting notch of the underwater robot shell, and the amplification effect of the four-bar linkage can achieve high-precision positioning. Compared with traditional fixed clamping mechanisms, it improves alignment accuracy and ensures accurate docking of wet plug interfaces. 3. The modular design of this invention significantly improves the deployment flexibility of the device. The carrier can be quickly installed on different underwater platforms. By replacing the wire tubes of different lengths and adjusting the clamp position, it can adapt to different operating distance requirements. Each functional module adopts a standardized interface design, suitable for long-term deployment in the open sea. 4. The mechanical limit of the clamping mechanism and the secondary propulsion of the plugging mechanism form a spatial dual guidance, combined with the high-precision transmission of the ball screw, which can significantly improve the docking success rate in complex sea conditions even under the interference of sea currents; 5. The wire light tube of the present invention not only serves as a transmission channel, but its rigid structure also provides all-round protection for the internal cables; the combined design of the spring and the upper and lower hinge supports enables the docking process to have adaptive compensation capabilities, reducing the accuracy requirements for the attitude control of the submersible. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an overall schematic diagram of an underwater wet-plug docking device with a secondary propulsion protection mechanism according to the present invention; Figure 2 Schematic diagram of the underwater robot shell structure in the present invention; Figure 3 Schematic diagram of the carrier structure in the present invention; Figure 4 This is a schematic diagram of the structure of the holding mechanism in the present invention; Figure 5 Schematic diagram of the plug-in mechanism in the present invention; Figure 6Schematic diagram of the clamp seat of the plug-in mechanism in the present invention; Figure 7 This is a schematic diagram of the secondary propulsion protection mechanism in the present invention; in: 1. Underwater robot housing, 101. Limiting notch, 102. Communication interface, 103. Power interface; 2. Carrier frame, 201, front carrier frame, 202, screw nut pair, 203, first pin seat, 204, second pin seat, 205, rear carrier frame; 3. Clamping mechanism, 301. Long straight rod, 302. Guide rod, 303. Short straight rod, 304. Diameter adjustment rod, 305. Clamping straight rod, 306. Third pin holder, 307. End clamp; 4. Insertion mechanism, 401, clamp seat, 402, wire light tube, 403, ball screw; 5. Secondary push protection mechanism, 501. Upper hinge support, 502. Upper short rod, 503. Lower short rod, 504. Spring, 505. Lower hinge support. DETAILED DESCRIPTION

[0017] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0018] See also Figure 1-Figure 7 The present invention provides an underwater wet-plug docking device with a secondary propulsion protection mechanism, comprising: An underwater robot housing 1 is provided with a power interface 103, a communication interface 102, and limiting notches 101 symmetrically distributed on both sides of the underwater robot housing 1 with respect to the communication interface 102; Carrier 2; The plugging mechanism 4 is mounted on the carrier 2, and the plugging mechanism 4 includes at least a conductor light tube 402 that moves up and down relative to the carrier 2. The end of the conductor light tube 402 carries an underwater wet-plug plug. The wire is guided inside the conductor light tube 402 and extends through the top end to connect to an external power source or shore base to realize power supply or communication. A secondary push protection mechanism 5 is provided at the end of the wire light tube 402, which protects the end of the wire light tube 402 and the underwater robot housing 1 during the insertion process and performs secondary push docking; The clamping mechanism 3 mounted on the carrier 2 opens and closes so that the end clamp 307 of the clamping mechanism 3 cooperates with the limiting notch 101 of the underwater robot shell 1 to clamp and realize the limiting alignment of the wire light tube 402.

[0019] The carrier frame 2 includes: Front end carrier 201; A rear end carrier frame 205 is provided opposite to the front end carrier frame 201, and the front end carrier frame 201 and the rear end carrier frame 205 are fixedly connected via a rod; And a screw nut pair 202 is vertically arranged on the front end carrier 201, and the screw of the screw nut pair 202 is driven to rotate by the clamping drive motor; the nut of the screw nut pair 202 moves up and down to drive the opening and closing of the clamping mechanism 3.

