Water surface dynamic self-adaptive docking device

Abstract

The invention provides a water surface dynamic self-adaptive butt joint device, and belongs to the technical field of ship deck machinery, the water surface dynamic self-adaptive butt joint device comprises a protection platform, a six-axis mechanical arm, a clamp connecting rod, a self-adaptive clamp and a positioning device, the six-axis mechanical arm is mounted on the protection platform, and the self-adaptive clamp is connected with the six-axis mechanical arm through the clamp connecting rod; the self-adaptive clamp comprises a self-adaptive platform, a platform locking device, a connector, a connector locking device and a clamp butt joint locking device, the self-adaptive platform comprises an X-axis limiting plate and a Y-axis limiting plate, the platform locking device is matched with the X-axis limiting plate and the Y-axis limiting plate, the connector is fixed to the X-axis limiting plate through the connector locking device, and the clamp butt joint locking device is fixed to the X-axis limiting plate through the connector locking device. The clamp butt joint locking device is fixedly connected with the X-axis limiting plate. The positioning device is installed on an object needing butt joint, and the clamp butt joint locking device is matched with the positioning device. The precision and stability of butt joint operation in the water surface dynamic environment are improved, and the service life of equipment is prolonged.

Description

Technical Field

[0001] This application relates to the field of ship deck machinery technology, and in particular to a dynamic adaptive docking device for the water surface. Background Technology

[0002] In the maritime operating environment, the ship, as a dynamic base with six degrees of freedom, presents significant challenges to docking operations such as connector insertion, resupply, and equipment loading due to its continuous rolling (roll, pitch, and bow). Currently, these operations are mostly performed manually, resulting in low efficiency, high labor intensity, and high risk, and are almost impossible to carry out in harsh sea conditions. Although some mechanical devices provide assistance, most lack the ability to adaptively compensate for the basic motion, making it difficult to achieve high-precision, non-destructive docking in dynamic environments. Summary of the Invention

[0003] In view of this, embodiments of this application provide a water surface dynamic adaptive docking device that can automatically and stably complete docking tasks in a swaying marine environment.

[0004] This application provides a dynamic adaptive docking device for water surfaces, including a protective platform, a six-axis robotic arm, a clamping connecting rod, an adaptive clamp, and a positioning device. One end of the six-axis robotic arm is mounted on the protective platform, and the adaptive clamp is connected to the other end of the six-axis robotic arm via the clamping connecting rod. The adaptive clamp includes an adaptive platform, a platform locking device, a connector, a connector locking device, and a clamp docking locking device. The adaptive platform includes stacked X-axis limiting plates and Y-axis limiting plates. The platform locking device locks and releases the adaptive platform by cooperating with the X-axis and Y-axis limiting plates. The connector is fixed to the X-axis limiting plate by the connector locking device. The clamp docking locking device is fixedly connected to the side of the X-axis limiting plate. The adaptive clamp achieves displacement compensation in the horizontal plane through the adaptive platform. The positioning device is mounted on the object to be docked, and the relative stillness between the adaptive clamp and the docking object is achieved by fixing the clamp docking locking device and the positioning device.

[0005] According to a specific implementation of an embodiment of this application, an X-axis guide rail is provided on the X-axis limiting plate, and an X-axis slider is slidably connected on the X-axis guide rail. The Y-axis limiting plate is fixedly connected to the upper side of the X-axis slider, and a Y-axis guide rail is provided on the Y-axis limiting plate, with a Y-axis slider slidably connected on the Y-axis guide rail. The adaptive platform is connected to the fixture connecting rod through the Y-axis slider. The X-axis slider is a fixed end, the X-axis guide rail is a movable end, the Y-axis slider is a fixed end, and the Y-axis guide rail is a movable end.

[0006] According to a specific implementation of this application, the X-axis limiting plate is configured as a square structure, the Y-axis limiting plate is configured as an L-shaped mirror structure, the X-axis guide rails are respectively located on opposite sides of the X-axis limiting plate, the two ends of the bottom edge of the Y-axis limiting plate are respectively fixedly connected to the X-axis sliders on both sides, the Y-axis guide rails are respectively set on the bottom edge and vertical edge of the Y-axis limiting plate, and the axial direction of the Y-axis guide rails is perpendicular to the axial direction of the X-axis guide rails.

[0007] According to a specific implementation of this application, the X-axis limiting plate has a first mounting hole and a second mounting hole in the area not covered by the Y-axis limiting plate. The first mounting hole is used to install a connector, and the second mounting hole cooperates with a connector locking device. The top of the vertical edge of the Y-axis limiting plate and the corresponding position of the X-axis limiting plate have a third mounting hole, which cooperates with a platform locking device.

[0008] According to a specific implementation of an embodiment of this application, the platform locking device includes a platform locking motor and a platform locking block. The platform locking motor is connected to a clamp connecting rod, and the platform locking block is fixed on the rotating shaft of the platform locking motor. The platform locking block achieves the locking and unlocking of the adaptive platform by cooperating with a third mounting hole through a limit block.

[0009] According to a specific implementation of an embodiment of this application, the connector includes guide posts, a waterproof connector, a mating plate, a driven gear cover, and a drive assembly. The drive assembly is disposed on the X-axis limiting plate, the guide posts and the waterproof connector are disposed on the upper side of the mating plate, multiple guide posts are arranged on the outer periphery of the waterproof connector, the mating plate is located on the lower surface of the X-axis limiting plate, the driven gear cover is located on the lower side of the mating plate, the driven gear cover cooperates with the drive assembly, and the mating plate cooperates with the connector locking device.

[0010] According to a specific implementation of an embodiment of this application, the connector locking device includes a connector locking motor and a connector locking block. The connector locking motor is fixed on the X-axis limiting plate, and the mating plate is provided with a limiting hole. The connector locking block cooperates with the limiting hole to realize the locking and unlocking of the connector.

[0011] According to a specific implementation of an embodiment of this application, the fixture docking and locking device includes a docking locking motor, a docking limiting plate, an active docking claw, and a driven docking claw. The active docking claw is fixed on the shaft of the docking locking motor, and the active docking claw and the driven docking claw are driven by gears. The docking limiting plate is located on the back of the active docking claw and the driven docking claw.

[0012] According to a specific implementation of an embodiment of this application, the positioning device includes a positioning plate and a positioning pin. The positioning plate is disposed on the object to be docked, and the positioning pin is disposed on the upper side of the positioning plate. The active docking claw and the passive docking claw grasp the positioning pin for fixation.

[0013] According to a specific implementation of an embodiment of this application, a plurality of elastic rollers are provided around the first mounting hole, and the elastic rollers are used to limit the movement of the connector.

[0014] Beneficial effects: The water surface dynamic adaptive docking device in this application embodiment has the following beneficial effects: (1) It realizes fully automatic or semi-automatic docking in the dynamic base environment at sea, freeing workers from high-risk and high-intensity operations and greatly ensuring personal safety. (2) Through the synergistic effect of the X / Y adaptive sliding rail and the adaptive motion unlocking device, it effectively absorbs the relative motion caused by the ship's swaying, transforming the complex spatial dynamic docking problem into a local quasi-static precise docking. (3) This design allows for a certain initial positioning error. Through the passive and active adaptive mechanism at the end, it realizes a smooth and non-destructive docking process, improving the success rate of operations and the service life of equipment. (4) It overcomes the limitation of sea conditions on the operation window period, and can work continuously under conditions unsuitable for manual operation, significantly improving the ship's logistical support and operational efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a water surface dynamic adaptive docking device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of an adaptive clamping structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of an adaptive platform structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a platform locking device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a connector structure according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a connector locking device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a clamp docking and locking device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of a positioning device according to an embodiment of the present invention; Figure 9 This is a schematic diagram of a drive gear and motor structure according to an embodiment of the present invention.

[0017] In the diagram: 1. Protective platform; 2. Six-axis robotic arm; 3. Fixture connecting rod; 4. Adaptive fixture; 5. Positioning device; 6. Adaptive platform; 7. Platform locking device; 8. Connector; 9. Connector locking device; 10. Fixture docking locking device; 11. X-axis limit plate; 12. Y-axis limit plate; 13. X-axis guide rail; 14. X-axis slider; 15. Y-axis slider; 16. Y-axis guide rail; 17. Elastic roller; 18. Platform locking motor; 19. 20. Platform locking block, 21. Guide post, 22. Waterproof connector, 23. Docking plate, 24. Connector locking motor, 25. Connector locking block, 26. Docking locking motor, 27. Docking limit plate, 28. Active docking claw, 29. Driven docking claw, 30. Positioning plate, 31. Positioning pin, 32. Driven gear cover, 33. Gear drive motor, 34. Drive gear, 35. First mounting hole, 36. Second mounting hole, 37. Third mounting hole. Detailed Implementation

[0018] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0019] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0021] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The illustrations only show the components related to this application and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0022] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0023] This application provides a dynamic adaptive docking device for water surfaces, used to achieve automatic and precise docking of equipment or materials in a ship swaying environment. The following refers to... Figures 1 to 9 Provide a detailed description.