[0020] The clamping mechanism 3 includes two symmetrically arranged connecting rod mechanisms, each connecting rod mechanism includes: A long straight rod 301, one end of which is hinged to the nut of the screw nut pair 202; A bent guide rod 302, wherein the middle bend of the guide rod 302 is hingedly mounted on the first pin seat 203 via a pin connection. The first pin seat 203 is fixed to the front end carrier frame 201 of the carrier frame 2. One end of the guide rod 302 is hingedly connected to the other end of the long straight rod 301 via a pin connection; A short straight rod 303, one end of which is hinged to the other end of the guide rod 302 via a pin; a diameter adjustment rod 304, one end of which is hingedly mounted on the second pin seat 204 via a pin connection, the second pin seat 204 being fixed to the front end carrier 201 of the carrier 2, and the other end of the diameter adjustment rod 304 being hingedly connected to the other end of the short straight rod 303 via a pin connection; A clamping rod 305, one end of which is fixed to the diameter adjustment rod 304 by a bolt, and the other end of which is hinged to the third pin seat 306 by a pin; And the end clamp 307, the third pin seat 306 is fixed on the back of the end clamp 307 by bolt connection; the end clamps 307 of the two sets of connecting rod mechanisms cooperate with the underwater robot shell 1 to clamp or loosen.

[0021] The mating surface between the end clamp 307 and the underwater robot shell 1 is an inner arc surface; a boss is provided on the inner arc surface to cooperate with the limiting notch 101 on the underwater robot shell 1 to achieve the limiting alignment of the insertion device and the underwater submersible.

[0022] The insertion mechanism 4 further includes: A ball screw 403 is vertically mounted on the rear end support frame 205 and driven by a drive motor to rotate the ball screw 403; The clamp seat 401 is fixedly connected to a nut that cooperates with the ball screw 403, and the top of the wire light tube 402 is fixed to the clamp seat 401. The outer frame of the clamp seat 401 and the ball screw 403 slides along the length direction of the ball screw 403 to limit rotation.

[0023] The secondary push protection mechanism 5 includes: The upper hinge support 501 is located below the ball screw 403 and is coaxially fixedly connected to the wire light tube 402; A lower hinge support 505 is provided at the end of the conductor light tube 402, wherein the lower hinge support 505 and the conductor light tube 402 have a clearance fit; A spring 504 is sleeved on the wire light tube 402 and located between the upper hinge support 501 and the lower hinge support 505; Multiple groups of connecting rods are evenly distributed around the circumference, connected between the upper hinge support 501 and the lower hinge support 505. Each group of connecting rods includes an upper short rod 502 and a lower short rod 503. One end of the upper short rod 502 is hinged to the upper hinge support 501, and the other end is hinged to one end of the lower short rod 503. The other end of the lower short rod 503 is hinged to the lower hinge support 505. When the docking mechanism 4 is in operation, the lower hinge support 505 first docks with the communication interface 102 on the underwater robot housing 1. After limiting the position, the wire optical tube 402 carrying the wet-swap connector inside is inserted, achieving a two-stage push-to-dock docking.

[0024] When the spring 504 is in the natural state, the end of the wire light tube 402 is located in the lower end hinge support 505.

[0025] When the underwater wet plug-and-unplug docking device of the present invention is docked with underwater robots of different specifications, the position of the clamping straight rod 305 in the clamping mechanism 3 on the diameter adjustment rod 304 needs to be adjusted according to the outer diameter of the underwater robot shell 1; the underwater robot shell 1 needs to be provided with a limiting groove 101 that cooperates with the boss on the end clamp 307 in the clamping mechanism 3 according to the position of the interface.

[0026] The insertion depth of the insertion device can be adjusted by adjusting the position of the wire light tube 402 on the clamp seat 401 after the clamping mechanism 3 is limited.

[0027] The watertight connector is carried at the end of the wire light tube 402, and the wire is led out from the inside of the wire light tube 402; when performing the docking task, the lower end hinge support 505 is first inserted into the underwater robot shell 1, and then the internal wire light tube 402 carrying the watertight connector is inserted under its protection to achieve secondary push docking.

[0028] The present invention adopts a modular design, and the underwater robot shell 1, the clamping mechanism 3, and the plug-in mechanism 4 can be designed according to the needs to ensure their precise matching; the carrier frame 2 can be installed on platforms such as docking docks and underwater base stations to cooperate with the underwater robot to complete the underwater docking task.

Claims

1. An underwater wet plug-in docking device with a secondary propulsion protection mechanism, characterized in that: include: An underwater robot housing (1), the underwater robot housing (1) being provided with a power interface (103), a communication interface (102), and limiting notches (101) symmetrically distributed on both sides of the underwater robot housing (1) with respect to the communication interface (102); Carrying frame (2); A plug-in mechanism (4) mounted on the carrier (2), the plug-in mechanism (4) comprising at least a conductor light tube (402) that moves relative to the carrier (2) up and down, the end of the conductor light tube (402) carrying an underwater wet plug plug, the conductor being guided inside the conductor light tube (402) and extending through the top end, and connected to an external power source or shore base to realize power supply or communication; A secondary push protection mechanism (5) is provided at the end of the conductor light tube (402), and the secondary push protection mechanism (5) is used to protect the insertion process of the end of the conductor light tube (402) and the underwater robot housing (1) and to perform secondary push docking; And a clamping mechanism (3) mounted on the carrier (2), wherein the clamping mechanism (3) opens and closes so that the end clamp (307) of the clamping mechanism (3) cooperates with the limiting notch (101) of the underwater robot housing (1) to clamp and achieve limiting alignment of the wire light tube (402).