[0024] In one embodiment, refer to Figures 1 to 3 The water surface dynamic adaptive docking device includes a protective platform 1, a six-axis robotic arm 2, a clamping connecting rod 3, an adaptive clamp 4, and a positioning device 5. One end of the six-axis robotic arm 2 is mounted on the protective platform 1, and the adaptive clamp 4 is connected to the other end of the six-axis robotic arm 2 through the clamping connecting rod 3. The adaptive clamp 4 includes an adaptive platform 6, a platform locking device 7, a connector 8, a connector locking device 9, and a clamp docking locking device 10. The adaptive platform 6 includes a stacked X-axis limiting plate 11 and a Y-axis limiting plate 12. The platform locking device 7 locks and releases the adaptive platform 6 by cooperating with the X-axis limiting plate 11 and the Y-axis limiting plate 12. The connector 8 is fixed to the X-axis limiting plate 11 by the connector locking device 9. The clamp docking locking device 10 is fixedly connected to the side of the X-axis limiting plate 11. The adaptive clamp 4 achieves displacement compensation in the horizontal plane through the adaptive platform 6. The positioning device 5 is mounted on the object to be docked, and the relative stillness between the adaptive clamp 4 and the docking object is achieved by fixing the clamp docking locking device 10 and the positioning device 5.

[0025] In practice, the six-axis robotic arm 2 is bolted to the protective platform 1, with its bottom tightly fitted to the upper surface of the platform 1 to ensure stability during operation. The free end of the six-axis robotic arm 2 is rigidly connected to the clamping connecting rod 3, secured with high-strength bolts to prevent loosening during dynamic docking. The other end of the clamping connecting rod 3 is connected to the Y-axis limiting plate 12 in the adaptive clamp 4, forming a complete force transmission path. When the six-axis robotic arm 2 receives a docking command, it moves the adaptive clamp 4 to the area above the positioning device 5 according to a pre-planned path. During this process, the six-axis robotic arm 2 utilizes its multi-degree-of-freedom motion characteristics to initially offset most of the coarse deviations caused by the ship's swaying, laying the foundation for subsequent fine adjustments by the adaptive platform 6.

[0026] Furthermore, refer to Figure 3 The X-axis limiting plate 11 is provided with an X-axis guide rail 13, and an X-axis slider 14 is slidably connected to the X-axis guide rail 13. The Y-axis limiting plate 12 is fixedly connected to the upper side of the X-axis slider 14. The Y-axis limiting plate 12 is provided with a Y-axis guide rail 16, and a Y-axis slider 15 is slidably connected to the Y-axis guide rail 16. The adaptive platform 6 is connected to the fixture connecting rod 3 through the Y-axis slider 15. The X-axis slider 14 is the fixed end, the X-axis guide rail 13 is the movable end, the Y-axis slider 15 is the fixed end, and the Y-axis guide rail 16 is the movable end.

[0027] Furthermore, the X-axis limiting plate 11 is configured as a square structure, the Y-axis limiting plate 12 is configured as an L-shaped mirror structure, the X-axis guide rails 13 are respectively located on one opposite side of the X-axis limiting plate 11, the two ends of the bottom edge of the Y-axis limiting plate 12 are respectively fixedly connected to the X-axis sliders 14 on both sides, and the Y-axis guide rails 16 are respectively set on the bottom edge and vertical edge of the Y-axis limiting plate 12, and the axial direction of the Y-axis guide rails 16 is perpendicular to the axial direction of the X-axis guide rails 13.

[0028] In practice, the X-axis guide rail 13 is bolted parallel to a pair of opposite sides on the upper surface of the X-axis limiting plate 11. The length of the guide rail is slightly greater than the maximum compensation displacement required in the X-axis direction, ensuring that the X-axis slider 14 has sufficient sliding stroke. The two ends of the bottom edge of the Y-axis limiting plate 12 are bolted to the upper sides of the X-axis sliders 14 on both sides. The Y-axis guide rail 16 is bolted to the bottom edge and vertical edge of the Y-axis limiting plate 12, and the axial direction of the Y-axis guide rail 16 is perpendicular to the axial direction of the X-axis guide rail 13, forming a complete two-dimensional planar motion mechanism. The Y-axis slider 15 is slidably connected to the Y-axis guide rail 16. The adaptive platform 6 is connected to the clamp connecting rod 3 through the Y-axis slider 15. When the ship rolls, causing the docking object to displace in the X-axis and Y-axis directions in the horizontal plane, the sliding of the X-axis slider 14 along the X-axis guide rail 13 and the sliding of the Y-axis slider 15 along the Y-axis guide rail 16 combine to drive the adaptive platform 6 to perform corresponding displacement compensation, thereby ensuring the stability and accuracy of the docking process.

[0029] Furthermore, the X-axis limiting plate 11 has a first mounting hole 34 and a second mounting hole 35 in the area not covered by the Y-axis limiting plate 12. The first mounting hole 34 is used to install the connector 8, and the second mounting hole 35 cooperates with the connector locking device 9. The top of the vertical edge of the Y-axis limiting plate 12 and the corresponding position of the X-axis limiting plate 11 have a third mounting hole 36, which cooperates with the platform locking device 7.

[0030] Furthermore, refer to Figure 4 The platform locking device 7 includes a platform locking motor 18 and a platform locking block 19. The platform locking motor 18 is connected to the clamp connecting rod 3. The platform locking block 19 is fixed on the rotating shaft of the platform locking motor 18. The platform locking block 19 cooperates with the third mounting hole 36 through the limiting block to realize the locking and unlocking of the adaptive platform 6.

[0031] In practice, the platform locking motor 18 is connected to the clamp connecting rod 3 by bolts. When the adaptive platform 6 needs to perform displacement compensation, the platform locking motor 18 receives the unlocking signal from the control system and drives the rotating shaft to rotate the platform locking block 19 to the position where it is disengaged from the limit block. At this time, the X-axis slider 14 and the Y-axis slider 15 can slide freely along their respective guide rails to achieve adaptive adjustment. When docking is completed or the platform position needs to be fixed, the platform locking motor 18 rotates in the opposite direction, and the platform locking block 19 engages with the third mounting hole 36, thereby fixing the X-axis limit plate 11 and the Y-axis limit plate 12 relative to each other, so as to prevent the platform from shifting due to the swaying of the ship in subsequent operations.

[0032] Furthermore, refer to Figure 5The connector 8 includes guide posts 20, a waterproof connector 21, a mating plate 22, a driven gear cover 31, and a drive assembly. The drive assembly is mounted on the X-axis limiting plate 11. The guide posts 20 and the waterproof connector 21 are located on the upper side of the mating plate 22. Multiple guide posts 20 are arranged around the outer periphery of the waterproof connector 21. The mating plate 22 is located on the lower surface of the X-axis limiting plate 11, and the driven gear cover 31 is located on the lower side of the mating plate 22. The driven gear cover 31 cooperates with the drive assembly, and the mating plate 22 cooperates with the connector locking device 9. Specifically, the drive assembly includes a gear drive motor 32 and a drive gear 32. One end of the drive gear 32 is connected to the gear drive motor 32, and the other end of the drive gear 32 cooperates with the driven gear cover 31.

[0033] Furthermore, refer to Figure 6 The connector locking device 9 includes a connector locking motor 23 and a connector locking block 24. The connector locking motor 23 is fixed on the X-axis limiting plate 11. The mating plate 22 is provided with a limiting hole. The connector locking block 24 cooperates with the limiting hole to realize the locking and unlocking of the connector 8.

[0034] In specific implementation, connector 8 is located at the first mounting hole 34, docking plate 22 is located below the first mounting hole 34, and connector locking block 24 of connector locking device 9 is located below the second mounting hole 35. The limiting hole on docking plate 22 cooperates with connector locking block 24. When connector 8 needs to dock, connector locking motor 23 receives the command and drives connector locking block 24 to rotate, causing it to exit from the limiting hole. At this time, connector 8 can move up and down or rotate under the action of the drive component. When connector 8 completes docking and needs to maintain a stable state, connector locking motor 23 drives connector locking block 24 in the opposite direction, causing it to re-lock into the limiting hole, thereby fixing docking plate 22 and X-axis limiting plate 11 relative to each other, preventing connector 8 from loosening or shifting during ship rocking, and ensuring the sealing and connection reliability of the docking part.

[0035] Furthermore, refer to Figure 7 The clamping and locking device 10 includes a docking and locking motor 25, a docking limit plate 26, an active docking claw 27, and a driven docking claw 28. The active docking claw 27 is fixed on the shaft of the docking and locking motor 25. The active docking claw 27 and the driven docking claw 28 are driven by gears. The docking limit plate 26 is located on the back of the active docking claw 27 and the driven docking claw 28.