2. The underwater wet plug-in docking device with a secondary propulsion protection mechanism according to claim 1, characterized in that: The carrier frame (2) comprises: Front end carrier (201); a rear end bearing frame (205) arranged opposite to the front end bearing frame (201), the front end bearing frame (201) and the rear end bearing frame (205) being fixedly connected via a rod; A screw nut pair (202) is vertically arranged on the front end carrier (201), wherein the screw of the screw nut pair (202) is driven to rotate by a clamping drive motor; and the clamping mechanism (3) is driven to open and close by the up and down movement of the nut of the screw nut pair (202).

3. The underwater wet plug-in docking device with a secondary propulsion protection mechanism according to claim 2, characterized in that: The clamping mechanism (3) comprises two sets of symmetrically arranged connecting rod mechanisms, each set of connecting rod mechanisms comprising: A long straight rod (301), one end of the long straight rod (301) being hinged to the nut of the screw nut pair (202); A bent guide rod (302), wherein the middle bend of the guide rod (302) is hingedly mounted on a first pin seat (203) via a pin connection, the first pin seat (203) is fixed on a front end carrier (201) of the carrier (2), and one end of the guide rod (302) and the other end of the long straight rod (301) are hingedly connected via a pin connection; A short straight rod (303), one end of the short straight rod (303) and the other end of the guide rod (302) are hingedly connected via a pin; a diameter adjustment rod (304), one end of the diameter adjustment rod (304) being hingedly mounted on a second pin seat (204) via a pin connection, the second pin seat (204) being fixed on a front end carrier (201) of the carrier (2), and the other end of the diameter adjustment rod (304) being hingedly connected to the other end of the short straight rod (303) via a pin connection; A clamping straight rod (305), one end of which is fixed to the diameter adjustment rod (304) via a bolt connection, and the other end of which is hinged to the third pin seat (306) via a pin; and an end clamp (307), wherein the third pin seat (306) is fixed to the back of the end clamp (307) by bolt connection; the end clamps (307) of the two sets of connecting rod mechanisms cooperate with the underwater robot housing (1) to clamp or release.

4. The underwater wet plug-in docking device with a secondary propulsion protection mechanism according to claim 3, characterized in that: The mating surface between the end clamp (307) and the underwater robot housing (1) is an inner arc surface; a boss mating with a limiting notch (101) on the underwater robot housing (1) is provided on the inner arc surface.

5. The underwater wet plug-in docking device with a secondary propulsion protection mechanism according to claim 2, characterized in that: The insertion mechanism (4) further comprises: A ball screw (403), the ball screw (403) being arranged on the rear end support frame (205) in a vertical direction, and a plug-in drive motor driving the ball screw (403) to rotate; and a clamp seat (401), wherein the clamp seat (401) is fixedly connected to a nut matched with a ball screw (403), and the top end of the wire light tube (402) is fixed on the clamp seat (401).

6. The underwater wet plug-in docking device with a secondary propulsion protection mechanism according to claim 5, characterized in that: The secondary push protection mechanism (5) comprises: An upper hinge support (501), the upper hinge support (501) is located below the ball screw (403) and is coaxially fixedly connected to the wire light tube (402); A lower end hinge support (505) is provided at the end of the wire light tube (402), wherein the lower end hinge support (505) and the wire light tube (402) are clearance-matched; A spring (504) is sleeved on the wire light tube (402) and located between the upper hinge support (501) and the lower hinge support (505); and a plurality of groups of connecting rods uniformly distributed around the circumference and connected between the upper hinge support (501) and the lower hinge support (505), each group of connecting rods comprising an upper short rod (502) and a lower short rod (503), one end of the upper short rod (502) being hinged to the upper hinge support (501), the other end being hinged to one end of the lower short rod (503), and the other end of the lower short rod (503) being hinged to the lower hinge support (505).

7. The underwater wet plug-in docking device with a secondary propulsion protection mechanism according to claim 6, characterized in that: When the spring (504) is in a natural state, the end of the wire light tube (402) is located in the lower end hinge support (505).

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