[0036] Furthermore, refer to Figure 8 The positioning device 5 includes a positioning plate 29 and a positioning pin 30. The positioning plate 29 is set on the object to be docked, and the positioning pin 30 is set on the upper side of the positioning plate 29. The active docking claw 27 and the passive docking claw 28 grasp the positioning pin 30 for fixation.

[0037] In practice, when the adaptive clamp 4 moves to the vicinity of the positioning device 5, the positioning pin 30 on the positioning plate 29 first guides the adaptive clamp 4 to initially align via a visual recognition system. Then, the docking locking motor 25 starts, driving the active docking claw 27 to rotate. The active docking claw 27, through gear engagement, drives the driven docking claw 28 to move synchronously in the opposite direction. The two claws gradually approach each other from both sides of the positioning pin 30 and ultimately achieve rigid gripping. The docking limit plate 26 restricts the travel of the active docking claw 27 and the driven docking claw 28 to prevent deformation or damage to the positioning pin 30 due to excessive gripping force. After gripping, the active docking claw 27 and the driven docking claw 28 form a ring-shaped fixed structure. Combined with the cylindrical design of the positioning pin 30, this effectively resists the swaying torque of the ship in the horizontal plane, ensuring no relative rotation between the adaptive clamp 4 and the docking object, providing a stable mechanical foundation for the subsequent precise docking of the connector 8.

[0038] Furthermore, a plurality of elastic rollers 17 are provided around the first mounting hole 34, which are used to limit the movement of the connector 8.

[0039] Furthermore, the docking method of the water surface dynamic adaptive docking device is described in detail, mainly including the following steps: Step S1: Control the six-axis robotic arm 2 to reach the target point, and then control the six-axis robotic arm 2 to move slowly downwards; Step S2: The platform locking motor 18 is started, driving the platform locking block 19 to release the restriction on the X-axis limit plate 11 and the Y-axis limit plate 12; Step S3: Start the drive docking locking motor 25, which drives the active docking claw 27 and the driven docking claw 28 to close and grasp the positioning pin 30 on the positioning device 5; Step S4: After the connector is successfully connected, the gear drive motor 32 starts, driving the drive gear 33 and the driven gear cover 31 to rotate, thereby realizing the tightening operation of the connector 8. Step S5: The connector locking motor 23 is started, which drives the connector locking block 24 to rotate, thereby releasing the restriction on the connector 8; Step S6: Drive the six-axis robotic arm 2 to rise and complete the docking action.

[0040] The embodiments provided by this invention have the following advantages: (1) They realize fully automatic or semi-automatic docking in a dynamic marine environment, freeing workers from high-risk and high-intensity operations and greatly ensuring personal safety. (2) Through the synergistic effect of the X / Y adaptive sliding rail and the adaptive motion unlocking device, the relative motion caused by the ship's swaying is effectively absorbed, transforming the complex spatial dynamic docking problem into a local quasi-static precise docking. (3) This design allows for a certain initial positioning error. Through the passive and active adaptive mechanism at the end, a smooth and non-destructive docking process is achieved, improving the success rate of operations and the service life of equipment. (4) It overcomes the limitations of sea conditions on the operation window, enabling continuous operation under conditions unsuitable for manual operation, significantly improving the ship's logistical support and operational efficiency.

[0041] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A dynamic adaptive docking device for water surface, characterized in that, The system includes a protective platform (1), a six-axis robotic arm (2), a clamping connecting rod (3), an adaptive clamp (4), and a positioning device (5). One end of the six-axis robotic arm (2) is mounted on the protective platform (1), and the adaptive clamp (4) is connected to the other end of the six-axis robotic arm (2) via the clamping connecting rod (3). The adaptive clamp (4) includes an adaptive platform (6), a platform locking device (7), a connector (8), a connector locking device (9), and a clamp docking locking device (10). The adaptive platform (6) includes a stacked X-axis limiting plate (11) and a Y-axis limiting plate (12). The platform lock... The fixing device (7) locks and releases the adaptive platform (6) by cooperating with the X-axis limiting plate (11) and the Y-axis limiting plate (12). The connector (8) is fixed on the X-axis limiting plate (11) by the connector locking device (9). The clamp docking locking device (10) is fixedly connected to the side of the X-axis limiting plate (11). The adaptive clamp (4) achieves displacement compensation in the horizontal plane by the adaptive platform (6). The positioning device (5) is installed on the object to be docked. The relative static state between the adaptive clamp (4) and the docking object is achieved by fixing the clamp docking locking device (10) and the positioning device (5).

2. The water surface dynamic adaptive docking device according to claim 1, characterized in that, The X-axis limiting plate (11) is provided with an X-axis guide rail (13), and an X-axis slider (14) is slidably connected to the X-axis guide rail (13). The Y-axis limiting plate (12) is fixedly connected to the upper side of the X-axis slider (14). The Y-axis limiting plate (12) is provided with a Y-axis guide rail (16), and a Y-axis slider (15) is slidably connected to the Y-axis guide rail (16). The adaptive platform (6) is connected to the fixture connecting rod (3) through the Y-axis slider (15). The X-axis slider (14) is the fixed end, the X-axis guide rail (13) is the movable end, the Y-axis slider (15) is the fixed end, and the Y-axis guide rail (16) is the movable end.

3. The water surface dynamic adaptive docking device according to claim 2, characterized in that, The X-axis limiting plate (11) is set as a square structure, the Y-axis limiting plate (12) is set as an L-shaped mirror structure, the X-axis guide rail (13) is located on one opposite side of the X-axis limiting plate (11), the two ends of the bottom edge of the Y-axis limiting plate (12) are fixedly connected to the X-axis sliders (14) on both sides, the Y-axis guide rail (16) is set on the bottom edge and vertical edge of the Y-axis limiting plate (12), and the axis of the Y-axis guide rail (16) is perpendicular to the axis of the X-axis guide rail (13).

4. The water surface dynamic adaptive docking device according to claim 3, characterized in that, The X-axis limiting plate (11) has a first mounting hole and a second mounting hole in the area not covered by the Y-axis limiting plate (12). The first mounting hole is used to install the connector (8), and the second mounting hole cooperates with the connector locking device (9). The top of the vertical edge of the Y-axis limiting plate (12) and the corresponding position of the X-axis limiting plate (11) have a third mounting hole, which cooperates with the platform locking device (7).

5. The water surface dynamic adaptive docking device according to claim 4, characterized in that, The platform locking device (7) includes a platform locking motor (18) and a platform locking block (19). The platform locking motor (18) is connected to the clamp connecting rod (3). The platform locking block (19) is fixed on the rotating shaft of the platform locking motor (18). The platform locking block (19) achieves the locking and unlocking of the adaptive platform (6) by cooperating with the third mounting hole through the limit block.

6. The water surface dynamic adaptive docking device according to claim 1, characterized in that, The connector (8) includes a guide post (20), a waterproof connector (21), a mating plate (22), a driven gear cover (31), and a drive assembly. The drive assembly is mounted on the X-axis limiting plate (11). The guide post (20) and the waterproof connector (21) are mounted on the upper side of the mating plate (22). Multiple guide posts (20) are arranged around the outer periphery of the waterproof connector (21). The mating plate (22) is located on the lower surface of the X-axis limiting plate (11). The driven gear cover (31) is located on the lower side of the mating plate (22). The driven gear cover (31) cooperates with the drive assembly, and the mating plate (22) cooperates with the connector locking device (9).

7. The water surface dynamic adaptive docking device according to claim 6, characterized in that, The connector locking device (9) includes a connector locking motor (23) and a connector locking block (24). The connector locking motor (23) is fixed on the X-axis limiting plate (11). The mating plate (22) is provided with a limiting hole. The connector locking block (24) cooperates with the limiting hole to realize the locking and unlocking of the connector (8).

8. The water surface dynamic adaptive docking device according to claim 1, characterized in that, The clamping locking device (10) includes a docking locking motor (25), a docking limiting plate (26), an active docking claw (27), and a driven docking claw (28). The active docking claw (27) is fixed on the shaft of the docking locking motor (25). The active docking claw (27) and the driven docking claw (28) are driven by gears. The docking limiting plate (26) is located on the back of the active docking claw (27) and the driven docking claw (28).

9. The water surface dynamic adaptive docking device according to claim 8, characterized in that, The positioning device (5) includes a positioning plate (29) and a positioning pin (30). The positioning plate (29) is set on the object to be docked, and the positioning pin (30) is set on the upper side of the positioning plate (29). The active docking claw (27) and the passive docking claw (28) grab the positioning pin (30) for fixing.

10. The water surface dynamic adaptive docking device according to claim 4, characterized in that, The periphery of the first mounting hole is provided with multiple elastic rollers (17), which are used to limit the movement of the connector (8).

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